+ python -m lidar_slam --no-model /working/2176a27c-3c26-4775-b4c9-355e2e15047c Lidar SLAM 0.0.13 ===================================================== The recording path: /working/2176a27c-3c26-4775-b4c9-355e2e15047c 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 0.025194017 Adjusted end_distance from 9.223372036854776e+18 to 20.111514017 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.025194017 meters Centerline goodness [0,1] 0.24077377634072916 Centerline is valid? [0, False] SLAMing on 0.055194017 meters Centerline goodness [0,1] 0.22378646243946387 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:-0.00 [[ 9.99999018e-01 -1.15669457e-03 7.90690118e-04 -4.78497456e-04] [ 1.15803607e-03 9.99997887e-01 -1.69827629e-03 4.88454539e-03] [-7.88724061e-04 1.69919027e-03 9.99998245e-01 -9.32458603e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.085194017 meters Centerline goodness [0,1] 0.19683347469607015 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:-0.00 [[ 0.99998651 -0.00494402 0.00159153 -0.00217594] [ 0.00495397 0.99996782 -0.00631079 0.01180118] [-0.00156028 0.00631859 0.99997882 -0.00111789] [ 0. 0. 0. 1. ]] SLAMing on 0.115194017 meters Centerline goodness [0,1] 0.36070215175537934 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:0.00 [[ 9.99986077e-01 -4.98490030e-03 1.73116833e-03 -2.94461174e-03] [ 4.99554454e-03 9.99968304e-01 -6.19967614e-03 1.35199673e-02] [-1.70020869e-03 6.20823795e-03 9.99979283e-01 1.38351614e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.145194017 meters Centerline goodness [0,1] 0.18350609408816498 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.02, Z:0.00 [[ 0.99998001 -0.00603322 0.00189307 -0.00495353] [ 0.00604681 0.99995537 -0.00725911 0.02099031] [-0.00184919 0.00727042 0.99997186 0.00118876] [ 0. 0. 0. 1. ]] SLAMing on 0.17519401699999998 meters Centerline goodness [0,1] 0.16520291602089432 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.02, Z:0.00 [[ 0.99995171 -0.00960124 0.00209838 -0.00619864] [ 0.00962354 0.99989439 -0.01089048 0.02490363] [-0.0019936 0.01091015 0.9999385 0.00275424] [ 0. 0. 0. 1. ]] SLAMing on 0.205194017 meters Centerline goodness [0,1] 0.15925179856115113 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.03, Z:0.00 [[ 0.99994003 -0.01049727 0.0031199 -0.00820408] [ 0.01053663 0.99986154 -0.01287948 0.03040574] [-0.00298427 0.01291158 0.99991219 0.00232955] [ 0. 0. 0. 1. ]] SLAMing on 0.23519401699999998 meters Centerline goodness [0,1] 0.16743480543725575 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.04, Z:0.00 [[ 0.9999335 -0.0110431 0.00332201 -0.00929265] [ 0.01108796 0.99984327 -0.01380215 0.03533334] [-0.00316908 0.01383806 0.99989923 0.00220283] [ 0. 0. 0. 1. ]] SLAMing on 0.265194017 meters Centerline goodness [0,1] 0.17294797687861274 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.04, Z:0.00 [[ 0.99991997 -0.01213338 0.00358186 -0.01009256] [ 0.01218653 0.99981005 -0.01521022 0.04028089] [-0.00339663 0.01525265 0.9998779 0.00209705] [ 0. 0. 0. 1. ]] SLAMing on 0.29519401700000003 meters Centerline goodness [0,1] 0.17921802205578818 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.05, Z:0.00 [[ 0.99986634 -0.01553854 0.00508391 -0.01266142] [ 0.01563584 0.99968374 -0.0196963 0.04817254] [-0.00477625 0.01977316 0.99979308 0.00304123] [ 0. 0. 0. 1. ]] SLAMing on 0.325194017 meters Centerline goodness [0,1] 0.1547345471686995 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.05, Z:0.00 [[ 0.99985657 -0.01598307 0.00560171 -0.01366963] [ 0.0160991 0.99964309 -0.02131912 0.05407767] [-0.00525897 0.02140624 0.99975703 0.00316078] [ 0. 0. 0. 1. ]] SLAMing on 0.355194017 meters Centerline goodness [0,1] 0.18640183346065697 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.06, Z:0.00 [[ 0.9998474 -0.01595768 0.00710832 -0.01620518] [ 0.01611652 0.99960832 -0.02287946 0.06000987] [-0.00674043 0.02299053 0.99971296 0.00312235] [ 0. 0. 0. 1. ]] SLAMing on 0.385194017 meters Centerline goodness [0,1] 0.1885843458604125 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.06, Z:0.00 [[ 0.99983883 -0.0166755 0.00665078 -0.01613533] [ 0.01683041 0.99957126 -0.02395918 0.0642468 ] [-0.00624839 0.02406725 0.99969081 0.00363371] [ 0. 0. 0. 1. ]] SLAMing on 0.415194017 meters Centerline goodness [0,1] 0.2684103458297007 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.07, Z:0.00 [[ 0.9998164 -0.01780577 0.00708008 -0.01680904] [ 0.01799118 0.9994722 -0.02704874 0.07273833] [-0.00659472 0.02717115 0.99960904 0.00236474] [ 0. 0. 0. 1. ]] SLAMing on 0.445194017 meters Centerline goodness [0,1] 0.20156636438582032 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.08, Z:0.00 [[ 0.99980551 -0.01800117 0.0080565 -0.01861547] [ 0.01822249 0.99943347 -0.02829644 0.07734963] [-0.00754257 0.02843775 0.99956711 0.00311389] [ 0. 0. 0. 1. ]] SLAMing on 0.47519401699999997 meters Centerline goodness [0,1] 0.20084048327788473 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.08, Z:0.01 [[ 0.99984055 -0.01489119 0.0098552 -0.02434655] [ 0.01514794 0.99953373 -0.02651152 0.08281628] [-0.00945582 0.02665658 0.99959993 0.00706624] [ 0. 0. 0. 1. ]] SLAMing on 0.505194017 meters Centerline goodness [0,1] 0.20771004552710937 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.09, Z:0.01 [[ 0.99978148 -0.01748619 0.01145524 -0.02705195] [ 0.01783191 0.99936626 -0.03080735 0.08918594] [-0.01090928 0.03100489 0.9994597 0.00789671] [ 0. 0. 0. 1. ]] SLAMing on 0.535194017 meters Centerline goodness [0,1] 0.21195907808090308 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.09, Z:0.01 [[ 0.99975407 -0.01809931 0.01281458 -0.0305616 ] [ 0.01849662 0.99932955 -0.03159643 0.09301727] [-0.01223411 0.03182569 0.99941856 0.00977752] [ 0. 0. 0. 1. ]] SLAMing on 0.565194017 meters Centerline goodness [0,1] 0.2406621892305879 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.10, Z:0.01 [[ 0.99948658 -0.03057357 0.00958318 -0.0355839 ] [ 0.03086304 0.99902163 -0.03167435 0.1031195 ] [-0.0086054 0.03195385 0.9994523 0.00953816] [ 0. 0. 0. 1. ]] SLAMing on 0.595194017 meters Centerline goodness [0,1] 0.24037938742221954 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.11, Z:0.01 [[ 0.99938869 -0.03320295 0.01094557 -0.03939385] [ 0.03356305 0.99883941 -0.03454489 0.1089347 ] [-0.00978587 0.03489114 0.99934321 0.01104935] [ 0. 0. 0. 1. ]] SLAMing on 0.625194017 meters Centerline goodness [0,1] 0.24362657091561934 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.11, Z:0.01 [[ 0.99930574 -0.03549642 0.01131596 -0.04287383] [ 0.0358895 0.99868289 -0.03666651 0.11461265] [-0.00999952 0.03704718 0.99926349 0.0116049 ] [ 0. 0. 0. 1. ]] SLAMing on 0.655194017 meters Centerline goodness [0,1] 0.25241950209994524 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.12, Z:0.01 [[ 0.99916388 -0.03853521 0.01365965 -0.04889965] [ 0.03905204 0.99844267 -0.03983929 0.12188709] [-0.01210316 0.04033942 0.99911273 0.01173591] [ 0. 0. 0. 1. ]] SLAMing on 0.6851940169999999 meters Centerline goodness [0,1] 0.24780649751007822 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.13, Z:0.01 [[ 0.9985283 -0.05331872 0.00991686 -0.05478087] [ 0.05369009 0.99767472 -0.04198248 0.13181178] [-0.00765535 0.04245313 0.99906913 0.01312345] [ 0. 0. 0. 1. ]] SLAMing on 0.715194017 meters Centerline goodness [0,1] 0.24353185257505494 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.16, Z:0.01 [[ 9.95399676e-01 -9.58059675e-02 -8.37270474e-04 -6.29939313e-02] [ 9.56669073e-02 9.94355779e-01 -4.58740301e-02 1.55168683e-01] [ 5.22755057e-03 4.55828956e-02 9.98946882e-01 1.28318118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.745194017 meters Centerline goodness [0,1] 0.25822832424299413 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.17, Z:0.01 [[ 0.99244142 -0.12241512 -0.00863571 -0.07149014] [ 0.1218679 0.9913875 -0.04794833 0.1740121 ] [ 0.01443093 0.04653349 0.99881249 0.01190608] [ 0. 0. 0. 1. ]] SLAMing on 0.775194017 meters Centerline goodness [0,1] 0.25597776916117354 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.19, Z:0.01 [[ 0.98931156 -0.14389843 -0.02357712 -0.08268832] [ 0.14261921 0.98855964 -0.04908769 0.19373028] [ 0.03037103 0.04520047 0.99851616 0.01402003] [ 0. 0. 0. 1. ]] SLAMing on 0.805194017 meters Centerline goodness [0,1] 0.314974301986387 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.22, Z:0.01 [[ 0.98365613 -0.17662032 -0.03501244 -0.09715671] [ 0.17466514 0.98321604 -0.05270963 0.22067881] [ 0.04373439 0.04573269 0.9979959 0.01377093] [ 0. 0. 0. 1. ]] SLAMing on 0.835194017 meters Centerline goodness [0,1] 0.3775665675107016 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.25, Z:0.02 [[ 0.97772751 -0.20393672 -0.04958565 -0.10340055] [ 0.20099681 0.97784614 -0.05845695 0.24660784] [ 0.06040865 0.04718841 0.9970577 0.01811146] [ 0. 0. 0. 1. ]] SLAMing on 0.865194017 meters Centerline goodness [0,1] 0.4133837021046951 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.29, Z:0.02 [[ 0.96902557 -0.23307553 -0.08164093 -0.11532017] [ 0.22931526 0.97191471 -0.05288014 0.29442405] [ 0.09167308 0.0325207 0.99525798 0.01619234] [ 0. 0. 0. 1. ]] SLAMing on 0.895194017 meters Centerline goodness [0,1] 0.16021746082507193 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.33, Z:0.02 [[ 0.96196313 -0.25194756 -0.10559056 -0.12532634] [ 0.2479116 0.96749336 -0.04996441 0.32663933] [ 0.11474657 0.02188679 0.99315366 0.02083667] [ 0. 0. 0. 1. ]] SLAMing on 0.9251940169999999 meters Centerline goodness [0,1] 0.15770428343011023 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.37, Z:0.02 [[ 0.95171996 -0.27912365 -0.12774624 -0.15262851] [ 0.27556757 0.96022433 -0.04507499 0.36786029] [ 0.13524654 0.00769605 0.99078209 0.02107292] [ 0. 0. 0. 1. ]] SLAMing on 0.955194017 meters Centerline goodness [0,1] 0.1869953251168721 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.41, Z:0.02 [[ 0.94252251 -0.30118037 -0.1447125 -0.20438992] [ 0.29842346 0.95355601 -0.04091921 0.41235281] [ 0.15031553 -0.00461833 0.98862729 0.01896037] [ 0. 0. 0. 1. ]] SLAMing on 0.985194017 meters Centerline goodness [0,1] 0.1869953251168721 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.44, Z:0.02 [[ 0.94635784 -0.27952452 -0.16208914 -0.22945123] [ 0.27728146 0.96008492 -0.03676866 0.43715894] [ 0.16589708 -0.010148 0.98609086 0.01808127] [ 0. 0. 0. 1. ]] SLAMing on 1.015194017 meters Centerline goodness [0,1] 0.5234007428807264 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.51, Z:0.01 [[ 0.93445523 -0.30823444 -0.17828335 -0.30584662] [ 0.30779738 0.95095284 -0.03081356 0.50566866] [ 0.17903686 -0.02608125 0.9834966 0.01136343] [ 0. 0. 0. 1. ]] SLAMing on 1.045194017 meters Centerline goodness [0,1] 0.4793541131105399 Centerline is valid? [False, False] Translation: X:-0.38, Y:0.56, Z:0.00 [[ 0.93445244 -0.30322929 -0.18668325 -0.37767103] [ 0.3053815 0.95206311 -0.01783197 0.56335111] [ 0.18314141 -0.04034648 0.98225831 0.0044059 ] [ 0. 0. 0. 1. ]] SLAMing on 1.075194017 meters Centerline goodness [0,1] 0.16078030362620943 Centerline is valid? [False, False] Translation: X:-0.44, Y:0.62, Z:-0.00 [[ 0.94075862 -0.2841937 -0.1849518 -0.43502951] [ 0.2885468 0.95745932 -0.00351993 0.61580871] [ 0.17808417 -0.05005584 0.98274129 -0.00375648] [ 0. 0. 0. 1. ]] SLAMing on 1.105194017 meters Centerline goodness [0,1] 0.3948100092678406 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.65, Z:-0.00 [[ 0.94638303 -0.26892971 -0.17898595 -0.46954482] [ 0.27477588 0.96147301 0.00823848 0.64513785] [ 0.16987458 -0.05697778 0.98381714 -0.00422103] [ 0. 0. 0. 1. ]] SLAMing on 1.1351940169999999 meters Centerline goodness [0,1] 0.4023182620710831 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.67, Z:-0.00 [[ 0.95127808 -0.25361008 -0.17536233 -0.48653133] [ 0.26071044 0.9652432 0.01832045 0.66535302] [ 0.16462104 -0.06314663 0.98433349 -0.00352718] [ 0. 0. 0. 1. ]] SLAMing on 1.165194017 meters Centerline goodness [0,1] 0.37003791689236243 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.68, Z:-0.00 [[ 0.95329316 -0.24426607 -0.17766887 -0.4952721 ] [ 0.25262434 0.96722319 0.02569524 0.68238926] [ 0.16556898 -0.06937857 0.98375481 -0.00147946] [ 0. 0. 0. 1. ]] SLAMing on 1.195194017 meters Centerline goodness [0,1] 0.3591641606908782 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.71, Z:0.00 [[ 0.95068573 -0.24972694 -0.18393775 -0.50437752] [ 0.25895181 0.96549667 0.02757049 0.70965154] [ 0.17070619 -0.07384189 0.98255116 0.00262055] [ 0. 0. 0. 1. ]] SLAMing on 1.225194017 meters Centerline goodness [0,1] 0.1425130157743414 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.73, Z:0.01 [[ 0.95149853 -0.24352496 -0.18800568 -0.50912189] [ 0.25297166 0.96707912 0.0276282 0.73079729] [ 0.17508821 -0.0738483 0.98177928 0.00641109] [ 0. 0. 0. 1. ]] SLAMing on 1.255194017 meters Centerline goodness [0,1] 0.15914451957855014 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.76, Z:0.01 [[ 0.94936923 -0.24763029 -0.19333211 -0.51080739] [ 0.25550899 0.96666527 0.01653511 0.76158777] [ 0.18279284 -0.06509601 0.98099403 0.01185712] [ 0. 0. 0. 1. ]] SLAMing on 1.285194017 meters Centerline goodness [0,1] 0.15376114926197804 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.78, Z:0.02 [[ 0.94884579 -0.24709948 -0.19655409 -0.51261146] [ 0.25381371 0.96720814 0.00932794 0.78490388] [ 0.18780378 -0.05873889 0.98044861 0.01570057] [ 0. 0. 0. 1. ]] SLAMing on 1.315194017 meters Centerline goodness [0,1] 0.14895841711574032 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.82, Z:0.02 [[ 0.94578993 -0.25699368 -0.19858413 -0.51389014] [ 0.26243444 0.96494918 0.00111796 0.82156784] [ 0.19133628 -0.05317267 0.98008321 0.02193915] [ 0. 0. 0. 1. ]] SLAMing on 1.3451940169999999 meters Centerline goodness [0,1] 0.13665568369028003 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.85, Z:0.03 [[ 0.94484819 -0.25550909 -0.20488288 -0.51247007] [ 0.2596843 0.96567024 -0.00671253 0.85381269] [ 0.19956441 -0.04686255 0.97876348 0.0259904 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3751940169999999 meters Centerline goodness [0,1] 0.12373716289554981 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.88, Z:0.03 [[ 0.9441221 -0.25419894 -0.20980074 -0.51002682] [ 0.25720396 0.96626552 -0.01330657 0.87922894] [ 0.20610574 -0.04139856 0.97765361 0.02811863] [ 0. 0. 0. 1. ]] SLAMing on 1.405194017 meters Centerline goodness [0,1] 0.12271540469973885 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.90, Z:0.03 [[ 0.94651998 -0.24401302 -0.21108664 -0.50236059] [ 0.24591079 0.96913213 -0.01762964 0.90025622] [ 0.20887271 -0.03522168 0.97730836 0.03418437] [ 0. 0. 0. 1. ]] SLAMing on 1.435194017 meters Centerline goodness [0,1] 0.12337773224043713 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.92, Z:0.04 [[ 0.94657944 -0.24130009 -0.21391968 -0.5015756 ] [ 0.24255121 0.96991587 -0.02078725 0.91639301] [ 0.21250005 -0.0322097 0.97663005 0.03598115] [ 0. 0. 0. 1. ]] SLAMing on 1.465194017 meters Centerline goodness [0,1] 0.9934285714285714 Centerline is valid? [False, True] Translation: X:-0.28, Y:-0.89, Z:1.64 [[-0.01300654 -0.78037649 -0.62517466 -0.2826296 ] [-0.09127123 0.62354401 -0.77644216 -0.89411108] [ 0.99574113 0.04696164 -0.07933608 1.64406404] [ 0. 0. 0. 1. ]] SLAMing on 1.495194017 meters Centerline goodness [0,1] 0.9669375175119082 Centerline is valid? [True, True] Translation: X:-0.09, Y:0.78, Z:1.86 [[ 0.16181337 0.98679674 -0.00697316 -0.08792281] [-0.19194044 0.03840385 0.98065489 0.78428044] [ 0.96797485 -0.15734464 0.19562046 1.86444679] [ 0. 0. 0. 1. ]] SLAMing on 1.525194017 meters Centerline goodness [0,1] 0.9880034275921166 Centerline is valid? [True, True] Translation: X:-0.16, Y:0.67, Z:1.88 [[ 0.020309 0.99975071 0.00927671 -0.15731851] [-0.11690144 -0.00684044 0.99311996 0.66549915] [ 0.99293585 -0.02125373 0.11673337 1.8839862 ] [ 0. 0. 0. 1. ]] SLAMing on 1.555194017 meters Centerline goodness [0,1] 0.9904252323289214 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.67, Z:1.92 [[ 0.03548718 0.99930845 0.01110355 -0.1488643 ] [-0.12388349 -0.00662608 0.99227465 0.66822761] [ 0.99166201 -0.03658858 0.12356267 1.91704861] [ 0. 0. 0. 1. ]] SLAMing on 1.585194017 meters Centerline goodness [0,1] 0.9820426487093153 Centerline is valid? [True, True] Translation: X:-0.11, Y:0.72, Z:1.96 [[ 0.10486592 0.99438991 0.01385063 -0.10984744] [-0.16093642 0.00322482 0.98695951 0.72203801] [ 0.98137791 -0.10572749 0.16037173 1.95609033] [ 0. 0. 0. 1. ]] SLAMing on 1.6151940169999999 meters Centerline goodness [0,1] 0.992384682332463 Centerline is valid? [True, True] Translation: X:-0.16, Y:0.75, Z:1.99 [[ 0.01853781 0.99964559 0.01910604 -0.15763548] [-0.12049334 -0.01673638 0.99257304 0.75382804] [ 0.99254103 -0.02070228 0.12014038 1.99240666] [ 0. 0. 0. 1. ]] SLAMing on 1.645194017 meters Centerline goodness [0,1] 0.9915966386554622 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.77, Z:2.03 [[ 0.01597455 0.99962597 0.02219783 -0.1529564 ] [-0.11689351 -0.02018133 0.99293938 0.76971992] [ 0.99301597 -0.01845654 0.1165274 2.03138719] [ 0. 0. 0. 1. ]] SLAMing on 1.675194017 meters Centerline goodness [0,1] 0.9918612122510173 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.75, Z:2.07 [[ 0.01115167 0.99947256 0.0304998 -0.14938347] [-0.11989695 -0.02894513 0.9923643 0.75409782] [ 0.99272371 -0.01472335 0.11951093 2.06706741] [ 0. 0. 0. 1. ]] SLAMing on 1.705194017 meters Centerline goodness [0,1] 0.9955714888232813 Centerline is valid? [True, True] Translation: X:-0.14, Y:0.74, Z:2.10 [[-0.00926603 0.99920205 0.03885105 -0.13750491] [-0.10854665 -0.03962821 0.99330118 0.73968466] [ 0.99404817 0.00498681 0.10882724 2.1027807 ] [ 0. 0. 0. 1. ]] SLAMing on 1.735194017 meters Centerline goodness [0,1] 0.9955714888232813 Centerline is valid? [True, True] Translation: X:-0.13, Y:0.74, Z:2.14 [[-0.01016071 0.99883721 0.04712738 -0.13067704] [-0.1084698 -0.04795267 0.99294252 0.73733887] [ 0.99404782 0.00497711 0.10883091 2.13928651] [ 0. 0. 0. 1. ]] SLAMing on 1.765194017 meters Centerline goodness [0,1] 0.99612819961282 Centerline is valid? [True, True] Translation: X:-0.13, Y:0.72, Z:2.17 [[ 0.00966454 0.99842756 0.05521777 -0.13060522] [-0.12224705 -0.05362643 0.99104988 0.72306724] [ 0.99245265 -0.01632825 0.12153655 2.17340794] [ 0. 0. 0. 1. ]] SLAMing on 1.795194017 meters Centerline goodness [0,1] 0.9908065190137902 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.75, Z:2.21 [[-9.92477825e-03 9.97994858e-01 6.25120915e-02 -1.16164255e-01] [-1.26023947e-01 -6.32650750e-02 9.90007826e-01 7.47518469e-01] [ 9.91977552e-01 1.94758765e-03 1.26399143e-01 2.21485709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8251940169999998 meters Centerline goodness [0,1] 0.9874634350188048 Centerline is valid? [True, True] Translation: X:-0.10, Y:0.74, Z:2.25 [[-0.0131275 0.99701494 0.07608471 -0.1036613 ] [-0.12656299 -0.07713606 0.98895492 0.73622262] [ 0.9918717 0.003353 0.1271978 2.25108369] [ 0. 0. 0. 1. ]] SLAMing on 1.8551940169999999 meters Centerline goodness [0,1] 0.9869457107335268 Centerline is valid? [True, True] Translation: X:-0.09, Y:0.73, Z:2.29 [[-0.00724629 0.99638221 0.08467574 -0.09086612] [-0.13070206 -0.08489526 0.98778022 0.73188323] [ 0.99139521 -0.00390955 0.13084438 2.28776543] [ 0. 0. 0. 1. ]] SLAMing on 1.8851940169999999 meters Centerline goodness [0,1] 0.9893528183716075 Centerline is valid? [True, True] Translation: X:-0.08, Y:0.73, Z:2.33 [[-0.00413724 0.99565565 0.09301989 -0.0792406 ] [-0.13485304 -0.09272649 0.98651734 0.7324732 ] [ 0.99085697 -0.00846255 0.13465082 2.32596584] [ 0. 0. 0. 1. ]] SLAMing on 1.915194017 meters Centerline goodness [0,1] 0.9948207996685312 Centerline is valid? [True, True] Translation: X:-0.08, Y:0.73, Z:2.36 [[-0.02212173 0.99429207 0.10437391 -0.08426985] [-0.12188498 -0.10630293 0.98683521 0.72882166] [ 0.99229768 0.00910889 0.12354088 2.36220943] [ 0. 0. 0. 1. ]] SLAMing on 1.945194017 meters Centerline goodness [0,1] 0.994392523364486 Centerline is valid? [True, True] Translation: X:-0.07, Y:0.75, Z:2.40 [[-0.02159725 0.9934201 0.11247248 -0.067771 ] [-0.12169011 -0.11427435 0.985968 0.74508861] [ 0.99233315 0.00760741 0.12335741 2.40110382] [ 0. 0. 0. 1. ]] SLAMing on 1.975194017 meters Centerline goodness [0,1] 0.9918153200419727 Centerline is valid? [True, True] Translation: X:-0.07, Y:0.72, Z:2.43 [[-0.02709643 0.99229489 0.1208993 -0.07384838] [-0.12105391 -0.12331087 0.98495704 0.7158608 ] [ 0.99227604 0.01205349 0.12346246 2.43473965] [ 0. 0. 0. 1. ]] SLAMing on 2.005194017 meters Centerline goodness [0,1] 0.993513287298598 Centerline is valid? [True, True] Translation: X:-0.06, Y:0.73, Z:2.47 [[-0.029439 0.99117668 0.12923673 -0.06089841] [-0.11678758 -0.13181797 0.9843702 0.72984038] [ 0.99272051 0.01388563 0.11963772 2.47351985] [ 0. 0. 0. 1. ]] SLAMing on 2.035194017 meters Centerline goodness [0,1] 0.9903846153846154 Centerline is valid? [True, True] Translation: X:-0.06, Y:0.72, Z:2.51 [[-0.02805119 0.99006946 0.13775194 -0.06143807] [-0.11474337 -0.1400845 0.9834685 0.72068164] [ 0.99299904 0.01178134 0.11753344 2.50979404] [ 0. 0. 0. 1. ]] SLAMing on 2.065194017 meters Centerline goodness [0,1] 0.9891549007571107 Centerline is valid? [True, True] Translation: X:-0.04, Y:0.71, Z:2.55 [[-2.03469967e-02 9.89105349e-01 1.45796462e-01 -4.34881220e-02] [-1.27729435e-01 -1.47203357e-01 9.80824328e-01 7.07024371e-01] [ 9.91600318e-01 1.33432968e-03 1.29333013e-01 2.54531812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.095194017 meters Centerline goodness [0,1] 0.9948057344691461 Centerline is valid? [True, True] Translation: X:-0.05, Y:0.71, Z:2.58 [[-0.03549311 0.98733536 0.15462576 -0.05061906] [-0.11230873 -0.1576838 0.98108235 0.71364787] [ 0.99303927 0.01745584 0.11648307 2.58266358] [ 0. 0. 0. 1. ]] SLAMing on 2.125194017 meters Centerline goodness [0,1] 0.9951219512195122 Centerline is valid? [True, True] Translation: X:-0.04, Y:0.71, Z:2.62 [[-0.03099136 0.98618886 0.16269935 -0.04197287] [-0.11666346 -0.16523399 0.97933006 0.7083653 ] [ 0.99268785 0.0113697 0.12017303 2.61987755] [ 0. 0. 0. 1. ]] SLAMing on 2.155194017 meters Centerline goodness [0,1] 0.9955863808322825 Centerline is valid? [True, True] Translation: X:0.01, Y:0.77, Z:2.67 [[ 0.01719997 0.98523028 0.17036861 0.01169071] [-0.14770606 -0.16602051 0.97499749 0.77257626] [ 0.98888173 -0.04193441 0.14266894 2.66590145] [ 0. 0. 0. 1. ]] SLAMing on 2.185194017 meters Centerline goodness [0,1] 0.9849080008269588 Centerline is valid? [True, True] Translation: X:-0.01, Y:0.70, Z:2.69 [[-0.01374112 0.98306991 0.18271488 -0.0094895 ] [-0.13515923 -0.18288118 0.97380001 0.70394233] [ 0.9907286 -0.0113145 0.13538396 2.69442732] [ 0. 0. 0. 1. ]] SLAMing on 2.215194017 meters Centerline goodness [0,1] 0.9939482470784641 Centerline is valid? [True, True] Translation: X:-0.02, Y:0.71, Z:2.73 [[-0.03006201 0.98117313 0.19077622 -0.02183439] [-0.11443242 -0.19298593 0.97450585 0.70645287] [ 0.99297608 0.00746462 0.11807956 2.73108837] [ 0. 0. 0. 1. ]] SLAMing on 2.2451940169999998 meters Centerline goodness [0,1] 0.9932389604901753 Centerline is valid? [True, True] Translation: X:-0.01, Y:0.70, Z:2.77 [[-0.01855452 0.979899 0.19862949 -0.01196845] [-0.12372364 -0.19938703 0.97207884 0.70445922] [ 0.99214323 -0.00653871 0.1249362 2.767318 ] [ 0. 0. 0. 1. ]] SLAMing on 2.275194017 meters Centerline goodness [0,1] 0.988698200083717 Centerline is valid? [True, True] Translation: X:0.00, Y:0.68, Z:2.80 [[-1.07821568e-02 9.78481758e-01 2.06051438e-01 1.35659808e-03] [-1.35858489e-01 -2.05586119e-01 9.69162947e-01 6.76583642e-01] [ 9.90669580e-01 -1.75441702e-02 1.35151715e-01 2.80045713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.305194017 meters Centerline goodness [0,1] 0.9883454734651405 Centerline is valid? [True, True] Translation: X:0.02, Y:0.70, Z:2.84 [[ 0.0160996 0.97695359 0.2128438 0.02410947] [-0.15758193 -0.20773188 0.96540945 0.7012129 ] [ 0.98737467 -0.04908304 0.15060584 2.84058742] [ 0. 0. 0. 1. ]] SLAMing on 2.335194017 meters Centerline goodness [0,1] 0.984133611691023 Centerline is valid? [True, True] Translation: X:0.06, Y:0.73, Z:2.88 [[ 0.04706263 0.97439896 0.2198449 0.06495247] [-0.19098995 -0.20725049 0.95946343 0.72923058] [ 0.98046313 -0.08714304 0.17634665 2.88329708] [ 0. 0. 0. 1. ]] SLAMing on 2.365194017 meters Centerline goodness [0,1] 0.9908237747653806 Centerline is valid? [True, True] Translation: X:0.02, Y:0.68, Z:2.91 [[-0.00611756 0.9727715 0.23168552 0.02064606] [-0.13993587 -0.23024286 0.9630193 0.68008906] [ 0.99014167 -0.02652979 0.13753415 2.91143459] [ 0. 0. 0. 1. ]] SLAMing on 2.395194017 meters Centerline goodness [0,1] 0.9897267310458188 Centerline is valid? [True, True] Translation: X:0.01, Y:0.67, Z:2.94 [[-0.02249167 0.97129924 0.2367951 0.00708721] [-0.12143543 -0.23775547 0.96370419 0.66517036] [ 0.99234448 -0.00708 0.12329765 2.94455312] [ 0. 0. 0. 1. ]] SLAMing on 2.425194017 meters Centerline goodness [0,1] 0.9816532673675531 Centerline is valid? [True, True] Translation: X:0.02, Y:0.65, Z:2.98 [[-2.89193225e-03 9.70118438e-01 2.42614619e-01 1.86367205e-02] [-1.43742580e-01 -2.40499352e-01 9.59946942e-01 6.54085121e-01] [ 9.89610887e-01 -3.20979499e-02 1.40142835e-01 2.98103305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4551940169999997 meters Centerline goodness [0,1] 0.9899117276166457 Centerline is valid? [True, True] Translation: X:0.04, Y:0.68, Z:3.02 [[-2.41832442e-03 9.67831857e-01 2.51586264e-01 3.63665626e-02] [-1.43782834e-01 -2.49309340e-01 9.57690633e-01 6.77778203e-01] [ 9.89606310e-01 -3.38577793e-02 1.39760518e-01 3.02084197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.485194017 meters Centerline goodness [0,1] 0.987239472564866 Centerline is valid? [True, True] Translation: X:0.03, Y:0.66, Z:3.05 [[-0.01342875 0.96561109 0.25964378 0.03224571] [-0.13101043 -0.25912782 0.95691642 0.65701006] [ 0.99129004 -0.02116586 0.12998489 3.05375925] [ 0. 