+ python -m lidar_slam --no-model /working/2a0f8b05-a80d-4ee5-a69a-b455562b8d63 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/2a0f8b05-a80d-4ee5-a69a-b455562b8d63 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 0.001463509 Adjusted end_distance from 9.223372036854776e+18 to 13.534583509 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001463509 meters Centerline goodness [0,1] 0.18339587242026267 Centerline is valid? [0, False] SLAMing on 0.031463509 meters Centerline goodness [0,1] 0.15385194668273217 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.00, Z:0.01 [[ 0.99949286 0.03180052 -0.00165877 -0.04980994] [-0.03178146 0.99944 0.01047059 0.00463932] [ 0.00199081 -0.01041256 0.99994381 0.00598046] [ 0. 0. 0. 1. ]] SLAMing on 0.061463509 meters Centerline goodness [0,1] 0.16930612244897958 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.00, Z:0.00 [[ 9.99929912e-01 1.10221526e-02 4.32252098e-03 -7.22464933e-02] [-1.10730503e-02 9.99867482e-01 1.19333712e-02 -5.35445049e-04] [-4.19041673e-03 -1.19803983e-02 9.99919452e-01 3.33402343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.091463509 meters Centerline goodness [0,1] 0.3108348134991119 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:0.05 [[ 0.98244205 -0.09588576 -0.16004228 0.11742322] [ 0.09690326 0.99529274 -0.00145318 0.01840169] [ 0.15942826 -0.01408095 0.98710909 0.05291508] [ 0. 0. 0. 1. ]] SLAMing on 0.121463509 meters Centerline goodness [0,1] 0.34643008027038447 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:0.05 [[ 0.97679917 -0.1369485 -0.16464655 0.06571305] [ 0.13708444 0.99050274 -0.01059176 -0.00813115] [ 0.16453338 -0.01222446 0.98629576 0.04537456] [ 0. 0. 0. 1. ]] SLAMing on 0.151463509 meters Centerline goodness [0,1] 0.38839224315775 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:0.04 [[ 0.97939019 -0.11994644 -0.1625045 0.07366182] [ 0.12011864 0.99272053 -0.00880141 -0.0058608 ] [ 0.16237725 -0.01089981 0.98666855 0.04047276] [ 0. 0. 0. 1. ]] SLAMing on 0.181463509 meters Centerline goodness [0,1] 0.5119918699186992 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:0.04 [[ 0.98526511 -0.08128569 -0.15048356 0.06342589] [ 0.08156335 0.99665873 -0.00433646 0.01473299] [ 0.15033325 -0.00800138 0.988603 0.04468711] [ 0. 0. 0. 1. ]] SLAMing on 0.211463509 meters Centerline goodness [0,1] 0.8937788018433179 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:0.03 [[ 0.98645646 -0.07412062 -0.14632082 0.03832938] [ 0.07425716 0.99722881 -0.00453637 0.03417652] [ 0.14625158 -0.00639043 0.98922679 0.03475407] [ 0. 0. 0. 1. ]] SLAMing on 0.241463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [False, True] Translation: X:0.02, Y:0.04, Z:0.03 [[ 0.98674895 -0.07889287 -0.14178304 0.02343604] [ 0.07985193 0.99680615 0.00107851 0.0433682 ] [ 0.14124512 -0.01238587 0.98989717 0.03157302] [ 0. 0. 0. 1. ]] SLAMing on 0.271463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.01, Y:0.04, Z:0.04 [[ 0.98770488 -0.07813221 -0.13540468 -0.00594743] [ 0.07654075 0.99692275 -0.01692779 0.03522799] [ 0.13631061 0.00635569 0.99064576 0.03768193] [ 0. 0. 0. 1. ]] SLAMing on 0.30146350899999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.05, Y:0.08, Z:0.10 [[ 0.99006639 -0.04968474 -0.13152938 -0.05143078] [ 0.04793774 0.9987154 -0.01641744 0.0753945 ] [ 0.13217611 0.00994914 0.99117632 0.0998654 ] [ 0. 0. 0. 1. ]] SLAMing on 0.33146350899999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.09, Y:0.09, Z:0.17 [[ 0.99124583 -0.03606248 -0.12700867 -0.0949046 ] [ 0.03432554 0.99928519 -0.01583868 0.09339799] [ 0.12748906 0.01134038 0.99177514 0.16892519] [ 0. 0. 0. 1. ]] SLAMing on 0.36146350899999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.13, Y:0.07, Z:0.20 [[ 0.98981434 -0.07476919 -0.12114924 -0.12596231] [ 0.07347882 0.99718261 -0.01508999 0.06752401] [ 0.12193618 0.00603439 0.9925196 0.19862694] [ 0. 0. 0. 1. ]] SLAMing on 0.391463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.18, Y:-0.02, Z:0.38 [[ 0.97532492 -0.17071335 -0.13999375 -0.17531631] [ 0.16995887 0.98529723 -0.01741704 -0.02099245] [ 0.14090877 -0.00680591 0.98999919 0.37597052] [ 0. 0. 0. 1. ]] SLAMing on 0.42146350899999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.24, Y:-0.08, Z:0.59 [[ 0.96388358 -0.21852616 -0.15223259 -0.23525301] [ 0.21822984 0.97571514 -0.01886013 -0.07533674] [ 0.15265708 -0.01504273 0.98816473 0.58949251] [ 0. 0. 0. 1. ]] SLAMing on 0.45146350899999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.28, Y:-0.11, Z:0.70 [[ 0.95910712 -0.23361918 -0.15979868 -0.27872382] [ 0.23350605 0.97215467 -0.01975398 -0.11051635] [ 0.15996395 -0.01836778 0.98695195 0.69598045] [ 0. 0. 0. 1. ]] SLAMing on 0.48146350899999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.30, Y:-0.15, Z:0.70 [[ 0.95842198 -0.23050178 -0.16821485 -0.30478061] [ 0.23033891 0.97288917 -0.0207521 -0.14548221] [ 0.1684378 -0.01885716 0.98553189 0.70016693] [ 0. 0. 0. 1. ]] SLAMing on 0.511463509 meters Centerline goodness [0,1] 0.9959749552772809 Centerline is valid? [True, True] Translation: X:-0.31, Y:-0.17, Z:0.55 [[ 0.95983062 -0.22631458 -0.16585204 -0.30513312] [ 0.2261059 0.97388927 -0.02039152 -0.17097144] [ 0.16613642 -0.01792772 0.9859398 0.55193166] [ 0. 0. 0. 1. ]] SLAMing on 0.5414635090000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.29, Y:-0.20, Z:0.34 [[ 0.9604444 -0.22608922 -0.16257372 -0.29435966] [ 0.22589504 0.97394783 -0.01992624 -0.19665248] [ 0.16284343 -0.01758656 0.98649517 0.34178788] [ 0. 0. 0. 1. ]] SLAMing on 0.571463509 meters Centerline goodness [0,1] 0.9994428969359331 Centerline is valid? [True, True] Translation: X:-0.31, Y:-0.19, Z:0.29 [[ 0.95876425 -0.23662851 -0.15741048 -0.31454698] [ 0.23659389 0.97141825 -0.0192331 -0.19179698] [ 0.15746252 -0.01880235 0.98734595 0.28768191] [ 0. 0. 0. 1. ]] SLAMing on 0.601463509 meters Centerline goodness [0,1] 0.9918557300756253 Centerline is valid? [True, True] Translation: X:-0.35, Y:-0.25, Z:0.37 [[ 0.9602959 -0.21977321 -0.17184738 -0.35306446] [ 0.219475 0.97539266 -0.02097349 -0.24927029] [ 0.17222809 -0.01757545 0.98490029 0.3741336 ] [ 0. 0. 0. 1. ]] SLAMing on 0.631463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.35, Y:-0.28, Z:0.19 [[ 0.96557954 -0.16001606 -0.20506345 -0.34533888] [ 0.15827144 0.98707931 -0.02499168 -0.28489595] [ 0.20641296 -0.00832424 0.97842956 0.18751763] [ 0. 0. 0. 1. ]] SLAMing on 0.661463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.37, Y:-0.32, Z:0.21 [[ 0.963109 -0.18464978 -0.19576904 -0.37437452] [ 0.1835642 0.98271868 -0.02383652 -0.31927281] [ 0.1967873 -0.01297902 0.98036029 0.20614992] [ 0. 0. 0. 1. ]] SLAMing on 0.691463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.40, Y:-0.36, Z:0.19 [[ 0.96108165 -0.19357087 -0.19711006 -0.39553728] [ 0.19266363 0.98097236 -0.02395716 -0.36071066] [ 0.19799694 -0.01495115 0.98008861 0.18534484] [ 0. 0. 0. 1. ]] SLAMing on 0.721463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.41, Y:-0.39, Z:0.13 [[ 0.95896228 -0.20347854 -0.19745334 -0.41204986] [ 0.20278073 0.97893083 -0.0239669 -0.3900008 ] [ 0.19816991 -0.01705638 0.98001927 0.12991389] [ 0. 0. 0. 1. ]] SLAMing on 0.751463509 meters Centerline goodness [0,1] 0.9798136645962733 Centerline is valid? [True, True] Translation: X:-0.41, Y:-0.41, Z:-0.04 [[ 0.94785357 -0.25393754 -0.19258594 -0.40934129] [ 0.254281 0.96684833 -0.02335546 -0.41381534] [ 0.19213222 -0.02683339 0.98100213 -0.04001076] [ 0. 0. 0. 1. ]] SLAMing on 0.7814635090000001 meters Centerline goodness [0,1] 0.9563774300616406 Centerline is valid? [True, True] Translation: X:-0.43, Y:-0.45, Z:-0.08 [[ 0.93794451 -0.29105163 -0.18854455 -0.42701194] [ 0.29209645 0.95611579 -0.02285291 -0.45004436] [ 0.1869218 -0.03363843 0.98179871 -0.08232634] [ 0. 0. 0. 1. ]] SLAMing on 0.811463509 meters Centerline goodness [0,1] 0.9404525605398968 Centerline is valid? [True, False] Translation: X:-0.41, Y:-0.45, Z:-0.08 [[ 0.94174583 -0.26954853 -0.2011427 -0.41201634] [ 0.27174087 0.9622173 -0.01716902 -0.4535506 ] [ 0.19817087 -0.03848984 0.97941148 -0.08149984] [ 0. 0. 0. 1. ]] SLAMing on 0.841463509 meters Centerline goodness [0,1] 0.9521821631878558 Centerline is valid? [False, True] Translation: X:-0.41, Y:-0.44, Z:-0.09 [[ 0.94330081 -0.26695101 -0.19728338 -0.40783455] [ 0.26691804 0.96333349 -0.02726458 -0.44206238] [ 0.19732799 -0.0269398 0.9799673 -0.08751144] [ 0. 0. 0. 1. ]] SLAMing on 0.871463509 meters Centerline goodness [0,1] 0.9979846835953244 Centerline is valid? [True, True] Translation: X:-0.45, Y:-0.39, Z:-0.06 [[ 0.95112878 -0.23741756 -0.19745114 -0.44805512] [ 0.23658582 0.9712029 -0.02814388 -0.39410579] [ 0.19844697 -0.01994568 0.97990865 -0.06278775] [ 0. 0. 0. 1. ]] SLAMing on 0.9014635089999999 meters Centerline goodness [0,1] 0.9996128532713898 Centerline is valid? [True, True] Translation: X:-0.48, Y:-0.38, Z:-0.06 [[ 0.95493436 -0.22132526 -0.1977764 -0.48070096] [ 0.22015305 0.97505822 -0.02817979 -0.38417692] [ 0.1990804 -0.01663123 0.97984203 -0.06170745] [ 0. 0. 0. 1. ]] SLAMing on 0.931463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.52, Y:-0.35, Z:-0.03 [[ 0.96408718 -0.1559449 -0.21498162 -0.51989728] [ 0.15294684 0.98776003 -0.03061681 -0.34756915] [ 0.21712478 -0.00336348 0.97613806 -0.0329935 ] [ 0. 0. 0. 1. ]] SLAMing on 0.961463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.55, Y:-0.35, Z:-0.04 [[ 0.96415981 -0.15548671 -0.21498779 -0.54682703] [ 0.15248707 0.98783246 -0.03057342 -0.3517202 ] [ 0.21712567 -0.0033052 0.97613806 -0.03748849] [ 0. 0. 0. 1. ]] SLAMing on 0.991463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.58, Y:-0.33, Z:-0.00 [[ 0.96436144 -0.15772084 -0.21244092 -0.58360723] [ 0.15486608 0.98747622 -0.03011993 -0.33198883] [ 0.21453089 -0.00385339 0.9767096 -0.00242599] [ 0. 