0. 0. 1. ]] SLAMing on 2.515194017 meters Centerline goodness [0,1] 0.9885868437435152 Centerline is valid? [True, True] Translation: X:0.04, Y:0.66, Z:3.09 [[-0.00624712 0.96397408 0.26592283 0.04055162] [-0.13815951 -0.2642097 0.9545183 0.65893968] [ 0.99039029 -0.03077677 0.13483273 3.0904711 ] [ 0. 0. 0. 1. ]] SLAMing on 2.545194017 meters Centerline goodness [0,1] 0.9885868437435152 Centerline is valid? [True, True] Translation: X:0.04, Y:0.65, Z:3.12 [[-0.01590488 0.96177962 0.2733624 0.03513029] [-0.12975015 -0.27307058 0.95320373 0.64800914] [ 0.99141915 -0.02030822 0.1291342 3.12442079] [ 0. 0. 0. 1. ]] SLAMing on 2.575194017 meters Centerline goodness [0,1] 0.9910528506034124 Centerline is valid? [True, True] Translation: X:0.07, Y:0.68, Z:3.16 [[ 0.01237167 0.96015657 0.27918864 0.07154083] [-0.15574348 -0.27395212 0.94904911 0.67955667] [ 0.98772006 -0.05522313 0.14614888 3.16432965] [ 0. 0. 0. 1. ]] SLAMing on 2.605194017 meters Centerline goodness [0,1] 0.9880805589806823 Centerline is valid? [True, True] Translation: X:0.04, Y:0.62, Z:3.19 [[-0.01240717 0.95758966 0.28786822 0.03555263] [-0.13831144 -0.2867665 0.94796356 0.61732126] [ 0.99031107 -0.02805393 0.13600356 3.19141629] [ 0. 0. 0. 1. ]] SLAMing on 2.635194017 meters Centerline goodness [0,1] 0.9887523432618205 Centerline is valid? [True, True] Translation: X:0.05, Y:0.64, Z:3.23 [[-0.02180972 0.95543726 0.29438747 0.0540248 ] [-0.12580478 -0.29473968 0.94726009 0.64411188] [ 0.99181525 -0.01637588 0.12662676 3.2303307 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6651940169999997 meters Centerline goodness [0,1] 0.9872506683117417 Centerline is valid? [True, True] Translation: X:0.09, Y:0.65, Z:3.27 [[ 0.02007598 0.95393871 0.29932908 0.08656279] [-0.17297006 -0.29156099 0.94078348 0.64755285] [ 0.98472245 -0.07066212 0.15914946 3.26782826] [ 0. 0. 0. 1. ]] SLAMing on 2.695194017 meters Centerline goodness [0,1] 0.9904485049833887 Centerline is valid? [True, True] Translation: X:0.06, Y:0.62, Z:3.30 [[-0.01518344 0.95103462 0.30871121 0.05959407] [-0.13332529 -0.30791544 0.94202572 0.62212084] [ 0.99095602 -0.02685582 0.13147218 3.29773709] [ 0. 0. 0. 1. ]] SLAMing on 2.7251940169999997 meters Centerline goodness [0,1] 0.9889606332014164 Centerline is valid? [True, True] Translation: X:0.06, Y:0.63, Z:3.33 [[-0.02120258 0.94971175 0.31240686 0.06005581] [-0.12729084 -0.31249842 0.94135104 0.62571171] [ 0.99163879 -0.01980746 0.12751538 3.33353745] [ 0. 0. 0. 1. ]] SLAMing on 2.755194017 meters Centerline goodness [0,1] 0.9857142857142858 Centerline is valid? [True, True] Translation: X:0.09, Y:0.63, Z:3.37 [[-0.01179002 0.94793481 0.31824613 0.08636155] [-0.14277749 -0.316603 0.9377511 0.6289667 ] [ 0.98968459 -0.03438228 0.13907651 3.37124288] [ 0. 0. 0. 1. ]] SLAMing on 2.785194017 meters Centerline goodness [0,1] 0.983395599833956 Centerline is valid? [True, True] Translation: X:0.09, Y:0.62, Z:3.41 [[ 2.61385622e-03 9.45779432e-01 3.24799067e-01 9.00100736e-02] [-1.60670707e-01 -3.20183163e-01 9.33631440e-01 6.19094800e-01] [ 9.87004606e-01 -5.46260739e-02 1.51122137e-01 3.40594204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.815194017 meters Centerline goodness [0,1] 0.9869884575026233 Centerline is valid? [True, True] Translation: X:0.09, Y:0.62, Z:3.44 [[-0.00812084 0.94350908 0.33124713 0.08914088] [-0.14729375 -0.32877337 0.93285188 0.62048778] [ 0.98905945 -0.04121509 0.1416429 3.44015322] [ 0. 0. 0. 1. ]] SLAMing on 2.845194017 meters Centerline goodness [0,1] 0.9890893831305078 Centerline is valid? [True, True] Translation: X:0.08, Y:0.60, Z:3.47 [[-0.02079168 0.94115802 0.33732668 0.08010687] [-0.13487487 -0.33695574 0.93180985 0.60285298] [ 0.99064448 -0.026123 0.13394444 3.47318448] [ 0. 0. 0. 1. ]] SLAMing on 2.875194017 meters Centerline goodness [0,1] 0.9823284823284824 Centerline is valid? [True, True] Translation: X:0.09, Y:0.60, Z:3.51 [[-0.01993306 0.93897437 0.3434091 0.08868613] [-0.13739322 -0.34279126 0.92931009 0.60113234] [ 0.990316 -0.02865808 0.1358416 3.50873057] [ 0. 0. 0. 1. ]] SLAMing on 2.905194017 meters Centerline goodness [0,1] 0.9823284823284824 Centerline is valid? [True, True] Translation: X:0.09, Y:0.60, Z:3.55 [[-0.0213958 0.93648771 0.35004712 0.09317215] [-0.13707066 -0.34956873 0.92682972 0.59695231] [ 0.99033017 -0.02815093 0.13584429 3.54599318] [ 0. 0. 0. 1. ]] SLAMing on 2.9351940169999997 meters Centerline goodness [0,1] 0.9852758191621733 Centerline is valid? [True, True] Translation: X:0.10, Y:0.60, Z:3.58 [[-0.01886043 0.93240909 0.36091213 0.10424075] [-0.14211804 -0.35981114 0.92213795 0.59540634] [ 0.98967002 -0.03390021 0.13929834 3.5828603 ] [ 0. 0. 0. 1. ]] SLAMing on 2.965194017 meters Centerline goodness [0,1] 0.9849151477058454 Centerline is valid? [True, True] Translation: X:0.09, Y:0.59, Z:3.62 [[-0.02243873 0.92934032 0.36854183 0.09262386] [-0.13219011 -0.36815599 0.92031894 0.59094536] [ 0.99097037 -0.0280668 0.13111055 3.61679042] [ 0. 0. 0. 1. ]] SLAMing on 2.9951940169999998 meters Centerline goodness [0,1] 0.9931106471816284 Centerline is valid? [True, True] Translation: X:0.10, Y:0.59, Z:3.65 [[-0.03521537 0.92652149 0.37459018 0.10181597] [-0.11813062 -0.37605404 0.91903673 0.5929542 ] [ 0.99237343 -0.01188635 0.12269344 3.65288254] [ 0. 0. 0. 1. ]] SLAMing on 3.025194017 meters Centerline goodness [0,1] 0.9828689370485036 Centerline is valid? [True, True] Translation: X:0.13, Y:0.60, Z:3.69 [[-0.01855932 0.92477387 0.38006426 0.13177897] [-0.14244692 -0.37869768 0.91449273 0.60174407] [ 0.98962843 -0.03716662 0.13875956 3.68988416] [ 0. 0. 0. 1. ]] SLAMing on 3.055194017 meters Centerline goodness [0,1] 0.9910379324718632 Centerline is valid? [True, True] Translation: X:0.12, Y:0.59, Z:3.72 [[-0.03136998 0.92139809 0.38735189 0.11719778] [-0.12318971 -0.38815206 0.91332485 0.58912643] [ 0.9918872 -0.01906679 0.12568308 3.72278678] [ 0. 0. 0. 1. ]] SLAMing on 3.085194017 meters Centerline goodness [0,1] 0.9890572390572391 Centerline is valid? [True, True] Translation: X:0.11, Y:0.58, Z:3.76 [[-0.03525132 0.9192914 0.39199576 0.11483599] [-0.126873 -0.39318248 0.91066502 0.57622973] [ 0.99129238 -0.01763154 0.13049346 3.75639809] [ 0. 0. 0. 1. ]] SLAMing on 3.115194017 meters Centerline goodness [0,1] 0.9860387580745988 Centerline is valid? [True, True] Translation: X:0.17, Y:0.61, Z:3.80 [[-9.68696527e-04 9.18077211e-01 3.96400424e-01 1.72738293e-01] [-1.69989062e-01 -3.90782547e-01 9.04650606e-01 6.13314505e-01] [ 9.85445473e-01 -6.65074045e-02 1.56441634e-01 3.79899643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.145194017 meters Centerline goodness [0,1] 0.9871983210912907 Centerline is valid? [True, True] Translation: X:0.12, Y:0.56, Z:3.83 [[-0.03137856 0.91289639 0.40698349 0.12006726] [-0.12688943 -0.40752779 0.9043341 0.56406924] [ 0.99142042 -0.0232652 0.12862454 3.82641895] [ 0. 0. 0. 1. ]] SLAMing on 3.175194017 meters Centerline goodness [0,1] 0.9908065190137902 Centerline is valid? [True, True] Translation: X:0.13, Y:0.57, Z:3.86 [[-0.02912835 0.91110356 0.41114699 0.1309353 ] [-0.13141894 -0.41124174 0.90200293 0.57141521] [ 0.99089889 -0.02775865 0.13171506 3.86332962] [ 0. 0. 0. 1. ]] SLAMing on 3.2051940169999997 meters Centerline goodness [0,1] 0.9917652027027027 Centerline is valid? [True, True] Translation: X:0.14, Y:0.57, Z:3.90 [[-0.03282244 0.90798047 0.41772497 0.13787389] [-0.12574651 -0.41838061 0.89952514 0.57376379] [ 0.99151929 -0.02300285 0.12790764 3.89834552] [ 0. 0. 0. 1. ]] SLAMing on 3.235194017 meters Centerline goodness [0,1] 0.990648379052369 Centerline is valid? [True, True] Translation: X:0.13, Y:0.56, Z:3.93 [[-0.03094219 0.90532755 0.42358541 0.12767258] [-0.1272683 -0.42390747 0.89671915 0.55709588] [ 0.99138558 -0.02616254 0.12833612 3.93112294] [ 0. 0. 0. 1. ]] SLAMing on 3.265194017 meters Centerline goodness [0,1] 0.9898001665278934 Centerline is valid? [True, True] Translation: X:0.12, Y:0.55, Z:3.96 [[-0.03367069 0.90312456 0.42805643 0.12365431] [-0.12913885 -0.42864026 0.89419835 0.54511617] [ 0.99105471 -0.02517044 0.13106108 3.96421999] [ 0. 0. 0. 1. ]] SLAMing on 3.295194017 meters Centerline goodness [0,1] 0.9853770628786296 Centerline is valid? [True, True] Translation: X:0.13, Y:0.54, Z:4.00 [[-0.03309725 0.90047291 0.4336509 0.12913942] [-0.13380149 -0.43397494 0.89093373 0.54063776] [ 0.99045532 -0.02853568 0.13484799 3.99917471] [ 0. 0. 0. 1. ]] SLAMing on 3.325194017 meters Centerline goodness [0,1] 0.988573846804909 Centerline is valid? [True, True] Translation: X:0.13, Y:0.54, Z:4.03 [[-0.04053803 0.89704026 0.44008572 0.13023865] [-0.12132811 -0.44160783 0.88896682 0.54010644] [ 0.99178433 -0.0173578 0.12673811 4.03447694] [ 0. 0. 0. 1. ]] SLAMing on 3.355194017 meters Centerline goodness [0,1] 0.9887972944409216 Centerline is valid? [True, True] Translation: X:0.13, Y:0.53, Z:4.07 [[-0.03495671 0.89442708 0.44584553 0.13172223] [-0.12917318 -0.44641973 0.88545113 0.53082573] [ 0.99100571 -0.02663882 0.13114135 4.06864784] [ 0. 0. 0. 1. ]] SLAMing on 3.385194017 meters Centerline goodness [0,1] 0.9848675914249685 Centerline is valid? [True, True] Translation: X:0.11, Y:0.51, Z:4.10 [[-0.0326468 0.89154105 0.45176182 0.11328477] [-0.1283446 -0.45200011 0.88273641 0.51215465] [ 0.99119214 -0.02916267 0.12918084 4.10030964] [ 0. 0. 0. 1. ]] SLAMing on 3.4151940169999997 meters Centerline goodness [0,1] 0.9865507966066626 Centerline is valid? [True, True] Translation: X:0.13, Y:0.52, Z:4.14 [[-0.02511632 0.88917436 0.45687867 0.13413752] [-0.13812513 -0.45572607 0.87933793 0.52457284] [ 0.99009627 -0.0410207 0.13426349 4.13672652] [ 0. 0. 0. 1. ]] SLAMing on 3.445194017 meters Centerline goodness [0,1] 0.987749169435216 Centerline is valid? [True, True] Translation: X:0.16, Y:0.54, Z:4.18 [[-0.01873166 0.88725043 0.46090757 0.1613784 ] [-0.15064047 -0.45823056 0.875975 0.53587174] [ 0.98841114 -0.05302287 0.14223924 4.1756398 ] [ 0. 0. 0. 1. ]] SLAMing on 3.4751940169999997 meters Centerline goodness [0,1] 0.9883843717001056 Centerline is valid? [True, True] Translation: X:0.14, Y:0.52, Z:4.21 [[-0.03883055 0.88249974 0.46870715 0.13551895] [-0.11959348 -0.46979375 0.87463777 0.51787316] [ 0.9920633 -0.02209165 0.12378356 4.20739369] [ 0. 0. 0. 1. ]] SLAMing on 3.505194017 meters Centerline goodness [0,1] 0.9883276740237691 Centerline is valid? [True, True] Translation: X:0.25, Y:0.60, Z:4.26 [[-0.00539906 0.88219871 0.47084635 0.25033123] [-0.17390466 -0.46450672 0.86832637 0.60050397] [ 0.98474769 -0.07719423 0.15592636 4.25944309] [ 0. 0. 0. 1. ]] SLAMing on 3.535194017 meters Centerline goodness [0,1] 0.9870211429767637 Centerline is valid? [True, True] Translation: X:0.14, Y:0.50, Z:4.28 [[-0.03897841 0.87460853 0.48326038 0.13764172] [-0.12001986 -0.48422447 0.86667289 0.50144801] [ 0.99200601 -0.02421931 0.12384469 4.27749456] [ 0. 0. 0. 1. ]] SLAMing on 3.565194017 meters Centerline goodness [0,1] 0.985980330613099 Centerline is valid? [True, True] Translation: X:0.15, Y:0.50, Z:4.31 [[-0.03473829 0.87321664 0.48609252 0.14516712] [-0.12744893 -0.48628557 0.86445538 0.50135917] [ 0.99123661 -0.03192227 0.12818326 4.31197486] [ 0. 0. 0. 1. ]] SLAMing on 3.595194017 meters Centerline goodness [0,1] 0.9899271324474925 Centerline is valid? [True, True] Translation: X:0.15, Y:0.49, Z:4.35 [[-0.03877439 0.87018024 0.49120555 0.14940576] [-0.12614541 -0.49190511 0.86146195 0.49339491] [ 0.99125369 -0.02856066 0.12884256 4.345892 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6251940169999997 meters Centerline goodness [0,1] 0.9933419243986255 Centerline is valid? [True, True] Translation: X:0.17, Y:0.53, Z:4.39 [[-0.04460282 0.86619492 0.49771171 0.1729812 ] [-0.10266654 -0.49954406 0.8601833 0.5343599 ] [ 0.99371534 -0.01273174 0.11121031 4.38650765] [ 0. 0. 0. 1. ]] SLAMing on 3.655194017 meters Centerline goodness [0,1] 0.9891972039822071 Centerline is valid? [True, True] Translation: X:0.15, Y:0.49, Z:4.42 [[-0.04371457 0.86327387 0.50283921 0.14730551] [-0.11716583 -0.50427703 0.85555645 0.48972284] [ 0.99214979 -0.0215153 0.12319045 4.415557 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6851940169999997 meters Centerline goodness [0,1] 0.9902210884353742 Centerline is valid? [True, True] Translation: X:0.18, Y:0.51, Z:4.45 [[-0.04239257 0.85999281 0.50854227 0.17559041] [-0.11342149 -0.5098518 0.85275243 0.51251868] [ 0.99264215 -0.02152926 0.1191556 4.45388975] [ 0. 0. 0. 1. ]] SLAMing on 3.715194017 meters Centerline goodness [0,1] 0.9918803418803419 Centerline is valid? [True, True] Translation: X:0.16, Y:0.49, Z:4.49 [[-0.04642612 0.85665069 0.51380367 0.16367159] [-0.11536181 -0.51551472 0.84907964 0.49137244] [ 0.99223801 -0.01985385 0.12275812 4.48559371] [ 0. 0. 0. 1. ]] SLAMing on 3.7451940169999998 meters Centerline goodness [0,1] 0.9910562180579217 Centerline is valid? [True, True] Translation: X:0.17, Y:0.48, Z:4.52 [[-0.04654732 0.85330982 0.51932235 0.16812471] [-0.11174039 -0.52107083 0.8461674 0.48347346] [ 0.99264668 -0.01864246 0.11960362 4.51945836] [ 0. 0. 0. 1. ]] SLAMing on 3.775194017 meters Centerline goodness [0,1] 0.9925611052072264 Centerline is valid? [True, True] Translation: X:0.28, Y:0.57, Z:4.57 [[-0.01809465 0.85203638 0.52316975 0.28130926] [-0.15279942 -0.51946545 0.84071873 0.56803165] [ 0.98809155 -0.06472752 0.13959021 4.57306411] [ 0. 0. 0. 1. ]] SLAMing on 3.805194017 meters Centerline goodness [0,1] 0.9912374438982688 Centerline is valid? [True, True] Translation: X:0.27, Y:0.52, Z:4.60 [[-0.01705976 0.84544192 0.53379483 0.26746904] [-0.16821443 -0.52868971 0.83198023 0.51877106] [ 0.9856028 -0.07559861 0.15123485 4.60479048] [ 0. 0. 0. 1. ]] SLAMing on 3.835194017 meters Centerline goodness [0,1] 0.9937634408602151 Centerline is valid? [True, True] Translation: X:0.25, Y:0.51, Z:4.64 [[-0.02716693 0.8398661 0.54211335 0.25236049] [-0.15036478 -0.53957649 0.82840065 0.51003459] [ 0.98825725 -0.05900965 0.14094492 4.64077505] [ 0. 0. 0. 1. ]] SLAMing on 3.865194017 meters Centerline goodness [0,1] 0.9944301628106256 Centerline is valid? [True, True] Translation: X:0.21, Y:0.48, Z:4.67 [[-5.72074152e-02 8.31978334e-01 5.51850852e-01 2.08355799e-01] [-9.31068532e-02 -5.54793088e-01 8.26762205e-01 4.84833447e-01] [ 9.94011280e-01 -4.08416758e-03 1.09201163e-01 4.67050306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8951940169999997 meters Centerline goodness [0,1] 0.9939262472885032 Centerline is valid? [True, True] Translation: X:0.22, Y:0.48, Z:4.71 [[-6.16045287e-02 8.28787864e-01 5.56161450e-01 2.16931478e-01] [-9.04905530e-02 -5.59562772e-01 8.23833092e-01 4.80330986e-01] [ 9.93990112e-01 4.24492235e-04 1.09469073e-01 4.70627590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.925194017 meters Centerline goodness [0,1] 0.9935008665511266 Centerline is valid? [True, True] Translation: X:0.21, Y:0.47, Z:4.74 [[-0.05877381 0.82511007 0.56190659 0.21176749] [-0.09429694 -0.56495155 0.81971814 0.46819252] [ 0.99380769 -0.00480812 0.11100971 4.74414225] [ 0. 0. 0. 1. ]] SLAMing on 3.9551940169999997 meters Centerline goodness [0,1] 0.9958704629428385 Centerline is valid? [True, True] Translation: X:0.29, Y:0.49, Z:4.79 [[-0.04031166 0.81926805 0.57199198 0.2866787 ] [-0.13324065 -0.57175234 0.80953455 0.48807909] [ 0.99026355 -0.0435789 0.1322081 4.78586823] [ 0. 0. 0. 1. ]] SLAMing on 3.985194017 meters Centerline goodness [0,1] 0.9889370932754881 Centerline is valid? [True, True] Translation: X:0.27, Y:0.47, Z:4.82 [[-0.04675986 0.81431126 0.57854186 0.27088822] [-0.12803067 -0.57928412 0.80500811 0.46672972] [ 0.99066728 -0.03642903 0.13134406 4.82015795] [ 0. 0. 0. 1. ]] SLAMing on 4.015194017 meters Centerline goodness [0,1] 0.99548289954829 Centerline is valid? [True, True] Translation: X:0.24, Y:0.45, Z:4.85 [[-6.59223256e-02 8.07146501e-01 5.86658992e-01 2.41679839e-01] [-8.74213906e-02 -5.90348995e-01 8.02399879e-01 4.46588087e-01] [ 9.93987800e-01 1.60952112e-03 1.09479048e-01 4.85085156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.045194016999999 meters Centerline goodness [0,1] 0.9915346212285652 Centerline is valid? [True, True] Translation: X:0.25, Y:0.44, Z:4.89 [[-0.06227341 0.80409003 0.59123704 0.24952115] [-0.09696831 -0.5944587 0.79825811 0.44250228] [ 0.99333739 -0.00762101 0.11499022 4.88937417] [ 0. 0. 0. 1. ]] SLAMing on 4.075194016999999 meters Centerline goodness [0,1] 0.9894259818731118 Centerline is valid? [True, True] Translation: X:0.34, Y:0.46, Z:4.94 [[-0.02770786 0.801507 0.59734312 0.33746714] [-0.17619739 -0.59213221 0.78634212 0.4586733 ] [ 0.98396481 -0.08346244 0.15763016 4.93537455] [ 0. 0. 0. 1. ]] SLAMing on 4.105194017 meters Centerline goodness [0,1] 0.9853951890034365 Centerline is valid? [True, True] Translation: X:0.28, Y:0.42, Z:4.96 [[-0.04895673 0.79142935 0.60929699 0.27586639] [-0.13253391 -0.60978157 0.78140975 0.41863369] [ 0.98996869 -0.04249725 0.13474413 4.96089515] [ 0. 0. 0. 1. ]] SLAMing on 4.135194016999999 meters Centerline goodness [0,1] 0.9858156028368794 Centerline is valid? [True, True] Translation: X:0.33, Y:0.45, Z:5.00 [[-0.03120092 0.79114006 0.61083869 0.32773857] [-0.16606751 -0.60674516 0.77735571 0.44592466] [ 0.98562066 -0.07718625 0.15031367 5.00255341] [ 0. 0. 0. 1. ]] SLAMing on 4.165194016999999 meters Centerline goodness [0,1] 0.9890230515916575 Centerline is valid? [True, True] Translation: X:0.34, Y:0.44, Z:5.04 [[-0.0372644 0.78638703 0.61660912 0.33683778] [-0.15816424 -0.61390138 0.77337518 0.43894802] [ 0.9867094 -0.06870615 0.14725498 5.03884799] [ 0. 0. 0. 1. ]] SLAMing on 4.1951940169999995 meters Centerline goodness [0,1] 0.9891280230752163 Centerline is valid? [True, True] Translation: X:0.33, Y:0.43, Z:5.07 [[-0.03580773 0.78191345 0.62235775 0.32975287] [-0.15841275 -0.61932442 0.76898808 0.43383986] [ 0.98672347 -0.07105368 0.14604166 5.07438074] [ 0. 0. 0. 1. ]] SLAMing on 4.225194017 meters Centerline goodness [0,1] 0.9915705412599822 Centerline is valid? [True, True] Translation: X:0.31, Y:0.42, Z:5.11 [[-0.04707311 0.77540169 0.62971132 0.30763707] [-0.12153901 -0.63017239 0.76688397 0.42128979] [ 0.99146981 -0.04043487 0.12390573 5.10638147] [ 0. 0. 0. 1. ]] SLAMing on 4.255194016999999 meters Centerline goodness [0,1] 0.9809853068280034 Centerline is valid? [True, True] Translation: X:0.32, Y:0.41, Z:5.14 [[-0.03739733 0.77348647 0.63270856 0.32311649] [-0.15593557 -0.62991231 0.76085122 0.40735591] [ 0.98705903 -0.07020797 0.1441711 5.14122403] [ 0. 0. 0. 1. ]] SLAMing on 4.285194016999999 meters Centerline goodness [0,1] 0.9878735383282806 Centerline is valid? [True, True] Translation: X:0.34, Y:0.41, Z:5.18 [[-0.03762551 0.76894895 0.63820204 0.33647507] [-0.14917875 -0.63581986 0.75728383 0.41172035] [ 0.98809414 -0.06671299 0.13863389 5.17876166] [ 0. 0. 0. 1. ]] SLAMing on 4.315194017 meters Centerline goodness [0,1] 0.967522492868115 Centerline is valid? [True, True] Translation: X:0.42, Y:0.43, Z:5.22 [[-0.01700547 0.76851218 0.63960913 0.41831628] [-0.21843361 -0.62710499 0.74768048 0.43018728] [ 0.97570363 -0.12699747 0.1785331 5.22473135] [ 0. 0. 0. 1. ]] SLAMing on 4.345194017 meters Centerline goodness [0,1] 0.9874804381846636 Centerline is valid? [True, True] Translation: X:0.36, Y:0.41, Z:5.25 [[-0.03626195 0.75640866 0.65309342 0.35842265] [-0.15811152 -0.64963436 0.74362352 0.40540209] [ 0.9867552 -0.07629636 0.14315393 5.25316389] [ 0. 0. 0. 1. ]] SLAMing on 4.375194016999999 meters Centerline goodness [0,1] 0.9908215804790688 Centerline is valid? [True, True] Translation: X:0.25, Y:0.36, Z:5.27 [[-6.54735448e-02 7.48316275e-01 6.60102998e-01 2.54009670e-01] [-7.49000684e-02 -6.63341747e-01 7.44558733e-01 3.59802354e-01] [ 9.95039293e-01 -6.92860164e-04 9.94802758e-02 5.27415881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4051940169999995 meters Centerline goodness [0,1] 0.9901719901719902 Centerline is valid? [True, True] Translation: X:0.32, Y:0.39, Z:5.32 [[-0.04718347 0.7497067 0.66008604 0.31786331] [-0.11706275 -0.66041859 0.74171666 0.3878943 ] [ 0.99200304 -0.04227472 0.11892357 5.31531303] [ 0. 0. 0. 1. ]] SLAMing on 4.435194017 meters Centerline goodness [0,1] 0.977787649933363 Centerline is valid? [True, True] Translation: X:0.34, Y:0.36, Z:5.35 [[-0.03116216 0.74977509 0.66095858 0.33978903] [-0.18750899 -0.65392437 0.73295518 0.35948191] [ 0.98176846 -0.10109521 0.16096726 5.3501086 ] [ 0. 0. 0. 1. ]] SLAMing on 4.465194016999999 meters Centerline goodness [0,1] 0.9883014623172104 Centerline is valid? [True, True] Translation: X:0.28, Y:0.36, Z:5.38 [[-0.05924229 0.73856817 0.67157085 0.2776696 ] [-0.08790044 -0.6739988 0.73348424 0.35743453] [ 0.99436606 -0.01557809 0.1048497 5.37825086] [ 0. 0. 0. 1. ]] SLAMing on 4.495194016999999 meters Centerline goodness [0,1] 0.9690814714511397 Centerline is valid? [True, True] Translation: X:0.40, Y:0.37, Z:5.43 [[-0.02303154 0.74500979 0.66665581 0.40375358] [-0.21383229 -0.65507187 0.7246769 0.37191403] [ 0.97659884 -0.12586211 0.17439446 5.43457333] [ 0. 0. 0. 1. ]] SLAMing on 4.525194017 meters Centerline goodness [0,1] 0.9507499440340273 Centerline is valid? [True, True] Translation: X:0.53, Y:0.35, Z:5.48 [[-0.00629878 0.73589349 0.67706802 0.53292559] [-0.28938564 -0.64945114 0.70318502 0.35111015] [ 0.95719187 -0.19150456 0.21704776 5.4820877 ] [ 0. 0. 0. 1. ]] SLAMing on 4.555194017 meters Centerline goodness [0,1] 0.9845313921747043 Centerline is valid? [True, True] Translation: X:0.37, Y:0.34, Z:5.50 [[-0.04317068 0.71730768 0.69541785 0.37268658] [-0.15851378 -0.69216752 0.7041147 0.344839 ] [ 0.98641253 -0.0798362 0.14358449 5.5034371 ] [ 0. 0. 0. 1. ]] SLAMing on 4.585194016999999 meters Centerline goodness [0,1] 0.9829375144108831 Centerline is valid? [True, True] Translation: X:0.37, Y:0.34, Z:5.54 [[-0.04624212 0.7139706 0.69864701 0.36788013] [-0.15547015 -0.69601654 0.70099216 0.33592368] [ 0.98675767 -0.07620339 0.1431864 5.53662678] [ 0. 0. 0. 1. ]] SLAMing on 4.615194016999999 meters Centerline goodness [0,1] 0.9643582224227385 Centerline is valid? [True, True] Translation: X:0.51, Y:0.35, Z:5.59 [[-0.02262298 0.71670817 0.69700617 0.51174156] [-0.24719481 -0.67954687 0.69073206 0.3519673 ] [ 0.96870167 -0.15666989 0.19253991 5.58869798] [ 0. 0. 0. 1. ]] SLAMing on 4.645194017 meters Centerline goodness [0,1] 0.9744 Centerline is valid? [True, True] Translation: X:0.45, Y:0.32, Z:5.62 [[-0.03489988 0.70396905 0.70937266 0.44769491] [-0.2084215 -0.69932472 0.68374368 0.32403835] [ 0.97741622 -0.12398594 0.17112864 5.61937124] [ 0. 0. 0. 1. ]] SLAMing on 4.675194016999999 meters Centerline goodness [0,1] 0.986731843575419 Centerline is valid? [True, True] Translation: X:0.43, Y:0.33, Z:5.65 [[-0.04657474 0.69503867 0.71746222 0.43460299] [-0.17395976 -0.71291 0.67933595 0.32947749] [ 0.98365075 -0.09316966 0.15411236 5.65470821] [ 0. 0. 0. 1. ]] SLAMing on 4.705194016999999 meters Centerline goodness [0,1] 0.9815031608522594 Centerline is valid? [True, True] Translation: X:0.35, Y:0.29, Z:5.68 [[-0.06199283 0.68658079 0.72440576 0.35377863] [-0.13323659 -0.72499848 0.6757405 0.2894116 ] [ 0.98914352 -0.05462628 0.13642239 5.68125744] [ 0. 0. 0. 1. ]] SLAMing on 4.7351940169999995 meters Centerline goodness [0,1] 0.9787829330846352 Centerline is valid? [True, True] Translation: X:0.45, Y:0.29, Z:5.73 [[-0.04541514 0.68803016 0.7242596 0.44549464] [-0.21611668 -0.71460506 0.66530684 0.28842282] [ 0.97531074 -0.12630958 0.18114868 5.72726798] [ 0. 0. 0. 1. ]] SLAMing on 4.765194017 meters Centerline goodness [0,1] 0.988126335787224 Centerline is valid? [True, True] Translation: X:0.38, Y:0.29, Z:5.76 [[-0.07017225 0.67090697 0.73821385 0.37910582] [-0.11321791 -0.74061276 0.66232503 0.28982483] [ 0.99108908 -0.03710219 0.12792915 5.7554404 ] [ 0. 0. 0. 1. ]] SLAMing on 4.795194016999999 meters Centerline goodness [0,1] 0.988126335787224 Centerline is valid? [True, True] Translation: X:0.38, Y:0.29, Z:5.79 [[-0.07078764 0.66802737 0.74076214 0.37911029] [-0.11274813 -0.74322438 0.65947357 0.28559105] [ 0.99109887 -0.03683696 0.12792994 5.7894108 ] [ 0. 0. 0. 1. ]] SLAMing on 4.825194016999999 meters Centerline goodness [0,1] 0.9576388888888889 Centerline is valid? [True, True] Translation: X:0.40, Y:-1.38, Z:5.82 [[-0.23629862 -0.86581497 0.4410526 0.40064189] [-0.02747521 -0.44777193 -0.89372558 -1.37527225] [ 0.97129196 -0.22330414 0.08201945 5.81611668] [ 0. 0. 0. 1. ]] SLAMing on 4.855194017 meters Centerline goodness [0,1] 0.9755196304849885 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.73, Z:5.99 [[-0.10882764 -0.38283131 0.91738581 0.81028188] [-0.06170689 -0.91848558 -0.39061042 -0.72543282] [ 0.99214354 -0.09911824 0.07633329 5.99023219] [ 0. 0. 0. 1. ]] SLAMing on 4.885194016999999 meters Centerline goodness [0,1] 0.987505784359093 Centerline is valid? [True, True] Translation: X:-0.23, Y:-1.43, Z:6.06 [[-0.03156101 -0.95455038 -0.29637388 -0.22886618] [ 0.05833677 0.29425686 -0.9539443 -1.4278343 ] [ 0.99779794 -0.04739694 0.04639834 6.05847308] [ 0. 0. 0. 1. ]] SLAMing on 4.915194016999999 meters Centerline goodness [0,1] 0.9733301864526788 Centerline is valid? [True, True] Translation: X:-0.40, Y:-1.45, Z:6.10 [[-0.07880622 -0.9162401 -0.39280232 -0.401243 ] [ 0.14018521 0.37992703 -0.9143323 -1.44895059] [ 0.98698414 -0.12712014 0.0985027 6.10476993] [ 0. 0. 0. 1. ]] SLAMing on 4.9451940169999995 meters Centerline goodness [0,1] 0.9834593572778828 Centerline is valid? [True, True] Translation: X:-0.51, Y:-1.43, Z:6.14 [[-0.06231972 -0.87338947 -0.48301873 -0.50902362] [ 0.13943777 0.47159392 -0.8707217 -1.43083422] [ 0.98826786 -0.12161419 0.09239387 6.14320275] [ 0. 0. 0. 1. ]] SLAMing on 4.975194017 meters Centerline goodness [0,1] 0.9877039489240955 Centerline is valid? [True, True] Translation: X:-0.46, Y:-1.39, Z:6.17 [[-0.0213386 -0.85484055 -0.51845183 -0.45727282] [ 0.07626481 0.51566714 -0.853388 -1.38841139] [ 0.99685924 -0.05774973 0.05419063 6.17415182] [ 0. 0. 0. 1. ]] SLAMing on 5.005194016999999 meters Centerline goodness [0,1] 0.9611947318908749 Centerline is valid? [True, True] Translation: X:-0.54, Y:-1.40, Z:6.31 [[-0.01235997 -0.85383524 -0.52039659 -0.5357674 ] [ 0.1366092 0.51411461 -0.84677275 -1.39611916] [ 0.99054791 -0.08155705 0.11028731 6.30692564] [ 0. 0. 0. 1. ]] SLAMing on 5.035194016999999 meters Centerline goodness [0,1] 0.9806616961789376 Centerline is valid? [True, True] Translation: X:-1.10, Y:-0.44, Z:6.40 [[ 0.15193941 0.19244095 -0.96947455 -1.10136689] [ 0.08570182 0.97460326 0.20689049 -0.43736503] [ 0.98466726 -0.11452055 0.13158811 6.39735564] [ 0. 0. 0. 1. ]] SLAMing on 5.065194017 meters Centerline goodness [0,1] 0.9653070792311299 Centerline is valid? [True, True] Translation: X:-1.14, Y:-0.36, Z:6.45 [[ 0.19928684 0.19512428 -0.96031832 -1.13716137] [ 0.1337632 0.96538618 0.22391277 -0.3602687 ] [ 0.97076885 -0.17307812 0.16628832 6.44529876] [ 0. 0. 0. 1. ]] SLAMing on 5.095194016999999 meters Centerline goodness [0,1] 0.9853822190270788 Centerline is valid? [True, True] Translation: X:-1.09, Y:-0.41, Z:6.49 [[ 0.14704398 0.24108155 -0.95930066 -1.09473265] [ 0.0714804 0.96471719 0.25339947 -0.4090133 ] [ 0.98654377 -0.10583206 0.12462325 6.4853795 ] [ 0. 0. 0. 1. ]] SLAMing on 5.125194016999999 meters Centerline goodness [0,1] 0.994783021105051 Centerline is valid? [True, True] Translation: X:-1.04, Y:-0.48, Z:6.51 [[ 5.58301721e-02 2.81845131e-01 -9.57834179e-01 -1.03794112e+00] [-1.53437975e-02 9.59459374e-01 2.81428991e-01 -4.77786630e-01] [ 9.98322373e-01 -1.01541528e-03 5.78913566e-02 6.51363341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1551940169999995 meters Centerline goodness [0,1] 0.9914853358561968 Centerline is valid? [True, True] Translation: X:-1.02, Y:-0.48, Z:6.55 [[ 5.25916831e-02 2.88376647e-01 -9.56071663e-01 -1.02426196e+00] [-1.61544479e-02 9.57517007e-01 2.87923976e-01 -4.82419533e-01] [ 9.98485427e-01 3.02403376e-04 5.50159965e-02 6.54995703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.185194017 meters Centerline goodness [0,1] 0.9909545346346108 Centerline is valid? [True, True] Translation: X:-1.04, Y:-0.46, Z:6.59 [[ 6.03755189e-02 3.05633599e-01 -9.50233077e-01 -1.03824896e+00] [ 9.51251343e-04 9.51951673e-01 3.06246809e-01 -4.64756485e-01] [ 9.98175281e-01 -1.93937205e-02 5.71838418e-02 6.58683142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.215194016999999 meters Centerline goodness [0,1] 0.9878729080766432 Centerline is valid? [True, True] Translation: X:-1.04, Y:-0.45, Z:6.62 [[ 5.61752102e-02 3.17654325e-01 -9.46541111e-01 -1.03977770e+00] [-5.68879487e-03 9.48124578e-01 3.17848110e-01 -4.49738786e-01] [ 9.98404719e-01 -1.24705062e-02 5.50681678e-02 6.62457422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.245194016999999 meters Centerline goodness [0,1] 0.9898721967687485 Centerline is valid? [True, True] Translation: X:-1.03, Y:-0.44, Z:6.66 [[ 5.93762026e-02 3.31075987e-01 -9.41734122e-01 -1.03335727e+00] [-4.48253750e-03 9.43477501e-01 3.31406265e-01 -4.42369511e-01] [ 9.98225612e-01 -1.54562870e-02 5.75041717e-02 6.66223224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.275194017 meters Centerline goodness [0,1] 0.9875609756097561 Centerline is valid? [True, True] Translation: X:-1.05, Y:-0.39, Z:6.70 [[ 0.08571669 0.34659396 -0.93409061 -1.05412395] [ 0.01646375 0.93692043 0.34915476 -0.39087512] [ 0.99618351 -0.04530702 0.07460348 6.70316434] [ 0. 0. 0. 1. ]] SLAMing on 5.305194016999999 meters Centerline goodness [0,1] 0.9927378358750908 Centerline is valid? [True, True] Translation: X:-1.01, Y:-0.42, Z:6.74 [[ 4.29094911e-02 3.67780683e-01 -9.28922034e-01 -1.01025115e+00] [-1.93246842e-02 9.29909978e-01 3.67279171e-01 -4.17284940e-01] [ 9.98892052e-01 2.19136258e-03 4.70092095e-02 6.73526537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.335194016999999 meters Centerline goodness [0,1] 0.9866380338821283 Centerline is valid? [True, True] Translation: X:-1.01, Y:-0.41, Z:6.77 [[ 4.53579322e-02 3.78430463e-01 -9.24517735e-01 -1.00512318e+00] [-1.78505604e-02 9.25629500e-01 3.78009770e-01 -4.11063669e-01] [ 9.98811301e-01 -6.42581804e-04 4.87398360e-02 6.77246446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.365194016999999 meters Centerline goodness [0,1] 0.9931312174324964 Centerline is valid? [True, True] Translation: X:-1.05, Y:-0.34, Z:6.81 [[ 0.08312752 0.38708521 -0.91828909 -1.04588334] [ 0.01896956 0.9206968 0.38981733 -0.34181066] [ 0.99635835 -0.04982409 0.06919241 6.81472461] [ 0. 0. 0. 1. ]] SLAMing on 5.395194017 meters Centerline goodness [0,1] 0.9927823050058208 Centerline is valid? [True, True] Translation: X:-1.03, Y:-0.34, Z:6.85 [[ 5.67339032e-02 4.08343178e-01 -9.11063726e-01 -1.02856896e+00] [-2.78786904e-03 9.12594749e-01 4.08855784e-01 -3.44433905e-01] [ 9.98385443e-01 -2.06560581e-02 5.29134694e-02 6.85386957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.425194016999999 meters Centerline goodness [0,1] 0.9946097961096789 Centerline is valid? [True, True] Translation: X:-1.01, Y:-0.35, Z:6.89 [[ 0.03141729 0.4298723 -0.90234293 -1.01241133] [-0.02416598 0.90285137 0.42927312 -0.34766729] [ 0.99921417 0.00831941 0.03875343 6.89047857] [ 0. 0. 0. 1. ]] SLAMing on 5.455194016999999 meters Centerline goodness [0,1] 0.991608726923999 Centerline is valid? [True, True] Translation: X:-0.98, Y:-0.35, Z:6.93 [[ 3.45843545e-02 4.47492568e-01 -8.93618668e-01 -9.78748173e-01] [-2.02682042e-02 8.94283720e-01 4.47041193e-01 -3.51727920e-01] [ 9.99196238e-01 2.65141458e-03 3.99980959e-02 6.92503209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4851940169999995 meters Centerline goodness [0,1] 0.9894366197183099 Centerline is valid? [True, True] Translation: X:-1.00, Y:-0.29, Z:6.96 [[ 0.09279428 0.45376345 -0.88627758 -0.9954477 ] [ 0.01569392 0.88934104 0.45697507 -0.28857771] [ 0.99556161 -0.05631384 0.07540443 6.96495989] [ 0. 0. 0. 1. ]] SLAMing on 5.515194017 meters Centerline goodness [0,1] 0.9912983741699107 Centerline is valid? [True, True] Translation: X:-0.97, Y:-0.30, Z:7.00 [[ 7.46064414e-02 4.70316936e-01 -8.79338307e-01 -9.68187938e-01] [ 4.29149809e-03 8.81636231e-01 4.71910096e-01 -3.02364749e-01] [ 9.97203822e-01 -3.89812116e-02 6.37573776e-02 6.99753696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.545194016999999 meters Centerline goodness [0,1] 0.987846049966239 Centerline is valid? [True, True] Translation: X:-0.95, Y:-0.29, Z:7.03 [[ 0.09055782 0.47866956 -0.8733125 -0.94981279] [ 0.01264596 0.87629218 0.48161406 -0.29269007] [ 0.99581091 -0.0546578 0.07330188 7.03114861] [ 0. 0. 0. 1. ]] SLAMing on 5.575194016999999 meters Centerline goodness [0,1] 0.9858712715855573 Centerline is valid? [True, True] Translation: X:-0.94, Y:-0.31, Z:7.06 [[ 0.05562179 0.49127002 -0.86922953 -0.93742643] [-0.01132056 0.8708316 0.49145108 -0.3133937 ] [ 0.99838773 -0.01749522 0.05399866 7.06357525] [ 0. 0. 0. 1. ]] SLAMing on 5.605194017 meters Centerline goodness [0,1] 0.9840771473424534 Centerline is valid? [True, True] Translation: X:-0.93, Y:-0.30, Z:7.10 [[ 7.10132315e-02 4.98648482e-01 -8.63890510e-01 -9.32967220e-01] [-4.76350018e-03 8.66236688e-01 4.99611158e-01 -2.97989979e-01] [ 9.97463999e-01 -3.13638602e-02 6.38895786e-02 7.09851819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.635194016999999 meters Centerline goodness [0,1] 0.9923144488361879 Centerline is valid? [True, True] Translation: X:-0.94, Y:-0.29, Z:7.13 [[ 0.04410028 0.50947185 -0.8593565 -0.94336273] [-0.01655072 0.86044791 0.50926955 -0.28880315] [ 0.99889 -0.00823596 0.04637812 7.13323469] [ 0. 0. 0. 1. ]] SLAMing on 5.665194016999999 meters Centerline goodness [0,1] 0.9909208819714657 Centerline is valid? [True, True] Translation: X:-0.95, Y:-0.26, Z:7.17 [[ 0.06595137 0.51645002 -0.85377385 -0.94586146] [-0.00786301 0.85587913 0.51711612 -0.26209981] [ 0.99779186 -0.02739129 0.06050725 7.17117136] [ 0. 0. 0. 1. ]] SLAMing on 5.6951940169999995 meters Centerline goodness [0,1] 0.9880188275566966 Centerline is valid? [True, True] Translation: X:-0.95, Y:-0.19, Z:7.22 [[ 0.12943904 0.52028142 -0.84412841 -0.95101481] [ 0.018789 0.84985025 0.52668921 -0.19385655] [ 0.99140935 -0.08403448 0.10022823 7.21653715] [ 0. 0. 0. 1. ]] SLAMing on 5.725194017 meters Centerline goodness [0,1] 0.983634431455898 Centerline is valid? [True, True] Translation: X:-0.92, Y:-0.22, Z:7.25 [[ 1.04732852e-01 5.48910038e-01 -8.29294157e-01 -9.22332057e-01] [ 1.76005155e-04 8.33869928e-01 5.51960970e-01 -2.17572663e-01] [ 9.94500376e-01 -5.79544066e-02 8.72369647e-02 7.25109807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.755194016999999 meters Centerline goodness [0,1] 0.9912355707567336 Centerline is valid? [True, True] Translation: X:-0.91, Y:-0.23, Z:7.29 [[ 0.07382031 0.56389491 -0.82254063 -0.90849226] [-0.01735559 0.82539253 0.56429243 -0.23007714] [ 0.99712053 -0.02738056 0.07071746 7.28502447] [ 0. 0. 0. 1. ]] SLAMing on 5.785194016999999 meters Centerline goodness [0,1] 0.9912598593050522 Centerline is valid? [True, True] Translation: X:-0.91, Y:-0.21, Z:7.32 [[ 0.07329845 0.57166527 -0.81720631 -0.9138791 ] [-0.0191881 0.82006718 0.57194549 -0.21130135] [ 0.99712545 -0.02624209 0.07107882 7.32227934] [ 0. 0. 0. 1. ]] SLAMing on 5.815194017 meters Centerline goodness [0,1] 0.990032502708559 Centerline is valid? [True, True] Translation: X:-0.90, Y:-0.21, Z:7.36 [[ 0.09193742 0.58044324 -0.80909403 -0.902661 ] [-0.0160947 0.81329536 0.58162842 -0.20840284] [ 0.99563471 -0.04045129 0.08411434 7.35872442] [ 0. 0. 0. 1. ]] SLAMing on 5.845194016999999 meters Centerline goodness [0,1] 0.9918195887685165 Centerline is valid? [True, True] Translation: X:-0.91, Y:-0.19, Z:7.40 [[ 0.0847631 0.59236041 -0.80120183 -0.90763524] [-0.02350144 0.80506052 0.59272696 -0.18970411] [ 0.99612394 -0.03141197 0.08216074 7.39707097] [ 0. 0. 0. 1. ]] SLAMing on 5.875194016999999 meters Centerline goodness [0,1] 0.964332892998679 Centerline is valid? [True, True] Translation: X:-0.90, Y:-0.05, Z:7.52 [[ 0.25503193 0.5673175 -0.78301313 -0.89540478] [ 0.03059164 0.80465137 0.59295896 -0.04762877] [ 0.96644858 -0.17517712 0.18785663 7.51690399] [ 0. 0. 0. 1. ]] SLAMing on 5.9051940169999995 meters Centerline goodness [0,1] 0.9827397858859515 Centerline is valid? [True, True] Translation: X:-0.76, Y:0.08, Z:7.56 [[ 0.13990372 0.80024753 -0.58312163 -0.75564468] [-0.04863807 0.59375672 0.80317327 0.08419162] [ 0.98896981 -0.08400501 0.12199127 7.55662328] [ 0. 0. 0. 1. ]] SLAMing on 5.935194017 meters Centerline goodness [0,1] 0.9855491329479769 Centerline is valid? [True, True] Translation: X:-0.75, Y:0.15, Z:7.60 [[ 0.19381343 0.79954817 -0.56847083 -0.74682189] [-0.04230617 0.585731 0.80940063 0.15454617] [ 0.98012578 -0.13282289 0.14734835 7.59890079] [ 0. 0. 0. 1. ]] SLAMing on 5.965194016999999 meters Centerline goodness [0,1] 0.9727705922396188 Centerline is valid? [True, True] Translation: X:-0.70, Y:0.19, Z:7.64 [[ 0.2485021 0.7979062 -0.54917429 -0.704806 ] [-0.04979962 0.57673347 0.81541309 0.19071177] [ 0.96735035 -0.17528319 0.1830549 7.64106409] [ 0. 0. 0. 1. ]] SLAMing on 5.995194016999999 meters Centerline goodness [0,1] 0.9739837398373984 Centerline is valid? [True, True] Translation: X:-0.70, Y:0.19, Z:7.68 [[ 0.22859428 0.81615075 -0.53070012 -0.70418484] [-0.05765005 0.55552628 0.82949806 0.18698273] [ 0.97181332 -0.15902362 0.17404126 7.68347014] [ 0. 0. 0. 1. ]] SLAMing on 6.025194017 meters Centerline goodness [0,1] 0.9612829324169531 Centerline is valid? [True, True] Translation: X:-0.67, Y:0.26, Z:7.73 [[ 0.27518367 0.8161374 -0.50812764 -0.66637055] [-0.05926384 0.54192868 0.83833233 0.25577763] [ 0.95956331 -0.20058177 0.19749736 7.7287717 ] [ 0. 0. 0. 1. ]] SLAMing on 6.055194016999999 meters Centerline goodness [0,1] 0.9844251030691709 Centerline is valid? [True, True] Translation: X:-0.65, Y:0.17, Z:7.77 [[ 0.1858838 0.85062339 -0.49182016 -0.64948129] [-0.07689032 0.51160161 0.85577548 0.17266145] [ 0.97955862 -0.12125859 0.16050315 7.76991427] [ 0. 0. 0. 1. ]] SLAMing on 6.085194016999999 meters Centerline goodness [0,1] 0.9886495251331944 Centerline is valid? [True, True] Translation: X:-0.64, Y:0.15, Z:7.81 [[ 0.13009253 0.87547768 -0.46541891 -0.64336963] [-0.08159043 0.47726854 0.87496156 0.15172062] [ 0.98813913 -0.07585223 0.13351967 7.81039321] [ 0. 0. 0. 1. ]] SLAMing on 6.115194016999999 meters Centerline goodness [0,1] 0.9871736142922584 Centerline is valid? [True, True] Translation: X:-0.63, Y:0.20, Z:7.86 [[ 0.14114522 0.88449651 -0.44468411 -0.63210207] [-0.08734448 0.45855519 0.88436309 0.19647612] [ 0.98612827 -0.08598292 0.14197876 7.8575636 ] [ 0. 0. 0. 1. ]] SLAMing on 6.145194017 meters Centerline goodness [0,1] 0.9848949728581543 Centerline is valid? [True, True] Translation: X:-0.60, Y:0.25, Z:7.90 [[ 0.16783388 0.89406248 -0.41531202 -0.59559406] [-0.09541712 0.43404255 0.89582511 0.24713427] [ 0.98118671 -0.11072193 0.15815592 7.90094932] [ 0. 0. 0. 1. ]] SLAMing on 6.175194016999999 meters Centerline goodness [0,1] 0.9936939121998545 Centerline is valid? [True, True] Translation: X:-0.61, Y:0.18, Z:7.93 [[ 0.06843869 0.91445168 -0.39886624 -0.60735411] [-0.08688472 0.40374778 0.91073529 0.18267701] [ 0.99386478 -0.02767415 0.10708384 7.93307167] [ 0. 0. 0. 1. ]] SLAMing on 6.205194016999999 meters Centerline goodness [0,1] 0.9929934766851897 Centerline is valid? [True, True] Translation: X:-0.59, Y:0.18, Z:7.97 [[ 0.06796641 0.91927821 -0.38769594 -0.59082423] [-0.08897638 0.39263114 0.91538188 0.17714671] [ 0.99371212 -0.02771944 0.10847978 7.96971309] [ 0. 0. 0. 1. ]] SLAMing on 6.2351940169999995 meters Centerline goodness [0,1] 0.9961042123204286 Centerline is valid? [True, True] Translation: X:-0.59, Y:0.21, Z:8.01 [[ 0.0537447 0.92523293 -0.3755736 -0.59042502] [-0.09035963 0.37908039 0.92094147 0.20976533] [ 0.99445797 -0.01555903 0.10397727 8.01236943] [ 0. 0. 0. 1. ]] SLAMing on 6.265194017 meters Centerline goodness [0,1] 0.9910541586073501 Centerline is valid? [True, True] Translation: X:-0.57, Y:0.20, Z:8.05 [[ 0.06161079 0.93312952 -0.35422227 -0.56586359] [-0.09535918 0.35877619 0.92853986 0.20237783] [ 0.99353447 -0.02342973 0.11108695 8.05099274] [ 0. 0. 0. 1. ]] SLAMing on 6.295194016999999 meters Centerline goodness [0,1] 0.9965355110121257 Centerline is valid? [True, True] Translation: X:-0.55, Y:0.21, Z:8.09 [[ 0.04594599 0.94125235 -0.33456386 -0.55107389] [-0.09374839 0.33750232 0.93664477 0.2132593 ] [ 0.99453517 -0.01167024 0.10374777 8.08976485] [ 0. 0. 0. 1. ]] SLAMing on 6.325194016999999 meters Centerline goodness [0,1] 0.9940224159402241 Centerline is valid? [True, True] Translation: X:-0.53, Y:0.22, Z:8.13 [[ 0.04843499 0.94765154 -0.31561149 -0.53075659] [-0.10177221 0.31902009 0.94226779 0.22403348] [ 0.99362793 -0.01351825 0.11189633 8.12996182] [ 0. 0. 0. 1. ]] SLAMing on 6.355194017 meters Centerline goodness [0,1] 0.9932245922208282 Centerline is valid? [True, True] Translation: X:-0.51, Y:0.24, Z:8.17 [[ 0.06044264 0.95335041 -0.29575274 -0.5114022 ] [-0.10488763 0.30072022 0.94792718 0.23851327] [ 0.99264559 -0.02627441 0.11817099 8.17175558] [ 0. 0. 0. 1. ]] SLAMing on 6.385194016999999 meters Centerline goodness [0,1] 0.9951106536284097 Centerline is valid? [True, True] Translation: X:-0.49, Y:0.23, Z:8.21 [[ 0.03801155 0.96083291 -0.27450909 -0.49396537] [-0.09807986 0.27696854 0.95586023 0.23104222] [ 0.99445234 -0.00940992 0.10476636 8.20952371] [ 0. 0. 0. 1. ]] SLAMing on 6.415194016999999 meters Centerline goodness [0,1] 0.9886420999495205 Centerline is valid? [True, True] Translation: X:-0.46, Y:0.33, Z:8.26 [[ 0.10715769 0.96071559 -0.25601326 -0.45926506] [-0.12171914 0.2682353 0.95563292 0.33236846] [ 0.98676323 -0.0712417 0.14568095 8.25748023] [ 0. 0. 0. 1. ]] SLAMing on 6.4451940169999995 meters Centerline goodness [0,1] 0.992656368700937 Centerline is valid? [True, True] Translation: X:-0.45, Y:0.25, Z:8.30 [[ 2.32696224e-02 9.72557580e-01 -2.31495740e-01 -4.48592729e-01] [-1.05573418e-01 2.32654206e-01 9.66812429e-01 2.53316407e-01] [ 9.94139215e-01 1.94243639e-03 1.08090004e-01 8.29600560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.475194017 meters Centerline goodness [0,1] 0.9936548223350253 Centerline is valid? [True, True] Translation: X:-0.41, Y:0.29, Z:8.34 [[ 0.03946701 0.97902016 -0.19990468 -0.40746924] [-0.11786419 0.20322515 0.97201212 0.29470373] [ 0.99224512 -0.01480081 0.12341211 8.33977436] [ 0. 0. 0. 1. ]] SLAMing on 6.505194016999999 meters Centerline goodness [0,1] 0.9902238229997428 Centerline is valid? [True, True] Translation: X:-0.35, Y:0.37, Z:8.39 [[ 0.12238928 0.97667395 -0.17643371 -0.3535584 ] [-0.14309896 0.19327802 0.97065251 0.37001506] [ 0.98211178 -0.09354998 0.16341619 8.38695655] [ 0. 0. 0. 1. ]] SLAMing on 6.535194016999999 meters Centerline goodness [0,1] 0.9934878874706955 Centerline is valid? [True, True] Translation: X:-0.37, Y:0.27, Z:8.42 [[ 6.76928659e-04 9.88445520e-01 -1.51575051e-01 -3.70405883e-01] [-1.07521896e-01 1.50768305e-01 9.82704411e-01 2.74032268e-01] [ 9.94202486e-01 1.56324160e-02 1.06381595e-01 8.42220014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.565194017 meters Centerline goodness [0,1] 0.9932274029695233 Centerline is valid? [True, True] Translation: X:-0.35, Y:0.28, Z:8.46 [[-0.00999091 0.9917462 -0.12782669 -0.34746427] [-0.10325602 0.1261265 0.98662571 0.28349082] [ 0.99460463 0.02305617 0.10114365 8.46433482] [ 0. 0. 0. 1. ]] SLAMing on 6.595194016999999 meters Centerline goodness [0,1] 0.9927329353750325 Centerline is valid? [True, True] Translation: X:-0.32, Y:0.28, Z:8.50 [[-7.93245045e-03 9.94448479e-01 -1.04925206e-01 -3.22239365e-01] [-1.08999691e-01 1.03443392e-01 9.88644796e-01 2.80663381e-01] [ 9.94010133e-01 1.92791909e-02 1.07574017e-01 8.50289957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.625194016999999 meters Centerline goodness [0,1] 0.9890167364016736 Centerline is valid? [True, True] Translation: X:-1.09, Y:-0.72, Z:8.58 [[ 1.10130128e-01 -2.65184985e-03 -9.93913639e-01 -1.09324627e+00] [-4.06414157e-02 9.99148077e-01 -7.16906855e-03 -7.22714593e-01] [ 9.93085913e-01 4.11835878e-02 1.09928531e-01 8.58188424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6551940169999995 meters Centerline goodness [0,1] 0.9916689062080086 Centerline is valid? [True, True] Translation: X:-0.22, Y:0.34, Z:8.77 [[ 0.04262257 0.99831949 -0.03926203 -0.2239054 ] [-0.20515826 0.04720586 0.97758974 0.34016696] [ 0.97780029 -0.03361246 0.20682553 8.76657697] [ 0. 0. 0. 1. ]] SLAMing on 6.685194017 meters Centerline goodness [0,1] 0.9936406995230525 Centerline is valid? [True, True] Translation: X:-0.22, Y:0.32, Z:8.80 [[ 0.02169136 0.99932597 -0.02961567 -0.22189415] [-0.19833627 0.03333518 0.97956699 0.31500836] [ 0.97989398 -0.01537428 0.19892567 8.80238732] [ 0. 0. 0. 1. ]] SLAMing on 6.715194016999999 meters Centerline goodness [0,1] 0.9936406995230525 Centerline is valid? [True, True] Translation: X:-0.21, Y:0.31, Z:8.84 [[ 0.01958756 0.99960767 -0.02002082 -0.21311106] [-0.19854941 0.0235149 0.97980875 0.31111775] [ 0.97989513 -0.01521695 0.19893211 8.84131761] [ 0. 0. 0. 1. ]] SLAMing on 6.745194016999999 meters Centerline goodness [0,1] 0.9957424161788185 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.25, Z:8.87 [[-3.15194206e-02 9.99460123e-01 -9.27304378e-03 -2.28038458e-01] [-1.74749066e-01 3.62426495e-03 9.84606332e-01 2.45940450e-01] [ 9.84108373e-01 3.26546769e-02 1.74540489e-01 8.86854150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.775194017 meters Centerline goodness [0,1] 0.9954435808094345 Centerline is valid? [True, True] Translation: X:-0.22, Y:0.27, Z:8.91 [[-1.43485338e-02 9.99892376e-01 -3.05891209e-03 -2.16069860e-01] [-1.85835502e-01 3.39197851e-04 9.82580812e-01 2.70716476e-01] [ 9.82476099e-01 1.46670485e-02 1.85810634e-01 8.91133568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.805194016999999 meters Centerline goodness [0,1] 0.9892008639308856 Centerline is valid? [True, True] Translation: X:-0.18, Y:0.34, Z:8.96 [[ 3.65846897e-02 9.99310481e-01 6.33427726e-03 -1.75834925e-01] [-2.11786347e-01 1.55862991e-03 9.77314747e-01 3.41263648e-01] [ 9.76630997e-01 -3.70962701e-02 2.11697338e-01 8.96350325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.835194016999999 meters Centerline goodness [0,1] 0.992997576084029 Centerline is valid? [True, True] Translation: X:-0.13, Y:0.37, Z:9.01 [[ 8.36726206e-02 9.96326255e-01 1.82451877e-02 -1.33038804e-01] [-2.41960984e-01 2.55189601e-03 9.70282624e-01 3.65048185e-01] [ 9.66671493e-01 -8.56007134e-02 2.41285605e-01 9.01143285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.865194016999999 meters Centerline goodness [0,1] 0.9829083016820401 Centerline is valid? [True, True] Translation: X:-0.18, Y:0.24, Z:9.03 [[-0.02268054 0.99913839 0.03475726 -0.18238588] [-0.18731184 -0.03839739 0.98154975 0.23641271] [ 0.98203863 0.01575163 0.18802132 9.03231643] [ 0. 0. 0. 1. ]] SLAMing on 6.895194017 meters Centerline goodness [0,1] 0.9874385581649372 Centerline is valid? [True, True] Translation: X:-0.13, Y:0.34, Z:9.09 [[ 0.0424901 0.99818076 0.04277577 -0.13261317] [-0.21904767 -0.03246552 0.97517388 0.33555974] [ 0.97478855 -0.05080517 0.21726971 9.08957918] [ 0. 0. 0. 1. ]] SLAMing on 6.925194016999999 meters Centerline goodness [0,1] 0.9843667196608373 Centerline is valid? [True, True] Translation: X:-0.10, Y:0.37, Z:9.14 [[ 0.09445208 0.99397625 0.05558802 -0.09926972] [-0.25017629 -0.03034703 0.96772459 0.36977381] [ 0.96358218 -0.10531041 0.24580295 9.1382685 ] [ 0. 0. 0. 1. ]] SLAMing on 6.955194016999999 meters Centerline goodness [0,1] 0.9915692140331792 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.32, Z:9.17 [[ 0.03881634 0.99676458 0.07038231 -0.11984043] [-0.22064252 -0.06014713 0.97349843 0.32420148] [ 0.97458205 -0.05331697 0.21759396 9.1735156 ] [ 0. 0. 0. 1. ]] SLAMing on 6.9851940169999995 meters Centerline goodness [0,1] 0.9907759088442757 Centerline is valid? [True, True] Translation: X:-0.10, Y:0.33, Z:9.22 [[ 0.0509634 0.99532404 0.08205359 -0.10242226] [-0.22630091 -0.06851425 0.97164484 0.32616924] [ 0.97272331 -0.06808713 0.22175102 9.21861377] [ 0. 0. 0. 1. ]] SLAMing on 7.015194016999999 meters Centerline goodness [0,1] 0.9880389429763561 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.24, Z:9.24 [[-0.03386058 0.99468558 0.09723196 -0.1522324 ] [-0.17353485 -0.10166144 0.97956654 0.23648281] [ 0.98424546 0.01629556 0.17605493 9.24458615] [ 0. 0. 0. 1. ]] SLAMing on 7.045194016999999 meters Centerline goodness [0,1] 0.987012987012987 Centerline is valid? [True, True] Translation: X:-0.09, Y:0.29, Z:9.30 [[ 0.0487395 0.99328022 0.10497077 -0.09217496] [-0.23096844 -0.09103889 0.96869267 0.29085772] [ 0.9717397 -0.07145853 0.2249792 9.29515649] [ 0. 0. 0. 1. ]] SLAMing on 7.075194016999999 meters Centerline goodness [0,1] 0.9814865985078751 Centerline is valid? [True, True] Translation: X:-0.08, Y:0.32, Z:9.34 [[ 0.05461724 0.99145731 0.11844559 -0.07685914] [-0.23086595 -0.10286946 0.96753232 0.31846019] [ 0.97145142 -0.080189 0.22327529 9.34114516] [ 0. 0. 0. 1. ]] SLAMing on 7.105194017 meters Centerline goodness [0,1] 0.9895124716553289 Centerline is valid? [True, True] Translation: X:-0.06, Y:0.31, Z:9.38 [[ 0.06192311 0.98962555 0.12964108 -0.05775536] [-0.23684649 -0.11161017 0.96511497 0.3126776 ] [ 0.96957169 -0.09046795 0.22747809 9.38202023] [ 0. 0. 0. 1. ]] SLAMing on 7.135194016999999 meters Centerline goodness [0,1] 0.9813318473112288 Centerline is valid? [True, True] Translation: X:-0.02, Y:0.36, Z:9.43 [[ 0.10186212 0.98488581 0.1400859 -0.0155123 ] [-0.26124575 -0.10939223 0.9590537 0.35732227] [ 0.95988268 -0.13428809 0.24615431 9.43310947] [ 0. 0. 0. 1. ]] SLAMing on 7.165194016999999 meters Centerline goodness [0,1] 0.9649268157967412 Centerline is valid? [True, True] Translation: X:0.03, Y:0.37, Z:9.48 [[ 0.13894586 0.97851165 0.15234498 0.03133797] [-0.29553744 -0.10585465 0.94944848 0.36648055] [ 0.94517282 -0.17694558 0.27447877 9.48159432] [ 0. 0. 0. 1. ]] SLAMing on 7.1951940169999995 meters Centerline goodness [0,1] 0.9856867602532342 Centerline is valid? [True, True] Translation: X:-0.06, Y:0.28, Z:9.51 [[ 0.04063909 0.98470526 0.16942257 -0.05997872] [-0.22173244 -0.15644688 0.96247551 0.2798291 ] [ 0.97426033 -0.07668061 0.21198324 9.5069084 ] [ 0. 0. 0. 1. ]] SLAMing on 7.225194016999999 meters Centerline goodness [0,1] 0.9633841886269071 Centerline is valid? [True, True] Translation: X:0.05, Y:0.39, Z:9.57 [[ 0.14090702 0.97432293 0.1756133 0.04894774] [-0.29462479 -0.12807821 0.94699113 0.39034594] [ 0.94516742 -0.18517773 0.26901257 9.57233316] [ 0. 