0. 0. 1. ]] SLAMing on 1.021463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.61, Y:-0.32, Z:-0.02 [[ 9.66914506e-01 -1.42721529e-01 -2.11440070e-01 -6.11274711e-01] [ 1.39549840e-01 9.89762719e-01 -2.99266071e-02 -3.18141602e-01] [ 2.13546670e-01 -5.69957512e-04 9.76932697e-01 -2.23834316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.051463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.65, Y:-0.30, Z:0.02 [[ 0.96853666 -0.12737302 -0.21380566 -0.65061746] [ 0.12376912 0.99185093 -0.03021494 -0.29793739] [ 0.21591191 0.00280174 0.97640883 0.02247234] [ 0. 0. 0. 1. ]] SLAMing on 1.081463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.66, Y:-0.29, Z:-0.12 [[ 0.96984483 -0.12574658 -0.2087793 -0.65837124] [ 0.12229329 0.99205786 -0.02942037 -0.28525004] [ 0.21082066 0.00300089 0.97752015 -0.11679206] [ 0. 0. 0. 1. ]] SLAMing on 1.1114635089999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.68, Y:-0.28, Z:-0.19 [[ 0.96754811 -0.13315814 -0.21475466 -0.67736878] [ 0.12968923 0.99109382 -0.03022818 -0.28093241] [ 0.21686714 0.00139586 0.97620013 -0.18805933] [ 0. 0. 0. 1. ]] SLAMing on 1.1414635089999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.71, Y:-0.28, Z:-0.14 [[ 9.70345727e-01 -1.35194569e-01 -2.00378637e-01 -7.14762628e-01] [ 1.32229626e-01 9.90818714e-01 -2.81709494e-02 -2.75537557e-01] [ 2.02347463e-01 8.39568162e-04 9.79313433e-01 -1.37637879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1714635089999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.74, Y:-0.26, Z:-0.15 [[ 0.96787853 -0.14581958 -0.20481161 -0.74459957] [ 0.14296558 0.98931012 -0.02874582 -0.26403078] [ 0.20681391 -0.00145855 0.97837921 -0.14541426] [ 0. 0. 0. 1. ]] SLAMing on 1.2014635089999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.78, Y:-0.27, Z:-0.09 [[ 0.97110733 -0.12980021 -0.20025601 -0.78203178] [ 0.1267438 0.9915384 -0.02806438 -0.26677925] [ 0.20220428 0.00187231 0.97934158 -0.09458514] [ 0. 0. 0. 1. ]] SLAMing on 1.231463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.81, Y:-0.27, Z:-0.12 [[ 0.96777504 -0.14868634 -0.20323349 -0.80708395] [ 0.14595636 0.9888821 -0.02844183 -0.26651689] [ 0.20520287 -0.00213793 0.97871713 -0.11957826] [ 0. 0. 0. 1. ]] SLAMing on 1.261463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.83, Y:-0.28, Z:-0.13 [[ 0.96853964 -0.14307729 -0.20361693 -0.8331436 ] [ 0.14023287 0.98971097 -0.02840662 -0.27513707] [ 0.20558626 -0.00104085 0.97863845 -0.13062617] [ 0. 0. 0. 1. ]] SLAMing on 1.291463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.86, Y:-0.28, Z:-0.11 [[ 0.96856182 -0.14864678 -0.19947967 -0.86484435] [ 0.14604968 0.9888878 -0.02775642 -0.27675017] [ 0.20138891 -0.00225013 0.97950878 -0.11381912] [ 0. 0. 0. 1. ]] SLAMing on 1.3214635089999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.88, Y:-0.29, Z:-0.17 [[ 0.96572777 -0.16432874 -0.20091277 -0.8834452 ] [ 0.162035 0.98638981 -0.02792505 -0.28847382] [ 0.2027672 -0.0055869 0.97921103 -0.16903262] [ 0. 0. 0. 1. ]] SLAMing on 1.3514635089999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.91, Y:-0.29, Z:-0.15 [[ 0.96760829 -0.14973939 -0.20325433 -0.91468755] [ 0.14708192 0.98872207 -0.02820579 -0.29239575] [ 0.20518556 -0.00260288 0.97871963 -0.15295934] [ 0. 0. 0. 1. ]] SLAMing on 1.3814635089999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.94, Y:-0.30, Z:-0.17 [[ 0.96592566 -0.14764007 -0.21257946 -0.94185299] [ 0.14470305 0.98903833 -0.02939748 -0.29610278] [ 0.21458948 -0.00236512 0.97670147 -0.16675881] [ 0. 0. 0. 1. ]] SLAMing on 1.4114635089999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.97, Y:-0.31, Z:-0.17 [[ 0.96815161 -0.14944339 -0.20087095 -0.97024409] [ 0.14688096 0.9887666 -0.02768741 -0.30843676] [ 0.20275219 -0.00269851 0.97922636 -0.16503188] [ 0. 0. 0. 1. ]] SLAMing on 1.4414635089999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.00, Y:-0.31, Z:-0.17 [[ 0.96469881 -0.15622857 -0.21201143 -0.99996901] [ 0.15355476 0.98771086 -0.02912371 -0.30957146] [ 0.21395594 -0.00445976 0.97683313 -0.16691744] [ 0. 0. 0. 1. ]] SLAMing on 1.471463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.03, Y:-0.32, Z:-0.15 [[ 0.96535637 -0.16353006 -0.20333471 -1.02916469] [ 0.16124105 0.98652093 -0.02788878 -0.32312096] [ 0.2051546 -0.00586329 0.97871202 -0.1523958 ] [ 0. 0. 0. 1. ]] SLAMing on 1.501463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.06, Y:-0.33, Z:-0.17 [[ 0.96252645 -0.16628403 -0.21422525 -1.05533776] [ 0.16381859 0.98605408 -0.02933974 -0.32556323] [ 0.21611642 -0.0068538 0.97634355 -0.17452325] [ 0. 0. 0. 1. ]] SLAMing on 1.531463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.09, Y:-0.34, Z:-0.15 [[ 0.96466843 -0.16570965 -0.20482952 -1.08607348] [ 0.16346069 0.98615319 -0.02797315 -0.33642748] [ 0.2066287 -0.00649676 0.97839786 -0.15224962] [ 0. 0. 0. 1. ]] SLAMing on 1.561463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.11, Y:-0.34, Z:-0.19 [[ 0.96253862 -0.16761867 -0.21312765 -1.10825389] [ 0.16523949 0.98582527 -0.0290593 -0.34458611] [ 0.2149775 -0.00724641 0.97659212 -0.19036983] [ 0. 0. 0. 1. ]] SLAMing on 1.5914635089999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.14, Y:-0.35, Z:-0.17 [[ 0.96223798 -0.18162007 -0.20276147 -1.13916187] [ 0.1797916 0.98331858 -0.02755988 -0.35270746] [ 0.20438454 -0.00993565 0.97884025 -0.17068072] [ 0. 0. 0. 1. ]] SLAMing on 1.6214635089999998 meters Centerline goodness [0,1] 0.9990191270230505 Centerline is valid? [True, True] Translation: X:-1.17, Y:-0.37, Z:-0.15 [[ 0.96028453 -0.18861084 -0.20561995 -1.17138789] [ 0.18690564 0.98198255 -0.02786675 -0.36972351] [ 0.20717117 -0.01167152 0.97823509 -0.14612523] [ 0. 0. 0. 1. ]] SLAMing on 1.6514635089999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.20, Y:-0.37, Z:-0.16 [[ 0.9617997 -0.17795674 -0.20802101 -1.19756746] [ 0.17597315 0.98399221 -0.02815642 -0.37082774] [ 0.20970168 -0.00952528 0.97771902 -0.15887018] [ 0. 0. 0. 1. ]] SLAMing on 1.6814635089999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.23, Y:-0.38, Z:-0.16 [[ 0.96053368 -0.18804139 -0.20497679 -1.22517247] [ 0.18635048 0.98209273 -0.02770149 -0.38230384] [ 0.20651524 -0.01158931 0.97837475 -0.1644269 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7114635089999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.25, Y:-0.40, Z:-0.17 [[ 0.9606694 -0.18402777 -0.20796175 -1.25117231] [ 0.18221552 0.98285963 -0.02800802 -0.4016958 ] [ 0.20955146 -0.01098741 0.97773588 -0.16796749] [ 0. 0. 0. 1. ]] SLAMing on 1.741463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.28, Y:-0.41, Z:-0.16 [[ 0.9604824 -0.18622402 -0.20686752 -1.2809595 ] [ 0.18450068 0.98244005 -0.0277679 -0.41004317] [ 0.20840599 -0.01149662 0.97797483 -0.15811394] [ 0. 0. 0. 1. ]] SLAMing on 1.771463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.30, Y:-0.43, Z:-0.19 [[ 0.95675755 -0.21159485 -0.19960612 -1.30243899] [ 0.21054594 0.97721879 -0.02671785 -0.42836351] [ 0.20071221 -0.01646376 0.9795119 -0.194883 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8014635089999997 meters Centerline goodness [0,1] 0.9991840065279478 Centerline is valid? [True, True] Translation: X:-1.33, Y:-0.44, Z:-0.20 [[ 0.95627928 -0.21245955 -0.2009748 -1.32865593] [ 0.21142155 0.97702553 -0.02687081 -0.44255392] [ 0.20206647 -0.01679441 0.9792278 -0.20403674] [ 0. 0. 0. 1. ]] SLAMing on 1.8314635089999998 meters Centerline goodness [0,1] 0.9950637597696421 Centerline is valid? [True, True] Translation: X:-1.36, Y:-0.46, Z:-0.20 [[ 0.95435387 -0.22425525 -0.19727715 -1.35728331] [ 0.22350582 0.97434631 -0.02635191 -0.4615599 ] [ 0.19812582 -0.01894354 0.97999352 -0.20168843] [ 0. 0. 0. 1. ]] SLAMing on 1.8614635089999998 meters Centerline goodness [0,1] 0.9920477137176938 Centerline is valid? [True, True] Translation: X:-1.38, Y:-0.48, Z:-0.22 [[ 0.95465856 -0.21912063 -0.20152714 -1.3819131 ] [ 0.21823303 0.97552604 -0.02689389 -0.47665639] [ 0.20248798 -0.01830539 0.97911365 -0.22438896] [ 0. 0. 0. 1. ]] SLAMing on 1.8914635089999998 meters Centerline goodness [0,1] 0.972538250294233 Centerline is valid? [True, True] Translation: X:-1.41, Y:-0.50, Z:-0.20 [[ 0.95145972 -0.23828581 -0.19479291 -1.41405453] [ 0.2378488 0.97095462 -0.02598222 -0.497488 ] [ 0.19532627 -0.02161023 0.9805002 -0.19800118] [ 0. 0. 0. 1. ]] SLAMing on 1.9214635089999998 meters Centerline goodness [0,1] 0.9924442765394786 Centerline is valid? [True, True] Translation: X:-1.44, Y:-0.51, Z:-0.24 [[ 0.95187087 -0.22932511 -0.2033515 -1.43633091] [ 0.22865622 0.97312981 -0.02710531 -0.50507024] [ 0.20410334 -0.02069683 0.97873054 -0.2352207 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9514635089999999 meters Centerline goodness [0,1] 0.9959200326397388 Centerline is valid? [True, True] Translation: X:-1.47, Y:-0.52, Z:-0.22 [[ 0.95406762 -0.21887127 -0.20457355 -1.46713777] [ 0.21796466 0.97557643 -0.02724024 -0.52011687] [ 0.20553924 -0.01860077 0.97847209 -0.22370055] [ 0. 0. 0. 1. ]] SLAMing on 1.981463509 meters Centerline goodness [0,1] 0.997040325564188 Centerline is valid? [True, True] Translation: X:-1.49, Y:-0.53, Z:-0.24 [[ 0.95277641 -0.22299113 -0.20613603 -1.49277726] [ 0.22217682 0.97462145 -0.02739503 -0.52529691] [ 0.20701344 -0.01969731 0.97813979 -0.24268651] [ 0. 0. 0. 1. ]] SLAMing on 2.011463509 meters Centerline goodness [0,1] 0.9750465549348231 Centerline is valid? [True, True] Translation: X:-1.52, Y:-0.55, Z:-0.24 [[ 0.95030587 -0.24019063 -0.19805861 -1.52052973] [ 0.23980348 0.97046501 -0.02630508 -0.54642312] [ 0.19852718 -0.02249727 0.97983714 -0.24076696] [ 0. 0. 0. 1. ]] SLAMing on 2.041463509 meters Centerline goodness [0,1] 0.9766355140186916 Centerline is valid? [True, True] Translation: X:-1.55, Y:-0.55, Z:-0.26 [[ 0.9484509 -0.2477801 -0.1976004 -1.54768042] [ 0.24755839 0.96851793 -0.02622714 -0.54529955] [ 0.19787809 -0.02404248 0.97993174 -0.25705789] [ 0. 0. 0. 1. ]] SLAMing on 2.071463509 meters Centerline goodness [0,1] 0.9810035842293907 Centerline is valid? [True, True] Translation: X:-1.57, Y:-0.57, Z:-0.27 [[ 0.95077909 -0.23352979 -0.20367364 -1.573754 ] [ 0.23298042 0.97210605 -0.02701775 -0.565318 ] [ 0.20430183 -0.02176406 0.97866597 -0.26720793] [ 0. 0. 0. 1. ]] SLAMing on 2.1014635090000002 meters Centerline goodness [0,1] 0.9620473537604457 Centerline is valid? [True, True] Translation: X:-1.60, Y:-0.58, Z:-0.26 [[ 0.95010375 -0.23919307 -0.20022371 -1.60327621] [ 0.23878598 0.97070927 -0.02654768 -0.57687726] [ 0.20070904 -0.02258756 0.97939047 -0.26140609] [ 0. 0. 0. 1. ]] SLAMing on 2.131463509 meters Centerline goodness [0,1] 0.9704060564349621 Centerline is valid? [True, True] Translation: X:-1.63, Y:-0.57, Z:-0.28 [[ 0.9493083 -0.24285632 -0.19958599 -1.63157365] [ 0.2425326 0.96978255 -0.02645283 -0.57067904] [ 0.19997924 -0.02329422 0.97952319 -0.27508947] [ 0. 0. 0. 1. ]] SLAMing on 2.1614635090000003 meters Centerline goodness [0,1] 0.9710404004290311 Centerline is valid? [True, True] Translation: X:-1.66, Y:-0.59, Z:-0.28 [[ 0.95058079 -0.23620732 -0.20150002 -1.6592979 ] [ 0.23573476 0.97145075 -0.026694 -0.58569421] [ 0.20205266 -0.02212576 0.9791247 -0.27912377] [ 0. 0. 0. 1. ]] SLAMing on 2.191463509 meters Centerline goodness [0,1] 0.9853039412157648 Centerline is valid? [True, True] Translation: X:-1.68, Y:-0.59, Z:-0.30 [[ 0.95064174 -0.23444198 -0.20326641 -1.68353154] [ 0.23392522 0.97188198 -0.02691469 -0.58640169] [ 0.20386089 -0.02196291 0.97875348 -0.30351259] [ 0. 0. 0. 1. ]] SLAMing on 2.221463509 meters Centerline goodness [0,1] 0.9359454855195911 Centerline is valid? [True, False] Translation: X:-1.69, Y:-0.59, Z:-0.30 [[ 0.95054083 -0.23433705 -0.20385847 -1.68646108] [ 0.23340949 0.971948 -0.02893272 -0.58888638] [ 0.20491984 -0.02008077 0.97857275 -0.30199367] [ 0. 0. 0. 1. ]] SLAMing on 2.251463509 meters Centerline goodness [0,1] 0.9939694927279177 Centerline is valid? [False, True] Translation: X:-1.69, Y:-0.60, Z:-0.30 [[ 0.9525157 -0.22293632 -0.20739635 -1.68932332] [ 0.22280146 0.97456054 -0.024316 -0.59778671] [ 0.20754121 -0.02304683 0.97795475 -0.29882538] [ 0. 0. 0. 1. ]] SLAMing on 2.281463509 meters Centerline goodness [0,1] 0.9931600547195623 Centerline is valid? [True, True] Translation: X:-1.72, Y:-0.61, Z:-0.30 [[ 0.95173208 -0.22611639 -0.20755103 -1.7190906 ] [ 0.22602856 0.97381355 -0.02445939 -0.6064467 ] [ 0.20764667 -0.02363367 0.97791835 -0.29844562] [ 0. 0. 0. 1. ]] SLAMing on 2.311463509 meters Centerline goodness [0,1] 0.9698216735253772 Centerline is valid? [True, True] Translation: X:-1.75, Y:-0.62, Z:-0.30 [[ 0.95186883 -0.22439856 -0.20878462 -1.74699616] [ 0.22428548 0.97421465 -0.02453251 -0.62498718] [ 0.2089061 -0.02347563 0.97765389 -0.29730959] [ 0. 0. 0. 1. ]] SLAMing on 2.341463509 meters Centerline goodness [0,1] 0.9681340341655716 Centerline is valid? [True, True] Translation: X:-1.78, Y:-0.63, Z:-0.30 [[ 0.952139 -0.22290307 -0.20915436 -1.77595281] [ 0.22277082 0.97456293 -0.02450002 -0.63241605] [ 0.20929521 -0.02326607 0.97757568 -0.30165438] [ 0. 0. 0. 1. ]] SLAMing on 2.3714635090000002 meters Centerline goodness [0,1] 0.98456992777413 Centerline is valid? [True, True] Translation: X:-1.81, Y:-0.63, Z:-0.30 [[ 0.95321042 -0.21814948 -0.20928616 -1.80660464] [ 0.21790753 0.97566175 -0.02450412 -0.63171636] [ 0.20953806 -0.02224745 0.97754737 -0.30195051] [ 0. 0. 0. 1. ]] SLAMing on 2.401463509 meters Centerline goodness [0,1] 0.9941615309763218 Centerline is valid? [True, True] Translation: X:-1.83, Y:-0.63, Z:-0.32 [[ 0.95358111 -0.21457611 -0.2112822 -1.83284399] [ 0.21424729 0.97646644 -0.02472622 -0.63191931] [ 0.21161563 -0.02168819 0.9771123 -0.32185866] [ 0. 0. 0. 1. ]] SLAMing on 2.431463509 meters Centerline goodness [0,1] 0.9839434810533076 Centerline is valid? [True, True] Translation: X:-1.86, Y:-0.64, Z:-0.34 [[ 0.9539135 -0.2127135 -0.21166482 -1.85876436] [ 0.21234279 0.97688169 -0.02475269 -0.63999455] [ 0.21203672 -0.02133357 0.97702882 -0.34111791] [ 0. 0. 0. 1. ]] SLAMing on 2.461463509 meters Centerline goodness [0,1] 0.9364809782608696 Centerline is valid? [True, False] Translation: X:-1.87, Y:-0.65, Z:-0.33 [[ 0.95648052 -0.19189503 -0.21982109 -1.871429 ] [ 0.19238099 0.98112849 -0.0194022 -0.65000404] [ 0.21939591 -0.02373157 0.97534724 -0.33257459] [ 0. 0. 0. 1. ]] SLAMing on 2.491463509 meters Centerline goodness [0,1] 0.9775318578135479 Centerline is valid? [False, True] Translation: X:-1.88, Y:-0.65, Z:-0.33 [[ 0.95796789 -0.18217145 -0.22161022 -1.8839666 ] [ 0.18287661 0.98297989 -0.01751248 -0.65271344] [ 0.22102866 -0.02375093 0.97497806 -0.33179727] [ 0. 0. 0. 1. ]] SLAMing on 2.521463509 meters Centerline goodness [0,1] 0.9539007092198581 Centerline is valid? [True, True] Translation: X:-1.91, Y:-0.65, Z:-0.35 [[ 0.95735208 -0.19167809 -0.21618629 -1.91023919] [ 0.19243605 0.9811491 -0.01774271 -0.65119046] [ 0.21551187 -0.02461601 0.97619091 -0.35459049] [ 0. 0. 0. 1. ]] SLAMing on 2.551463509 meters Centerline goodness [0,1] 0.9993364299933643 Centerline is valid? [True, True] Translation: X:-1.94, Y:-0.64, Z:-0.35 [[ 0.95997772 -0.16299525 -0.22776156 -1.94146927] [ 0.16305871 0.98643971 -0.01866978 -0.63726214] [ 0.22771613 -0.01921593 0.97353793 -0.35289274] [ 0. 0. 0. 1. ]] SLAMing on 2.581463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.97, Y:-0.62, Z:-0.34 [[ 0.96272357 -0.14345071 -0.22931468 -1.9734822 ] [ 0.1429766 0.98954805 -0.0187708 -0.62391574] [ 0.22961058 -0.01471554 0.97317133 -0.3402963 ] [ 0. 0. 0. 1. ]] SLAMing on 2.611463509 meters Centerline goodness [0,1] 0.9993279569892473 Centerline is valid? [True, True] Translation: X:-2.00, Y:-0.62, Z:-0.36 [[ 0.96267018 -0.15231586 -0.22375435 -2.00016085] [ 0.15210567 0.98819518 -0.01827991 -0.6184968 ] [ 0.22389729 -0.01643678 0.97447413 -0.35715482] [ 0. 0. 0. 1. ]] SLAMing on 2.641463509 meters Centerline goodness [0,1] 0.9996924969249692 Centerline is valid? [True, True] Translation: X:-2.02, Y:-0.63, Z:-0.39 [[ 0.96132521 -0.15093182 -0.23037673 -2.02207848] [ 0.1506795 0.98840401 -0.01879359 -0.62655757] [ 0.23054183 -0.0166463 0.97292002 -0.39021267] [ 0. 0. 0. 1. ]] SLAMing on 2.671463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.06, Y:-0.61, Z:-0.34 [[ 0.96427102 -0.15329494 -0.21606034 -2.06170867] [ 0.15313141 0.98804909 -0.01760039 -0.60871463] [ 0.21617627 -0.01611408 0.97622137 -0.3387822 ] [ 0. 0. 0. 1. ]] SLAMing on 2.701463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.08, Y:-0.62, Z:-0.39 [[ 0.96353874 -0.13324748 -0.23203059 -2.08101094] [ 0.13250119 0.99100319 -0.01887102 -0.6174906 ] [ 0.23245757 -0.01256137 0.97252542 -0.39133052] [ 0. 0. 0. 1. ]] SLAMing on 2.731463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.11, Y:-0.62, Z:-0.37 [[ 0.96536578 -0.13246127 -0.22477305 -2.11337995] [ 0.13174372 0.99111568 -0.0182565 -0.61566121] [ 0.22519437 -0.01198824 0.9742401 -0.37430017] [ 0. 0. 0. 1. ]] SLAMing on 2.761463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.14, Y:-0.60, Z:-0.38 [[ 0.96592684 -0.12971743 -0.22396144 -2.14270618] [ 0.12894167 0.99148608 -0.01814958 -0.59620075] [ 0.22440897 -0.01134679 0.97442899 -0.37857829] [ 0. 0. 0. 1. ]] SLAMing on 2.791463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.17, Y:-0.62, Z:-0.39 [[ 0.96617454 -0.1296774 -0.22291374 -2.16748264] [ 0.12891655 0.9914916 -0.01802566 -0.61748657] [ 0.22335462 -0.01132134 0.9746715 -0.3947304 ] [ 0. 0. 0. 1. ]] SLAMing on 2.821463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.20, Y:-0.60, Z:-0.38 [[ 0.96643777 -0.12450257 -0.22471571 -2.19920892] [ 0.12361185 0.99216583 -0.01808522 -0.60420102] [ 0.2252069 -0.01029928 0.97425652 -0.38274888] [ 0. 0. 0. 1. ]] SLAMing on 2.8514635090000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.23, Y:-0.60, Z:-0.39 [[ 0.96803278 -0.11422043 -0.22330746 -2.22696264] [ 0.11308117 0.99342403 -0.01792614 -0.59952756] [ 0.22388653 -0.00789878 0.97458321 -0.38792149] [ 0. 0. 0. 1. ]] SLAMing on 2.881463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.25, Y:-0.60, Z:-0.39 [[ 0.9680875 -0.11374863 -0.22331108 -2.25398366] [ 0.11260742 0.99347866 -0.01788089 -0.60200089] [ 0.22388872 -0.00783622 0.97458321 -0.39301986] [ 0. 0. 0. 1. ]] SLAMing on 2.911463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.28, Y:-0.61, Z:-0.41 [[ 0.96903357 -0.09368444 -0.22846699 -2.28014988] [ 0.09196308 0.9955962 -0.01819328 -0.61393333] [ 0.2291653 -0.00338063 0.97338165 -0.40763853] [ 0. 0. 0. 1. ]] SLAMing on 2.941463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.31, Y:-0.60, Z:-0.41 [[ 0.96940107 -0.10397869 -0.22237354 -2.31111637] [ 0.10262662 0.99456318 -0.01765957 -0.60229753] [ 0.22300075 -0.00570224 0.9748016 -0.40683007] [ 0. 0. 0. 1. ]] SLAMing on 2.971463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.34, Y:-0.60, Z:-0.41 [[ 0.96986503 -0.0915858 -0.22577392 -2.3387388 ] [ 0.08988011 0.99579271 -0.01784482 -0.60426367] [ 0.22645836 -0.00298552 0.97401627 -0.4134557 ] [ 0. 0. 0. 