0. 0. 1. ]] SLAMing on 7.255194016999999 meters Centerline goodness [0,1] 0.9518518518518518 Centerline is valid? [True, True] Translation: X:0.07, Y:0.32, Z:9.61 [[ 0.16304757 0.96760836 0.19274221 0.07184198] [-0.32187415 -0.13250019 0.93746506 0.31829497] [ 0.9326374 -0.21489014 0.28984428 9.60723035] [ 0. 0. 0. 1. ]] SLAMing on 7.285194016999999 meters Centerline goodness [0,1] 0.961877667140825 Centerline is valid? [True, True] Translation: X:0.08, Y:0.32, Z:9.65 [[ 0.15003629 0.96688166 0.20646785 0.08282864] [-0.31835379 -0.15046308 0.93595498 0.31682696] [ 0.93602349 -0.20615704 0.28523551 9.65190512] [ 0. 0. 0. 1. ]] SLAMing on 7.315194017 meters Centerline goodness [0,1] 0.9710674157303371 Centerline is valid? [True, True] Translation: X:0.13, Y:0.37, Z:9.71 [[ 0.1453604 0.96453998 0.22030203 0.12505678] [-0.30530611 -0.16807054 0.9373049 0.37012098] [ 0.94109433 -0.20350657 0.27004915 9.70753864] [ 0. 0. 0. 1. ]] SLAMing on 7.345194016999999 meters Centerline goodness [0,1] 0.9500283929585462 Centerline is valid? [True, True] Translation: X:0.17, Y:0.31, Z:9.75 [[ 0.19254788 0.95368045 0.23112531 0.16707855] [-0.35957262 -0.15058019 0.92088715 0.3141013 ] [ 0.91303497 -0.2604212 0.31392348 9.74926318] [ 0. 0. 0. 1. ]] SLAMing on 7.375194016999999 meters Centerline goodness [0,1] 0.9621542940320232 Centerline is valid? [True, True] Translation: X:0.19, Y:0.38, Z:9.81 [[ 0.17576629 0.95261841 0.24824257 0.19287967] [-0.33813134 -0.1784056 0.9240339 0.37887922] [ 0.92453957 -0.2463526 0.29075245 9.80777231] [ 0. 0. 0. 1. ]] SLAMing on 7.4051940169999995 meters Centerline goodness [0,1] 0.9722140976893828 Centerline is valid? [True, True] Translation: X:0.19, Y:0.39, Z:9.86 [[ 0.15608408 0.95162827 0.26465335 0.1897128 ] [-0.32266115 -0.20411538 0.92424385 0.39035695] [ 0.93355639 -0.22965311 0.27519431 9.85792139] [ 0. 0. 0. 1. ]] SLAMing on 7.435194017 meters Centerline goodness [0,1] 0.9658144211433496 Centerline is valid? [True, True] Translation: X:0.30, Y:0.31, Z:9.90 [[ 0.20362603 0.93909421 0.2768366 0.29694282] [-0.368943 -0.18831282 0.91017545 0.31204874] [ 0.90687238 -0.28747234 0.30812684 9.89986427] [ 0. 0. 0. 1. ]] SLAMing on 7.465194016999999 meters Centerline goodness [0,1] 0.9858323494687131 Centerline is valid? [True, True] Translation: X:0.13, Y:0.34, Z:9.94 [[ 0.07882408 0.95132275 0.29794594 0.12799846] [-0.25994839 -0.26892123 0.92742019 0.34450982] [ 0.96239992 -0.15055361 0.22609735 9.94358428] [ 0. 0. 0. 1. ]] SLAMing on 7.495194016999999 meters Centerline goodness [0,1] 0.986053412462908 Centerline is valid? [True, True] Translation: X:0.12, Y:0.28, Z:9.98 [[ 0.06807643 0.9469559 0.31407026 0.11756693] [-0.26009293 -0.28706985 0.9219233 0.2800321 ] [ 0.96318081 -0.1444487 0.22675384 9.97613516] [ 0. 0. 0. 1. ]] SLAMing on 7.525194017 meters Centerline goodness [0,1] 0.9835148660582868 Centerline is valid? [True, True] Translation: X:0.13, Y:0.28, Z:10.02 [[ 0.07072465 0.94274307 0.32593487 0.12896879] [-0.26138224 -0.29782019 0.91814076 0.27824347] [ 0.96264082 -0.15012877 0.22535307 10.0195307 ] [ 0. 0. 0. 1. ]] SLAMing on 7.555194016999999 meters Centerline goodness [0,1] 0.9856502242152466 Centerline is valid? [True, True] Translation: X:0.17, Y:0.27, Z:10.06 [[ 0.09294675 0.93746284 0.33544645 0.17474187] [-0.29054931 -0.2967039 0.9096966 0.26795753] [ 0.95233502 -0.18201708 0.24480152 10.0627355 ] [ 0. 0. 0. 1. ]] SLAMing on 7.585194016999999 meters Centerline goodness [0,1] 0.9791603745092117 Centerline is valid? [True, True] Translation: X:0.05, Y:0.22, Z:10.09 [[-0.01531968 0.93553716 0.35289592 0.05456081] [-0.17187146 -0.35014804 0.92079127 0.215112 ] [ 0.98500026 -0.04654651 0.16615629 10.0887072 ] [ 0. 0. 0. 1. ]] SLAMing on 7.615194016999999 meters Centerline goodness [0,1] 0.9824182603331277 Centerline is valid? [True, True] Translation: X:0.05, Y:0.20, Z:10.13 [[-0.01757292 0.93242561 0.36093446 0.05178529] [-0.17073797 -0.35848642 0.91778867 0.20011534] [ 0.98515975 -0.04549699 0.16550011 10.12635497] [ 0. 0. 0. 1. ]] SLAMing on 7.645194017 meters Centerline goodness [0,1] 0.9864945978391356 Centerline is valid? [True, True] Translation: X:0.07, Y:0.20, Z:10.17 [[-0.01641999 0.92874586 0.37035323 0.06921534] [-0.17303814 -0.3674537 0.91380281 0.20485272] [ 0.98477824 -0.0490806 0.16674204 10.16772671] [ 0. 0. 0. 1. ]] SLAMing on 7.675194016999999 meters Centerline goodness [0,1] 0.9751846381093058 Centerline is valid? [True, True] Translation: X:0.11, Y:0.22, Z:10.21 [[ 0.02899428 0.92566301 0.37723643 0.11272486] [-0.23303152 -0.36073666 0.90308658 0.21539759] [ 0.97203685 -0.11409232 0.20524936 10.21323784] [ 0. 0. 0. 1. ]] SLAMing on 7.705194016999999 meters Centerline goodness [0,1] 0.9836462749848577 Centerline is valid? [True, True] Translation: X:0.11, Y:0.19, Z:10.25 [[ 7.97388904e-03 9.20459590e-01 3.90756394e-01 1.06544570e-01] [-2.12360577e-01 -3.80296595e-01 9.00154145e-01 1.94132508e-01] [ 9.77158842e-01 -9.01589825e-02 1.92436887e-01 1.02484041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7351940169999995 meters Centerline goodness [0,1] 0.968664435655613 Centerline is valid? [True, True] Translation: X:0.12, Y:0.18, Z:10.29 [[ 0.01193184 0.9177688 0.39693584 0.11637126] [-0.23012092 -0.38378852 0.89428784 0.17524447] [ 0.97308889 -0.10201374 0.2066185 10.28598263] [ 0. 0. 0. 1. ]] SLAMing on 7.765194016999999 meters Centerline goodness [0,1] 0.9674491392801252 Centerline is valid? [True, True] Translation: X:0.09, Y:0.14, Z:10.32 [[-1.66323161e-03 9.13896917e-01 4.05942926e-01 8.96033045e-02] [-2.18069242e-01 -3.96505211e-01 8.91756370e-01 1.38178010e-01] [ 9.75931883e-01 -8.70404686e-02 1.99952288e-01 1.03177033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.795194016999999 meters Centerline goodness [0,1] 0.9648484848484848 Centerline is valid? [True, True] Translation: X:0.10, Y:0.14, Z:10.36 [[-7.71515077e-03 9.10528894e-01 4.13373450e-01 9.54050128e-02] [-2.12494599e-01 -4.05437216e-01 8.89081948e-01 1.40734331e-01] [ 9.77131783e-01 -8.09802241e-02 1.96610481e-01 1.03565128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.825194016999999 meters Centerline goodness [0,1] 0.9781874039938556 Centerline is valid? [True, True] Translation: X:0.13, Y:0.18, Z:10.40 [[-0.02603981 0.90560044 0.42333174 0.12951334] [-0.18285502 -0.42064556 0.88860641 0.17830194] [ 0.98279498 -0.05426919 0.17654712 10.40369931] [ 0. 0. 0. 1. ]] SLAMing on 7.855194017 meters Centerline goodness [0,1] 0.969429561928774 Centerline is valid? [True, True] Translation: X:0.16, Y:0.19, Z:10.45 [[-0.0209312 0.90188419 0.4314705 0.157309 ] [-0.19486704 -0.42696836 0.8830203 0.1898653 ] [ 0.9806063 -0.0655967 0.18468446 10.44806794] [ 0. 0. 0. 1. ]] SLAMing on 7.885194016999999 meters Centerline goodness [0,1] 0.9848883048620236 Centerline is valid? [True, True] Translation: X:0.16, Y:0.19, Z:10.49 [[-0.03722409 0.89562179 0.44325611 0.16064777] [-0.18004097 -0.44231582 0.87860228 0.18835383] [ 0.98295453 -0.04709908 0.17771342 10.48984571] [ 0. 0. 0. 1. ]] SLAMing on 7.915194016999999 meters Centerline goodness [0,1] 0.9851534147146156 Centerline is valid? [True, True] Translation: X:0.18, Y:0.18, Z:10.53 [[-0.04710806 0.88986274 0.45378974 0.18108592] [-0.17397626 -0.45465977 0.8735083 0.18365112] [ 0.98362243 -0.03779936 0.17623313 10.53291663] [ 0. 0. 0. 1. ]] SLAMing on 7.9451940169999995 meters Centerline goodness [0,1] 0.9869536855838226 Centerline is valid? [True, True] Translation: X:0.21, Y:0.22, Z:10.58 [[-0.05945692 0.88254785 0.46644847 0.21264324] [-0.14978252 -0.46987249 0.86993393 0.21681205] [ 0.98692962 -0.01814224 0.16012741 10.58334193] [ 0. 0. 0. 1. ]] SLAMing on 7.975194016999999 meters Centerline goodness [0,1] 0.9846564376250834 Centerline is valid? [True, True] Translation: X:0.23, Y:0.19, Z:10.63 [[-0.0589851 0.87554491 0.47952254 0.22945048] [-0.16022419 -0.4824347 0.86115328 0.18947722] [ 0.98531668 -0.0260359 0.16873993 10.62507665] [ 0. 0. 0. 1. ]] SLAMing on 8.005194016999999 meters Centerline goodness [0,1] 0.9844331641285956 Centerline is valid? [True, True] Translation: X:0.25, Y:0.19, Z:10.67 [[-0.06987654 0.86698298 0.49341441 0.24887411] [-0.15122829 -0.49811326 0.85382269 0.18697196] [ 0.986026 -0.01495604 0.16591879 10.67043856] [ 0. 0. 0. 1. ]] SLAMing on 8.035194017 meters Centerline goodness [0,1] 0.9827823691460055 Centerline is valid? [True, True] Translation: X:0.26, Y:0.18, Z:10.71 [[-8.70073926e-02 8.57686628e-01 5.06757695e-01 2.60554181e-01] [-1.33921034e-01 -5.14139545e-01 8.47186924e-01 1.82319578e-01] [ 9.87165067e-01 5.84601094e-03 1.59596221e-01 1.07143193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065194017 meters Centerline goodness [0,1] 0.9833564493758669 Centerline is valid? [True, True] Translation: X:0.27, Y:0.15, Z:10.76 [[-0.07380253 0.85147264 0.51917967 0.27215442] [-0.15546388 -0.52405785 0.83737348 0.15298851] [ 0.98508079 -0.0189134 0.17105004 10.75604952] [ 0. 0. 0. 1. ]] SLAMing on 8.095194017 meters Centerline goodness [0,1] 0.9843478260869565 Centerline is valid? [True, True] Translation: X:0.33, Y:0.21, Z:10.81 [[-8.88017643e-02 8.41660846e-01 5.32654923e-01 3.27336926e-01] [-1.26386162e-01 -5.39966464e-01 8.32143471e-01 2.07319318e-01] [ 9.87998373e-01 6.57559688e-03 1.54324259e-01 1.08137179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125194017 meters Centerline goodness [0,1] 0.9760479041916168 Centerline is valid? [True, True] Translation: X:0.49, Y:0.24, Z:10.90 [[-0.01872389 0.84230221 0.53868025 0.49323966] [-0.26254421 -0.5240098 0.81023717 0.2402706 ] [ 0.96473828 -0.12625659 0.23095307 10.89632465] [ 0. 0. 0. 1. ]] SLAMing on 8.155194017 meters Centerline goodness [0,1] 0.983739837398374 Centerline is valid? [True, True] Translation: X:0.37, Y:0.14, Z:10.92 [[-0.1092739 0.80443996 0.58389688 0.36762164] [-0.11039486 -0.59360205 0.79715092 0.13965658] [ 0.98786243 0.02264857 0.15367125 10.92363533] [ 0. 0. 0. 1. ]] SLAMing on 8.185194017 meters Centerline goodness [0,1] 0.9806851311953353 Centerline is valid? [True, True] Translation: X:0.48, Y:0.18, Z:10.98 [[-0.08005385 0.79656834 0.59922471 0.47552029] [-0.15458705 -0.60380218 0.78200114 0.17730523] [ 0.98473053 -0.03003017 0.17147584 10.98371265] [ 0. 0. 0. 1. ]] SLAMing on 8.215194017 meters Centerline goodness [0,1] 0.9861111111111112 Centerline is valid? [True, True] Translation: X:0.53, Y:0.19, Z:11.04 [[-0.07043034 0.78810689 0.61149579 0.53349958] [-0.17837342 -0.6130879 0.76961429 0.19386501] [ 0.98143899 -0.0548704 0.18375731 11.041238 ] [ 0. 0. 0. 1. ]] SLAMing on 8.245194017 meters Centerline goodness [0,1] 0.9841503870254331 Centerline is valid? [True, True] Translation: X:0.45, Y:0.11, Z:11.07 [[-0.11512388 0.7663807 0.63198664 0.44904779] [-0.10787635 -0.64209962 0.75899326 0.10705863] [ 0.98747617 0.01920183 0.15659535 11.06985454] [ 0. 0. 0. 1. ]] SLAMing on 8.275194017 meters Centerline goodness [0,1] 0.9891426432047922 Centerline is valid? [True, True] Translation: X:0.47, Y:0.12, Z:11.12 [[-0.12640635 0.75175935 0.64720887 0.46949677] [-0.06657823 -0.65740071 0.7505942 0.122381 ] [ 0.98974177 0.05178985 0.13315043 11.12063205] [ 0. 0. 0. 1. ]] SLAMing on 8.305194017 meters Centerline goodness [0,1] 0.986019131714496 Centerline is valid? [True, True] Translation: X:0.49, Y:0.09, Z:11.17 [[-0.12813114 0.74084099 0.65934591 0.48503829] [-0.07921651 -0.67034685 0.73780745 0.08751912] [ 0.98858847 0.04230503 0.14457915 11.16539794] [ 0. 0. 0. 1. ]] SLAMing on 8.335194017000001 meters Centerline goodness [0,1] 0.9844873250094589 Centerline is valid? [True, True] Translation: X:0.51, Y:0.09, Z:11.21 [[-0.12425219 0.72969668 0.67238691 0.51210893] [-0.08176714 -0.68286319 0.72595592 0.08675593] [ 0.98887589 0.03522246 0.14451246 11.21432124] [ 0. 0. 0. 1. ]] SLAMing on 8.365194017 meters Centerline goodness [0,1] 0.9929549902152642 Centerline is valid? [True, True] Translation: X:0.50, Y:0.05, Z:11.26 [[-0.13099057 0.71646768 0.68521204 0.50284207] [-0.06805969 -0.6960357 0.71477422 0.0492727 ] [ 0.98904466 0.04699337 0.13993668 11.25594093] [ 0. 0. 0. 1. ]] SLAMing on 8.395194017 meters Centerline goodness [0,1] 0.9832125143075162 Centerline is valid? [True, True] Translation: X:0.55, Y:0.06, Z:11.31 [[-0.12252176 0.707088 0.69643017 0.55310714] [-0.08653283 -0.7066556 0.70224635 0.05613266] [ 0.98868624 0.02577638 0.14776701 11.30848174] [ 0. 0. 0. 1. ]] SLAMing on 8.425194017 meters Centerline goodness [0,1] 0.9895510835913313 Centerline is valid? [True, True] Translation: X:0.53, Y:0.03, Z:11.35 [[-0.13239431 0.69151295 0.71012786 0.53021482] [-0.05498601 -0.72045523 0.69131816 0.03376025] [ 0.9896708 0.05247949 0.13340771 11.35473865] [ 0. 0. 0. 1. ]] SLAMing on 8.455194017 meters Centerline goodness [0,1] 0.9851909586905689 Centerline is valid? [True, True] Translation: X:0.55, Y:0.00, Z:11.40 [[-1.26140727e-01 6.77450428e-01 7.24671950e-01 5.48593548e-01] [-6.90751828e-02 -7.34732082e-01 6.74831377e-01 4.87707087e-03] [ 9.89604535e-01 3.50668729e-02 1.39474651e-01 1.13987440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485194017 meters Centerline goodness [0,1] 0.978243670886076 Centerline is valid? [True, True] Translation: X:0.59, Y:0.04, Z:11.45 [[-0.13106435 0.66284309 0.73719819 0.58745884] [-0.03885859 -0.74647608 0.66427665 0.03675384] [ 0.99061201 0.0584165 0.12359355 11.45213925] [ 0. 0. 0. 1. ]] SLAMing on 8.515194017 meters Centerline goodness [0,1] 0.98698738170347 Centerline is valid? [True, True] Translation: X:0.62, Y:0.00, Z:11.50 [[-1.22769787e-01 6.53478757e-01 7.46922415e-01 6.22523627e-01] [-7.27900385e-02 -7.56517878e-01 6.49909463e-01 3.29692524e-03] [ 9.89762188e-01 2.54207349e-02 1.40444283e-01 1.14996538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545194017 meters Centerline goodness [0,1] 0.9844311377245509 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.01, Z:11.55 [[-1.21712768e-01 6.38989451e-01 7.59525170e-01 6.19425864e-01] [-5.70238602e-02 -7.68451990e-01 6.37361607e-01 -1.02665605e-02] [ 9.90925972e-01 3.42639884e-02 1.29968064e-01 1.15463097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.575194017 meters Centerline goodness [0,1] 0.986212489862125 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.04, Z:11.59 [[-0.12259309 0.62488025 0.77103541 0.62357442] [-0.06390044 -0.78025336 0.62219083 -0.03829894] [ 0.99039773 0.02700679 0.13558379 11.59234885] [ 0. 0. 0. 1. ]] SLAMing on 8.605194017 meters Centerline goodness [0,1] 0.986212489862125 Centerline is valid? [True, True] Translation: X:0.63, Y:-0.06, Z:11.64 [[-0.1239319 0.61050904 0.7822529 0.63436076] [-0.06143993 -0.79153892 0.60802242 -0.05770497] [ 0.9903868 0.02729181 0.13560656 11.63958983] [ 0. 0. 0. 1. ]] SLAMing on 8.635194017 meters Centerline goodness [0,1] 0.9815800245599673 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.07, Z:11.69 [[-0.12844484 0.59240523 0.79533513 0.64761649] [-0.04036425 -0.80443653 0.59266567 -0.07166797] [ 0.99089487 0.04402174 0.12723771 11.68738994] [ 0. 0. 0. 1. ]] SLAMing on 8.665194017000001 meters Centerline goodness [0,1] 0.9790468364831553 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.07, Z:11.75 [[-1.15533187e-01 5.82205864e-01 8.04790914e-01 7.26591779e-01] [-7.32000293e-02 -8.13003745e-01 5.77638871e-01 -6.76803562e-02] [ 9.90602765e-01 7.82574128e-03 1.36546400e-01 1.17453090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.695194017 meters Centerline goodness [0,1] 0.9784727863525589 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.09, Z:11.80 [[-0.11231198 0.57282048 0.81194995 0.81648771] [-0.13378515 -0.81839695 0.55886309 -0.09134743] [ 0.98462559 -0.04585983 0.16855065 11.80307124] [ 0. 0. 0. 1. ]] SLAMing on 8.725194017 meters Centerline goodness [0,1] 0.984047019311503 Centerline is valid? [True, True] Translation: X:0.69, Y:-0.13, Z:11.83 [[-0.13502227 0.54283439 0.82891484 0.69189952] [-0.02360763 -0.83810069 0.54500451 -0.13131278] [ 0.99056129 0.05401903 0.1259773 11.83422227] [ 0. 0. 0. 1. ]] SLAMing on 8.755194017 meters Centerline goodness [0,1] 0.9868938401048493 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.14, Z:11.89 [[-0.13488154 0.52546964 0.84005276 0.72616628] [-0.02272031 -0.84921744 0.52755428 -0.14023475] [ 0.99060121 0.05207108 0.12648259 11.88540618] [ 0. 0. 0. 1. ]] SLAMing on 8.785194017 meters Centerline goodness [0,1] 0.9876438005965061 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.18, Z:11.93 [[-0.12677703 0.50980865 0.85089525 0.73564492] [-0.02534502 -0.85920156 0.51100911 -0.17674457] [ 0.99160739 0.04321826 0.12184814 11.93239358] [ 0. 0. 0. 1. ]] SLAMing on 8.815194017 meters Centerline goodness [0,1] 0.9845253032204099 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.19, Z:12.00 [[-0.12107593 0.50316434 0.85566715 0.85628068] [-0.10610399 -0.86363026 0.49283335 -0.18923021] [ 0.98695621 -0.03111945 0.15795258 11.99696602] [ 0. 0. 0. 1. ]] SLAMing on 8.845194017 meters Centerline goodness [0,1] 0.9879569892473118 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.26, Z:12.02 [[-1.36368984e-01 4.72820469e-01 8.70542534e-01 7.21981517e-01] [-9.59206224e-03 -8.79340736e-01 4.76096484e-01 -2.57602030e-01] [ 9.90611676e-01 5.65744955e-02 1.24450126e-01 1.20221329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.875194017 meters Centerline goodness [0,1] 0.9886123998312948 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.26, Z:12.07 [[-1.31353886e-01 4.58341493e-01 8.79016059e-01 7.58044249e-01] [-4.79818714e-03 -8.86982384e-01 4.61778332e-01 -2.56883050e-01] [ 9.91323930e-01 5.64386947e-02 1.18707791e-01 1.20728112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905194017 meters Centerline goodness [0,1] 0.9757136770345122 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.28, Z:12.21 [[-0.14387366 0.46832693 0.87176273 1.01498799] [-0.1840527 -0.87822107 0.44142085 -0.28086259] [ 0.97232966 -0.09694145 0.21254972 12.21283566] [ 0. 0. 0. 1. ]] SLAMing on 8.935194017 meters Centerline goodness [0,1] 0.979068774028193 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.41, Z:12.23 [[-0.13824089 0.33797542 0.93094687 0.83128445] [ 0.01598139 -0.93908827 0.34330427 -0.4131984 ] [ 0.99026969 0.06233651 0.12441908 12.22961514] [ 0. 0. 0. 1. ]] SLAMing on 8.965194017 meters Centerline goodness [0,1] 0.9871738168951791 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.44, Z:12.30 [[-0.14858266 0.33220515 0.93143058 1.01939001] [-0.07974254 -0.9428432 0.32355498 -0.44307861] [ 0.98567962 -0.02619998 0.16658103 12.30484778] [ 0. 0. 0. 1. ]] SLAMing on 8.995194017 meters Centerline goodness [0,1] 0.9771402958314657 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.53, Z:12.38 [[-0.16595864 0.34030459 0.92555417 1.20142245] [-0.23327984 -0.92547795 0.29844779 -0.53293021] [ 0.95814312 -0.16638314 0.23297726 12.38301573] [ 0. 0. 0. 1. ]] SLAMing on 9.025194017 meters Centerline goodness [0,1] 0.9902482269503546 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.53, Z:12.46 [[-0.15718632 0.29701069 0.94184771 1.2186753 ] [-0.16877243 -0.94775215 0.27070597 -0.52977541] [ 0.97304076 -0.11640665 0.19910088 12.45745379] [ 0. 0. 0. 1. ]] SLAMing on 9.055194017 meters Centerline goodness [0,1] 0.9775668679896462 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.66, Z:12.50 [[-0.18707555 0.25982553 0.9473613 1.18176624] [-0.19357563 -0.95522822 0.22375773 -0.66256842] [ 0.96308422 -0.14152646 0.22899573 12.50344134] [ 0. 0. 0. 1. ]] SLAMing on 9.085194017000001 meters Centerline goodness [0,1] 0.9933244325767691 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.63, Z:12.54 [[-1.53768946e-01 2.03248820e-01 9.66977264e-01 1.03123611e+00] [-3.56740227e-02 -9.79120044e-01 2.00128218e-01 -6.27363938e-01] [ 9.87462645e-01 -3.72246369e-03 1.57808960e-01 1.25396312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.115194017 meters Centerline goodness [0,1] 0.9904065783462769 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.65, Z:12.57 [[-0.13354096 0.16573663 0.97708658 0.91795401] [ 0.04273237 -0.98403725 0.17275597 -0.64642961] [ 0.99012159 0.06482322 0.12432697 12.57079578] [ 0. 0. 0. 1. ]] SLAMing on 9.145194017 meters Centerline goodness [0,1] 0.9950827000447027 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.68, Z:12.62 [[-0.13608141 0.14815851 0.97955648 0.90425914] [ 0.03459042 -0.98744079 0.15415637 -0.68122629] [ 0.99009361 0.05486109 0.12924747 12.62282372] [ 0. 0. 0. 1. ]] SLAMing on 9.175194017 meters Centerline goodness [0,1] 0.981581311769991 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.79, Z:12.75 [[-0.18675873 0.15484416 0.970126 1.13155674] [-0.151457 -0.98023232 0.12730031 -0.78501669] [ 0.97066058 -0.12315793 0.20651917 12.75187754] [ 0. 0. 0. 1. ]] SLAMing on 9.205194017 meters Centerline goodness [0,1] 0.9902309058614565 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.85, Z:12.78 [[-0.15288643 0.04170011 0.98736358 0.98039262] [-0.02166216 -0.9990107 0.03883777 -0.85201213] [ 0.98800632 -0.01545066 0.15363849 12.78224329] [ 0. 0. 0. 1. ]] SLAMing on 9.235194017 meters Centerline goodness [0,1] 0.9798422436459246 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.91, Z:12.84 [[-0.16983029 0.02471721 0.9851633 1.00805104] [-0.05640729 -0.99829026 0.01532262 -0.90575018] [ 0.98385766 -0.05296815 0.17093415 12.8355625 ] [ 0. 0. 0. 1. ]] SLAMing on 9.265194017 meters Centerline goodness [0,1] 0.9954212454212454 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.86, Z:12.88 [[-1.18694077e-01 -1.17143830e-02 9.92861767e-01 8.95561032e-01] [ 5.28411582e-02 -9.98587976e-01 -5.46491935e-03 -8.60621221e-01] [ 9.91523841e-01 5.18153121e-02 1.19145480e-01 1.28795649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.295194017 meters Centerline goodness [0,1] 0.9830213321723987 Centerline is valid? [True, True] Translation: X:1.06, Y:-1.01, Z:12.98 [[-0.2036893 -0.01511102 0.97891896 1.06110336] [-0.11372316 -0.99274721 -0.03898751 -1.01389211] [ 0.9724082 -0.1192671 0.20049351 12.9809522 ] [ 0. 0. 0. 1. ]] SLAMing on 9.325194017 meters Centerline goodness [0,1] 0.9982222222222222 Centerline is valid? [True, True] Translation: X:1.02, Y:-1.02, Z:13.03 [[-1.42033964e-01 -9.81099547e-02 9.84987710e-01 1.01562099e+00] [ 4.72755322e-05 -9.95076676e-01 -9.91080516e-02 -1.01620508e+00] [ 9.89861784e-01 -1.40301437e-02 1.41339323e-01 1.30260693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.355194017 meters Centerline goodness [0,1] 0.988256549232159 Centerline is valid? [True, True] Translation: X:1.07, Y:-1.13, Z:13.11 [[-0.21271028 -0.09643491 0.97234492 1.06604143] [-0.11089128 -0.98630627 -0.12207815 -1.13409311] [ 0.97080248 -0.13379185 0.19910369 13.10693697] [ 0. 0. 0. 1. ]] SLAMing on 9.385194017 meters Centerline goodness [0,1] 0.98753339269813 Centerline is valid? [True, True] Translation: X:0.98, Y:-1.15, Z:13.15 [[-0.17694685 -0.16824046 0.96973448 0.9811333 ] [-0.03559405 -0.98354342 -0.17713101 -1.15098392] [ 0.98357657 -0.06585955 0.16804655 13.14758883] [ 0. 0. 0. 1. ]] SLAMing on 9.415194017 meters Centerline goodness [0,1] 0.9913636363636363 Centerline is valid? [True, True] Translation: X:0.96, Y:-1.16, Z:13.19 [[-1.62156061e-01 -1.96398148e-01 9.67022843e-01 9.57991958e-01] [-1.24485315e-02 -9.79507784e-01 -2.01021228e-01 -1.16093664e+00] [ 9.86686600e-01 -4.46348249e-02 1.56388256e-01 1.31944656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.445194017 meters Centerline goodness [0,1] 0.9790084859312193 Centerline is valid? [True, True] Translation: X:1.13, Y:-1.35, Z:13.29 [[-0.26922295 -0.1695972 0.94802732 1.13499995] [-0.16292175 -0.9621647 -0.2183932 -1.35222366] [ 0.9491973 -0.21325073 0.23140575 13.28659861] [ 0. 0. 0. 1. ]] SLAMing on 9.475194017 meters Centerline goodness [0,1] 0.9815371404036067 Centerline is valid? [True, True] Translation: X:0.99, Y:-1.32, Z:13.32 [[-0.22778171 -0.22944383 0.94629331 0.99382374] [-0.08393342 -0.96359688 -0.25384293 -1.31644383] [ 0.97008797 -0.13724641 0.20023174 13.32382772] [ 0. 0. 0. 1. ]] SLAMing on 9.505194017 meters Centerline goodness [0,1] 0.9869960988296489 Centerline is valid? [True, True] Translation: X:0.92, Y:-1.28, Z:13.37 [[-0.18171402 -0.27432439 0.94431253 0.92231006] [-0.01658138 -0.95930884 -0.2818716 -1.28440217] [ 0.98321161 -0.06687803 0.16977118 13.36561836] [ 0. 0. 0. 1. ]] SLAMing on 9.535194017 meters Centerline goodness [0,1] 0.9887285843101894 Centerline is valid? [True, True] Translation: X:0.80, Y:-1.21, Z:13.40 [[-0.11146726 -0.31246628 0.94336625 0.80481503] [ 0.06816335 -0.94945038 -0.30642738 -1.21175031] [ 0.99142766 0.03014638 0.12713138 13.39519206] [ 0. 0. 0. 1. ]] SLAMing on 9.565194017 meters Centerline goodness [0,1] 0.9884579870729455 Centerline is valid? [True, True] Translation: X:0.83, Y:-1.25, Z:13.45 [[-0.11662388 -0.33185702 0.93609283 0.8287627 ] [ 0.06402631 -0.94307606 -0.3263559 -1.25333143] [ 0.99111024 0.02187368 0.13123277 13.44767635] [ 0. 0. 0. 1. ]] SLAMing on 9.595194017 meters Centerline goodness [0,1] 0.9889331562638336 Centerline is valid? [True, True] Translation: X:0.83, Y:-1.31, Z:13.50 [[-0.15046522 -0.34284031 0.92726519 0.82965639] [ 0.02599704 -0.93899118 -0.34295731 -1.30527431] [ 0.98827343 -0.027497 0.15019835 13.49662693] [ 0. 0. 0. 1. ]] SLAMing on 9.625194017 meters Centerline goodness [0,1] 0.9915216421240518 Centerline is valid? [True, True] Translation: X:0.79, Y:-1.28, Z:13.54 [[-0.1058164 -0.36683099 0.92424992 0.78577798] [ 0.06903199 -0.92993575 -0.36118428 -1.27587186] [ 0.99198663 0.02558359 0.12372553 13.53573031] [ 0. 0. 0. 1. ]] SLAMing on 9.655194017 meters Centerline goodness [0,1] 0.9864687909209952 Centerline is valid? [True, True] Translation: X:0.80, Y:-1.30, Z:13.59 [[-0.10643609 -0.38383152 0.91724845 0.80025463] [ 0.07250633 -0.9230288 -0.37783683 -1.30415341] [ 0.99167242 0.02629084 0.12607379 13.58595644] [ 0. 0. 0. 1. ]] SLAMing on 9.685194017 meters Centerline goodness [0,1] 0.9918918918918919 Centerline is valid? [True, True] Translation: X:0.77, Y:-1.32, Z:13.64 [[-1.16524881e-01 -3.98726531e-01 9.09636799e-01 7.72346041e-01] [ 6.36231223e-02 -9.16991537e-01 -3.93800227e-01 -1.32106268e+00] [ 9.91147845e-01 1.19864086e-02 1.32220557e-01 1.36351791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.715194017 meters Centerline goodness [0,1] 0.9898499558693733 Centerline is valid? [True, True] Translation: X:0.75, Y:-1.33, Z:13.68 [[-0.10233566 -0.42340427 0.90014234 0.75024953] [ 0.07594049 -0.90557767 -0.41732737 -1.33201676] [ 0.99184699 0.02564978 0.12482642 13.68025313] [ 0. 0. 0. 1. ]] SLAMing on 9.745194017 meters Centerline goodness [0,1] 0.9910193084867535 Centerline is valid? [True, True] Translation: X:0.76, Y:-1.36, Z:13.73 [[-0.0935097 -0.43983093 0.89319913 0.76057036] [ 0.0844633 -0.89740037 -0.43305718 -1.35764284] [ 0.99202918 0.0349475 0.12106521 13.73122634] [ 0. 0. 0. 1. ]] SLAMing on 9.775194017 meters Centerline goodness [0,1] 0.9942655491839435 Centerline is valid? [True, True] Translation: X:0.77, Y:-1.40, Z:13.78 [[-1.13663601e-01 -4.55001735e-01 8.83206661e-01 7.67315273e-01] [ 6.53899327e-02 -8.90466335e-01 -4.50326395e-01 -1.39780548e+00] [ 9.91365090e-01 6.56710437e-03 1.30966143e-01 1.37832466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805194017 meters Centerline goodness [0,1] 0.994458653026428 Centerline is valid? [True, True] Translation: X:0.70, Y:-1.36, Z:13.82 [[-0.09245387 -0.47570825 0.87473079 0.69546284] [ 0.08872374 -0.87893474 -0.46861692 -1.36497512] [ 0.99175621 0.03428394 0.12346753 13.81850633] [ 0. 0. 0. 1. ]] SLAMing on 9.835194017000001 meters Centerline goodness [0,1] 0.987719298245614 Centerline is valid? [True, True] Translation: X:0.73, Y:-1.44, Z:13.88 [[-1.28725193e-01 -4.85823205e-01 8.64526251e-01 7.29401372e-01] [ 5.90985016e-02 -8.73987915e-01 -4.82340639e-01 -1.44181913e+00] [ 9.89917770e-01 -1.09971858e-02 1.41215687e-01 1.38754244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.865194017 meters Centerline goodness [0,1] 0.9880742049469965 Centerline is valid? [True, True] Translation: X:0.78, Y:-1.52, Z:13.94 [[-0.14984174 -0.49785487 0.85421776 0.78372985] [ 0.0474776 -0.86659847 -0.49674235 -1.51679856] [ 0.98756941 -0.03387653 0.15348958 13.93763104] [ 0. 0. 0. 1. ]] SLAMing on 9.895194017 meters Centerline goodness [0,1] 0.9895788102475033 Centerline is valid? [True, True] Translation: X:0.70, Y:-1.45, Z:13.97 [[-0.10463741 -0.52287333 0.84596365 0.69963805] [ 0.08080644 -0.85229071 -0.51678899 -1.45277162] [ 0.99122214 0.01428384 0.13143303 13.97256905] [ 0. 0. 0. 1. ]] SLAMing on 9.925194017 meters Centerline goodness [0,1] 0.9932914046121594 Centerline is valid? [True, True] Translation: X:0.66, Y:-1.45, Z:14.02 [[-1.04317258e-01 -5.41517695e-01 8.34192122e-01 6.63916124e-01] [ 8.33028665e-02 -8.40578445e-01 -5.35246214e-01 -1.45325094e+00] [ 9.91049213e-01 1.36551772e-02 1.32796815e-01 1.40150995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.955194017 meters Centerline goodness [0,1] 0.9876543209876543 Centerline is valid? [True, True] Translation: X:0.63, Y:-1.44, Z:14.06 [[-0.07914166 -0.55843225 0.82576632 0.63244827] [ 0.10476465 -0.8284366 -0.55019738 -1.44171727] [ 0.99134301 0.04296759 0.12406781 14.05641111] [ 0. 0. 0. 1. ]] SLAMing on 9.985194017 meters Centerline goodness [0,1] 0.9942100909842845 Centerline is valid? [True, True] Translation: X:0.71, Y:-1.57, Z:14.13 [[-0.14900645 -0.56405813 0.81217948 0.71273305] [ 0.05857747 -0.82494154 -0.56217447 -1.57204254] [ 0.98709967 -0.0361922 0.15596271 14.12584613] [ 0. 0. 0. 1. ]] SLAMing on 10.015194017 meters Centerline goodness [0,1] 0.9909576654336211 Centerline is valid? [True, True] Translation: X:0.60, Y:-1.48, Z:14.15 [[-0.08908288 -0.58980696 0.80261572 0.60120517] [ 0.1007233 -0.80702311 -0.58186641 -1.48120567] [ 0.99091829 0.02900777 0.13129924 14.15340819] [ 0. 0. 0. 1. ]] SLAMing on 10.045194017 meters Centerline goodness [0,1] 0.9890893831305078 Centerline is valid? [True, True] Translation: X:0.61, Y:-1.53, Z:14.21 [[-1.02490384e-01 -6.05329402e-01 7.89349122e-01 6.09294330e-01] [ 9.34141085e-02 -7.95878077e-01 -5.98207231e-01 -1.52552910e+00] [ 9.90338086e-01 1.24258558e-02 1.38116156e-01 1.42050253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.075194017 meters Centerline goodness [0,1] 0.9888934594816948 Centerline is valid? [True, True] Translation: X:0.58, Y:-1.51, Z:14.26 [[-0.09033734 -0.62066014 0.77885824 0.5759541 ] [ 0.10511854 -0.78362968 -0.61227006 -1.51339562] [ 0.99034805 0.02656159 0.13603391 14.25512017] [ 0. 0. 0. 1. ]] SLAMing on 10.105194017 meters Centerline goodness [0,1] 0.9852707006369427 Centerline is valid? [True, True] Translation: X:0.54, Y:-1.54, Z:14.30 [[-1.08491062e-01 -6.42416175e-01 7.58637692e-01 5.43846758e-01] [ 9.52533177e-02 -7.66348701e-01 -6.35323913e-01 -1.54321925e+00] [ 9.89523368e-01 3.33579108e-03 1.44334256e-01 1.43000303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.135194017 meters Centerline goodness [0,1] 0.9883720930232558 Centerline is valid? [True, True] Translation: X:0.53, Y:-1.55, Z:14.35 [[-0.09281904 -0.65691583 0.74822872 0.52926738] [ 0.10611783 -0.7537194 -0.64857234 -1.54940695] [ 0.99001193 0.01920055 0.13967 14.3453065 ] [ 0. 0. 0. 1. ]] SLAMing on 10.165194017 meters Centerline goodness [0,1] 0.9930725346373268 Centerline is valid? [True, True] Translation: X:0.53, Y:-1.56, Z:14.40 [[-0.0843433 -0.67041127 0.7371804 0.52575814] [ 0.1093021 -0.74157687 -0.66190392 -1.55752587] [ 0.99042378 0.02474821 0.1358244 14.39642041] [ 0. 0. 0. 1. ]] SLAMing on 10.195194017 meters Centerline goodness [0,1] 0.9893747445852064 Centerline is valid? [True, True] Translation: X:0.50, Y:-1.57, Z:14.44 [[-0.08717812 -0.68849269 0.71998458 0.50084218] [ 0.10919024 -0.72498565 -0.68005389 -1.56983003] [ 0.99019062 0.01932947 0.13837956 14.44032383] [ 0. 0. 0. 1. ]] SLAMing on 10.225194017 meters Centerline goodness [0,1] 0.9921617161716172 Centerline is valid? [True, True] Translation: X:0.50, Y:-1.60, Z:14.49 [[-0.0801479 -0.70164086 0.70800877 0.50220518] [ 0.11902073 -0.71194851 -0.6920718 -1.60194982] [ 0.98965165 0.02879962 0.14057098 14.49088577] [ 0. 0. 0. 1. ]] SLAMing on 10.255194017 meters Centerline goodness [0,1] 0.9911788291900562 Centerline is valid? [True, True] Translation: X:0.46, Y:-1.60, Z:14.53 [[-0.08208529 -0.71366121 0.69566492 0.45845005] [ 0.11586556 -0.70012086 -0.70456082 -1.60421367] [ 0.98986725 0.02276952 0.14015838 14.53374575] [ 0. 0. 0. 1. ]] SLAMing on 10.285194017 meters Centerline goodness [0,1] 0.9819324430479183 Centerline is valid? [True, True] Translation: X:0.42, Y:-1.58, Z:14.57 [[-0.07944613 -0.72631964 0.68275039 0.41587459] [ 0.12129243 -0.68686963 -0.71658793 -1.57596288] [ 0.98943239 0.02588232 0.14266621 14.57199683] [ 0. 0. 0. 1. ]] SLAMing on 10.315194017 meters Centerline goodness [0,1] 0.987012987012987 Centerline is valid? [True, True] Translation: X:0.44, Y:-1.64, Z:14.63 [[-0.0818182 -0.73774413 0.67010401 0.43670621] [ 0.12564792 -0.67462902 -0.72738455 -1.64400456] [ 0.98869529 0.02468388 0.14789294 14.6302516 ] [ 0. 0. 0. 1. ]] SLAMing on 10.345194017 meters Centerline goodness [0,1] 0.9901029295328583 Centerline is valid? [True, True] Translation: X:0.40, Y:-1.65, Z:14.67 [[-0.08650946 -0.75184115 0.6536444 0.40326539] [ 0.12631682 -0.65908667 -0.74138305 -1.64527966] [ 0.98821059 0.01842964 0.15198742 14.67312927] [ 0. 0. 0. 1. ]] SLAMing on 10.375194017 meters Centerline goodness [0,1] 0.9958174904942966 Centerline is valid? [True, True] Translation: X:0.46, Y:-1.94, Z:14.77 [[-0.23332119 -0.73738355 0.63389804 0.46126386] [ 0.07672411 -0.6638182 -0.74394812 -1.9435447 ] [ 0.96936816 -0.1249436 0.21145794 14.76823544] [ 0. 0. 0. 1. ]] SLAMing on 10.405194017 meters Centerline goodness [0,1] 0.9906651108518086 Centerline is valid? [True, True] Translation: X:0.36, Y:-1.69, Z:14.78 [[-0.05989751 -0.78409706 0.61774111 0.36258935] [ 0.13727916 -0.61944259 -0.77294586 -1.68514542] [ 0.98871974 0.03850545 0.14474325 14.77903291] [ 0. 0. 0. 1. ]] SLAMing on 10.435194017 meters Centerline goodness [0,1] 0.989749430523918 Centerline is valid? [True, True] Translation: X:0.34, Y:-1.70, Z:14.83 [[-0.05618485 -0.79732555 0.60092864 0.34468978] [ 0.14066619 -0.60219736 -0.78585709 -1.69743927] [ 0.98846157 0.04037708 0.14599112 14.82542373] [ 0. 0. 0. 1. ]] SLAMing on 10.465194017 meters Centerline goodness [0,1] 0.9965102753005041 Centerline is valid? [True, True] Translation: X:0.35, Y:-1.72, Z:14.88 [[-0.02890837 -0.8084248 0.58788914 0.35023221] [ 0.14900034 -0.58504924 -0.79719275 -1.722767 ] [ 0.98841449 0.06455014 0.13736839 14.87705092] [ 0. 0. 0. 1. ]] SLAMing on 10.495194017 meters Centerline goodness [0,1] 0.9965464313123561 Centerline is valid? [True, True] Translation: X:0.33, Y:-1.75, Z:14.93 [[-0.03648207 -0.81955638 0.57183599 0.3295203 ] [ 0.14912306 -0.57027477 -0.80780505 -1.74513956] [ 0.98814542 0.05580353 0.14301956 14.92605435] [ 0. 0. 0. 1. ]] SLAMing on 10.525194017 meters Centerline goodness [0,1] 0.9965464313123561 Centerline is valid? [True, True] Translation: X:0.31, Y:-1.76, Z:14.97 [[-0.03341749 -0.83132025 0.55478816 0.30635638] [ 0.14984698 -0.55299115 -0.81960153 -1.75910499] [ 0.9881443 0.0557443 0.14305041 14.97423271] [ 0. 0. 0. 1. ]] SLAMing on 10.555194017 meters Centerline goodness [0,1] 0.9852104664391353 Centerline is valid? [True, True] Translation: X:0.27, Y:-1.76, Z:15.02 [[-0.05379954 -0.84181971 0.53707093 0.27280036] [ 0.14721857 -0.53865915 -0.82956194 -1.76114355] [ 0.98763976 0.03443676 0.15291111 15.0197713 ] [ 0. 0. 0. 1. ]] SLAMing on 10.585194017 meters Centerline goodness [0,1] 0.9879154078549849 Centerline is valid? [True, True] Translation: X:0.25, Y:-1.77, Z:15.07 [[-0.05520836 -0.85233634 0.52007191 0.24738808] [ 0.14717061 -0.52212367 -0.840076 -1.76898492] [ 0.98756916 0.03016008 0.15426445 15.07263567] [ 0. 0. 0. 1. ]] SLAMing on 10.615194017 meters Centerline goodness [0,1] 0.9932407059707097 Centerline is valid? [True, True] Translation: X:0.23, Y:-1.79, Z:15.12 [[-0.05464909 -0.86604888 0.4969636 0.22799442] [ 0.14922166 -0.49920177 -0.85353998 -1.78696081] [ 0.98729245 0.02751255 0.15651417 15.12243354] [ 0. 0. 0. 1. ]] SLAMing on 10.645194017 meters Centerline goodness [0,1] 0.9910846953937593 Centerline is valid? [True, True] Translation: X:0.21, Y:-1.81, Z:15.17 [[-0.04871465 -0.87630842 0.47928117 0.20611471] [ 0.15005531 -0.48082577 -0.86388077 -1.80523087] [ 0.98747673 0.02983503 0.15491799 15.17113487] [ 0. 0. 0. 1. ]] SLAMing on 10.675194017 meters Centerline goodness [0,1] 0.9937246216315984 Centerline is valid? [True, True] Translation: X:0.19, Y:-1.83, Z:15.22 [[-0.04465929 -0.88577121 0.46196852 0.1948808 ] [ 0.14694342 -0.46322448 -0.87397409 -1.82660244] [ 0.98813622 0.02885217 0.15084553 15.22156855] [ 0. 0. 0. 1. ]] SLAMing on 10.705194017 meters Centerline goodness [0,1] 0.9959883296863603 Centerline is valid? [True, True] Translation: X:0.17, Y:-1.84, Z:15.27 [[-0.03261011 -0.89563192 0.44359897 0.17142931] [ 0.15160155 -0.44313204 -0.88354455 -1.83810194] [ 0.98790361 0.0384378 0.15022977 15.26982994] [ 0. 0. 0. 1. ]] SLAMing on 10.735194017 meters Centerline goodness [0,1] 0.9939622641509434 Centerline is valid? [True, True] Translation: X:0.16, Y:-1.86, Z:15.32 [[-0.02849315 -0.90457871 0.42535339 0.16478285] [ 0.15346303 -0.42444004 -0.89235629 -1.8591281 ] [ 0.98774351 0.03984998 0.15091303 15.32429521] [ 0. 0. 0. 1. ]] SLAMing on 10.765194017 meters Centerline goodness [0,1] 0.9962092494313874 Centerline is valid? [True, True] Translation: X:0.13, Y:-1.89, Z:15.37 [[-0.03467698 -0.91492295 0.40213618 0.12725051] [ 0.15277723 -0.40250176 -0.90258044 -1.89060796] [ 0.98765208 0.03013849 0.15373693 15.37486521] [ 0. 0. 0. 1. ]] SLAMing on 10.795194017 meters Centerline goodness [0,1] 0.9948282231252309 Centerline is valid? [True, True] Translation: X:0.09, Y:-1.87, Z:15.42 [[-0.03284064 -0.92323189 0.38283727 0.09199047] [ 0.15025664 -0.3832511 -0.91134052 -1.86516832] [ 0.98810143 0.02759484 0.15130793 15.41633524] [ 0. 0. 0. 1. ]] SLAMing on 10.825194017 meters Centerline goodness [0,1] 0.9903668025194516 Centerline is valid? [True, True] Translation: X:0.08, Y:-1.86, Z:15.46 [[-0.024148 -0.9302438 0.36614662 0.08067083] [ 0.15304539 -0.36537607 -0.91819249 -1.8617712 ] [ 0.98792408 0.03386454 0.15119262 15.46326127] [ 0. 0. 0. 1. ]] SLAMing on 10.855194017 meters Centerline goodness [0,1] 0.9965727341964966 Centerline is valid? [True, True] Translation: X:0.06, Y:-1.87, Z:15.51 [[-1.14314561e-02 -9.37091452e-01 3.48896735e-01 6.05952397e-02] [ 1.51747058e-01 -3.46504066e-01 -9.25693125e-01 -1.86931157e+00] [ 9.88353253e-01 4.23620329e-02 1.46161917e-01 1.55113621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885194017 meters Centerline goodness [0,1] 0.9969765684051398 Centerline is valid? [True, True] Translation: X:0.04, Y:-1.89, Z:15.56 [[ 0.02135962 -0.94377548 0.32989636 0.04201828] [ 0.15263551 -0.3230251 -0.93400063 -1.88608744] [ 0.9880517 0.0703038 0.13715396 15.561648 ] [ 0. 0. 0. 1. ]] SLAMing on 10.915194017 meters Centerline goodness [0,1] 0.9958893871449925 Centerline is valid? [True, True] Translation: X:0.03, Y:-1.93, Z:15.62 [[-9.56829953e-03 -9.50640971e-01 3.10145438e-01 2.55929382e-02] [ 1.53506230e-01 -3.07879610e-01 -9.38960054e-01 -1.93449614e+00] [ 9.88101354e-01 3.86250058e-02 1.48875195e-01 1.56177352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.945194017 meters Centerline goodness [0,1] 0.9952485380116959 Centerline is valid? [True, True] Translation: X:-0.01, Y:-1.91, Z:15.67 [[ 1.74235137e-02 -9.57222769e-01 2.88826922e-01 -5.98900933e-03] [ 1.52332904e-01 -2.82956994e-01 -9.46958302e-01 -1.90545705e+00] [ 9.88175646e-01 6.04971848e-02 1.40886419e-01 1.56669395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.975194017 meters Centerline goodness [0,1] 0.9951726698848867 Centerline is valid? [True, True] Translation: X:-0.07, Y:-2.30, Z:15.77 [[-0.09373684 -0.96130192 0.25905989 -0.06866512] [ 0.16463677 -0.27159001 -0.94822656 -2.29960048] [ 0.98189009 -0.04623298 0.18372363 15.7738177 ] [ 0. 0. 0. 1. ]] SLAMing on 11.005194017 meters Centerline goodness [0,1] 0.9917879805897724 Centerline is valid? [True, True] Translation: X:-1.61, Y:2.16, Z:13.94 [[-0.0248583 -0.97402273 -0.22508172 -1.60893717] [-0.22543321 -0.21389027 0.95048978 2.15972388] [-0.97394144 0.07436845 -0.21426013 13.93523211] [ 0. 0. 0. 1. ]] SLAMing on 11.035194017 meters Centerline goodness [0,1] 0.9922088040514219 Centerline is valid? [True, True] Translation: X:-1.24, Y:0.37, Z:14.08 [[ 0.18379865 -0.75596088 -0.62828434 -1.23825023] [-0.0694887 -0.64756686 0.75883363 0.36536127] [-0.98050466 -0.09581394 -0.17155265 14.07589461] [ 0. 0. 0. 1. ]] SLAMing on 11.065194017 meters Centerline goodness [0,1] 0.9926470588235294 Centerline is valid? [True, True] Translation: X:-1.71, Y:0.01, Z:14.09 [[ 0.20992854 -0.42743139 -0.87933635 -1.71464654] [ 0.01451509 -0.89791581 0.43992784 0.01470049] [-0.97760898 -0.10511706 -0.18229395 14.08828183] [ 0. 0. 0. 1. ]] SLAMing on 11.095194017 meters Centerline goodness [0,1] 0.9988540870893812 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.67, Z:14.61 [[-0.17791772 -0.09095348 0.97983302 0.76788795] [ 0.07837721 -0.99386579 -0.07802437 -0.66710857] [ 0.98091911 0.06291466 0.18395502 14.61491776] [ 0. 0. 0. 1. ]] SLAMing on 11.125194017 meters Centerline goodness [0,1] 0.9962714392244594 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.71, Z:14.67 [[-0.18032237 -0.11390395 0.97699014 0.79134367] [ 0.06910648 -0.99228487 -0.10293218 -0.7078999 ] [ 0.98117691 0.04895538 0.18680266 14.66809928] [ 0. 0. 0. 1. ]] SLAMing on 11.155194017 meters Centerline goodness [0,1] 0.9977125428898208 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.74, Z:14.72 [[-0.1855182 -0.12757668 0.97432396 0.78236008] [ 0.06972633 -0.99074593 -0.11645056 -0.73750872] [ 0.98016388 0.04633234 0.19269686 14.71610124] [ 0. 0. 0. 1. ]] SLAMing on 11.185194017 meters Centerline goodness [0,1] 0.9976708074534162 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.69, Z:14.73 [[-0.18423113 -0.14348032 0.97235399 0.64345961] [ 0.07054147 -0.98866669 -0.13252198 -0.69029311] [ 0.9803483 0.0441766 0.19226449 14.73447504] [ 0. 0. 0. 1. ]] SLAMing on 11.215194017 meters Centerline goodness [0,1] 0.9984101748807631 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.79, Z:14.82 [[-0.17730259 -0.15704722 0.97154514 0.82409479] [ 0.08002802 -0.9862172 -0.14481416 -0.78755129] [ 0.9808972 0.05207491 0.18742704 14.82063224] [ 0. 0. 0. 1. ]] SLAMing on 11.245194017 meters Centerline goodness [0,1] 0.9971796937953263 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.76, Z:14.85 [[-0.17067714 -0.17444724 0.96976156 0.73138552] [ 0.08917114 -0.98289878 -0.16111641 -0.76446336] [ 0.98128376 0.05897585 0.18331401 14.85053457] [ 0. 0. 0. 1. ]] SLAMing on 11.275194017 meters Centerline goodness [0,1] 0.9972022382094324 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.80, Z:14.90 [[-0.1872352 -0.18238744 0.96523458 0.75699228] [ 0.05783422 -0.98295422 -0.17451706 -0.80193983] [ 0.98061113 0.02314785 0.19459187 14.90433451] [ 0. 0. 0. 1. ]] SLAMing on 11.305194017 meters SLAMing on 11.335194017 meters SLAMing on 11.365194017 meters Centerline goodness [0,1] 0.9976028765481423 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.80, Z:14.95 [[-0.14253235 -0.20842916 0.96759589 0.71687448] [ 0.1266709 -0.97337943 -0.19101564 -0.7955391 ] [ 0.98165117 0.09534033 0.16513997 14.94580965] [ 0. 0. 0. 1. ]] SLAMing on 11.395194017 meters Centerline goodness [0,1] 0.9964608729846638 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.83, Z:15.00 [[-0.16249063 -0.21975185 0.96192823 0.75638405] [ 0.09649015 -0.9737507 -0.2061534 -0.83443883] [ 0.98198088 0.0593186 0.17942925 15.00314249] [ 0. 0. 0. 1. ]] SLAMing on 11.425194017 meters Centerline goodness [0,1] 0.9938925081433225 Centerline is valid? [True, True] Translation: X:1.58, Y:-1.32, Z:15.25 [[-0.24810723 -0.20196655 0.94744515 1.57797194] [-0.03625061 -0.97540483 -0.21741965 -1.32026487] [ 0.96805408 -0.08828886 0.23468358 15.24564246] [ 0. 0. 0. 1. ]] SLAMing on 11.455194017 meters Centerline goodness [0,1] 0.9979423868312757 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.88, Z:15.11 [[-0.14088324 -0.27163114 0.95203384 0.71595255] [ 0.12694946 -0.95864286 -0.25473066 -0.88042677] [ 0.98185322 0.0849729 0.16954013 15.11498459] [ 0. 0. 0. 1. ]] SLAMing on 11.485194017 meters Centerline goodness [0,1] 0.9983579638752053 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.91, Z:15.17 [[-0.14060814 -0.28720411 0.94749309 0.71855484] [ 0.12511841 -0.95448259 -0.27075517 -0.91254847] [ 0.98212766 0.08047845 0.17014254 15.16531648] [ 0. 0. 0. 1. ]] SLAMing on 11.515194017 meters SLAMing on 11.545194017 meters Centerline goodness [0,1] 0.9978714346530438 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.94, Z:15.22 [[-0.12387357 -0.30473156 0.94434846 0.72521708] [ 0.14735382 -0.94677583 -0.28618592 -0.9442808 ] [ 0.98129618 0.10370248 0.16218386 15.21714811] [ 0. 0. 0. 1. ]] SLAMing on 11.575194017 meters Centerline goodness [0,1] 0.9978750531236719 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.92, Z:15.25 [[-0.1103542 -0.32082965 0.94068607 0.65448002] [ 0.16067161 -0.9397763 -0.30167058 -0.91559639] [ 0.98081934 0.11785093 0.15525648 15.25015221] [ 0. 0. 0. 1. ]] SLAMing on 11.605194017 meters Centerline goodness [0,1] 0.9979649979649979 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.94, Z:15.30 [[-0.1200757 -0.33164404 0.93573183 0.63907069] [ 0.1432905 -0.93847154 -0.31422762 -0.94167958] [ 0.98236941 0.09635038 0.16020907 15.29642671] [ 0. 0. 0. 1. ]] SLAMing on 11.635194017 meters Centerline goodness [0,1] 0.9971287940935193 Centerline is valid? [True, True] Translation: X:0.69, Y:-0.99, Z:15.36 [[-0.11635051 -0.34572071 0.93109599 0.69157054] [ 0.15018538 -0.93280751 -0.32758892 -0.98842049] [ 0.98178761 0.10172187 0.16045483 15.35707332] [ 0. 0. 0. 1. ]] SLAMing on 11.665194017 meters Centerline goodness [0,1] 0.9987168520102652 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.99, Z:15.40 [[-0.10911766 -0.36140843 0.92600069 0.64688636] [ 0.15767986 -0.92606149 -0.34285155 -0.99359427] [ 0.98144302 0.1086005 0.15803649 15.40059276] [ 0. 0. 0. 1. ]] SLAMing on 11.695194017 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.63, Y:-1.00, Z:15.45 [[-0.10239158 -0.37854508 0.91990195 0.62844774] [ 0.15825868 -0.91918299 -0.36063391 -1.00394504] [ 0.98207441 0.10865659 0.15402464 15.44742287] [ 0. 0. 0. 1. ]] SLAMing on 11.725194017 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.97, Z:15.47 [[-0.09387753 -0.39301454 0.9147276 0.53548931] [ 0.16181122 -0.91259195 -0.37549043 -0.97023003] [ 0.98234624 0.11276308 0.14926603 15.47323748] [ 0. 0. 0. 1. ]] SLAMing on 11.755194017 meters Centerline goodness [0,1] 0.9995717344753747 Centerline is valid? [True, True] Translation: X:0.58, Y:-1.02, Z:15.53 [[-0.10286657 -0.4030301 0.90938727 0.57541487] [ 0.15194271 -0.90987468 -0.38605891 -1.01777085] [ 0.98302181 0.09846221 0.15483317 15.52977977] [ 0. 0. 0. 1. ]] SLAMing on 11.785194017 meters Centerline goodness [0,1] 0.9991614255765199 Centerline is valid? [True, True] Translation: X:0.58, Y:-1.04, Z:15.58 [[-0.10160016 -0.41515407 0.90406001 0.57679354] [ 0.15536199 -0.90423369 -0.39777391 -1.03571802] [ 0.98261898 0.10004267 0.15636945 15.57774528] [ 0. 0. 0. 1. ]] SLAMing on 11.815194017 meters Centerline goodness [0,1] 0.9987598181066556 Centerline is valid? [True, True] Translation: X:0.56, Y:-1.04, Z:15.62 [[-0.09137984 -0.42771916 0.89928085 0.55825927] [ 0.16373891 -0.89722147 -0.41010145 -1.04424266] [ 0.98226234 0.10977226 0.15202222 15.62230803] [ 0. 0. 0. 1. ]] SLAMing on 11.845194017 meters Centerline goodness [0,1] 0.9979389942291839 Centerline is valid? [True, True] Translation: X:0.55, Y:-1.05, Z:15.67 [[-0.0818155 -0.44042154 0.89405542 0.54538468] [ 0.17023728 -0.89005514 -0.42287245 -1.05082032] [ 0.98200076 0.11760404 0.14779647 15.66676457] [ 0. 0. 0. 1. ]] SLAMing on 11.875194017 meters Centerline goodness [0,1] 0.9995933306222041 Centerline is valid? [True, True] Translation: X:0.51, Y:-1.05, Z:15.71 [[-0.08301675 -0.45154903 0.88837588 0.50758825] [ 0.16478578 -0.88540121 -0.43463818 -1.04982544] [ 0.98282952 0.11030946 0.14791199 15.71257164] [ 0. 0. 0. 1. ]] SLAMing on 11.905194017 meters Centerline goodness [0,1] 0.9995928338762216 Centerline is valid? [True, True] Translation: X:0.50, Y:-1.07, Z:15.76 [[-0.07523086 -0.46914948 0.87990857 0.49888431] [ 0.16898266 -0.87564463 -0.45242827 -1.07428673] [ 0.9827437 0.11465272 0.14515363 15.75877881] [ 0. 0. 0. 1. ]] SLAMing on 11.935194017 meters Centerline goodness [0,1] 0.999195494770716 Centerline is valid? [True, True] Translation: X:0.49, Y:-1.08, Z:15.80 [[-0.08466133 -0.48020919 0.87305876 0.48963331] [ 0.16450538 -0.87091677 -0.46307879 -1.08478905] [ 0.9827362 0.104418 0.15272997 15.80424616] [ 0. 0. 0. 1. ]] SLAMing on 11.965194017 meters Centerline goodness [0,1] 0.9991941982272361 Centerline is valid? [True, True] Translation: X:0.47, Y:-1.08, Z:15.85 [[-0.07128189 -0.49253277 0.86736979 0.46981778] [ 0.1747741 -0.86229624 -0.47528855 -1.07861673] [ 0.9820249 0.11771431 0.14754807 15.84647424] [ 0. 0. 0. 1. ]] SLAMing on 11.995194017 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.48, Y:-1.12, Z:15.90 [[-0.06453685 -0.50387745 0.86136085 0.47837262] [ 0.17928781 -0.85496979 -0.48670581 -1.11805105] [ 0.98167758 0.12302104 0.14551614 15.89933024] [ 0. 0. 0. 1. ]] SLAMing on 12.025194017 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.44, Y:-1.10, Z:15.94 [[-0.06602949 -0.51483953 0.85473994 0.4438705 ] [ 0.17137912 -0.8497315 -0.49858357 -1.1041095 ] [ 0.98298998 0.11356336 0.14434008 15.93831379] [ 0. 0. 0. 1. ]] SLAMing on 12.055194017 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.46, Y:-1.13, Z:15.99 [[-0.07267293 -0.52615204 0.84727958 0.45950169] [ 0.16960143 -0.84367222 -0.50936484 -1.13437774] [ 0.98282959 0.10668279 0.15054827 15.99008769] [ 0. 0. 0. 1. ]] SLAMing on 12.085194017 meters SLAMing on 12.115194017 meters Centerline goodness [0,1] 0.9984478075281334 Centerline is valid? [True, True] Translation: X:0.37, Y:-1.08, Z:16.01 [[-0.06909799 -0.53733708 0.84053217 0.36742685] [ 0.17013451 -0.8365502 -0.52080516 -1.07533295] [ 0.98299528 0.10701694 0.14922352 16.01349436] [ 0. 0. 0. 1. ]] SLAMing on 12.145194017 meters Centerline goodness [0,1] 0.9996114996114996 Centerline is valid? [True, True] Translation: X:0.42, Y:-1.14, Z:16.07 [[-0.073525 -0.54724562 0.83373635 0.41606699] [ 0.16959596 -0.83068322 -0.53028539 -1.1390232 ] [ 0.98276716 0.10240908 0.15388663 16.07392098] [ 0. 0. 0. 1. ]] SLAMing on 12.175194017 meters Centerline goodness [0,1] 0.9996004794246903 Centerline is valid? [True, True] Translation: X:0.37, Y:-1.11, Z:16.11 [[-0.06625 -0.5586282 0.82676809 0.36690878] [ 0.17835884 -0.82187341 -0.54102885 -1.11042779] [ 0.98173268 0.11161823 0.15408539 16.10767884] [ 0. 0. 0. 