1. ]] SLAMing on 3.001463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.36, Y:-0.61, Z:-0.43 [[ 9.70275008e-01 -8.70534112e-02 -2.25805474e-01 -2.36416084e+00] [ 8.52371290e-02 9.96201685e-01 -1.77998293e-02 -6.08708307e-01] [ 2.26497330e-01 -1.97628085e-03 9.74009781e-01 -4.27137709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.031463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.39, Y:-0.61, Z:-0.43 [[ 9.70941296e-01 -7.81319043e-02 -2.26204343e-01 -2.39388506e+00] [ 7.60806539e-02 9.96943028e-01 -1.77857266e-02 -6.10270390e-01] [ 2.26902476e-01 5.91220474e-05 9.73917483e-01 -4.26004399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.061463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.42, Y:-0.62, Z:-0.44 [[ 9.71386643e-01 -8.29020708e-02 -2.22565127e-01 -2.41855293e+00] [ 8.10598765e-02 9.96557065e-01 -1.74158600e-02 -6.17907712e-01] [ 2.23242661e-01 -1.12356786e-03 9.74762254e-01 -4.44952354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.091463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.45, Y:-0.62, Z:-0.45 [[ 9.71168440e-01 -8.15531063e-02 -2.24011054e-01 -2.44672323e+00] [ 7.96632744e-02 9.96668616e-01 -1.74766538e-02 -6.22957700e-01] [ 2.24690062e-01 -8.72679467e-04 9.74429892e-01 -4.48443109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1214635090000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.47, Y:-0.63, Z:-0.46 [[ 9.72710255e-01 -7.36537081e-02 -2.20022481e-01 -2.47276390e+00] [ 7.16509773e-02 9.97283516e-01 -1.70800210e-02 -6.27189983e-01] [ 2.20682800e-01 8.49085793e-04 9.75345262e-01 -4.56477427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.151463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.50, Y:-0.63, Z:-0.47 [[ 9.70926728e-01 -7.33854059e-02 -2.27850545e-01 -2.49954208e+00] [ 7.12413783e-02 9.97303262e-01 -1.76314976e-02 -6.33125301e-01] [ 2.28529986e-01 8.86505389e-04 9.73536471e-01 -4.67881480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.181463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.53, Y:-0.64, Z:-0.46 [[ 0.97262552 -0.0641183 -0.22335721 -2.52892341] [ 0.06182518 0.99793788 -0.01725187 -0.64060797] [ 0.22400278 0.00297051 0.97458398 -0.46021853] [ 0. 0. 0. 1. ]] SLAMing on 3.211463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.55, Y:-0.64, Z:-0.50 [[ 9.72217398e-01 -7.55483163e-02 -2.21553117e-01 -2.55040588e+00] [ 7.35951931e-02 9.97142100e-01 -1.70698552e-02 -6.39129320e-01] [ 2.22209539e-01 2.90365816e-04 9.74998891e-01 -5.02773706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.241463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.57, Y:-0.64, Z:-0.53 [[ 0.97399353 -0.06278292 -0.21770373 -2.57391457] [ 0.06060054 0.9980225 -0.01669345 -0.63911949] [ 0.21832129 0.00306634 0.97587213 -0.52836725] [ 0. 0. 0. 1. ]] SLAMing on 3.271463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.60, Y:-0.64, Z:-0.55 [[ 0.97474939 -0.06138317 -0.21469915 -2.5983397 ] [ 0.05923509 0.99810883 -0.01643096 -0.64424915] [ 0.2153017 0.00329835 0.97654201 -0.54695271] [ 0. 0. 0. 1. ]] SLAMing on 3.301463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.63, Y:-0.62, Z:-0.55 [[ 0.97461826 -0.0556315 -0.21685107 -2.62793973] [ 0.05330825 0.9984409 -0.01655315 -0.62468778] [ 0.21743386 0.00457306 0.97606434 -0.55044324] [ 0. 0. 0. 1. ]] SLAMing on 3.331463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.66, Y:-0.62, Z:-0.56 [[ 0.97595405 -0.036764 -0.21485369 -2.65571983] [ 0.03405173 0.99928693 -0.01631281 -0.62388145] [ 0.21530021 0.00860441 0.97651 -0.56186872] [ 0. 0. 0. 1. ]] SLAMing on 3.361463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.69, Y:-0.62, Z:-0.56 [[ 0.97626498 -0.04726779 -0.21135859 -2.68542594] [ 0.04489995 0.9988635 -0.01599092 -0.62251935] [ 0.21187423 0.00612138 0.97727777 -0.56187054] [ 0. 0. 0. 1. ]] SLAMing on 3.391463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.71, Y:-0.62, Z:-0.56 [[ 0.97554092 -0.04476962 -0.21521059 -2.7149679 ] [ 0.04227116 0.99897482 -0.01620028 -0.6164178 ] [ 0.21571524 0.00670683 0.97643328 -0.56435714] [ 0. 0. 0. 1. ]] SLAMing on 3.421463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.74, Y:-0.62, Z:-0.58 [[ 0.97684913 -0.02743158 -0.21216333 -2.74168843] [ 0.02461769 0.99957059 -0.01589357 -0.6174341 ] [ 0.21250821 0.01030265 0.97710497 -0.57624938] [ 0. 0. 0. 1. ]] SLAMing on 3.451463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.77, Y:-0.62, Z:-0.59 [[ 0.97719946 -0.02880435 -0.21036045 -2.76837351] [ 0.02608666 0.99953665 -0.01568323 -0.61824194] [ 0.21071472 0.00983804 0.97749809 -0.59113569] [ 0. 0. 0. 1. ]] SLAMing on 3.481463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.80, Y:-0.62, Z:-0.60 [[ 0.97653142 -0.01564369 -0.21480612 -2.79645979] [ 0.01251054 0.99979471 -0.01593786 -0.62120031] [ 0.21501135 0.01287648 0.97652666 -0.59777978] [ 0. 0. 0. 1. ]] SLAMing on 3.511463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.82, Y:-0.62, Z:-0.63 [[ 0.97642007 -0.0279851 -0.21405768 -2.82013317] [ 0.02517575 0.99955754 -0.01583973 -0.62409901] [ 0.21440624 0.01007717 0.97669259 -0.62977166] [ 0. 0. 0. 1. ]] SLAMing on 3.541463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.85, Y:-0.64, Z:-0.61 [[ 0.97745374 -0.03243014 -0.20864437 -2.85261848] [ 0.02987872 0.99943536 -0.01536955 -0.63519803] [ 0.209025 0.008789 0.9778708 -0.60618096] [ 0. 0. 0. 1. ]] SLAMing on 3.571463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.87, Y:-0.65, Z:-0.64 [[ 0.97615386 -0.03060696 -0.21491128 -2.87358839] [ 0.02785951 0.99948694 -0.01580229 -0.65355323] [ 0.21528467 0.00943814 0.97650573 -0.63869278] [ 0. 0. 0. 1. ]] SLAMing on 3.601463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.90, Y:-0.66, Z:-0.65 [[ 0.97700715 -0.03107851 -0.21092925 -2.89917341] [ 0.028452 0.99947535 -0.01547624 -0.66269331] [ 0.21129956 0.00911904 0.97737881 -0.65321144] [ 0. 0. 0. 1. ]] SLAMing on 3.631463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.93, Y:-0.67, Z:-0.66 [[ 0.97662576 -0.05012631 -0.2090203 -2.92589903] [ 0.04798712 0.99873082 -0.01529627 -0.67354782] [ 0.20952176 0.00490845 0.97779166 -0.66489091] [ 0. 0. 0. 1. ]] SLAMing on 3.661463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.96, Y:-0.67, Z:-0.67 [[ 0.97744718 -0.04393204 -0.2065599 -2.95506846] [ 0.04172563 0.99901608 -0.01502814 -0.67131569] [ 0.20701688 0.00607037 0.97831854 -0.66731595] [ 0. 0. 0. 1. ]] SLAMing on 3.691463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.98, Y:-0.68, Z:-0.69 [[ 0.97627148 -0.04426932 -0.21197695 -2.97922026] [ 0.04197048 0.99900117 -0.01533432 -0.68024887] [ 0.21244407 0.00607369 0.97715435 -0.68526538] [ 0. 0. 0. 1. ]] SLAMing on 3.721463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.01, Y:-0.68, Z:-0.69 [[ 0.97791256 -0.04341542 -0.2044557 -3.00790418] [ 0.04127007 0.99903919 -0.01474737 -0.67751537] [ 0.20489952 0.00598374 0.97876472 -0.68527618] [ 0. 0. 0. 1. ]] SLAMing on 3.751463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.03, Y:-0.69, Z:-0.70 [[ 0.97681436 -0.04110361 -0.21010521 -3.03383221] [ 0.0387908 0.99913297 -0.01511894 -0.68630932] [ 0.21054448 0.00661825 0.97756188 -0.70046924] [ 0. 0. 0. 1. ]] SLAMing on 3.781463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.06, Y:-0.68, Z:-0.71 [[ 0.97717257 -0.03631401 -0.20932047 -3.06077732] [ 0.03392449 0.99931189 -0.01499586 -0.68289449] [ 0.209721 0.00755245 0.9777321 -0.710851 ] [ 0. 0. 0. 1. ]] SLAMing on 3.811463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.09, Y:-0.69, Z:-0.71 [[ 0.97785071 -0.03388376 -0.20654269 -3.08834901] [ 0.03151349 0.9993944 -0.01475604 -0.69042061] [ 0.2069176 0.00792033 0.97832631 -0.71134084] [ 0. 0. 0. 1. ]] SLAMing on 3.841463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.12, Y:-0.68, Z:-0.73 [[ 0.97783023 -0.04620636 -0.20423766 -3.1153016 ] [ 0.04417677 0.99891867 -0.01448807 -0.68209422] [ 0.20468625 0.00514431 0.97881412 -0.73059296] [ 0. 0. 0. 1. ]] SLAMing on 3.871463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.14, Y:-0.70, Z:-0.75 [[ 0.97808215 -0.0402839 -0.2042854 -3.14016434] [ 0.03814282 0.9991684 -0.01440917 -0.69578157] [ 0.20469597 0.00630133 0.97880532 -0.74515398] [ 0. 0. 0. 1. ]] SLAMing on 3.901463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.17, Y:-0.69, Z:-0.74 [[ 0.97733587 -0.04372519 -0.20712969 -3.1704672 ] [ 0.04160759 0.99902777 -0.01457101 -0.69489318] [ 0.20756543 0.00562261 0.97820498 -0.74111338] [ 0. 0. 0. 1. ]] SLAMing on 3.931463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.20, Y:-0.71, Z:-0.75 [[ 0.97789268 -0.04123823 -0.20500078 -3.1964545 ] [ 0.03912801 0.99913133 -0.01433854 -0.70878064] [ 0.205414 0.00600028 0.97865678 -0.74814693] [ 0. 0. 0. 1. ]] SLAMing on 3.961463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.23, Y:-0.71, Z:-0.74 [[ 0.97651087 -0.05358509 -0.20869873 -3.22814535] [ 0.05168359 0.9985574 -0.01455783 -0.71009537] [ 0.20917774 0.00342958 0.97787162 -0.73833508] [ 0. 0. 0. 1. ]] SLAMing on 3.991463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.25, Y:-0.72, Z:-0.75 [[ 9.77116502e-01 -5.98584908e-02 -2.04108555e-01 -3.25461044e+00] [ 5.81924101e-02 9.98204951e-01 -1.41604926e-02 -7.21845947e-01] [ 2.04589796e-01 1.95888231e-03 9.78845840e-01 -7.51334154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.021463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.28, Y:-0.73, Z:-0.75 [[ 9.76937099e-01 -6.25827632e-02 -2.04150196e-01 -3.28358312e+00] [ 6.09822145e-02 9.98038861e-01 -1.41280394e-02 -7.28438184e-01] [ 2.04634001e-01 1.35267482e-03 9.78837625e-01 -7.51200026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0514635089999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.31, Y:-0.74, Z:-0.75 [[ 9.75956073e-01 -7.75820001e-02 -2.03692847e-01 -3.31133360e+00] [ 7.63296657e-02 9.96984211e-01 -1.40094676e-02 -7.40675694e-01] [ 2.04165435e-01 -1.87518191e-03 9.78934604e-01 -7.53710341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.081463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.34, Y:-0.74, Z:-0.76 [[ 9.77407366e-01 -6.92702474e-02 -1.99690946e-01 -3.33891326e+00] [ 6.79135494e-02 9.97597906e-01 -1.36443354e-02 -7.41163792e-01] [ 2.00156416e-01 -2.25646992e-04 9.79763930e-01 -7.57860279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.111463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.37, Y:-0.74, Z:-0.77 [[ 9.76018217e-01 -7.47364185e-02 -2.04457596e-01 -3.36633023e+00] [ 7.34429423e-02 9.97202296e-01 -1.39181846e-02 -7.43528398e-01] [ 2.04925779e-01 -1.43156569e-03 9.78776469e-01 -7.67750728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.141463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.39, Y:-0.74, Z:-0.78 [[ 9.76905002e-01 -6.83414696e-02 -2.02450144e-01 -3.39404967e+00] [ 6.69551084e-02 9.97661973e-01 -1.36967307e-02 -7.37520161e-01] [ 2.02912864e-01 -1.74666616e-04 9.79196783e-01 -7.77079067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.171463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.42, Y:-0.74, Z:-0.77 [[ 9.77760448e-01 -6.75382322e-02 -1.98552496e-01 -3.42457062e+00] [ 6.62051356e-02 9.97716683e-01 -1.33529317e-02 -7.39262835e-01] [ 1.99000971e-01 -8.92264381e-05 9.79999289e-01 -7.72402394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.201463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.45, Y:-0.73, Z:-0.79 [[ 9.76546768e-01 -6.27559984e-02 -2.05956536e-01 -3.45086619e+00] [ 6.12325041e-02 9.98028550e-01 -1.37692848e-02 -7.29973826e-01] [ 2.06414608e-01 8.35116190e-04 9.78464262e-01 -7.93700151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.231463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.48, Y:-0.74, Z:-0.80 [[ 9.78233663e-01 -6.49428156e-02 -1.97082044e-01 -3.47807099e+00] [ 6.35979525e-02 9.97888932e-01 -1.31521822e-02 -7.35288338e-01] [ 1.97520130e-01 3.31892905e-04 9.80298775e-01 -7.99964125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2614635089999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.50, Y:-0.75, Z:-0.81 [[ 9.76768308e-01 -7.34760249e-02 -2.01308089e-01 -3.50493906e+00] [ 7.22601025e-02 9.97295907e-01 -1.33922131e-02 -7.46812829e-01] [ 2.01747740e-01 -1.46545381e-03 9.79436421e-01 -8.11322602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.291463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.53, Y:-0.75, Z:-0.82 [[ 9.76750233e-01 -7.37848270e-02 -2.01282842e-01 -3.53230597e+00] [ 7.25938574e-02 9.97272871e-01 -1.33023717e-02 -7.53929673e-01] [ 2.01715430e-01 -1.61880319e-03 9.79442834e-01 -8.16303830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.321463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.56, Y:-0.77, Z:-0.81 [[ 0.97519857 -0.09137712 -0.20158861 -3.560058 ] [ 0.09057212 0.99580197 -0.01323344 -0.77027102] [ 0.20195156 -0.00535308 0.97938088 -0.81475004] [ 0. 0. 0. 1. ]] SLAMing on 4.351463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.59, Y:-0.78, Z:-0.81 [[ 0.97525134 -0.09844178 -0.19797482 -3.59080474] [ 0.09781443 0.99512015 -0.01297006 -0.77767443] [ 0.19828553 -0.00671572 0.98012129 -0.80724404] [ 0. 0. 0. 1. ]] SLAMing on 4.381463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.62, Y:-0.79, Z:-0.81 [[ 0.97364824 -0.10756383 -0.20109481 -3.61878167] [ 0.10711665 0.99415967 -0.01313651 -0.7911601 ] [ 0.20133337 -0.00875026 0.9794837 -0.80990078] [ 0. 0. 0. 1. ]] SLAMing on 4.411463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.65, Y:-0.81, Z:-0.81 [[ 0.97288588 -0.12060516 -0.1973511 -3.64846458] [ 0.1204425 0.99263685 -0.01287205 -0.80738782] [ 0.19745041 -0.01124643 0.98024836 -0.80627161] [ 0. 0. 0. 1. ]] SLAMing on 4.441463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.68, Y:-0.83, Z:-0.81 [[ 0.97138349 -0.13553183 -0.1950519 -3.67616731] [ 0.13567288 0.99067228 -0.01270037 -0.82995848] [ 0.19495381 -0.01412633 0.98071069 -0.81021878] [ 0. 0. 0. 1. ]] SLAMing on 4.4714635089999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.70, Y:-0.84, Z:-0.84 [[ 0.97011102 -0.13709514 -0.20022371 -3.69882903] [ 0.13728128 0.9904465 -0.01302205 -0.83643052] [ 0.20009614 -0.01485413 0.97966366 -0.84186027] [ 0. 0. 0. 1. ]] SLAMing on 4.501463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.73, Y:-0.85, Z:-0.84 [[ 0.96963833 -0.14710685 -0.1953486 -3.72782161] [ 0.14748611 0.98898278 -0.01268476 -0.84627702] [ 0.19506242 -0.01651158 0.98065183 -0.84363145] [ 0. 0. 0. 1. ]] SLAMing on 4.531463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-3.76, Y:-0.85, Z:-0.82 [[ 0.96881948 -0.15112831 -0.19633912 -3.76267387] [ 0.15159656 0.98836047 -0.01273074 -0.85392081] [ 0.1959778 -0.01743054 0.9804534 -0.81807127] [ 0. 0. 0. 1. ]] SLAMing on 4.561463508999999 meters Centerline goodness [0,1] 0.9989656599089781 Centerline is valid? [True, True] Translation: X:-3.79, Y:-0.87, Z:-0.84 [[ 0.96742301 -0.16160443 -0.19487619 -3.78750552] [ 0.16228538 0.98666373 -0.01257525 -0.86751691] [ 0.19430948 -0.01945997 0.98074723 -0.83620313] [ 0. 0. 0. 1. ]] SLAMing on 4.5914635089999996 meters Centerline goodness [0,1] 0.9995801847187238 Centerline is valid? [True, True] Translation: X:-3.82, Y:-0.86, Z:-0.83 [[ 0.96683859 -0.16544158 -0.19455647 -3.81722456] [ 0.16619953 0.98601243 -0.01253797 -0.86375195] [ 0.1939094 -0.020213 0.98081119 -0.83383696] [ 0. 0. 0. 1. ]] SLAMing on 4.621463509 meters Centerline goodness [0,1] 0.991675338189386 Centerline is valid? [True, True] Translation: X:-3.85, Y:-0.89, Z:-0.83 [[ 0.96631027 -0.17325769 -0.19033188 -3.84743806] [ 0.17413245 0.98464604 -0.01224979 -0.88842612] [ 0.18953191 -0.02130586 0.98164338 -0.8252965 ] [ 0. 0. 0. 1. ]] SLAMing on 4.651463508999999 meters Centerline goodness [0,1] 0.9970699037254082 Centerline is valid? [True, True] Translation: X:-3.87, Y:-0.89, Z:-0.84 [[ 0.96558159 -0.17267817 -0.19451077 -3.87330896] [ 0.17358571 0.9847394 -0.0125023 -0.88548421] [ 0.1937013 -0.0216923 0.9808207 -0.841791 ] [ 0. 0. 0. 1. ]] SLAMing on 4.681463508999999 meters Centerline goodness [0,1] 0.9989329918907384 Centerline is valid? [True, True] Translation: X:-3.90, Y:-0.89, Z:-0.84 [[ 0.96623235 -0.174789 -0.18932474 -3.90345255] [ 0.1756909 0.98437049 -0.01214266 -0.89410988] [ 0.18848809 -0.02153001 0.98183945 -0.84114347] [ 0. 0. 0. 1. ]] SLAMing on 4.711463509 meters Centerline goodness [0,1] 0.9924949290060852 Centerline is valid? [True, True] Translation: X:-3.94, Y:-0.90, Z:-0.83 [[ 0.96358354 -0.18167066 -0.19622064 -3.9356134 ] [ 0.18279023 0.98307189 -0.01254536 -0.89823876] [ 0.19517812 -0.02377871 0.98047951 -0.83343693] [ 0. 0. 0. 1. ]] SLAMing on 4.741463509 meters Centerline goodness [0,1] 0.9982754904074154 Centerline is valid? [True, True] Translation: X:-3.97, Y:-0.88, Z:-0.81 [[ 0.96679491 -0.17048101 -0.1903781 -3.9703001 ] [ 0.17132214 0.98514007 -0.01215636 -0.883722 ] [ 0.18962152 -0.02086327 0.98163557 -0.81253649] [ 0. 0. 0. 1. ]] SLAMing on 4.771463508999999 meters Centerline goodness [0,1] 0.9982754904074154 Centerline is valid? [True, True] Translation: X:-4.00, Y:-0.89, Z:-0.82 [[ 0.96687482 -0.17002594 -0.19037927 -3.99754896] [ 0.170862 0.9852202 -0.01213802 -0.88580067] [ 0.18962928 -0.02079264 0.98163558 -0.81767085] [ 0. 0. 0. 1. ]] SLAMing on 4.8014635089999995 meters Centerline goodness [0,1] 0.9931462840008567 Centerline is valid? [True, True] Translation: X:-4.02, Y:-0.90, Z:-0.83 [[ 0.96513584 -0.18124235 -0.18884918 -4.02439526] [ 0.18229053 0.98317206 -0.01195291 -0.8977225 ] [ 0.18783761 -0.02288923 0.98193336 -0.83460431] [ 0. 0. 0. 1. ]] SLAMing on 4.831463509 meters Centerline goodness [0,1] 0.9898926089703095 Centerline is valid? [True, True] Translation: X:-4.05, Y:-0.90, Z:-0.84 [[ 0.96470343 -0.17971424 -0.19248398 -4.05300596] [ 0.18077792 0.98344864 -0.01217059 -0.90110336] [ 0.19148533 -0.02305584 0.98122464 -0.83645136] [ 0. 0. 0. 1. ]] SLAMing on 4.861463508999999 meters Centerline goodness [0,1] 0.9900444821012497 Centerline is valid? [True, True] Translation: X:-4.08, Y:-0.92, Z:-0.83 [[ 0.96382109 -0.18524698 -0.19165716 -4.08304788] [ 0.18642188 0.98239595 -0.01204514 -0.91630459] [ 0.19051455 -0.02411973 0.98138802 -0.83114122] [ 0. 0. 0. 1. ]] SLAMing on 4.891463508999999 meters Centerline goodness [0,1] 0.9837481999588562 Centerline is valid? [True, True] Translation: X:-4.11, Y:-0.94, Z:-0.84 [[ 0.96189427 -0.18445898 -0.2018274 -4.10874671] [ 0.18575544 0.98251436 -0.01266676 -0.94198987] [ 0.20063482 -0.02530645 0.97933919 -0.84097532] [ 0. 0. 0. 1. ]] SLAMing on 4.921463509 meters Centerline goodness [0,1] 0.990306234853492 Centerline is valid? [True, True] Translation: X:-4.14, Y:-0.93, Z:-0.83 [[ 0.96390902 -0.18756786 -0.18893833 -4.14118817] [ 0.18876792 0.98195097 -0.0117887 -0.93319911] [ 0.18773936 -0.02430226 0.98191819 -0.82680363] [ 0. 0. 0. 1. ]] SLAMing on 4.951463509 meters Centerline goodness [0,1] 0.9796076908137502 Centerline is valid? [True, True] Translation: X:-4.17, Y:-0.97, Z:-0.82 [[ 0.96024552 -0.18379759 -0.21011183 -4.16944496] [ 0.1852155 0.98261082 -0.0130842 -0.96542839] [ 0.208863 -0.02635192 0.9775898 -0.82267555] [ 0. 0. 0. 1. ]] SLAMing on 4.981463508999999 meters Centerline goodness [0,1] 0.9934368847079413 Centerline is valid? [True, True] Translation: X:-4.20, Y:-0.94, Z:-0.81 [[ 0.96155302 -0.19550561 -0.19285575 -4.20156404] [ 0.19692974 0.98034478 -0.01194942 -0.93914433] [ 0.1914013 -0.02648903 0.98115436 -0.81460234] [ 0. 0. 0. 1. ]] SLAMing on 5.0114635089999995 meters Centerline goodness [0,1] 0.9906442696151393 Centerline is valid? [True, True] Translation: X:-4.23, Y:-0.95, Z:-0.84 [[ 0.9588241 -0.20449164 -0.19707745 -4.22672954] [ 0.20616919 0.97844039 -0.01219264 -0.9541706 ] [ 0.19532183 -0.0289407 0.9803121 -0.84006825] [ 0. 0. 0. 1. ]] SLAMing on 5.041463509 meters Centerline goodness [0,1] 0.9899357601713062 Centerline is valid? [True, True] Translation: X:-4.25, Y:-0.99, Z:-0.85 [[ 0.95941784 -0.20219018 -0.1965618 -4.25463212] [ 0.20381334 0.97893434 -0.01215272 -0.98839185] [ 0.19487826 -0.02840238 0.98041612 -0.84550676] [ 0. 0. 0. 