1. ]] SLAMing on 12.205194017 meters Centerline goodness [0,1] 0.9984332158245202 Centerline is valid? [True, True] Translation: X:0.43, Y:-1.20, Z:16.18 [[-0.06354995 -0.56893222 0.81992532 0.42890179] [ 0.1800063 -0.81464555 -0.55131693 -1.20264941] [ 0.98161048 0.11255556 0.15418207 16.17572429] [ 0. 0. 0. 1. ]] SLAMing on 12.235194017 meters Centerline goodness [0,1] 0.9984627209838586 Centerline is valid? [True, True] Translation: X:0.37, Y:-1.17, Z:16.21 [[-0.06200282 -0.58156864 0.81113104 0.36963758] [ 0.17760227 -0.80615334 -0.56442379 -1.16881548] [ 0.98214718 0.10906285 0.15327169 16.20898239] [ 0. 0. 0. 1. ]] SLAMing on 12.265194017 meters Centerline goodness [0,1] 0.9988461538461538 Centerline is valid? [True, True] Translation: X:0.31, Y:-1.13, Z:16.24 [[-0.06932626 -0.5920613 0.80290553 0.30706125] [ 0.17536389 -0.7995418 -0.57443923 -1.12625522] [ 0.98205976 0.10097691 0.15925542 16.23821927] [ 0. 0. 0. 1. ]] SLAMing on 12.295194017 meters Centerline goodness [0,1] 0.9984691924990432 Centerline is valid? [True, True] Translation: X:0.37, Y:-1.21, Z:16.31 [[-0.06643656 -0.60221196 0.79556706 0.37418895] [ 0.18329963 -0.79112528 -0.58354265 -1.21008137] [ 0.98080958 0.10705858 0.16294487 16.31140324] [ 0. 0. 0. 1. ]] SLAMing on 12.325194017 meters Centerline goodness [0,1] 0.9996105919003115 Centerline is valid? [True, True] Translation: X:0.28, Y:-1.14, Z:16.34 [[-0.07617974 -0.61782593 0.78261598 0.28472296] [ 0.17579884 -0.78092341 -0.59937751 -1.14322859] [ 0.9814741 0.09192256 0.16810363 16.33521946] [ 0. 0. 0. 1. ]] SLAMing on 12.355194017 meters Centerline goodness [0,1] 0.998849252013809 Centerline is valid? [True, True] Translation: X:0.15, Y:-1.00, Z:16.34 [[-0.05232614 -0.62778707 0.77662435 0.1505279 ] [ 0.18705913 -0.77008615 -0.60989852 -0.99588382] [ 0.98095405 0.11336104 0.15772894 16.3357975 ] [ 0. 0. 0. 1. ]] SLAMing on 12.385194017 meters Centerline goodness [0,1] 0.9973772948669913 Centerline is valid? [True, True] Translation: X:0.39, Y:-1.34, Z:16.46 [[-0.13065807 -0.62603233 0.76877304 0.39367792] [ 0.1383332 -0.77934678 -0.61113217 -1.34398254] [ 0.98172929 0.02649748 0.188429 16.46276842] [ 0. 0. 0. 1. ]] SLAMing on 12.415194017 meters Centerline goodness [0,1] 0.9973772948669913 Centerline is valid? [True, True] Translation: X:0.38, Y:-1.36, Z:16.51 [[-0.12835895 -0.63910244 0.75833505 0.37606081] [ 0.1404934 -0.76866698 -0.62402939 -1.35932861] [ 0.98172582 0.02644131 0.18845497 16.5105302 ] [ 0. 0. 0. 1. ]] SLAMing on 12.445194017 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.22, Y:-1.15, Z:16.50 [[-0.03801967 -0.65755159 0.7524496 0.2152195 ] [ 0.19057912 -0.74394422 -0.64048934 -1.15311871] [ 0.98093532 0.11904999 0.15360012 16.50243122] [ 0. 0. 0. 1. ]] SLAMing on 12.475194017 meters Centerline goodness [0,1] 0.997709049255441 Centerline is valid? [True, True] Translation: X:0.18, Y:-1.10, Z:16.53 [[-0.05763047 -0.66414823 0.74537632 0.18117879] [ 0.18583657 -0.74070454 -0.64561719 -1.09881454] [ 0.98088914 0.10131096 0.16611018 16.53244106] [ 0. 0. 0. 1. ]] SLAMing on 12.505194017 meters Centerline goodness [0,1] 0.9926356589147287 Centerline is valid? [True, True] Translation: X:0.12, Y:-1.02, Z:16.55 [[-0.06660701 -0.67131494 0.73817326 0.1214068 ] [ 0.18388475 -0.7354029 -0.65220317 -1.01859371] [ 0.98068849 0.0922975 0.17242757 16.55296242] [ 0. 0. 0. 1. ]] SLAMing on 12.535194017 meters Centerline goodness [0,1] 0.996547756041427 Centerline is valid? [True, True] Translation: X:0.21, Y:-1.19, Z:16.63 [[-0.05705741 -0.67599019 0.73469838 0.21383768] [ 0.18401408 -0.73041001 -0.65775378 -1.18524742] [ 0.98126616 0.09766512 0.16606702 16.63210316] [ 0. 0. 0. 1. ]] SLAMing on 12.565194017 meters Centerline goodness [0,1] 0.9988483685220729 Centerline is valid? [True, True] Translation: X:0.17, Y:-1.16, Z:16.66 [[-0.04165635 -0.68483321 0.72750823 0.16676061] [ 0.192847 -0.71995927 -0.66668485 -1.1582582 ] [ 0.98034422 0.11252612 0.1620589 16.66459354] [ 0. 0. 0. 1. ]] SLAMing on 12.595194017 meters Centerline goodness [0,1] 0.9988518943742825 Centerline is valid? [True, True] Translation: X:0.18, Y:-1.19, Z:16.71 [[-0.03600684 -0.69148972 0.72148837 0.1802059 ] [ 0.19444259 -0.71300672 -0.67365681 -1.18816191] [ 0.98025282 0.11603182 0.16012817 16.71431173] [ 0. 0. 0. 1. ]] SLAMing on 12.625194017 meters Centerline goodness [0,1] 0.9992190550566185 Centerline is valid? [True, True] Translation: X:0.20, Y:-1.27, Z:16.77 [[-0.02239571 -0.70042369 0.71337583 0.20011618] [ 0.20425969 -0.70170884 -0.682556 -1.26758248] [ 0.97866052 0.1304276 0.15878359 16.772094 ] [ 0. 0. 0. 1. ]] SLAMing on 12.655194017 meters Centerline goodness [0,1] 0.9984934086629002 Centerline is valid? [True, True] Translation: X:0.21, Y:-1.33, Z:16.83 [[-0.04069713 -0.7102141 0.70280842 0.20916224] [ 0.20088523 -0.6948443 -0.69053351 -1.33165913] [ 0.97876906 0.1130811 0.17094969 16.83055297] [ 0. 0. 0. 1. ]] SLAMing on 12.685194017 meters Centerline goodness [0,1] 0.9984459984459985 Centerline is valid? [True, True] Translation: X:0.21, Y:-1.35, Z:16.88 [[-0.03528521 -0.72118368 0.69184467 0.2115804 ] [ 0.20862661 -0.68233885 -0.70063445 -1.35063209] [ 0.97735863 0.11961518 0.17453457 16.88220515] [ 0. 0. 0. 1. ]] SLAMing on 12.715194017 meters Centerline goodness [0,1] 0.9992050874403816 Centerline is valid? [True, True] Translation: X:0.19, Y:-1.38, Z:16.93 [[-0.05642752 -0.73271309 0.67819427 0.18916053] [ 0.20491 -0.67331543 -0.71039301 -1.3847619 ] [ 0.97715292 0.09888307 0.18813376 16.93396786] [ 0. 0. 0. 1. ]] SLAMing on 12.745194017 meters Centerline goodness [0,1] 0.9987628865979381 Centerline is valid? [True, True] Translation: X:0.10, Y:-1.25, Z:16.95 [[-0.02012091 -0.74452398 0.66729244 0.09904313] [ 0.21440289 -0.65511354 -0.7244706 -1.24789999] [ 0.97653804 0.12849242 0.17280957 16.9471019 ] [ 0. 0. 0. 1. ]] SLAMing on 12.775194017 meters Centerline goodness [0,1] 0.9987942122186495 Centerline is valid? [True, True] Translation: X:0.08, Y:-1.25, Z:16.99 [[-1.08324917e-02 -7.51586037e-01 6.59546121e-01 8.37663321e-02] [ 2.10891714e-01 -6.46465808e-01 -7.33216642e-01 -1.25310617e+00] [ 9.77449406e-01 1.31150249e-01 1.65506103e-01 1.69907788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805194017 meters Centerline goodness [0,1] 0.9992184447049629 Centerline is valid? [True, True] Translation: X:0.15, Y:-1.39, Z:17.07 [[-0.01840279 -0.75960276 0.6501269 0.14880216] [ 0.20748838 -0.6389828 -0.74070882 -1.39057635] [ 0.97806437 0.12126267 0.16936781 17.06966642] [ 0. 0. 0. 1. ]] SLAMing on 12.835194017 meters Centerline goodness [0,1] 0.9995941558441559 Centerline is valid? [True, True] Translation: X:0.14, Y:-1.44, Z:17.13 [[-0.04602148 -0.77136732 0.63472394 0.13779751] [ 0.2055614 -0.62911147 -0.74964209 -1.43793842] [ 0.97756152 0.09597511 0.18751599 17.12529833] [ 0. 0. 0. 1. ]] SLAMing on 12.865194017 meters Centerline goodness [0,1] 0.9937080536912751 Centerline is valid? [True, True] Translation: X:0.14, Y:-1.47, Z:17.18 [[-0.0627301 -0.7811814 0.62114455 0.13801086] [ 0.20256724 -0.61938175 -0.75850693 -1.46895042] [ 0.9772571 0.07824233 0.19709564 17.17955412] [ 0. 0. 0. 1. ]] SLAMing on 12.895194017 meters Centerline goodness [0,1] 0.999129677980853 Centerline is valid? [True, True] Translation: X:0.05, Y:-1.29, Z:17.19 [[ 2.75756091e-03 -7.91341087e-01 6.11368694e-01 4.50271262e-02] [ 2.20711565e-01 -5.95812323e-01 -7.72200803e-01 -1.29356304e+00] [ 9.75335225e-01 1.37065532e-01 1.73015141e-01 1.71869237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925194017 meters Centerline goodness [0,1] 0.9978759558198811 Centerline is valid? [True, True] Translation: X:0.08, Y:-1.39, Z:17.25 [[-1.41271899e-02 -7.98343142e-01 6.02037084e-01 8.09814173e-02] [ 2.06799336e-01 -5.91412056e-01 -7.79400933e-01 -1.39496283e+00] [ 9.78281379e-01 1.13490124e-01 1.73451822e-01 1.72544537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.955194017 meters Centerline goodness [0,1] 0.9983929288871033 Centerline is valid? [True, True] Translation: X:0.06, Y:-1.44, Z:17.31 [[-4.22142523e-03 -8.07037107e-01 5.90485637e-01 5.68918829e-02] [ 2.11139586e-01 -5.77897918e-01 -7.88323583e-01 -1.43552083e+00] [ 9.77446804e-01 1.21347044e-01 1.72837033e-01 1.73064906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985194017 meters Centerline goodness [0,1] 0.995857497928749 Centerline is valid? [True, True] Translation: X:0.02, Y:-1.38, Z:17.34 [[-1.94964461e-02 -8.16298946e-01 5.77300545e-01 1.53231051e-02] [ 2.08820504e-01 -5.68000431e-01 -7.96096418e-01 -1.37675018e+00] [ 9.77759626e-01 1.05031140e-01 1.81533948e-01 1.73400662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.015194017 meters Centerline goodness [0,1] 0.9995612110574813 Centerline is valid? [True, True] Translation: X:0.09, Y:-1.59, Z:17.44 [[ 1.15680818e-02 -8.23018623e-01 5.67896580e-01 8.63479847e-02] [ 2.17463141e-01 -5.52270545e-01 -8.04802478e-01 -1.59224751e+00] [ 9.75999981e-01 1.32806595e-01 1.72587504e-01 1.74383441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045194017 meters Centerline goodness [0,1] 0.9977728285077951 Centerline is valid? [True, True] Translation: X:0.02, Y:-1.51, Z:17.47 [[ 1.40552339e-02 -8.35491716e-01 5.49323260e-01 1.77511272e-02] [ 2.15233021e-01 -5.33971050e-01 -8.17648864e-01 -1.51445654e+00] [ 9.76461570e-01 1.29724751e-01 1.72320318e-01 1.74683977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.075194017 meters Centerline goodness [0,1] 0.9960818458859382 Centerline is valid? [True, True] Translation: X:-0.03, Y:-1.59, Z:17.53 [[-0.0291751 -0.84456792 0.53465301 -0.02968661] [ 0.19511948 -0.52940308 -0.8256275 -1.5949221 ] [ 0.98034545 0.08023345 0.18023704 17.52610035] [ 0. 0. 0. 1. ]] SLAMing on 13.105194017 meters Centerline goodness [0,1] 0.996420581655481 Centerline is valid? [True, True] Translation: X:-0.05, Y:-1.58, Z:17.57 [[ 0.02005016 -0.85293393 0.52163369 -0.04913828] [ 0.2048606 -0.50716378 -0.83714815 -1.57609174] [ 0.97858578 0.12364715 0.16456384 17.57068345] [ 0. 0. 0. 1. ]] SLAMing on 13.135194017 meters Centerline goodness [0,1] 0.9939562993956299 Centerline is valid? [True, True] Translation: X:-0.10, Y:-1.48, Z:17.60 [[ 0.0216411 -0.86186544 0.50667507 -0.09996701] [ 0.21308043 -0.49117337 -0.8445978 -1.48098096] [ 0.97679496 0.12624057 0.17301712 17.59929357] [ 0. 0. 0. 1. ]] SLAMing on 13.165194017 meters Centerline goodness [0,1] 0.9967213114754099 Centerline is valid? [True, True] Translation: X:-0.14, Y:-1.50, Z:17.65 [[-1.16716000e-03 -8.70836712e-01 4.91571012e-01 -1.37403823e-01] [ 2.13680977e-01 -4.80434938e-01 -8.50601382e-01 -1.50064277e+00] [ 9.76902799e-01 1.04046586e-01 1.86641984e-01 1.76486775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.195194017 meters Centerline goodness [0,1] 0.9972362966374942 Centerline is valid? [True, True] Translation: X:-0.15, Y:-1.50, Z:17.70 [[ 5.99906288e-03 -8.77747642e-01 4.79085679e-01 -1.46341476e-01] [ 2.07305679e-01 -4.67594540e-01 -8.59290232e-01 -1.49673628e+00] [ 9.78257822e-01 1.04472118e-01 1.79156942e-01 1.76957740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225194017 meters Centerline goodness [0,1] 0.9942168674698795 Centerline is valid? [True, True] Translation: X:-0.19, Y:-1.58, Z:17.76 [[-1.10732620e-02 -8.85075674e-01 4.65315413e-01 -1.89202490e-01] [ 2.08933651e-01 -4.57120386e-01 -8.64515866e-01 -1.58334086e+00] [ 9.77867124e-01 8.76470374e-02 1.89983906e-01 1.77552312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.255194016999999 meters Centerline goodness [0,1] 0.9986276303751144 Centerline is valid? [True, True] Translation: X:-0.21, Y:-1.53, Z:17.79 [[-5.25063405e-03 -8.91997233e-01 4.52010362e-01 -2.07422494e-01] [ 2.07012140e-01 -4.43194484e-01 -8.72195290e-01 -1.53355214e+00] [ 9.78324284e-01 8.89920540e-02 1.86981308e-01 1.77923180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285194017 meters Centerline goodness [0,1] 0.9982166740971913 Centerline is valid? [True, True] Translation: X:-0.24, Y:-1.47, Z:17.83 [[ 0.02016798 -0.89760028 0.44034872 -0.23746838] [ 0.20840847 -0.42698881 -0.87991276 -1.46694632] [ 0.97783391 0.10951847 0.17845599 17.82529401] [ 0. 0. 0. 1. ]] SLAMing on 13.315194017 meters Centerline goodness [0,1] 0.9924410849266341 Centerline is valid? [True, True] Translation: X:-0.26, Y:-1.40, Z:17.86 [[ 6.08041370e-03 -9.04208284e-01 4.27048484e-01 -2.63307478e-01] [ 2.08310539e-01 -4.16542255e-01 -8.84928963e-01 -1.40273821e+00] [ 9.78043837e-01 9.43394341e-02 1.85823366e-01 1.78616036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.345194017 meters Centerline goodness [0,1] 0.9977787649933363 Centerline is valid? [True, True] Translation: X:-0.27, Y:-1.54, Z:17.93 [[ 1.48402184e-02 -9.11429890e-01 4.11187698e-01 -2.69981212e-01] [ 2.19754514e-01 -3.98205220e-01 -8.90584390e-01 -1.54036495e+00] [ 9.75442321e-01 1.03576819e-01 1.94381380e-01 1.79332177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.375194017 meters Centerline goodness [0,1] 0.9419354838709677 Centerline is valid? [True, False] Translation: X:-0.01, Y:-2.30, Z:17.68 [[ 6.21412146e-01 -7.57378907e-01 2.00559557e-01 -1.17340988e-02] [-1.11859684e-01 1.67597602e-01 9.79488874e-01 -2.29606157e+00] [-7.75457514e-01 -6.31100812e-01 1.94270208e-02 1.76774722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405194017 meters Centerline goodness [0,1] 0.9313725490196079 Centerline is valid? [False, False] Translation: X:0.17, Y:-2.28, Z:17.41 [[ 0.66656627 -0.73119916 0.14504205 0.17089049] [-0.07631752 0.12661077 0.98901231 -2.2799746 ] [-0.74152886 -0.67031149 0.02859116 17.40572931] [ 0. 0. 0. 1. ]] SLAMing on 13.435194017 meters Centerline goodness [0,1] 0.9661176470588235 Centerline is valid? [False, True] Translation: X:0.32, Y:-2.29, Z:17.15 [[ 6.68514571e-01 -7.32957470e-01 1.25942902e-01 3.17995744e-01] [-7.52509911e-02 1.01810986e-01 9.91953533e-01 -2.29156743e+00] [-7.39882123e-01 -6.72612719e-01 1.29063515e-02 1.71503710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465194017 meters Centerline goodness [0,1] 0.9966949952785646 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.18, Z:16.83 [[-0.0403209 -0.80302414 0.5945809 0.35106688] [ 0.24119232 -0.58529008 -0.77412001 -0.17867786] [ 0.96963936 0.11219513 0.21728268 16.82781933] [ 0. 0. 0. 1. ]] SLAMing on 13.495194017 meters Centerline goodness [0,1] 0.9970745977571916 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.26, Z:16.89 [[-0.03712194 -0.81775347 0.57437029 0.3509746 ] [ 0.2365278 -0.56562454 -0.79001486 -0.25826574] [ 0.97091532 0.10652766 0.21441851 16.89002985] [ 0. 0. 0. 1. ]] SLAMing on 13.525194017 meters Centerline goodness [0,1] 0.9899232245681382 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.20, Z:16.92 [[-0.05714991 -0.82410028 0.56355356 0.30046435] [ 0.23224859 -0.55996419 -0.79529913 -0.20365192] [ 0.97097605 0.08543325 0.22339803 16.92147831] [ 0. 0. 0. 1. ]] SLAMing on 13.555194017 meters Centerline goodness [0,1] 0.9788235294117648 Centerline is valid? [True, True] Translation: X:-1.10, Y:4.10, Z:15.99 [[ 0.37826597 -0.73212254 0.56649045 -1.09540605] [ 0.33609771 -0.46158089 -0.82096371 4.09835765] [ 0.86252721 0.50093878 0.07146436 15.99077415] [ 0. 0. 0. 1. ]] SLAMing on 13.585194017 meters Centerline goodness [0,1] 0.996129656507015 Centerline is valid? [True, True] Translation: X:0.67, Y:1.39, Z:16.84 [[-0.17148385 0.27560644 0.94585114 0.66604588] [ 0.28517708 -0.90508431 0.31543054 1.39196673] [ 0.94300972 0.3238263 0.0766107 16.83817104] [ 0. 0. 0. 1. ]] SLAMing on 13.615194017 meters Centerline goodness [0,1] 0.956630109670987 Centerline is valid? [True, True] Translation: X:-0.41, Y:2.51, Z:16.43 [[ 0.29530548 -0.81232418 0.5029156 -0.40983663] [ 0.35040316 -0.3976235 -0.84800541 2.51358066] [ 0.88882636 0.42664386 0.16722056 16.42621705] [ 0. 0. 0. 1. ]] SLAMing on 13.645194017 meters Centerline goodness [0,1] 0.9426906265177271 Centerline is valid? [True, False] Translation: X:-0.33, Y:2.45, Z:16.18 [[ 0.5175102 -0.71850761 0.46468269 -0.32814509] [ 0.36839331 -0.30306569 -0.87888427 2.4483851 ] [ 0.77231442 0.62601757 0.10785381 16.18499454] [ 0. 0. 0. 1. ]] SLAMing on 13.675194017 meters Centerline goodness [0,1] 0.9043062200956937 Centerline is valid? [False, False] Translation: X:-1.59, Y:1.76, Z:17.10 [[ 0.16768656 0.87390707 -0.45625393 -1.59050886] [ 0.27531445 0.40288084 0.87286252 1.75782081] [ 0.9466167 -0.27198062 -0.17304154 17.10152092] [ 0. 0. 0. 1. ]] SLAMing on 13.705194017 meters Centerline goodness [0,1] 0.8972442783745913 Centerline is valid? [False, False] Translation: X:-1.66, Y:1.28, Z:16.64 [[ 8.85797236e-01 3.69371489e-01 -2.80941204e-01 -1.65831316e+00] [ 1.22830023e-02 5.86509280e-01 8.09849364e-01 1.28240091e+00] [ 4.63909889e-01 -7.20813129e-01 5.14991308e-01 1.66390329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.735194017 meters Centerline goodness [0,1] 0.9105976896032144 Centerline is valid? [False, False] Translation: X:-1.70, Y:1.27, Z:16.60 [[ 0.92814028 0.27441685 -0.25149754 -1.69527144] [ 0.03898751 0.60026541 0.79885006 1.26884091] [ 0.37018319 -0.75125018 0.54643167 16.60097007] [ 0. 0. 0. 1. ]] SLAMing on 13.765194017 meters Centerline goodness [0,1] 0.9948506694129763 Centerline is valid? [False, True] Translation: X:-1.70, Y:1.27, Z:16.58 [[ 0.94759671 0.21459453 -0.23666359 -1.69936852] [ 0.06134547 0.60478985 0.79401887 1.26511287] [ 0.31352384 -0.76692791 0.55993248 16.58263551] [ 0. 0. 0. 1. ]] SLAMing on 13.795194017 meters SLAMing on 13.825194017 meters Centerline goodness [0,1] 0.9995180722891567 Centerline is valid? [True, True] Translation: X:-1.59, Y:-0.05, Z:16.86 [[ 0.96570342 -0.04214394 -0.25620458 -1.59295446] [ 0.03590926 0.99893517 -0.02896654 -0.04650864] [ 0.25715253 0.01877296 0.96618847 16.86399123] [ 0. 0. 0. 1. ]] SLAMing on 13.855194017 meters Centerline goodness [0,1] 0.9980420949583945 Centerline is valid? [True, True] Translation: X:-1.61, Y:-0.00, Z:17.07 [[ 9.65659538e-01 -3.85417718e-02 -2.56936157e-01 -1.61489849e+00] [ 3.21805469e-02 9.99063626e-01 -2.89185857e-02 -4.88175786e-03] [ 2.57810142e-01 1.96571620e-02 9.65995614e-01 1.70720896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885194017 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.59, Y:0.02, Z:17.12 [[ 9.65480262e-01 -2.54586500e-02 -2.59229089e-01 -1.58949895e+00] [ 1.85873124e-02 9.99408785e-01 -2.89238960e-02 1.54766689e-02] [ 2.59812193e-01 2.31070786e-02 9.65382664e-01 1.71187634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.915194017 meters Centerline goodness [0,1] 0.9917440660474717 Centerline is valid? [True, True] Translation: X:-1.71, Y:0.20, Z:17.66 [[ 9.67701082e-01 -7.73161822e-02 -2.39951714e-01 -1.71076636e+00] [ 7.30835779e-02 9.96973645e-01 -2.65017428e-02 2.04415590e-01] [ 2.41274548e-01 8.10923544e-03 9.70423017e-01 1.76554111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945194017 meters SLAMing on 13.975194017 meters Centerline goodness [0,1] 0.9669421487603306 Centerline is valid? [True, True] Translation: X:-0.50, Y:-0.86, Z:13.70 [[ 0.85938339 0.34799689 -0.37464429 -0.50350492] [-0.39017064 0.91984802 -0.04057693 -0.85648374] [ 0.33049517 0.18104634 0.92628029 13.69895796] [ 0. 0. 0. 1. ]] SLAMing on 14.005194016999999 meters SLAMing on 14.035194017 meters SLAMing on 14.065194017 meters Centerline goodness [0,1] 0.9934888768312534 Centerline is valid? [True, True] Translation: X:-1.47, Y:0.03, Z:17.10 [[ 9.67579893e-01 -1.91019467e-02 -2.51841748e-01 -1.46549646e+00] [ 1.26162746e-02 9.99546501e-01 -2.73426877e-02 2.92681152e-02] [ 2.52249836e-01 2.32789302e-02 9.67382092e-01 1.71044298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.095194017 meters Centerline goodness [0,1] 0.9932735426008968 Centerline is valid? [True, True] Translation: X:-1.45, Y:0.04, Z:17.19 [[ 9.67379937e-01 -1.26364501e-02 -2.53014579e-01 -1.45081230e+00] [ 6.08739842e-03 9.99626284e-01 -2.66502450e-02 3.54598882e-02] [ 2.53256788e-01 2.42407118e-02 9.67095335e-01 1.71923210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125194017 meters Centerline goodness [0,1] 0.8907700709994538 Centerline is valid? [True, False] Translation: X:-1.44, Y:0.04, Z:17.19 [[ 9.67721465e-01 -2.14077096e-02 -2.51111282e-01 -1.44298389e+00] [ 1.33409148e-02 9.99340147e-01 -3.37830064e-02 4.10260321e-02] [ 2.51668803e-01 2.93424862e-02 9.67368509e-01 1.71873093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.155194017 meters Centerline goodness [0,1] 0.9188453159041394 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.04, Z:17.20 [[ 0.96804461 -0.034312 -0.24841964 -1.4333706 ] [ 0.0279528 0.99918611 -0.02908191 0.04106554] [ 0.24921532 0.02120856 0.96821585 17.19501006] [ 0. 0. 0. 1. ]] SLAMing on 14.185194017 meters Centerline goodness [0,1] 0.9351747463359639 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.04, Z:17.19 [[ 0.96882803 -0.04027389 -0.24443866 -1.43071889] [ 0.03261857 0.99884475 -0.03528727 0.04335015] [ 0.24557743 0.02621406 0.96902247 17.19019614] [ 0. 0. 0. 1. ]] SLAMing on 14.215194017 meters Centerline goodness [0,1] 0.9475484606613455 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.05, Z:17.19 [[ 0.96876973 -0.04651367 -0.24356045 -1.42362386] [ 0.03770818 0.99845985 -0.04069418 0.04918936] [ 0.24507817 0.03023906 0.96903162 17.18638492] [ 0. 0. 0. 1. ]] SLAMing on 14.245194017 meters Centerline goodness [0,1] 0.9102857142857143 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.06, Z:17.18 [[ 0.96948872 -0.05822773 -0.23812004 -1.4138749 ] [ 0.04849168 0.99773838 -0.04654755 0.05668327] [ 0.24029186 0.03358049 0.97011967 17.1821139 ] [ 0. 0. 0. 1. ]] SLAMing on 14.275194017 meters SLAMing on 14.305194017 meters Centerline goodness [0,1] 0.9982476635514018 Centerline is valid? [False, True] Translation: X:-1.43, Y:0.07, Z:17.19 [[ 0.96975873 -0.04270699 -0.24030006 -1.42959323] [ 0.03510806 0.99874148 -0.0358173 0.06862326] [ 0.24152729 0.02629767 0.97003763 17.18689111] [ 0. 0. 0. 1. ]] SLAMing on 14.335194017 meters Centerline goodness [0,1] 0.9982476635514018 Centerline is valid? [True, True] Translation: X:-1.39, Y:0.08, Z:17.20 [[ 0.96976895 -0.04152344 -0.2404662 -1.39459707] [ 0.03417125 0.99881459 -0.03466599 0.07508438] [ 0.2416206 0.02540097 0.97003829 17.19607545] [ 0. 0. 0. 1. ]] SLAMing on 14.365194017 meters Centerline goodness [0,1] 0.9970238095238095 Centerline is valid? [True, True] Translation: X:-1.39, Y:0.10, Z:17.31 [[ 0.9705531 -0.04208428 -0.2371826 -1.38775355] [ 0.03500923 0.99880966 -0.03396484 0.10157975] [ 0.23832966 0.0246611 0.97087116 17.30557742] [ 0. 0. 0. 1. ]] SLAMing on 14.395194017 meters Centerline goodness [0,1] 0.9958058717795086 Centerline is valid? [True, True] Translation: X:-1.33, Y:0.09, Z:17.23 [[ 9.70069146e-01 -1.12875349e-02 -2.42566370e-01 -1.33060403e+00] [ 3.02759526e-03 9.99403624e-01 -3.43981178e-02 8.78428603e-02] [ 2.42809980e-01 3.26341599e-02 9.69524794e-01 1.72321181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425194016999999 meters Centerline goodness [0,1] 0.9832033593281344 Centerline is valid? [True, True] Translation: X:-1.96, Y:0.98, Z:19.43 [[ 8.22779531e-01 -5.65069801e-01 -6.10734331e-02 -1.95732820e+00] [ 5.65635771e-01 8.24603312e-01 -9.24944615e-03 9.79507626e-01] [ 5.55879379e-02 -2.69350634e-02 9.98090419e-01 1.94286629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.455194017 meters Centerline goodness [0,1] 0.9919304779639975 Centerline is valid? [True, True] Translation: X:-1.82, Y:0.69, Z:19.21 [[ 8.80743775e-01 -4.60964860e-01 -1.08636091e-01 -1.82028627e+00] [ 4.62196692e-01 8.86649345e-01 -1.50717139e-02 6.93153979e-01] [ 1.03269649e-01 -3.69369236e-02 9.93967325e-01 1.92073920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485194017 meters Centerline goodness [0,1] 0.9902200488997555 Centerline is valid? [True, True] Translation: X:-1.27, Y:0.15, Z:17.45 [[ 9.74015768e-01 -5.95538308e-02 -2.18510011e-01 -1.26833751e+00] [ 5.43412629e-02 9.98077849e-01 -2.97931999e-02 1.54990913e-01] [ 2.19864301e-01 1.71449366e-02 9.75379793e-01 1.74505019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.515194017 meters Centerline goodness [0,1] 0.9964264443120905 Centerline is valid? [True, True] Translation: X:-1.40, Y:0.35, Z:18.06 [[ 0.9543644 -0.25277293 -0.15904228 -1.40464574] [ 0.25256685 0.96733275 -0.02184777 0.35009941] [ 0.15936933 -0.01931807 0.98703 18.06213706] [ 0. 0. 0. 1. ]] SLAMing on 14.545194017 meters Centerline goodness [0,1] 0.997626112759644 Centerline is valid? [True, True] Translation: X:-1.22, Y:0.18, Z:17.56 [[ 9.73747270e-01 -6.45910275e-02 -2.18275634e-01 -1.22253915e+00] [ 5.96200432e-02 9.97791305e-01 -2.92909988e-02 1.80244027e-01] [ 2.19685465e-01 1.55084274e-02 9.75447479e-01 1.75632730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.575194017 meters Centerline goodness [0,1] 0.9937694704049844 Centerline is valid? [True, True] Translation: X:-1.17, Y:0.15, Z:17.51 [[ 0.97291725 -0.03043847 -0.22914083 -1.16716268] [ 0.02403328 0.99923989 -0.03069266 0.14824347] [ 0.2299009 0.02435441 0.97290927 17.51064697] [ 0. 0. 0. 