1. ]] SLAMing on 5.071463508999999 meters Centerline goodness [0,1] 0.9908491168333688 Centerline is valid? [True, True] Translation: X:-4.29, Y:-0.99, Z:-0.84 [[ 0.95791575 -0.20779644 -0.1980355 -4.28620066] [ 0.20956149 0.97771884 -0.01224147 -0.98569563] [ 0.19616677 -0.02977432 0.98011841 -0.83669579] [ 0. 0. 0. 1. ]] SLAMing on 5.101463508999999 meters Centerline goodness [0,1] 0.987762594330002 Centerline is valid? [True, True] Translation: X:-4.31, Y:-1.02, Z:-0.85 [[ 0.95550523 -0.21139396 -0.20572395 -4.31245372] [ 0.21338886 0.97688475 -0.01270329 -1.02196067] [ 0.20365399 -0.03176114 0.97852761 -0.84641348] [ 0. 0. 0. 1. ]] SLAMing on 5.131463509 meters Centerline goodness [0,1] 0.99323587169976 Centerline is valid? [True, True] Translation: X:-4.35, Y:-1.00, Z:-0.83 [[ 0.95655429 -0.21569473 -0.19616237 -4.3457788 ] [ 0.21758971 0.97596528 -0.01210326 -1.00364454] [ 0.19405827 -0.03110548 0.98049673 -0.8333059 ] [ 0. 0. 0. 1. ]] SLAMing on 5.161463509 meters Centerline goodness [0,1] 0.9934612031386225 Centerline is valid? [True, True] Translation: X:-4.38, Y:-1.01, Z:-0.83 [[ 0.95741047 -0.20994373 -0.19821408 -4.37672511] [ 0.21176376 0.97724453 -0.01221667 -1.00741175] [ 0.19626844 -0.03027819 0.98008261 -0.83310412] [ 0. 0. 0. 1. ]] SLAMing on 5.191463508999999 meters Centerline goodness [0,1] 0.9935469993546999 Centerline is valid? [True, True] Translation: X:-4.40, Y:-1.01, Z:-0.88 [[ 0.95693732 -0.20367452 -0.20685178 -4.39773001] [ 0.20552465 0.97856901 -0.01274035 -1.01172404] [ 0.20501363 -0.03032142 0.97828934 -0.87640804] [ 0. 0. 0. 1. ]] SLAMing on 5.2214635089999994 meters Centerline goodness [0,1] 0.9933333333333333 Centerline is valid? [True, True] Translation: X:-4.43, Y:-1.02, Z:-0.88 [[ 0.95626836 -0.20738675 -0.20625607 -4.42676871] [ 0.20931141 0.97776665 -0.01269285 -1.02300651] [ 0.20430264 -0.03103398 0.97841572 -0.87946444] [ 0. 0. 0. 1. ]] SLAMing on 5.251463509 meters Centerline goodness [0,1] 0.9953632148377125 Centerline is valid? [True, True] Translation: X:-4.46, Y:-1.02, Z:-0.87 [[ 0.95761269 -0.20378959 -0.2035872 -4.45994784] [ 0.20558558 0.97855906 -0.01251944 -1.01777727] [ 0.20177343 -0.02986582 0.97897677 -0.86523651] [ 0. 0. 0. 1. ]] SLAMing on 5.281463508999999 meters Centerline goodness [0,1] 0.9958551483420593 Centerline is valid? [True, True] Translation: X:-4.49, Y:-1.02, Z:-0.88 [[ 0.95762562 -0.20029847 -0.20696303 -4.4876565 ] [ 0.2020804 0.97928635 -0.01271817 -1.01637333] [ 0.2052235 -0.02964392 0.9782661 -0.87577764] [ 0. 0. 0. 1. ]] SLAMing on 5.311463508999999 meters Centerline goodness [0,1] 0.9943355119825708 Centerline is valid? [True, True] Translation: X:-4.52, Y:-1.01, Z:-0.85 [[ 0.95634417 -0.20522505 -0.20805889 -4.52248766] [ 0.20714201 0.97822749 -0.0127739 -1.01386046] [ 0.20615045 -0.03088149 0.97803289 -0.85309212] [ 0. 0. 0. 1. ]] SLAMing on 5.3414635089999996 meters Centerline goodness [0,1] 0.9943710759904741 Centerline is valid? [True, True] Translation: X:-4.54, Y:-1.03, Z:-0.89 [[ 0.9579415 -0.19947613 -0.20629436 -4.54376576] [ 0.20123139 0.97946194 -0.0126585 -1.03332122] [ 0.20458254 -0.0293868 0.9784081 -0.89393502] [ 0. 0. 0. 1. ]] SLAMing on 5.371463509 meters SLAMing on 5.401463508999999 meters Centerline goodness [0,1] 0.9926502377864246 Centerline is valid? [True, True] Translation: X:-4.58, Y:-1.02, Z:-0.88 [[ 0.95825129 -0.18980393 -0.21384326 -4.57829549] [ 0.19146557 0.98141176 -0.01311091 -1.0242373 ] [ 0.21235679 -0.02838008 0.97678 -0.87664983] [ 0. 0. 0. 1. ]] SLAMing on 5.431463508999999 meters SLAMing on 5.461463509 meters Centerline goodness [0,1] 0.997275204359673 Centerline is valid? [True, True] Translation: X:-4.59, Y:-1.03, Z:-0.94 [[ 0.95755085 -0.18808286 -0.21845185 -4.59467975] [ 0.18978014 0.9817354 -0.0133827 -1.03438995] [ 0.21697897 -0.02864321 0.97575596 -0.93777514] [ 0. 0. 0. 1. ]] SLAMing on 5.491463509 meters Centerline goodness [0,1] 0.9928163955208114 Centerline is valid? [True, True] Translation: X:-4.63, Y:-1.02, Z:-0.90 [[ 0.95945873 -0.17980597 -0.21704552 -4.63215563] [ 0.18128012 0.98334198 -0.01326898 -1.0238256 ] [ 0.21581581 -0.026615 0.9760713 -0.9020771 ] [ 0. 0. 0. 1. ]] SLAMing on 5.521463508999999 meters Centerline goodness [0,1] 0.9909817585570814 Centerline is valid? [True, True] Translation: X:-4.66, Y:-1.03, Z:-0.93 [[ 0.95879666 -0.18511838 -0.21549976 -4.65716379] [ 0.18670381 0.9823281 -0.01316009 -1.02631188] [ 0.21412765 -0.02761677 0.97641521 -0.93180704] [ 0. 0. 0. 1. ]] SLAMing on 5.5514635089999995 meters Centerline goodness [0,1] 0.9922842639593908 Centerline is valid? [True, True] Translation: X:-4.69, Y:-1.03, Z:-0.94 [[ 0.96011205 -0.17105425 -0.22119062 -4.68611894] [ 0.17236762 0.98494018 -0.01349954 -1.03162988] [ 0.22016869 -0.02516503 0.97513716 -0.93915954] [ 0. 0. 0. 1. ]] SLAMing on 5.581463509 meters Centerline goodness [0,1] 0.9909474954737477 Centerline is valid? [True, True] Translation: X:-4.71, Y:-1.03, Z:-0.96 [[ 0.95985326 -0.16900511 -0.22387272 -4.71139852] [ 0.17030246 0.98529735 -0.01364576 -1.0309989 ] [ 0.2228874 -0.02502814 0.97452286 -0.95927538] [ 0. 0. 0. 1. ]] SLAMing on 5.611463508999999 meters Centerline goodness [0,1] 0.9934587080948487 Centerline is valid? [True, True] Translation: X:-4.74, Y:-1.04, Z:-0.96 [[ 0.9603392 -0.16827824 -0.22233095 -4.74081107] [ 0.16954368 0.98542987 -0.01352469 -1.03856357] [ 0.22136747 -0.02470652 0.97487744 -0.96134933] [ 0. 0. 0. 1. ]] SLAMing on 5.641463508999999 meters SLAMing on 5.671463509 meters SLAMing on 5.701463509 meters SLAMing on 5.731463508999999 meters SLAMing on 5.7614635089999995 meters SLAMing on 5.791463509 meters SLAMing on 5.821463508999999 meters SLAMing on 5.851463508999999 meters SLAMing on 5.881463509 meters SLAMing on 5.911463509 meters SLAMing on 5.941463508999999 meters SLAMing on 5.9714635089999994 meters SLAMing on 6.001463509 meters SLAMing on 6.031463508999999 meters SLAMing on 6.061463508999999 meters SLAMing on 6.0914635089999996 meters SLAMing on 6.121463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-4.76, Y:-0.97, Z:-1.03 [[ 0.96463973 -0.0910781 -0.24733576 -4.76345438] [ 0.09016738 0.99581319 -0.01503114 -0.96973693] [ 0.24766922 -0.00780199 0.96881324 -1.02514389] [ 0. 0. 0. 1. ]] SLAMing on 6.151463508999999 meters SLAMing on 6.181463508999999 meters Centerline goodness [0,1] 0.9992771955186122 Centerline is valid? [True, True] Translation: X:-4.79, Y:-0.98, Z:-1.04 [[ 0.96507745 -0.10297418 -0.24087722 -4.78894597] [ 0.10248133 0.99462767 -0.01460722 -0.98129013] [ 0.24108731 -0.01058832 0.97044567 -1.04036921] [ 0. 0. 0. 1. ]] SLAMing on 6.211463509 meters Centerline goodness [0,1] 0.9992826398852224 Centerline is valid? [True, True] Translation: X:-4.82, Y:-0.98, Z:-1.05 [[ 0.96421399 -0.1039295 -0.24390581 -4.81633747] [ 0.10347831 0.9945231 -0.01469853 -0.98457364] [ 0.24409757 -0.01106643 0.96968753 -1.05455212] [ 0. 0. 0. 1. ]] SLAMing on 6.241463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-4.84, Y:-1.00, Z:-1.06 [[ 0.96484101 -0.10902161 -0.23915708 -4.84282012] [ 0.10876172 0.99396463 -0.0143247 -0.9965748 ] [ 0.23927538 -0.01219007 0.97087522 -1.06303881] [ 0. 0. 0. 1. ]] SLAMing on 6.271463508999999 meters SLAMing on 6.3014635089999995 meters SLAMing on 6.331463509 meters Centerline goodness [0,1] 0.9993255774742876 Centerline is valid? [True, True] Translation: X:-4.86, Y:-1.01, Z:-1.10 [[ 0.96331499 -0.11756086 -0.2412544 -4.86452007] [ 0.1175813 0.99295937 -0.01436379 -1.01045156] [ 0.24124443 -0.01453015 0.9703556 -1.10011175] [ 0. 0. 0. 1. ]] SLAMing on 6.361463508999999 meters SLAMing on 6.391463508999999 meters Centerline goodness [0,1] 0.9996683800364782 Centerline is valid? [True, True] Translation: X:-4.89, Y:-1.02, Z:-1.13 [[ 0.963567 -0.12502206 -0.23644898 -4.8878388 ] [ 0.12526733 0.99202358 -0.01404686 -1.02114558] [ 0.23631913 -0.01608424 0.97154236 -1.13304592] [ 0. 0. 0. 1. ]] SLAMing on 6.421463509 meters Centerline goodness [0,1] 0.9982049608355091 Centerline is valid? [True, True] Translation: X:-4.92, Y:-1.02, Z:-1.14 [[ 0.96408931 -0.13249662 -0.23016615 -4.91778933] [ 0.13295192 0.99102916 -0.01360103 -1.02369869] [ 0.22990346 -0.01748842 0.9730563 -1.13600578] [ 0. 0. 0. 1. ]] SLAMing on 6.451463509 meters Centerline goodness [0,1] 0.9993500162495937 Centerline is valid? [True, True] Translation: X:-4.95, Y:-1.02, Z:-1.15 [[ 0.96511333 -0.12413534 -0.23053561 -4.9454953 ] [ 0.12437211 0.99214294 -0.01356328 -1.02099595] [ 0.23040796 -0.0155821 0.97296936 -1.14878899] [ 0. 0. 0. 1. ]] SLAMing on 6.481463508999999 meters Centerline goodness [0,1] 0.9995266645629536 Centerline is valid? [True, True] Translation: X:-4.97, Y:-1.02, Z:-1.16 [[ 0.96494915 -0.12437381 -0.2310937 -4.97137304] [ 0.12462298 0.99211126 -0.01357812 -1.01768561] [ 0.23095943 -0.0156974 0.97283675 -1.16129912] [ 0. 0. 0. 1. ]] SLAMing on 6.5114635089999995 meters Centerline goodness [0,1] 0.9998419971559488 Centerline is valid? [True, True] Translation: X:-5.00, Y:-1.01, Z:-1.16 [[ 0.96618351 -0.11268068 -0.23193207 -5.00243343] [ 0.11260727 0.9935465 -0.01359971 -1.00766692] [ 0.23196773 -0.01297742 0.97263691 -1.15759128] [ 0. 0. 0. 1. ]] SLAMing on 6.541463509 meters Centerline goodness [0,1] 0.9996868149076104 Centerline is valid? [True, True] Translation: X:-5.03, Y:-1.00, Z:-1.17 [[ 0.96696867 -0.10834559 -0.23072241 -5.03023603] [ 0.10815459 0.99404223 -0.01351402 -1.00397366] [ 0.230812 -0.01188605 0.97292576 -1.16719418] [ 0. 0. 0. 1. ]] SLAMing on 6.571463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.06, Y:-1.01, Z:-1.18 [[ 0.96778772 -0.10862517 -0.22712881 -5.05770385] [ 0.10845343 0.9940129 -0.01327409 -1.00755621] [ 0.22721086 -0.0117864 0.97377426 -1.17754836] [ 0. 0. 0. 1. ]] SLAMing on 6.601463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.08, Y:-1.00, Z:-1.19 [[ 0.96808685 -0.10069058 -0.22949782 -5.08452477] [ 0.10031455 0.9948664 -0.01333553 -1.00225321] [ 0.22966243 -0.01011202 0.97321781 -1.19222176] [ 0. 0. 0. 1. ]] SLAMing on 6.631463509 meters Centerline goodness [0,1] 0.9995483968086708 Centerline is valid? [True, True] Translation: X:-5.11, Y:-1.00, Z:-1.20 [[ 0.96840272 -0.10136212 -0.22786378 -5.11122567] [ 0.10101578 0.99479708 -0.01321306 -0.99804221] [ 0.22801753 -0.01022227 0.97360337 -1.20271382] [ 0. 0. 0. 1. ]] SLAMing on 6.661463509 meters Centerline goodness [0,1] 0.9996961409905804 Centerline is valid? [True, True] Translation: X:-5.14, Y:-1.00, Z:-1.22 [[ 0.96872659 -0.09414749 -0.2295758 -5.13772999] [ 0.09360725 0.99552079 -0.01326773 -0.99915848] [ 0.22979661 -0.00863716 0.97320035 -1.22110406] [ 0. 0. 0. 1. ]] SLAMing on 6.691463508999999 meters Centerline goodness [0,1] 0.9996961409905804 Centerline is valid? [True, True] Translation: X:-5.16, Y:-1.00, Z:-1.23 [[ 0.9687676 -0.09371947 -0.22957787 -5.16488378] [ 0.09317591 0.99556174 -0.01323172 -1.00102471] [ 0.22979902 -0.00857266 0.97320035 -1.22621695] [ 0. 0. 0. 1. ]] SLAMing on 6.7214635089999994 meters Centerline goodness [0,1] 0.9997052321296979 Centerline is valid? [True, True] Translation: X:-5.19, Y:-1.00, Z:-1.23 [[ 0.97024039 -0.09098797 -0.2243987 -5.19400416] [ 0.09041487 0.99582128 -0.01285034 -0.99612183] [ 0.22463023 -0.00782106 0.97441269 -1.23120178] [ 0. 0. 0. 1. ]] SLAMing on 6.751463509 meters Centerline goodness [0,1] 0.9997091755125782 Centerline is valid? [True, True] Translation: X:-5.23, Y:-0.99, Z:-1.22 [[ 0.97032575 -0.09439643 -0.22261459 -5.22530862] [ 0.0939255 0.99549788 -0.01272658 -0.98909885] [ 0.22281369 -0.00856026 0.97482346 -1.21897668] [ 0. 0. 0. 1. ]] SLAMing on 6.781463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.26, Y:-0.99, Z:-1.22 [[ 0.97117532 -0.09167778 -0.22003108 -5.2559009 ] [ 0.09115793 0.99575753 -0.01253688 -0.98796243] [ 0.22024695 -0.00788207 0.9754123 -1.21840382] [ 0. 0. 0. 1. ]] SLAMing on 6.811463508999999 meters Centerline goodness [0,1] 0.9998644986449865 Centerline is valid? [True, True] Translation: X:-5.28, Y:-0.99, Z:-1.24 [[ 0.97023976 -0.09531736 -0.22259698 -5.28059118] [ 0.09488509 0.99540771 -0.01266122 -0.99292208] [ 0.22278159 -0.00883671 0.97482833 -1.24238226] [ 0. 0. 0. 1. ]] SLAMing on 6.8414635089999996 meters Centerline goodness [0,1] 0.999568717653824 Centerline is valid? [True, True] Translation: X:-5.31, Y:-0.99, Z:-1.24 [[ 0.97034647 -0.09143712 -0.22375654 -5.31065884] [ 0.09090649 0.99577853 -0.01269384 -0.99462901] [ 0.22397265 -0.0080235 0.9745624 -1.23996061] [ 0. 0. 0. 1. ]] SLAMing on 6.871463509 meters Centerline goodness [0,1] 0.9991451773756945 Centerline is valid? [True, True] Translation: X:-5.34, Y:-1.00, Z:-1.24 [[ 0.97116119 -0.08956676 -0.22096097 -5.34047362] [ 0.08901974 0.99595201 -0.01245322 -0.99979474] [ 0.22118191 -0.0075758 0.97520314 -1.24127652] [ 0. 0. 0. 1. ]] SLAMing on 6.901463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.37, Y:-1.00, Z:-1.25 [[ 0.97210265 -0.09208785 -0.21572268 -5.3678345 ] [ 0.09163755 0.99571878 -0.0121104 -1.00265571] [ 0.21591434 -0.00799574 0.97637957 -1.25205923] [ 0. 0. 0. 1. ]] SLAMing on 6.931463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.39, Y:-1.01, Z:-1.27 [[ 0.97155846 -0.09140295 -0.21844829 -5.39412671] [ 0.09094386 0.99578157 -0.01217722 -1.00857082] [ 0.21863982 -0.00803565 0.97577254 -1.26689627] [ 0. 0. 0. 1. ]] SLAMing on 6.961463509 meters Centerline goodness [0,1] 0.999863871494691 Centerline is valid? [True, True] Translation: X:-5.42, Y:-1.01, Z:-1.26 [[ 0.97255122 -0.091912 -0.21376694 -5.42423102] [ 0.09149979 0.99573466 -0.01184345 -1.00631614] [ 0.2139437 -0.00804127 0.97681289 -1.26252184] [ 0. 0. 0. 1. ]] SLAMing on 6.991463508999999 meters Centerline goodness [0,1] 0.9998612267554815 Centerline is valid? [True, True] Translation: X:-5.45, Y:-1.00, Z:-1.27 [[ 0.97311392 -0.09009165 -0.21197359 -5.45311235] [ 0.08964922 0.99590447 -0.01171738 -1.00405708] [ 0.21216108 -0.00760092 0.97720515 -1.2671123 ] [ 0. 0. 0. 1. ]] SLAMing on 7.021463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.48, Y:-1.01, Z:-1.28 [[ 0.97374923 -0.088399 -0.20975713 -5.479 ] [ 0.0879433 0.99605889 -0.01151754 -1.00697745] [ 0.20994859 -0.00723154 0.97768568 -1.28181399] [ 0. 0. 0. 1. ]] SLAMing on 7.0514635089999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.51, Y:-1.01, Z:-1.29 [[ 0.97449915 -0.08621247 -0.20716857 -5.50696225] [ 0.08572631 0.99625418 -0.01134013 -1.00583207] [ 0.20737022 -0.00670885 0.97823953 -1.28958528] [ 0. 0. 0. 1. ]] SLAMing on 7.081463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.53, Y:-1.00, Z:-1.30 [[ 0.97394909 -0.08465867 -0.21037131 -5.53238349] [ 0.08413837 0.99638842 -0.01143897 -1.00304966] [ 0.21057994 -0.00655932 0.97755463 -1.30451388] [ 0. 0. 0. 1. ]] SLAMing on 7.111463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.56, Y:-1.00, Z:-1.31 [[ 9.74825370e-01 -7.88462464e-02 -2.08563581e-01 -5.56141313e+00] [ 7.82096749e-02 9.96872773e-01 -1.13102246e-02 -1.00290944e+00] [ 2.08803124e-01 -5.28619601e-03 9.77943409e-01 -1.30898869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.141463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.59, Y:-1.00, Z:-1.32 [[ 9.74317026e-01 -7.60845738e-02 -2.11937423e-01 -5.58898893e+00] [ 7.53704911e-02 9.97089766e-01 -1.14580857e-02 -1.00368998e+00] [ 2.12192419e-01 -4.81001969e-03 9.77216067e-01 -1.31961752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.171463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.62, Y:-1.00, Z:-1.31 [[ 9.76807859e-01 -7.86464355e-02 -1.99151058e-01 -5.62049348e+00] [ 7.80821613e-02 9.96889526e-01 -1.06981048e-02 -9.99659070e-01] [ 1.99372972e-01 -5.10015223e-03 9.79910407e-01 -1.30639708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.201463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.65, Y:-0.99, Z:-1.32 [[ 9.76295315e-01 -7.48013398e-02 -2.03106419e-01 -5.64744642e+00] [ 7.41385616e-02 9.97188592e-01 -1.08805635e-02 -9.92646990e-01] [ 2.03349284e-01 -4.43537460e-03 9.79096214e-01 -1.31922142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.231463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.67, Y:-1.00, Z:-1.34 [[ 9.75309851e-01 -7.17400861e-02 -2.08863722e-01 -5.67174717e+00] [ 7.09906965e-02 9.97415303e-01 -1.10920847e-02 -9.98653101e-01] [ 2.09119619e-01 -4.00916161e-03 9.77881849e-01 -1.34462217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2614635089999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.70, Y:-1.00, Z:-1.33 [[ 9.77799480e-01 -7.91877456e-02 -1.94003810e-01 -5.70359647e+00] [ 7.86997348e-02 9.96845835e-01 -1.02338950e-02 -9.96487861e-01] [ 1.94202289e-01 -5.26135126e-03 9.80947394e-01 -1.32584734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.291463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.73, Y:-0.99, Z:-1.34 [[ 9.77068330e-01 -7.18567053e-02 -2.00434760e-01 -5.73068531e+00] [ 7.11895369e-02 9.97407077e-01 -1.05438022e-02 -9.89490265e-01] [ 2.00672691e-01 -3.96684253e-03 9.79650313e-01 -1.33574705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.321463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.76, Y:-1.00, Z:-1.35 [[ 9.76762996e-01 -7.69163516e-02 -2.00044807e-01 -5.75714658e+00] [ 7.63635529e-02 9.97024861e-01 -1.04897602e-02 -9.99824433e-01] [ 2.00256480e-01 -5.03012257e-03 9.79730596e-01 -1.34906993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.351463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.79, Y:-0.99, Z:-1.34 [[ 9.78191499e-01 -7.59029482e-02 -1.93339426e-01 -5.78728446e+00] [ 7.53817060e-02 9.97103983e-01 -1.00620346e-02 -9.94439702e-01] [ 1.93543250e-01 -4.73165903e-03 9.81080334e-01 -1.34331294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.381463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.81, Y:-1.00, Z:-1.36 [[ 9.77253476e-01 -7.87061406e-02 -1.96928891e-01 -5.81451300e+00] [ 7.82285967e-02 9.96883111e-01 -1.02151305e-02 -9.96126894e-01] [ 1.97119079e-01 -5.42269896e-03 9.80364556e-01 -1.35554335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.411463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.84, Y:-1.00, Z:-1.36 [[ 0.97783888 -0.0813824 -0.19289384 -5.84358491] [ 0.0809913 0.99666539 -0.00992552 -0.9993062 ] [ 0.19305838 -0.00591716 0.98116943 -1.35770964] [ 0. 0. 0. 1. ]] SLAMing on 7.441463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.87, Y:-1.01, Z:-1.37 [[ 0.97843551 -0.08137218 -0.1898487 -5.87058867] [ 0.08100829 0.99666633 -0.0096894 -1.0051348 ] [ 0.19000425 -0.00589886 0.98176555 -1.36510423] [ 0. 0. 0. 1. ]] SLAMing on 7.4714635089999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.90, Y:-1.00, Z:-1.36 [[ 0.97767 -0.0870481 -0.19126942 -5.89988193] [ 0.08680388 0.99617847 -0.00967169 -0.99796377] [ 0.19138038 -0.00714721 0.98148992 -1.36357708] [ 0. 0. 0. 1. ]] SLAMing on 7.501463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.93, Y:-1.00, Z:-1.38 [[ 0.97847364 -0.08304065 -0.18892746 -5.92734498] [ 0.08273307 0.9965262 -0.00952776 -1.00385104] [ 0.18906236 -0.00630788 0.98194482 -1.37571689] [ 0. 0. 0. 1. ]] SLAMing on 7.531463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.96, Y:-1.01, Z:-1.38 [[ 0.97777402 -0.08553678 -0.1914195 -5.95551141] [ 0.08527676 0.99631094 -0.00961148 -1.00661025] [ 0.19153548 -0.00692578 0.98146125 -1.37664088] [ 0. 0. 0. 1. ]] SLAMing on 7.561463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-5.98, Y:-1.01, Z:-1.38 [[ 0.97841732 -0.08234202 -0.189524 -5.98470334] [ 0.08203343 0.99658443 -0.00948612 -1.00658953] [ 0.18965777 -0.00626592 0.98183026 -1.37673599] [ 0. 0. 0. 1. ]] SLAMing on 7.5914635089999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.01, Y:-1.01, Z:-1.39 [[ 0.97884485 -0.0824897 -0.18723837 -6.010485 ] [ 0.08220629 0.99657202 -0.00929147 -1.00591973] [ 0.18736297 -0.00629726 0.98227056 -1.38957872] [ 0. 