1. ]] SLAMing on 14.605194017 meters Centerline goodness [0,1] 0.998165137614679 Centerline is valid? [True, True] Translation: X:-1.12, Y:0.15, Z:17.49 [[ 9.71551755e-01 -1.25618980e-02 -2.36493945e-01 -1.12146007e+00] [ 5.26473766e-03 9.99491087e-01 -3.14618626e-02 1.46356775e-01] [ 2.36768811e-01 2.93217492e-02 9.71123455e-01 1.74860623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.635194017 meters Centerline goodness [0,1] 0.989355040701315 Centerline is valid? [True, True] Translation: X:-1.56, Y:0.79, Z:19.10 [[ 8.55136629e-01 -5.10380796e-01 -9.08448656e-02 -1.56177446e+00] [ 5.11480248e-01 8.59204079e-01 -1.25022654e-02 7.92037696e-01] [ 8.44351952e-02 -3.57742093e-02 9.95786575e-01 1.90975873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665194017 meters Centerline goodness [0,1] 0.9955300127713921 Centerline is valid? [True, True] Translation: X:-1.04, Y:0.13, Z:17.49 [[ 0.96898368 0.01941842 -0.24636062 -1.03803552] [-0.02808226 0.99910276 -0.03170255 0.13243511] [ 0.24552396 0.03763762 0.96865959 17.48887573] [ 0. 0. 0. 1. ]] SLAMing on 14.695194017 meters Centerline goodness [0,1] 0.9698681732580038 Centerline is valid? [True, True] Translation: X:-1.57, Y:0.95, Z:19.38 [[ 8.36276673e-01 -5.43775998e-01 -7.03490621e-02 -1.56759736e+00] [ 5.44529209e-01 8.38686128e-01 -9.67051163e-03 9.48608801e-01] [ 6.42593747e-02 -3.02198958e-02 9.97475559e-01 1.93801918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725194017 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.00, Y:0.19, Z:17.64 [[ 9.72104440e-01 -2.29180475e-02 -2.33426048e-01 -1.00012840e+00] [ 1.65573100e-02 9.99437240e-01 -2.91729037e-02 1.89253898e-01] [ 2.33963272e-01 2.44942018e-02 9.71936840e-01 1.76370013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.755194016999999 meters Centerline goodness [0,1] 0.9986657771847899 Centerline is valid? [True, True] Translation: X:-0.96, Y:0.18, Z:17.65 [[ 9.71422587e-01 2.66647002e-03 -2.37341628e-01 -9.61779471e-01] [-9.99140337e-03 9.99509963e-01 -2.96648827e-02 1.78494698e-01] [ 2.37146221e-01 3.11885130e-02 9.70973196e-01 1.76519144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785194017 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.93, Y:0.20, Z:17.68 [[ 9.72118077e-01 2.63596009e-03 -2.34477068e-01 -9.31975803e-01] [-9.70715176e-03 9.99532037e-01 -2.90082574e-02 1.97415582e-01] [ 2.34290876e-01 3.04755559e-02 9.71688749e-01 1.76829196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.815194017 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.91, Y:0.21, Z:17.74 [[ 9.71939768e-01 8.70413562e-03 -2.35068766e-01 -9.06713050e-01] [-1.58999350e-02 9.99460645e-01 -2.87334564e-02 2.07255365e-01] [ 2.34691881e-01 3.16647671e-02 9.71553943e-01 1.77405165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.845194017 meters Centerline goodness [0,1] 0.9788434414668548 Centerline is valid? [True, True] Translation: X:-1.44, Y:1.14, Z:19.64 [[ 8.15129980e-01 -5.77062769e-01 -5.06130051e-02 -1.44236136e+00] [ 5.77505270e-01 8.16358010e-01 -6.87481111e-03 1.13738614e+00] [ 4.52855296e-02 -2.36254125e-02 9.98694678e-01 1.96371128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.875194017 meters Centerline goodness [0,1] 0.993127147766323 Centerline is valid? [True, True] Translation: X:-0.85, Y:0.25, Z:17.83 [[ 9.74795667e-01 -1.00108422e-02 -2.22874832e-01 -8.51772944e-01] [ 4.31555823e-03 9.99651948e-01 -2.60261349e-02 2.54654236e-01] [ 2.23057804e-01 2.44083343e-02 9.74499589e-01 1.78343771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905194017 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.86, Y:0.27, Z:18.01 [[ 9.73949335e-01 -8.68451073e-03 -2.26599367e-01 -8.57132170e-01] [ 2.75193250e-03 9.99645457e-01 -2.64836966e-02 2.73711904e-01] [ 2.26749025e-01 2.51701925e-02 9.73627927e-01 1.80106065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.935194017 meters SLAMing on 14.965194017 meters Centerline goodness [0,1] 0.9640804597701149 Centerline is valid? [True, True] Translation: X:0.26, Y:0.24, Z:13.75 [[ 9.71314635e-01 8.61725768e-03 -2.37641796e-01 2.55593739e-01] [-1.55602191e-02 9.99504647e-01 -2.73557914e-02 2.38133243e-01] [ 2.37288348e-01 3.02688390e-02 9.70967578e-01 1.37537050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.995194017 meters SLAMing on 15.025194017 meters Centerline goodness [0,1] 0.9418867924528302 Centerline is valid? [True, False] Translation: X:0.25, Y:0.24, Z:13.76 [[ 0.97045508 0.01816467 -0.24059715 0.24717478] [-0.02359303 0.99952752 -0.01970051 0.23611945] [ 0.24012562 0.02479488 0.97042511 13.75870066] [ 0. 0. 0. 1. ]] SLAMing on 15.055194017 meters Centerline goodness [0,1] 0.9584313725490197 Centerline is valid? [False, True] Translation: X:0.25, Y:0.24, Z:13.76 [[ 9.70858245e-01 1.22347227e-02 -2.39341971e-01 2.52809926e-01] [-1.79613603e-02 9.99601867e-01 -2.17600078e-02 2.39866062e-01] [ 2.38980453e-01 2.54247904e-02 9.70691466e-01 1.37580713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085194017 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.58, Y:0.23, Z:17.93 [[ 9.70464974e-01 1.32838552e-01 -2.01374412e-01 -5.79278358e-01] [-1.35759519e-01 9.90741572e-01 -7.01092886e-04 2.26536498e-01] [ 1.99416869e-01 2.80188794e-02 9.79514091e-01 1.79290624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.115194017 meters SLAMing on 15.145194017 meters SLAMing on 15.175194016999999 meters SLAMing on 15.205194017 meters Centerline goodness [0,1] 0.9877488514548239 Centerline is valid? [True, True] Translation: X:-0.86, Y:0.76, Z:19.48 [[ 9.52473344e-01 -2.92097948e-01 -8.64483509e-02 -8.55732331e-01] [ 2.93156617e-01 9.56064317e-01 -4.69206320e-04 7.57200486e-01] [ 8.27872377e-02 -2.48959995e-02 9.96256223e-01 1.94782553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.235194017 meters SLAMing on 15.265194017 meters Centerline goodness [0,1] 0.9904912836767037 Centerline is valid? [True, True] Translation: X:-0.50, Y:0.22, Z:17.94 [[ 9.71361161e-01 1.24698022e-01 -2.02257010e-01 -5.02058710e-01] [-1.27281568e-01 9.91866598e-01 2.34508770e-04 2.18385463e-01] [ 2.00641215e-01 2.55157967e-02 9.79332450e-01 1.79393108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.295194017 meters SLAMing on 15.325194017 meters Centerline goodness [0,1] 0.9161873459326212 Centerline is valid? [True, False] Translation: X:-0.49, Y:0.22, Z:17.94 [[ 9.72773316e-01 1.13366663e-01 -2.02138754e-01 -4.93203898e-01] [-1.15513378e-01 9.93305219e-01 1.18416790e-03 2.24212116e-01] [ 2.00919724e-01 2.21978033e-02 9.79356177e-01 1.79421892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.355194017 meters SLAMing on 15.385194017 meters SLAMing on 15.415194017 meters SLAMing on 15.445194017 meters SLAMing on 15.475194017 meters SLAMing on 15.505194016999999 meters Centerline goodness [0,1] 0.9251439539347409 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.23, Z:17.97 [[ 9.72653304e-01 1.03663674e-01 -2.07844635e-01 -4.88354385e-01] [-1.00973879e-01 9.94610578e-01 2.35387845e-02 2.31979250e-01] [ 2.09164590e-01 -1.90819745e-03 9.77878588e-01 1.79654859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.535194017 meters Centerline goodness [0,1] 1.0 Centerline is valid? [False, True] Translation: X:-0.49, Y:0.23, Z:17.96 [[ 9.73082099e-01 1.05018440e-01 -2.05139847e-01 -4.90743811e-01] [-1.03325786e-01 9.94466526e-01 1.89765706e-02 2.30956680e-01] [ 2.05997600e-01 2.73047470e-03 9.78548687e-01 1.79621576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565194017 meters Centerline goodness [0,1] 0.9688796680497925 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.94, Z:10.58 [[ 0.79774715 0.55273461 -0.24100609 1.09169436] [-0.56699953 0.82362865 0.01213999 -0.94431182] [ 0.20520971 0.1269657 0.97044767 10.58101067] [ 0. 0. 0. 1. ]] SLAMing on 15.595194017 meters SLAMing on 15.625194017 meters Centerline goodness [0,1] 0.9989451476793249 Centerline is valid? [True, True] Translation: X:-0.45, Y:1.23, Z:17.73 [[ 9.16500461e-01 -2.71424450e-01 2.93863357e-01 -4.48876568e-01] [-2.81536915e-01 -9.59515431e-01 -8.19168437e-03 1.23032703e+00] [ 2.84189849e-01 -7.52257004e-02 -9.55812337e-01 1.77286272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.655194017 meters Centerline goodness [0,1] 0.9976905311778291 Centerline is valid? [True, True] Translation: X:0.07, Y:-0.41, Z:15.73 [[ 9.77900005e-01 1.78098748e-02 -2.08313197e-01 7.29824869e-02] [-1.95445973e-02 9.99789313e-01 -6.27199493e-03 -4.05018528e-01] [ 2.08157604e-01 1.02047814e-02 9.78042062e-01 1.57304653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685194017 meters SLAMing on 15.715194017 meters SLAMing on 15.745194017 meters Centerline goodness [0,1] 0.9975757575757576 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.42, Z:15.86 [[ 9.72874942e-01 6.07809155e-02 -2.23204003e-01 8.64497734e-02] [-6.38313098e-02 9.97939727e-01 -6.47027670e-03 -4.23319786e-01] [ 2.22350873e-01 2.05421740e-02 9.74750280e-01 1.58636938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.775194017 meters Centerline goodness [0,1] 0.9427207637231504 Centerline is valid? [True, False] Translation: X:0.09, Y:-0.42, Z:15.86 [[ 9.72961429e-01 6.05567866e-02 -2.22887716e-01 8.53477249e-02] [-6.34492035e-02 9.97968028e-01 -5.83204306e-03 -4.21279530e-01] [ 2.22081644e-01 1.98164010e-02 9.74826679e-01 1.58635381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805194017 meters SLAMing on 15.835194017 meters Centerline goodness [0,1] 0.9525032092426188 Centerline is valid? [False, True] Translation: X:0.09, Y:-0.42, Z:15.86 [[ 0.97489643 0.04718518 -0.21760172 0.09305192] [-0.05201868 0.99850922 -0.01653473 -0.42188357] [ 0.21649712 0.027439 0.97589758 15.85898832] [ 0. 0. 0. 1. ]] SLAMing on 15.865194017 meters Centerline goodness [0,1] 0.9577464788732395 Centerline is valid? [True, True] Translation: X:0.13, Y:-1.02, Z:14.59 [[ 0.69938255 0.70576242 -0.11297551 0.12632288] [-0.70809494 0.7056784 0.0248908 -1.01653452] [ 0.09729137 0.0625892 0.99328595 14.59051614] [ 0. 0. 0. 1. ]] SLAMing on 15.895194017 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.37, Y:-0.55, Z:20.54 [[ 9.51342189e-01 2.88284795e-01 -1.08811377e-01 -3.67775395e-01] [-2.87413603e-01 9.57507082e-01 2.39501270e-02 -5.48095820e-01] [ 1.11092121e-01 8.48910365e-03 9.93773855e-01 2.05403452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925194016999999 meters Centerline goodness [0,1] 0.972027972027972 Centerline is valid? [True, True] Translation: X:0.31, Y:-1.04, Z:13.47 [[ 0.68911693 0.71504977 -0.11756567 0.3120706 ] [-0.71765255 0.6959129 0.02607761 -1.03635019] [ 0.10046226 0.06640078 0.99272266 13.47290657] [ 0. 0. 0. 1. ]] SLAMing on 15.955194017 meters Centerline goodness [0,1] 0.9428969359331476 Centerline is valid? [True, False] Translation: X:0.30, Y:-1.03, Z:13.47 [[ 0.68384837 0.71967458 -0.12008293 0.30122611] [-0.72240017 0.69094705 0.02702173 -1.03153898] [ 0.10241779 0.06826916 0.99239605 13.47412924] [ 0. 0. 0. 1. ]] SLAMing on 15.985194017 meters Centerline goodness [0,1] 1.0 Centerline is valid? [False, True] Translation: X:0.10, Y:-0.85, Z:13.41 [[ 0.72272978 0.681007 -0.11786062 0.1014824 ] [-0.68757569 0.72575459 -0.02280214 -0.84825522] [ 0.07000947 0.09751788 0.99276832 13.41424022] [ 0. 0. 0. 1. ]] SLAMing on 16.015194017 meters SLAMing on 16.045194017 meters Centerline goodness [0,1] 0.9460708782742681 Centerline is valid? [True, False] Translation: X:0.10, Y:-0.84, Z:13.42 [[ 0.72180269 0.68293368 -0.11226069 0.09817486] [-0.68834234 0.72525522 -0.01377267 -0.844888 ] [ 0.07201183 0.08721494 0.99358334 13.41993964] [ 0. 0. 0. 1. ]] SLAMing on 16.075194017 meters SLAMing on 16.105194017 meters Centerline goodness [0,1] 0.996694214876033 Centerline is valid? [False, True] Translation: X:-0.18, Y:-0.60, Z:13.39 [[ 6.86609041e-01 7.19070952e-01 -1.07261320e-01 -1.83129568e-01] [-7.24051687e-01 6.89649884e-01 -1.14974973e-02 -6.03893665e-01] [ 6.57052403e-02 8.55570252e-02 9.94164381e-01 1.33898332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.135194017 meters Centerline goodness [0,1] 0.9829545454545454 Centerline is valid? [True, True] Translation: X:0.10, Y:-0.66, Z:10.84 [[ 4.65496610e-01 -8.85014196e-01 -7.92332324e-03 1.01012274e-01] [-8.85044973e-01 -4.65504633e-01 -9.11950870e-04 -6.61559347e-01] [-2.88125421e-03 7.43700744e-03 -9.99968194e-01 1.08365583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.165194017 meters Centerline goodness [0,1] 0.9624505928853755 Centerline is valid? [True, True] Translation: X:0.26, Y:-0.34, Z:12.10 [[ 0.89790094 -0.43521182 0.06606486 0.26125026] [-0.42835937 -0.89842892 -0.09661116 -0.34008376] [ 0.1014009 0.05844775 -0.99312724 12.10111704] [ 0. 0. 0. 1. ]] SLAMing on 16.195194017 meters Centerline goodness [0,1] 0.9635701275045537 Centerline is valid? [True, True] Translation: X:0.16, Y:-1.36, Z:6.59 [[ 0.05835379 0.99606394 -0.06671931 0.16151207] [-0.99540896 0.06313405 0.07193812 -1.36174985] [ 0.07586723 0.06221514 0.99517508 6.5930201 ] [ 0. 0. 0. 1. ]] SLAMing on 16.225194017 meters Centerline goodness [0,1] 0.9635701275045537 Centerline is valid? [True, True] Translation: X:0.44, Y:-0.48, Z:12.50 [[ 0.93110856 -0.36050089 0.05546139 0.44157156] [-0.35556356 -0.93102023 -0.08231574 -0.48349009] [ 0.08131057 0.05692484 -0.99506188 12.49616587] [ 0. 0. 0. 1. ]] SLAMing on 16.255194017 meters SLAMing on 16.285194017 meters Centerline goodness [0,1] 0.949290060851927 Centerline is valid? [True, False] Translation: X:-0.30, Y:-1.60, Z:12.41 [[ 7.97792378e-01 6.01234880e-01 4.52099534e-02 -2.97510895e-01] [-6.02926679e-01 7.95861921e-01 5.55267704e-02 -1.60266689e+00] [-2.59624920e-03 -7.15571213e-02 9.97433125e-01 1.24146458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.315194017 meters SLAMing on 16.345194017 meters Centerline goodness [0,1] 0.9592760180995475 Centerline is valid? [False, True] Translation: X:-0.37, Y:-1.60, Z:12.40 [[ 0.79609454 0.59937605 0.0835573 -0.36544983] [-0.60402686 0.79546832 0.04880278 -1.59601515] [-0.03721597 -0.08932248 0.99530722 12.39905836] [ 0. 0. 0. 1. ]] SLAMing on 16.375194017 meters SLAMing on 16.405194017 meters Centerline goodness [0,1] 0.9565217391304348 Centerline is valid? [True, True] Translation: X:-0.33, Y:-1.61, Z:12.42 [[ 7.14854654e-01 6.95039941e-01 7.68264604e-02 -3.31868688e-01] [-6.92266052e-01 7.18921689e-01 -6.26044581e-02 -1.60751313e+00] [-9.87448075e-02 -8.43126225e-03 9.95077071e-01 1.24233734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.435194017 meters Centerline goodness [0,1] 0.8678756476683938 Centerline is valid? [True, False] Translation: X:-0.35, Y:-1.60, Z:12.41 [[ 7.05277084e-01 7.05544360e-01 6.92198750e-02 -3.48996821e-01] [-7.00924436e-01 7.08612832e-01 -8.10727376e-02 -1.59957792e+00] [-1.06250504e-01 8.66084211e-03 9.94301675e-01 1.24114209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465194016999998 meters Centerline goodness [0,1] 0.8858560794044665 Centerline is valid? [False, False] Translation: X:-0.35, Y:-1.61, Z:12.42 [[ 7.10425588e-01 6.98725828e-01 8.41290722e-02 -3.50659370e-01] [-6.95188977e-01 7.15341875e-01 -7.06985717e-02 -1.60888413e+00] [-1.09579966e-01 -8.25952926e-03 9.93943666e-01 1.24220201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.495194017 meters Centerline goodness [0,1] 0.9489795918367347 Centerline is valid? [False, False] Translation: X:-0.41, Y:-1.58, Z:12.36 [[ 0.69776083 0.71322952 0.06658438 -0.41299399] [-0.69786098 0.69779836 -0.16145431 -1.58130587] [-0.16161645 0.06618985 0.98463142 12.35838336] [ 0. 0. 0. 1. ]] SLAMing on 16.525194017 meters Centerline goodness [0,1] 0.9164835164835164 Centerline is valid? [False, False] Translation: X:-0.40, Y:-1.57, Z:12.35 [[ 0.70273455 0.70812497 0.06872543 -0.3961046 ] [-0.69206541 0.70278538 -0.16473669 -1.57466477] [-0.16495339 0.06820367 0.98394036 12.34810337] [ 0. 0. 0. 1. ]] SLAMing on 16.555194017 meters Centerline goodness [0,1] 0.9107468123861566 Centerline is valid? [False, False] Translation: X:-0.47, Y:-1.51, Z:12.36 [[ 0.71629162 0.69175756 0.09163949 -0.4705356 ] [-0.67398773 0.71987055 -0.1659124 -1.50638471] [-0.18073973 0.05707777 0.98187335 12.35614655] [ 0. 0. 0. 1. ]] SLAMing on 16.585194017 meters Centerline goodness [0,1] 0.9567779960707269 Centerline is valid? [False, True] Translation: X:-0.50, Y:-1.46, Z:12.32 [[ 0.74025725 0.66809738 0.07526677 -0.50261841] [-0.63926938 0.7341089 -0.22895148 -1.45825424] [-0.20821589 0.12136726 0.97052364 12.31961692] [ 0. 0. 0. 1. ]] SLAMing on 16.615194017 meters Centerline goodness [0,1] 0.8885496183206107 Centerline is valid? [True, False] Translation: X:-0.53, Y:-1.45, Z:12.32 [[ 0.72092655 0.68931243 0.07150718 -0.52730976] [-0.66015298 0.71447444 -0.23178507 -1.4489137 ] [-0.21086238 0.11989433 0.97013525 12.31627963] [ 0. 0. 0. 1. ]] SLAMing on 16.645194017 meters Centerline goodness [0,1] 0.9873617693522907 Centerline is valid? [False, True] Translation: X:-0.60, Y:-1.37, Z:12.33 [[ 0.7305483 0.67847832 0.07724216 -0.60200207] [-0.64492895 0.72271452 -0.2484962 -1.36878355] [-0.22442332 0.13172277 0.96554818 12.32673864] [ 0. 0. 0. 1. ]] SLAMing on 16.675194017 meters Centerline goodness [0,1] 0.884430176565008 Centerline is valid? [True, False] Translation: X:-0.63, Y:-1.37, Z:12.33 [[ 0.71139295 0.69899708 0.07295997 -0.62963949] [-0.66567057 0.70346847 -0.24902771 -1.36740288] [-0.22539468 0.12858925 0.96574429 12.33048626] [ 0. 0. 0. 1. ]] SLAMing on 16.705194017 meters Centerline goodness [0,1] 0.9812606473594548 Centerline is valid? [False, True] Translation: X:-0.65, Y:-1.32, Z:12.33 [[ 0.73190224 0.67741038 0.07371765 -0.65081483] [-0.6378031 0.71912295 -0.27580679 -1.32104284] [-0.23984643 0.15484626 0.95838214 12.32715602] [ 0. 0. 0. 1. ]] SLAMing on 16.735194017 meters Centerline goodness [0,1] 0.8451957295373665 Centerline is valid? [True, False] Translation: X:-0.63, Y:-1.25, Z:12.29 [[ 0.75447045 0.65085847 0.08460256 -0.63493296] [-0.59519249 0.73280677 -0.32975771 -1.24771435] [-0.27662293 0.19843764 0.94026712 12.28969489] [ 0. 0. 0. 1. ]] SLAMing on 16.765194017 meters Centerline goodness [0,1] 0.8839285714285714 Centerline is valid? [False, False] Translation: X:-0.62, Y:-1.26, Z:12.28 [[ 0.75360424 0.65179148 0.08513822 -0.61685433] [-0.59725417 0.73305799 -0.32544345 -1.25737241] [-0.27453252 0.19440641 0.94172079 12.28116635] [ 0. 0. 0. 1. ]] SLAMing on 16.795194017 meters Centerline goodness [0,1] 0.9148936170212766 Centerline is valid? [False, False] Translation: X:-0.61, Y:-1.26, Z:12.27 [[ 0.75375005 0.65118329 0.08843745 -0.61090019] [-0.5944053 0.73295994 -0.33083542 -1.25907531] [-0.2802556 0.19679952 0.93953539 12.27021236] [ 0. 0. 0. 1. ]] SLAMing on 16.825194017 meters Centerline goodness [0,1] 0.9596977329974811 Centerline is valid? [False, True] Translation: X:-0.63, Y:-1.23, Z:12.27 [[ 0.76533331 0.6370256 0.09199625 -0.62542686] [-0.57786277 0.74301501 -0.33764378 -1.22550348] [-0.28344233 0.20524882 0.93676751 12.27159102] [ 0. 0. 0. 1. ]] SLAMing on 16.855194017 meters Centerline goodness [0,1] 0.8002717391304348 Centerline is valid? [True, False] Translation: X:-0.62, Y:-1.13, Z:12.23 [[ 0.79090321 0.59914392 0.12449368 -0.61981544] [-0.5108876 0.75847307 -0.40461398 -1.12835837] [-0.3368471 0.25640822 0.90597398 12.23187359] [ 0. 0. 0. 1. ]] SLAMing on 16.885194017 meters Centerline goodness [0,1] 0.9283625730994152 Centerline is valid? [False, False] Translation: X:-0.62, Y:-1.13, Z:12.24 [[ 0.79123789 0.59898405 0.12312879 -0.61955806] [-0.5133848 0.76006437 -0.39841962 -1.13056444] [-0.3322328 0.25203225 0.90890104 12.23987213] [ 0. 0. 0. 1. ]] SLAMing on 16.915194017 meters Centerline goodness [0,1] 0.7293233082706767 Centerline is valid? [False, False] Translation: X:-0.62, Y:-1.13, Z:12.22 [[ 0.78577705 0.60312345 0.13710046 -0.62164126] [-0.51074134 0.75774469 -0.4061604 -1.12863064] [-0.34885201 0.24912864 0.90345846 12.22066065] [ 0. 0. 0. 1. ]] SLAMing on 16.945194017 meters Centerline goodness [0,1] 0.9512534818941504 Centerline is valid? [False, True] Translation: X:-0.63, Y:-1.13, Z:12.21 [[ 0.78281634 0.60758987 0.13428748 -0.63137072] [-0.51205226 0.75161967 -0.4157768 -1.13235938] [-0.35355489 0.25671467 0.89949793 12.21080842] [ 0. 0. 0. 1. ]] SLAMing on 16.975194017 meters SLAMing on 17.005194017 meters Centerline goodness [0,1] 0.9688346883468835 Centerline is valid? [True, True] Translation: X:-1.43, Y:-0.21, Z:6.55 [[ 0.48520823 -0.85605986 -0.17814175 -1.43086306] [-0.81384526 -0.5166314 0.26598476 -0.2099702 ] [-0.3197325 0.01592183 -0.94737407 6.55213686] [ 0. 0. 0. 1. ]] SLAMing on 17.035194017 meters Centerline goodness [0,1] 0.9773755656108597 Centerline is valid? [True, True] Translation: X:-1.60, Y:-0.15, Z:6.82 [[ 0.56295466 -0.80434971 -0.19000948 -1.6014506 ] [-0.76661431 -0.59409516 0.24362562 -0.15121675] [-0.30884391 0.0085138 -0.95107463 6.82186498] [ 0. 0. 0. 1. ]] SLAMing on 17.065194017 meters Centerline goodness [0,1] 0.9754098360655737 Centerline is valid? [True, True] Translation: X:-2.46, Y:0.15, Z:5.97 [[ 0.37554262 -0.91419938 -0.15233922 -2.4556324 ] [-0.89974957 -0.39904662 0.17667063 0.15480427] [-0.22230263 0.0707198 -0.97240951 5.97296698] [ 0. 0. 0. 1. ]] SLAMing on 17.095194017 meters Centerline goodness [0,1] 0.9847094801223242 Centerline is valid? [True, True] Translation: X:-2.18, Y:0.26, Z:6.23 [[ 6.78786458e-01 -6.92276154e-01 -2.44954427e-01 -2.17800494e+00] [-6.53298051e-01 -7.21618367e-01 2.29060229e-01 2.55661728e-01] [-3.35336548e-01 4.54526798e-03 -9.42087438e-01 6.22503403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125194017 meters Centerline goodness [0,1] 0.9476439790575917 Centerline is valid? [True, False] Translation: X:-1.81, Y:0.43, Z:6.12 [[ 0.96836328 -0.21664977 0.12383636 -1.80866643] [ 0.23875121 0.94871963 -0.20719296 0.43401372] [-0.07259767 0.23020414 0.97043064 6.11999516] [ 0. 0. 0. 1. ]] SLAMing on 17.155194017 meters Centerline goodness [0,1] 0.9852760736196319 Centerline is valid? [False, True] Translation: X:-1.81, Y:0.43, Z:6.12 [[ 0.9710373 -0.2063412 0.12045694 -1.80796611] [ 0.22735767 0.95297741 -0.20035604 0.42841158] [-0.07345104 0.22193999 0.97228987 6.11981675] [ 0. 0. 0. 1. ]] SLAMing on 17.185194017 meters Centerline goodness [0,1] 0.9831460674157303 Centerline is valid? [True, True] Translation: X:-1.80, Y:1.42, Z:9.45 [[ 0.70225306 -0.69205508 0.16703416 -1.79748765] [ 0.69309945 0.71819868 0.06167503 1.42378975] [-0.16264623 0.0724598 0.98402021 9.45193604] [ 0. 0. 0. 1. ]] SLAMing on 17.215194016999998 meters Centerline goodness [0,1] 0.9705488621151271 Centerline is valid? [True, True] Translation: X:-1.83, Y:1.21, Z:8.06 [[ 0.82862574 -0.54081935 0.14454691 -1.83289545] [ 0.53923126 0.84046339 0.05339414 1.21225441] [-0.15036297 0.03370046 0.9880563 8.05995549] [ 0. 0. 0. 1. ]] SLAMing on 17.245194017 meters Centerline goodness [0,1] 0.9215189873417722 Centerline is valid? [True, False] Translation: X:-1.83, Y:1.20, Z:8.05 [[ 0.83362922 -0.53018173 0.15482135 -1.8318928 ] [ 0.52865529 0.8470958 0.05433499 1.1978302 ] [-0.15995593 0.0365519 0.98644719 8.04876363] [ 0. 0. 0. 1. ]] SLAMing on 17.275194017 meters Centerline goodness [0,1] 0.9530201342281879 Centerline is valid? [False, True] Translation: X:-1.85, Y:1.16, Z:8.02 [[ 0.8471085 -0.49479819 0.19386063 -1.84644331] [ 0.49713483 0.86675396 0.03993152 1.1557973 ] [-0.18778751 0.06254854 0.98021606 8.01638501] [ 0. 0. 0. 1. ]] SLAMing on 17.305194017 meters Centerline goodness [0,1] 0.9957627118644068 Centerline is valid? [True, True] Translation: X:-1.83, Y:0.77, Z:7.25 [[ 0.96483539 -0.23813316 0.11128911 -1.82506438] [ 0.23805313 0.9711483 0.01420199 0.77290828] [-0.11146019 0.01279014 0.99368659 7.2458085 ] [ 0. 0. 0. 1. ]] SLAMing on 17.335194017 meters Centerline goodness [0,1] 0.9711042311661506 Centerline is valid? [True, True] Translation: X:-1.84, Y:0.52, Z:6.18 [[ 9.99729271e-01 2.20353867e-02 7.47173287e-03 -1.84178139e+00] [-2.20430657e-02 9.99756574e-01 9.46949455e-04 5.15780262e-01] [-7.44904765e-03 -1.11139299e-03 9.99971638e-01 6.18444922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.365194017 meters Centerline goodness [0,1] 0.9979591836734694 Centerline is valid? [True, True] Translation: X:-1.77, Y:0.63, Z:6.96 [[ 9.91937466e-01 -1.11429868e-01 6.03609831e-02 -1.76744744e+00] [ 1.11166351e-01 9.93771851e-01 7.71686519e-03 6.28779552e-01] [-6.08449352e-02 -9.44537439e-04 9.98146784e-01 6.96233161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.395194017 meters Centerline goodness [0,1] 0.9358851674641149 Centerline is valid? [True, False] Translation: X:-1.77, Y:0.63, Z:6.97 [[ 0.99351039 -0.09950987 0.05508977 -1.7728993 ] [ 0.09853127 0.9949287 0.02021054 0.62963855] [-0.05682154 -0.01465132 0.99827684 6.96926053] [ 0. 0. 0. 1. ]] SLAMing on 17.425194017 meters Centerline goodness [0,1] 0.9554079696394687 Centerline is valid? [False, True] Translation: X:-1.78, Y:0.62, Z:6.97 [[ 0.99469405 -0.08872033 0.05208126 -1.77932553] [ 0.08754433 0.99586059 0.02444761 0.62329892] [-0.05403468 -0.01975848 0.99834356 6.97378678] [ 0. 0. 0. 1. ]] SLAMing on 17.455194017 meters Centerline goodness [0,1] 0.9972014925373134 Centerline is valid? [True, True] Translation: X:-1.81, Y:-0.03, Z:5.52 [[ 0.91658738 0.38464397 -0.10916313 -1.81339995] [-0.38366608 0.92296234 0.03067345 -0.03179116] [ 0.11255181 0.0137673 0.99355048 5.52155243] [ 0. 0. 0. 1. ]] SLAMing on 17.485194017 meters Centerline goodness [0,1] 0.9643211100099108 Centerline is valid? [True, True] Translation: X:-1.79, Y:0.57, Z:7.75 [[ 0.99914761 -0.02856253 0.02980313 -1.79336967] [ 0.02882509 0.99954903 -0.00841775 0.56753332] [-0.02954926 0.00926966 0.99952034 7.75453355] [ 0. 0. 0. 1. ]] SLAMing on 17.515194017 meters Centerline goodness [0,1] 0.9735449735449735 Centerline is valid? [True, True] Translation: X:-1.74, Y:-0.05, Z:5.39 [[ 0.85562161 0.50274177 -0.12313558 -1.7438345 ] [-0.50258224 0.86383504 0.03464261 -0.05160357] [ 0.12378512 0.03224479 0.99178502 5.38830937] [ 0. 0. 0. 1. ]] SLAMing on 17.545194017 meters Centerline goodness [0,1] 0.924468085106383 Centerline is valid? [True, False] Translation: X:-1.79, Y:0.03, Z:5.34 [[ 0.90587989 0.41172969 -0.09929897 -1.79208717] [-0.41517144 0.90960318 -0.01596007 0.03150531] [ 0.08375142 0.05568401 0.99492964 5.3398292 ] [ 0. 0. 0. 1. ]] SLAMing on 17.575194017 meters Centerline goodness [0,1] 0.8748639825897715 Centerline is valid? [False, False] Translation: X:-1.76, Y:0.04, Z:5.33 [[ 0.89464432 0.43855219 -0.0853435 -1.75791969] [-0.44147741 0.89708983 -0.01809796 0.03734634] [ 0.06862389 0.05386847 0.99618721 5.3347759 ] [ 0. 0. 0. 1. ]] SLAMing on 17.605194017 meters Centerline goodness [0,1] 0.693661971830986 Centerline is valid? [False, False] Translation: X:-1.74, Y:0.05, Z:5.31 [[ 0.89835701 0.43437028 -0.06539989 -1.74086438] [-0.43780021 0.89753302 -0.05258752 0.04546133] [ 0.0358561 0.07587445 0.99647248 5.31202689] [ 0. 0. 0. 1. ]] SLAMing on 17.635194017 meters Centerline goodness [0,1] 0.7862149532710281 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.05, Z:5.32 [[ 0.90361832 0.42214872 -0.07255613 -1.66376057] [-0.42542962 0.90422005 -0.03735947 0.04902429] [ 0.04983545 0.06462623 0.99666438 5.320398 ] [ 0. 0. 0. 1. ]] SLAMing on 17.665194017 meters Centerline goodness [0,1] 0.7438551099611901 Centerline is valid? [False, False] Translation: X:-1.67, Y:0.05, Z:5.32 [[ 0.90361477 0.42236093 -0.07135545 -1.66764776] [-0.42574343 0.90391083 -0.04108218 0.04917387] [ 0.04714746 0.06750158 0.99660456 5.31970153] [ 0. 0. 0. 1. ]] SLAMing on 17.695194017 meters Centerline goodness [0,1] 0.8745198463508322 Centerline is valid? [False, False] Translation: X:-1.60, Y:0.06, Z:5.30 [[ 8.82001475e-01 4.70149913e-01 -3.21318911e-02 -1.60351468e+00] [-4.71245017e-01 8.79766592e-01 -6.27604805e-02 5.78696125e-02] [-1.23827012e-03 7.04968298e-02 9.97511235e-01 5.30448286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.725194017 meters Centerline goodness [0,1] 0.8479381443298969 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:5.29 [[ 9.00543392e-01 4.33162670e-01 -3.73054978e-02 -1.59482652e+00] [-4.34766141e-01 8.97214135e-01 -7.73640701e-02 8.68153962e-02] [-4.02072385e-05 8.58888695e-02 9.96304723e-01 5.29459125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.755194017 meters Centerline goodness [0,1] 0.7866831072749692 Centerline is valid? [False, False] Translation: X:-1.57, Y:0.09, Z:5.29 [[ 0.89893201 0.43727993 -0.02659878 -1.57273809] [-0.43798883 0.89577731 -0.07582084 0.08661534] [-0.00932835 0.07980775 0.99676663 5.28750315] [ 0. 0. 0. 1. ]] SLAMing on 17.785194017 meters Centerline goodness [0,1] 0.8139810426540284 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:5.30 [[ 0.89986599 0.4345225 -0.0378337 -1.56128744] [-0.43606054 0.89816819 -0.0560813 0.08970087] [ 0.00961244 0.06696344 0.99770913 5.2974214 ] [ 0. 0. 0. 1. ]] SLAMing on 17.815194017 meters Centerline goodness [0,1] 0.960919540229885 Centerline is valid? [False, True] Translation: X:-1.60, Y:0.12, Z:5.28 [[ 0.92677054 0.37546187 -0.01116931 -1.59973987] [-0.37529126 0.92427162 -0.0698459 0.12195293] [-0.015901 0.06892287 0.99749526 5.27936212] [ 0. 0. 0. 1. ]] SLAMing on 17.845194017 meters Centerline goodness [0,1] 0.8793650793650793 Centerline is valid? [True, False] Translation: X:-1.61, Y:0.12, Z:5.27 [[ 0.92368984 0.38308492 -0.00655958 -1.60782283] [-0.3822708 0.92030339 -0.08313065 0.11861269] [-0.02580929 0.07929447 0.99651707 5.26873624] [ 0. 0. 0. 1. ]] SLAMing on 17.875194017 meters Centerline goodness [0,1] 0.8223300970873786 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.14, Z:5.27 [[ 9.37105024e-01 3.48396417e-01 -2.13098715e-02 -1.54007396e+00] [-3.49013901e-01 9.34419495e-01 -7.10598670e-02 1.42390767e-01] [-4.84464370e-03 7.40279997e-02 9.97244396e-01 5.27024353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.905194017 meters Centerline goodness [0,1] 0.8530287984111221 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:5.28 [[ 0.94588887 0.3198415 -0.05473269 -1.44211419] [-0.3226739 0.94494024 -0.05449315 0.16336903] [ 0.03428995 0.06920527 0.99701295 5.28203539] [ 0. 0. 0. 1. ]] SLAMing on 17.935194017 meters Centerline goodness [0,1] 0.8356676003734828 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.18, Z:5.29 [[ 0.94622992 0.31329025 -0.08061121 -1.30051336] [-0.31675302 0.9478917 -0.0341883 0.18307753] [ 0.06569984 0.05788383 0.99615912 5.29353369] [ 0. 0. 0. 1. ]] SLAMing on 17.965194016999998 meters Centerline goodness [0,1] 0.9225092250922509 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.23, Z:5.31 [[ 0.95930523 0.25783328 -0.11513244 -1.15669563] [-0.261557 0.9650157 -0.01823837 0.22997466] [ 0.10640215 0.04760986 0.9931827 5.3086077 ] [ 0. 0. 0. 1. ]] SLAMing on 17.995194017 meters Centerline goodness [0,1] 0.9459459459459459 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.25, Z:5.31 [[ 0.96730563 0.21290073 -0.13781543 -1.11348227] [-0.21806862 0.97565342 -0.02337679 0.25125343] [ 0.12948316 0.05266572 0.99018202 5.31035468] [ 0. 0. 0. 1. ]] SLAMing on 18.025194017 meters Centerline goodness [0,1] 0.92616899097621 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.26, Z:5.31 [[ 0.97124748 0.18560455 -0.14909485 -1.08519484] [-0.19138987 0.98118763 -0.02531299 0.25934605] [ 0.14159182 0.05312042 0.98849885 5.31220173] [ 0. 0. 0. 1. ]] SLAMing on 18.055194016999998 meters Centerline goodness [0,1] 0.9634055265123226 Centerline is valid? [False, True] Translation: X:-1.06, Y:0.27, Z:5.31 [[ 0.97435241 0.15869627 -0.15953956 -1.05664423] [-0.16543369 0.98577092 -0.02978916 0.26989493] [ 0.15254203 0.05541836 0.98674198 5.31176113] [ 0. 0. 0. 1. ]] SLAMing on 18.085194017 meters SLAMing on 18.115194017 meters SLAMing on 18.145194017 meters SLAMing on 18.175194017 meters SLAMing on 18.205194017 meters Centerline goodness [0,1] 0.7711815561959654 Centerline is valid? [True, False] Translation: X:-1.07, Y:0.28, Z:5.31 [[ 0.9690747 0.10287124 -0.22430277 -1.07061304] [-0.11169289 0.9933768 -0.02696734 0.27917654] [ 0.22004301 0.05118639 0.97414631 5.31395732] [ 0. 0. 0. 1. ]] SLAMing on 18.235194017 meters Centerline goodness [0,1] 0.5568669527896996 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.30, Z:5.31 [[ 0.96843429 0.07781243 -0.23681269 -1.0367298 ] [-0.08734264 0.99572633 -0.03000564 0.29577233] [ 0.23346581 0.04974233 0.97109187 5.31129337] [ 0. 0. 0. 1. ]] SLAMing on 18.265194017 meters Centerline goodness [0,1] 0.7588347659980897 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.31, Z:5.33 [[ 0.95508538 0.06584831 -0.28892199 -1.01237329] [-0.07471113 0.99700977 -0.01974272 0.30882386] [ 0.28675802 0.04044167 0.95714905 5.32687438] [ 0. 0. 0. 1. ]] SLAMing on 18.295194017 meters Centerline goodness [0,1] 0.6139497161394971 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.31, Z:5.38 [[ 0.91913609 0.0860087 -0.38443641 -0.97848544] [-0.08557243 0.99616431 0.01827632 0.30607788] [ 0.38453375 0.01609873 0.92297054 5.37782579] [ 0. 0. 0. 1. ]] SLAMing on 18.325194017 meters Centerline goodness [0,1] 0.6123213070115725 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.32, Z:5.39 [[ 0.90711863 0.09373295 -0.41030468 -0.94444637] [-0.08167117 0.99555664 0.0468701 0.31743024] [ 0.41287482 -0.00900667 0.91074325 5.39212946] [ 0. 0. 0. 1. ]] SLAMing on 18.355194017 meters Centerline goodness [0,1] 0.6670584778136939 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.33, Z:5.39 [[ 0.89813167 0.07844154 -0.43267358 -0.93450088] [-0.06441484 0.99681546 0.04700709 0.32796445] [ 0.43498302 -0.01434795 0.90032434 5.3926644 ] [ 0. 0. 0. 1. ]] SLAMing on 18.385194017 meters Centerline goodness [0,1] 0.569151809832523 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.34, Z:5.37 [[ 0.89664417 0.05060491 -0.43985041 -0.93656282] [-0.03770501 0.99856527 0.03802276 0.33851182] [ 0.44114348 -0.01750833 0.89726579 5.37059178] [ 0. 0. 0. 1. ]] SLAMing on 18.415194017 meters Centerline goodness [0,1] 0.536322869955157 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.33, Z:5.36 [[ 8.94303484e-01 1.89675557e-02 -4.47058733e-01 -9.43718730e-01] [ 2.53819405e-03 9.98870060e-01 4.74569395e-02 3.32696167e-01] [ 4.47453726e-01 -4.35756281e-02 8.93244831e-01 5.36259229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445194017 meters SLAMing on 18.475194017 meters Centerline goodness [0,1] 0.33595938375350143 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.29, Z:5.33 [[ 0.89638605 -0.0115144 -0.44312466 -0.95942145] [ 0.03494395 0.99838712 0.04474463 0.29074099] [ 0.44189475 -0.05559299 0.89534264 5.33326583] [ 0. 0. 0. 1. ]] SLAMing on 18.505194017 meters Centerline goodness [0,1] 0.2002670226969292 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.26, Z:5.30 [[ 0.90241989 -0.01562401 -0.43057431 -0.93371398] [ 0.04402231 0.99745585 0.05607011 0.26185199] [ 0.42860283 -0.06955366 0.9008118 5.29714008] [ 0. 0. 0. 1. ]] SLAMing on 18.535194017 meters Centerline goodness [0,1] 0.3231899265477439 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.24, Z:5.26 [[ 8.90059511e-01 -1.02339195e-03 -4.55843196e-01 -8.71142311e-01] [ 3.64718037e-02 9.96951479e-01 6.89750422e-02 2.40130284e-01] [ 4.54382960e-01 -7.80173159e-02 8.87383471e-01 5.26385856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.565194017 meters Centerline goodness [0,1] 0.1933429464071137 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.24, Z:5.20 [[ 0.88019803 -0.01547328 -0.4743543 -0.77639518] [ 0.0474797 0.99732527 0.05556954 0.2449674 ] [ 0.47222569 -0.0714344 0.87857841 5.20473253] [ 0. 0. 0. 1. ]] SLAMing on 18.595194017 meters Centerline goodness [0,1] 0.19026250841373116 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.23, Z:5.12 [[ 0.88054562 -0.01394977 -0.47375607 -0.6919787 ] [ 0.03238935 0.99900112 0.03078475 0.23325287] [ 0.4728534 -0.04245203 0.88011788 5.11568708] [ 0. 0. 0. 1. ]] SLAMing on 18.625194017 meters Centerline goodness [0,1] 0.1839080459770115 Centerline is valid? [False, False] Translation: X:-0.66, Y:0.23, Z:5.00 [[ 8.99037451e-01 -2.59255233e-02 -4.37103568e-01 -6.59937055e-01] [ 2.26344932e-02 9.99662664e-01 -1.27373029e-02 2.31706764e-01] [ 4.37286338e-01 1.55769461e-03 8.99320984e-01 4.99516381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.655194017 meters Centerline goodness [0,1] 0.24394645811400206 Centerline is valid? [False, False] Translation: X:-0.66, Y:0.22, Z:4.92 [[ 0.91734204 -0.01734541 -0.39772192 -0.66190732] [ 0.01368147 0.99983381 -0.01204847 0.22467406] [ 0.39786481 0.00561115 0.91742689 4.92435528] [ 0. 0. 0. 1. ]] SLAMing on 18.685194017 meters Centerline goodness [0,1] 0.3357372826786864 Centerline is valid? [False, False] Translation: X:-0.68, Y:0.21, Z:4.91 [[ 9.19900287e-01 2.39062553e-03 -3.92145059e-01 -6.81856518e-01] [-7.51117805e-03 9.99905384e-01 -1.15241424e-02 2.06919546e-01] [ 3.92080406e-01 1.35465333e-02 9.19831206e-01 4.91101981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.715194016999998 meters Centerline goodness [0,1] 0.3304578993055556 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.19, Z:4.90 [[ 0.91921732 0.02868435 -0.39270437 -0.71389673] [-0.03544788 0.99932169 -0.00998056 0.18733769] [ 0.39215171 0.02309485 0.91961061 4.89787311] [ 0. 0. 0. 1. ]] SLAMing on 18.745194017 meters Centerline goodness [0,1] 0.33049690571532586 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.18, Z:4.89 [[ 0.90663456 0.04370129 -0.41964745 -0.75009355] [-0.05168912 0.99863372 -0.00767682 0.1765319 ] [ 0.4187386 0.02865128 0.90765472 4.88992504] [ 0. 0. 0. 1. ]] SLAMing on 18.775194017 meters Centerline goodness [0,1] 0.3652494141278875 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.17, Z:4.88 [[ 0.90794055 0.0333554 -0.41776953 -0.7599195 ] [-0.03974293 0.99918816 -0.00659669 0.16968303] [ 0.41721033 0.02259279 0.90852909 4.88248114] [ 0. 0. 0. 1. ]] SLAMing on 18.805194016999998 meters Centerline goodness [0,1] 0.41398102407276716 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.16, Z:4.86 [[ 9.18100982e-01 3.15743926e-02 -3.95086883e-01 -7.80652849e-01] [-3.37792692e-02 9.99428371e-01 1.37580771e-03 1.63323145e-01] [ 3.94904480e-01 1.20826158e-02 9.18642728e-01 4.86106628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.835194017 meters Centerline goodness [0,1] 0.4189751471304869 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.16, Z:4.85 [[ 0.92098644 0.02189257 -0.38897903 -0.78248582] [-0.0266064 0.9996233 -0.00673509 0.15802157] [ 0.38868505 0.01655225 0.92122199 4.85228037] [ 0. 0. 0. 1. ]] SLAMing on 18.865194017 meters Centerline goodness [0,1] 0.41204599379448803 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.15, Z:4.85 [[ 0.92271722 0.02028491 -0.38494343 -0.78166837] [-0.02509452 0.99965714 -0.00747433 0.15415575] [ 0.38465984 0.01655666 0.9229099 4.84551281] [ 0. 0. 0. 1. ]] SLAMing on 18.895194017 meters Centerline goodness [0,1] 0.44471605200694375 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.15, Z:4.83 [[ 0.92601479 0.01677801 -0.37711418 -0.78404107] [-0.02039471 0.99977633 -0.00559923 0.15052446] [ 0.37693589 0.0128761 0.92614985 4.83468036] [ 0. 0. 0. 1. ]] SLAMing on 18.925194017 meters Centerline goodness [0,1] 0.42525907184694833 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.14, Z:4.83 [[ 0.92764967 0.01043923 -0.37330566 -0.78647742] [-0.01432226 0.99986832 -0.00762963 0.14056426] [ 0.37317686 0.0124242 0.92767703 4.8307058 ] [ 0. 0. 0. 1. ]] SLAMing on 18.955194017 meters Centerline goodness [0,1] 0.45492605847795264 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.13, Z:4.83 [[ 9.29550988e-01 -3.60206223e-04 -3.68693410e-01 -7.92915137e-01] [-4.84132037e-03 9.99901382e-01 -1.31828362e-02 1.32806818e-01] [ 3.68661798e-01 1.40390813e-02 9.29457574e-01 4.82890871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.985194017 meters Centerline goodness [0,1] 0.45932398563977517 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.13, Z:4.83 [[ 9.30290522e-01 -5.11356255e-03 -3.66787945e-01 -7.92733476e-01] [-2.78836510e-04 9.99892685e-01 -1.46471901e-02 1.27201496e-01] [ 3.66823482e-01 1.37284160e-02 9.30189262e-01 4.82594741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.015194017 meters Centerline goodness [0,1] 0.4008741804558227 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.13, Z:4.82 [[ 0.93119879 -0.0119484 -0.36431585 -0.79318024] [ 0.00565551 0.9998159 -0.01833518 0.12564554] [ 0.36446786 0.01501331 0.93109494 4.82186006] [ 0. 0. 0. 1. ]] SLAMing on 19.045194017 meters Centerline goodness [0,1] 0.36960330810204656 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.14, Z:4.81 [[ 0.93436155 -0.02209223 -0.35564087 -0.78359115] [ 0.01524973 0.99964095 -0.02203215 0.13555059] [ 0.35599992 0.01516256 0.93436297 4.81360276] [ 0. 0. 0. 1. ]] SLAMing on 19.075194017 meters Centerline goodness [0,1] 0.35902843429568754 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.14, Z:4.80 [[ 0.94245989 -0.02929709 -0.33303309 -0.77100582] [ 0.02166162 0.99941096 -0.02661782 0.14394281] [ 0.33361674 0.01787219 0.94253936 4.80275801] [ 0. 0. 0. 1. ]] SLAMing on 19.105194017 meters Centerline goodness [0,1] 0.31286108555657777 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.15, Z:4.79 [[ 0.95058234 -0.03672098 -0.30829333 -0.75286121] [ 0.02569653 0.99887938 -0.03974515 0.14933235] [ 0.30940733 0.02985896 0.9504607 4.79301041] [ 0. 0. 0. 1. ]] SLAMing on 19.135194017 meters Centerline goodness [0,1] 0.30533446858919777 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.16, Z:4.76 [[ 0.9739053 -0.03270043 -0.2245866 -0.75224715] [ 0.01903017 0.99784681 -0.06276615 0.15768366] [ 0.22615551 0.05685437 0.9724306 4.75654681] [ 0. 0. 0. 1. ]] SLAMing on 19.165194017 meters Centerline goodness [0,1] 0.30504446488807113 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.14, Z:4.75 [[ 9.79368480e-01 -1.20007343e-02 -2.01725960e-01 -7.33746080e-01] [ 1.59139783e-03 9.98662193e-01 -5.16845465e-02 1.43145155e-01] [ 2.02076343e-01 5.02971895e-02 9.78077371e-01 4.74539291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.195194017 meters Centerline goodness [0,1] 0.29959008393519426 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.13, Z:4.73 [[ 0.98528188 0.00926786 -0.17068605 -0.71540393] [-0.01543866 0.99927291 -0.03486113 0.1319987 ] [ 0.17023886 0.03698321 0.98470857 4.73218283] [ 0. 0. 0. 1. ]] SLAMing on 19.225194017 meters Centerline goodness [0,1] 0.32844162110003217 Centerline is valid? [False, False] Translation: X:-0.70, Y:0.12, Z:4.72 [[ 0.9863049 0.02063769 -0.16363599 -0.70322925] [-0.02523531 0.99934161 -0.02606764 0.12350244] [ 0.16299027 0.02984005 0.98617632 4.72449944] [ 0. 0. 0. 1. ]] SLAMing on 19.255194017 meters Centerline goodness [0,1] 0.3445646827348746 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.12, Z:4.72 [[ 0.98633035 0.02462167 -0.16293007 -0.69347841] [-0.02978944 0.99912518 -0.02935063 0.11512032] [ 0.16206487 0.03380301 0.98620096 4.72440591] [ 0. 0. 0. 1. ]] SLAMing on 19.285194017 meters Centerline goodness [0,1] 0.3732103858286824 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.11, Z:4.73 [[ 0.98617701 0.02528201 -0.16375509 -0.69204832] [-0.03055733 0.99908941 -0.02977587 0.11371932] [ 0.16285318 0.0343682 0.98605155 4.7261449 ] [ 0. 0. 0. 1. ]] SLAMing on 19.315194017 meters Centerline goodness [0,1] 0.4158895337202322 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.12, Z:4.73 [[ 0.98802145 0.03015378 -0.15134187 -0.70857158] [-0.03514804 0.99891863 -0.03043338 0.11796252] [ 0.15026053 0.0353882 0.98801288 4.72908599] [ 0. 0. 0. 1. ]] SLAMing on 19.345194017 meters Centerline goodness [0,1] 0.4182305630026809 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.12, Z:4.73 [[ 0.98813403 0.03391949 -0.1498019 -0.71083253] [-0.03853216 0.99886509 -0.02799656 0.11766458] [ 0.14868226 0.03343654 0.98831958 4.72960981] [ 0. 0. 0. 1. ]] SLAMing on 19.375194017 meters Centerline goodness [0,1] 0.4240417979499861 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.12, Z:4.73 [[ 0.9881506 0.03769554 -0.14878655 -0.71361974] [-0.04201568 0.99877862 -0.02599917 0.11747553] [ 0.14762477 0.03194247 0.98852749 4.7292434 ] [ 0. 0. 0. 1. ]] SLAMing on 19.405194017 meters Centerline goodness [0,1] 0.4287526762350329 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.12, Z:4.73 [[ 0.98793938 0.04665074 -0.14764653 -0.7155875 ] [-0.05013238 0.99854339 -0.01994605 0.12202562] [ 0.14650097 0.02710736 0.98883904 4.72897193] [ 0. 0. 0. 1. ]] SLAMing on 19.435194017 meters Centerline goodness [0,1] 0.4479116465863454 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.13, Z:4.73 [[ 0.98821876 0.05231757 -0.1438282 -0.72336045] [-0.05550604 0.99829167 -0.0182434 0.12780406] [ 0.14262804 0.0260118 0.9894345 4.73142367] [ 0. 0. 0. 1. ]] SLAMing on 19.465194016999998 meters Centerline goodness [0,1] 0.46801023672424824 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.13, Z:4.74 [[ 0.98982041 0.05931682 -0.1293718 -0.74427416] [-0.06267265 0.99779117 -0.02202076 0.13399059] [ 0.12777984 0.02990467 0.99135161 4.73770599] [ 0. 0. 0. 1. ]] SLAMing on 19.495194017 meters Centerline goodness [0,1] 0.4744618317578838 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.14, Z:4.74 [[ 0.99032085 0.06056473 -0.12488607 -0.75421263] [-0.0639342 0.99768563 -0.02314757 0.13923387] [ 0.12319511 0.03090802 0.99190103 4.74105337] [ 0. 0. 0. 1. ]] SLAMing on 19.525194017 meters Centerline goodness [0,1] 0.48486086707800435 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.15, Z:4.74 [[ 0.99247365 0.05211133 -0.11081725 -0.77588296] [-0.05514362 0.99817844 -0.02447433 0.14829227] [ 0.10934 0.03040099 0.9935394 4.73839108] [ 0. 0. 0. 1. ]] SLAMing on 19.555194016999998 meters Centerline goodness [0,1] 0.4903808402041617 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.15, Z:4.74 [[ 0.99372531 0.04552256 -0.10216506 -0.79186282] [-0.04867342 0.9984063 -0.02856153 0.15073093] [ 0.10070205 0.03335504 0.99435735 4.74382843] [ 0. 0. 0. 1. ]] SLAMing on 19.585194017 meters Centerline goodness [0,1] 0.48262007945106533 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.16, Z:4.74 [[ 0.9931863 0.04494686 -0.10752095 -0.79231955] [-0.04901855 0.99816574 -0.03552925 0.1568339 ] [ 0.1057268 0.04055768 0.99356777 4.74153332] [ 0. 0. 0. 1. ]] SLAMing on 19.615194017 meters Centerline goodness [0,1] 0.4876674714765895 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.16, Z:4.74 [[ 0.99154798 0.05340814 -0.11823777 -0.78833213] [-0.05840008 0.99752479 -0.03916288 0.16377269] [ 0.11585349 0.04573697 0.99221273 4.74164304] [ 0. 0. 0. 1. ]] SLAMing on 19.645194017 meters Centerline goodness [0,1] 0.49456357595892475 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.17, Z:4.74 [[ 0.98976831 0.06059447 -0.12917821 -0.78249798] [-0.06717513 0.99662387 -0.04720551 0.17151816] [ 0.12588169 0.05540008 0.99049716 4.74476517] [ 0. 0. 0. 1. ]] SLAMing on 19.675194017 meters Centerline goodness [0,1] 0.5720479054896224 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.18, Z:4.73 [[ 0.98938253 0.07265722 -0.12586952 -0.77777353] [-0.077682 0.99634679 -0.03547663 0.18371101] [ 0.12283206 0.04487775 0.99141226 4.73336947] [ 0. 0. 0. 1. ]] SLAMing on 19.705194017 meters Centerline goodness [0,1] 0.5596108393338097 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:4.73 [[ 0.98926477 0.07042571 -0.12804463 -0.77157407] [-0.07606616 0.99631206 -0.03970168 0.18715242] [ 0.12477639 0.04901533 0.99097344 4.73165541] [ 0. 0. 0. 1. ]] SLAMing on 19.735194017 meters Centerline goodness [0,1] 0.5509185756407349 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.19, Z:4.73 [[ 0.98858338 0.06643659 -0.13523713 -0.75747788] [-0.07326554 0.99624382 -0.04615635 0.19407916] [ 0.13166269 0.05553762 0.9897376 4.73345386] [ 0. 0. 0. 1. ]] SLAMing on 19.765194017 meters Centerline goodness [0,1] 0.5307982583454282 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.21, Z:4.74 [[ 0.98817913 0.06309672 -0.13971693 -0.72112788] [-0.07044429 0.9963467 -0.04827886 0.20794377] [ 0.13616027 0.05755042 0.98901382 4.74102535] [ 0. 0. 0. 1. ]] SLAMing on 19.795194017 meters Centerline goodness [0,1] 0.532456036822849 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.22, Z:4.75 [[ 0.9894621 0.04376227 -0.13802036 -0.69300491] [-0.0492745 0.998108 -0.03677553 0.21741884] [ 0.13614985 0.04318887 0.9897464 4.74585694] [ 0. 0. 0. 1. ]] SLAMing on 19.825194017 meters Centerline goodness [0,1] 0.5353161998267398 Centerline is valid? [False, False] Translation: X:-0.68, Y:0.23, Z:4.74 [[ 0.9907665 0.0338927 -0.13127463 -0.68252199] [-0.04063283 0.99797147 -0.04900947 0.22726986] [ 0.12934727 0.053891 0.99013385 4.74327606] [ 0. 0. 0. 1. ]] SLAMing on 19.855194017 meters Centerline goodness [0,1] 0.4993085135807933 Centerline is valid? [False, False] Translation: X:-0.67, Y:0.24, Z:4.75 [[ 0.98992522 0.03454425 -0.1373126 -0.665981 ] [-0.04305388 0.99729983 -0.05949303 0.24436749] [ 0.13488669 0.06480549 0.98873951 4.74695897] [ 0. 0. 0. 1. ]] SLAMing on 19.885194017 meters Centerline goodness [0,1] 0.5142934782608696 Centerline is valid? [False, False] Translation: X:-0.64, Y:0.27, Z:4.75 [[ 0.98914541 0.03947612 -0.14153797 -0.64119197] [-0.04974722 0.99632131 -0.0697787 0.26605401] [ 0.1382627 0.0760624 0.98747047 4.75016787] [ 0. 0. 0. 1. ]] SLAMing on 19.915194017 meters Centerline goodness [0,1] 0.5554694419840567 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.29, Z:4.76 [[ 0.98793055 0.03386923 -0.15114924 -0.60313903] [-0.04420938 0.99686736 -0.06558195 0.29061593] [ 0.14845454 0.07147263 0.98633306 4.75963151] [ 0. 0. 0. 1. ]] SLAMing on 19.945194017 meters Centerline goodness [0,1] 0.5772532188841202 Centerline is valid? [False, False] Translation: X:-0.57, Y:0.31, Z:4.76 [[ 0.98773508 0.03331711 -0.15254307 -0.57207692] [-0.04317819 0.9971545 -0.06179442 0.31411418] [ 0.1500502 0.06762305 0.98636305 4.76358316] [ 0. 0. 0. 1. ]] SLAMing on 19.975194017 meters Centerline goodness [0,1] 0.5687935933867218 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.34, Z:4.76 [[ 0.98833896 0.0347404 -0.14825386 -0.55951272] [-0.04535707 0.996596 -0.06884145 0.33954042] [ 0.14535762 0.07476305 0.98655038 4.76024508] [ 0. 0. 0. 1. ]] SLAMing on 20.005194017 meters Centerline goodness [0,1] 0.5617410989915621 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.36, Z:4.76 [[ 0.98942861 0.02907942 -0.14207537 -0.55175322] [-0.0402174 0.99628397 -0.076163 0.35537059] [ 0.13933264 0.08107175 0.98692137 4.75733393] [ 0. 0. 0. 1. ]] SLAMing on 20.035194017 meters Centerline goodness [0,1] 0.5617410989915621 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.35, Z:4.76 [[ 0.98945048 0.02716183 -0.14230241 -0.54936698] [-0.03829265 0.99636659 -0.07607419 0.35444298] [ 0.13971905 0.08072078 0.98689551 4.75694144] [ 0. 0. 0. 1. ]] SLAMing on 20.065194017 meters Centerline goodness [0,1] 0.5609743745568723 Centerline is valid? [False, False] Translation: X:-0.54, Y:0.37, Z:4.75 [[ 0.99086987 0.02379573 -0.13270519 -0.54383858] [-0.03440537 0.99634085 -0.07823801 0.37005312] [ 0.13035787 0.08208946 0.98806283 4.75137322] [ 0. 0. 0. 1. ]] SLAMing on 20.095194017 meters Centerline goodness [0,1] 0.5434172265115813 Centerline is valid? [False, False] Translation: X:-0.54, Y:0.38, Z:4.75 [[ 0.99109564 0.02044728 -0.13157257 -0.54132106] [-0.03143912 0.99613509 -0.082015 0.37858699] [ 0.12938707 0.08542124 0.98790799 4.75067674] [ 0. 0. 0. 1. ]] Total time of SLAM: 234.01 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%| | 0/634 [00:00