0. 0. 1. ]] SLAMing on 7.621463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.04, Y:-1.00, Z:-1.39 [[ 9.78507773e-01 -7.95238164e-02 -1.90259037e-01 -6.03970563e+00] [ 7.91952102e-02 9.96815350e-01 -9.34216949e-03 -1.00037444e+00] [ 1.90396054e-01 -5.92621896e-03 9.81689474e-01 -1.39377496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.651463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.07, Y:-1.01, Z:-1.40 [[ 0.97914718 -0.08535274 -0.18435212 -6.06844395] [ 0.08516148 0.99632679 -0.00896976 -1.00987373] [ 0.18444055 -0.00691698 0.98281933 -1.39500323] [ 0. 0. 0. 1. ]] SLAMing on 7.681463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.10, Y:-1.00, Z:-1.39 [[ 0.97940714 -0.08182772 -0.18456941 -6.09906612] [ 0.08157857 0.99662667 -0.00895628 -1.00278831] [ 0.18467967 -0.00628506 0.98277867 -1.39241348] [ 0. 0. 0. 1. ]] SLAMing on 7.711463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.13, Y:-1.00, Z:-1.40 [[ 9.79192047e-01 -7.61620253e-02 -1.88101785e-01 -6.12621794e+00] [ 7.58152608e-02 9.97080827e-01 -9.04826523e-03 -1.00456479e+00] [ 1.88241818e-01 -5.40099656e-03 9.82107859e-01 -1.40042063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.741463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.16, Y:-1.00, Z:-1.39 [[ 9.80139533e-01 -7.55387959e-02 -1.83358627e-01 -6.15597689e+00] [ 7.52021931e-02 9.97129487e-01 -8.79870397e-03 -9.98085335e-01] [ 1.83496937e-01 -5.16501325e-03 9.83006713e-01 -1.39492921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.771463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.19, Y:-0.99, Z:-1.39 [[ 9.79135951e-01 -6.75602749e-02 -1.91646546e-01 -6.18623895e+00] [ 6.70478843e-02 9.97707666e-01 -9.16484192e-03 -9.93570348e-01] [ 1.91826407e-01 -3.87586923e-03 9.81421218e-01 -1.39346556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8014635089999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.22, Y:-1.00, Z:-1.38 [[ 9.79159206e-01 -7.44299285e-02 -1.88964110e-01 -6.21822484e+00] [ 7.40632757e-02 9.97212833e-01 -9.01092576e-03 -1.00345207e+00] [ 1.89108118e-01 -5.17217010e-03 9.81942650e-01 -1.38046651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.831463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.25, Y:-0.99, Z:-1.38 [[ 9.80806090e-01 -6.75521852e-02 -1.82910130e-01 -6.24671809e+00] [ 6.71027569e-02 9.97708553e-01 -8.65233830e-03 -9.93902690e-01] [ 1.83075486e-01 -3.78750792e-03 9.83091563e-01 -1.38349699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.861463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.27, Y:-1.00, Z:-1.40 [[ 9.79510530e-01 -6.92110121e-02 -1.89126827e-01 -6.27188804e+00] [ 6.87657999e-02 9.97592925e-01 -8.92306429e-03 -9.95158767e-01] [ 1.89289159e-01 -4.26522213e-03 9.81912125e-01 -1.39908274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.891463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.30, Y:-1.00, Z:-1.39 [[ 9.80270963e-01 -7.24787038e-02 -1.83890392e-01 -6.30213192e+00] [ 7.21196620e-02 9.97358487e-01 -8.64884697e-03 -9.96881103e-01] [ 1.84031500e-01 -4.78389937e-03 9.82908704e-01 -1.39351123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.921463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.33, Y:-1.00, Z:-1.39 [[ 9.80058839e-01 -7.71766634e-02 -1.83107714e-01 -6.33215635e+00] [ 7.69165912e-02 9.97001017e-01 -8.53282951e-03 -1.00184762e+00] [ 1.83217113e-01 -5.72134623e-03 9.83055825e-01 -1.39256114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.951463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.36, Y:-1.01, Z:-1.39 [[ 9.78695155e-01 -7.64979438e-02 -1.90535712e-01 -6.36019901e+00] [ 7.62196447e-02 9.97052221e-01 -8.79965128e-03 -1.00907818e+00] [ 1.90647210e-01 -5.91038823e-03 9.81640825e-01 -1.39184725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.981463508999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.39, Y:-1.01, Z:-1.38 [[ 0.97970104 -0.08011693 -0.18375842 -6.39091144] [ 0.07993711 0.99676453 -0.00839823 -1.00557705] [ 0.18383671 -0.00646136 0.98293556 -1.3821882 ] [ 0. 0. 0. 1. ]] SLAMing on 8.011463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.42, Y:-1.01, Z:-1.39 [[ 9.78665129e-01 -7.80312653e-02 -1.90067586e-01 -6.41805219e+00] [ 7.78063040e-02 9.96930906e-01 -8.65725464e-03 -1.00964934e+00] [ 1.90159787e-01 -6.31590318e-03 9.81732838e-01 -1.39051895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.041463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.45, Y:-1.01, Z:-1.39 [[ 0.97900679 -0.08214179 -0.18654338 -6.44875148] [ 0.08200391 0.99659603 -0.00846881 -1.01152558] [ 0.18660404 -0.00700626 0.98241022 -1.38619179] [ 0. 0. 0. 1. ]] SLAMing on 8.071463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.48, Y:-1.01, Z:-1.39 [[ 0.97934912 -0.08276727 -0.18445832 -6.47620046] [ 0.08265658 0.9965435 -0.0083029 -1.00898454] [ 0.18450795 -0.00711525 0.98280527 -1.38954869] [ 0. 0. 0. 1. ]] SLAMing on 8.101463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.50, Y:-1.01, Z:-1.40 [[ 0.97893937 -0.0859454 -0.18517856 -6.50429534] [ 0.08589563 0.99626951 -0.00830645 -1.00598967] [ 0.18520165 -0.00777452 0.98266978 -1.39974116] [ 0. 0. 0. 1. ]] SLAMing on 8.131463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.53, Y:-1.02, Z:-1.39 [[ 0.9789317 -0.09197488 -0.18230015 -6.53480057] [ 0.0920432 0.99572203 -0.00810426 -1.01595075] [ 0.18226567 -0.00884597 0.98320953 -1.39409942] [ 0. 0. 0. 1. ]] SLAMing on 8.161463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.56, Y:-1.02, Z:-1.39 [[ 0.9787748 -0.09473697 -0.18172726 -6.56464417] [ 0.09486497 0.99545794 -0.00800777 -1.01927624] [ 0.18166048 -0.00940175 0.98331637 -1.38983989] [ 0. 0. 0. 1. ]] SLAMing on 8.191463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.59, Y:-1.01, Z:-1.39 [[ 0.9786129 -0.08741037 -0.1862155 -6.5938142 ] [ 0.08741869 0.99613805 -0.00818267 -1.01347154] [ 0.1862116 -0.00827105 0.98247485 -1.39030578] [ 0. 0. 0. 1. ]] SLAMing on 8.221463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.62, Y:-1.02, Z:-1.38 [[ 0.97823784 -0.09036747 -0.18677378 -6.62392083] [ 0.0904335 0.99586886 -0.00818466 -1.02323824] [ 0.18674182 -0.00888407 0.98236885 -1.3841818 ] [ 0. 0. 0. 1. ]] SLAMing on 8.251463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.65, Y:-1.02, Z:-1.38 [[ 0.97887664 -0.0899178 -0.18361733 -6.65302747] [ 0.08997733 0.99591148 -0.00802465 -1.02000493] [ 0.18358816 -0.00866625 0.98296505 -1.38218437] [ 0. 0. 0. 1. ]] SLAMing on 8.281463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.68, Y:-1.02, Z:-1.39 [[ 0.97799059 -0.09768363 -0.18437003 -6.68130116] [ 0.0978853 0.99516531 -0.00802983 -1.02489829] [ 0.18426304 -0.01019402 0.9828241 -1.38965219] [ 0. 0. 0. 1. ]] SLAMing on 8.311463509000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.71, Y:-1.02, Z:-1.38 [[ 0.97745516 -0.10187949 -0.18493778 -6.71125421] [ 0.10216963 0.99473494 -0.00798572 -1.02108303] [ 0.18477765 -0.01108934 0.98271779 -1.3834407 ] [ 0. 0. 0. 1. ]] SLAMing on 8.341463509 meters Centerline goodness [0,1] 0.9998805114111602 Centerline is valid? [True, True] Translation: X:-6.74, Y:-1.04, Z:-1.38 [[ 0.97700984 -0.11373312 -0.18032345 -6.74105901] [ 0.11421088 0.99342618 -0.00776551 -1.04088432] [ 0.18002123 -0.01300792 0.98357671 -1.38216727] [ 0. 0. 0. 1. ]] SLAMing on 8.371463509 meters Centerline goodness [0,1] 0.9997612510445267 Centerline is valid? [True, True] Translation: X:-6.77, Y:-1.05, Z:-1.38 [[ 0.97730408 -0.11633765 -0.17703753 -6.77140188] [ 0.1168516 0.99312064 -0.00755647 -1.04789861] [ 0.17669873 -0.01330215 0.98417509 -1.38121134] [ 0. 0. 0. 1. ]] SLAMing on 8.401463509000001 meters Centerline goodness [0,1] 0.9989687177724303 Centerline is valid? [True, True] Translation: X:-6.80, Y:-1.06, Z:-1.39 [[ 0.97555687 -0.11946835 -0.18443454 -6.79939077] [ 0.12009565 0.99273163 -0.00780697 -1.05697338] [ 0.18402669 -0.01453364 0.98281379 -1.3917985 ] [ 0. 0. 0. 1. ]] SLAMing on 8.431463509 meters Centerline goodness [0,1] 0.9974533106960951 Centerline is valid? [True, True] Translation: X:-6.83, Y:-1.07, Z:-1.40 [[ 0.97540113 -0.1288676 -0.17884568 -6.82681109] [ 0.12961456 0.99153569 -0.00755194 -1.06762456] [ 0.17830507 -0.01581483 0.98384816 -1.39905749] [ 0. 0. 0. 1. ]] SLAMing on 8.461463509 meters Centerline goodness [0,1] 0.9935741998060136 Centerline is valid? [True, True] Translation: X:-6.86, Y:-1.08, Z:-1.40 [[ 0.97428338 -0.13681578 -0.17903447 -6.85702782] [ 0.13769876 0.99044541 -0.00754572 -1.0788349 ] [ 0.17835624 -0.01730116 0.98381387 -1.40016851] [ 0. 0. 0. 1. ]] SLAMing on 8.491463509 meters Centerline goodness [0,1] 0.9912642562484834 Centerline is valid? [True, True] Translation: X:-6.89, Y:-1.09, Z:-1.40 [[ 0.97374398 -0.14370238 -0.17655677 -6.8874743 ] [ 0.14467384 0.98945153 -0.00742688 -1.09038114] [ 0.17576163 -0.01831127 0.98426244 -1.39735784] [ 0. 0. 0. 1. ]] SLAMing on 8.521463509 meters Centerline goodness [0,1] 0.986859087175877 Centerline is valid? [True, True] Translation: X:-6.92, Y:-1.10, Z:-1.40 [[ 0.97305492 -0.14015302 -0.18308809 -6.91644648] [ 0.14114004 0.98995974 -0.00769485 -1.10257326] [ 0.18232829 -0.01835355 0.9830664 -1.40326464] [ 0. 0. 0. 1. ]] SLAMing on 8.551463509 meters Centerline goodness [0,1] 0.9875534322353533 Centerline is valid? [True, True] Translation: X:-6.95, Y:-1.10, Z:-1.40 [[ 0.97153123 -0.1610008 -0.17379818 -6.94589868] [ 0.1622138 0.98672865 -0.00729771 -1.10092413] [ 0.17266658 -0.02110251 0.98475425 -1.40157153] [ 0. 0. 0. 1. ]] SLAMing on 8.581463509 meters Centerline goodness [0,1] 0.9875534322353533 Centerline is valid? [True, True] Translation: X:-6.97, Y:-1.10, Z:-1.41 [[ 0.97160965 -0.16052643 -0.1737986 -6.9732544 ] [ 0.16173379 0.98680752 -0.00728762 -1.10238585] [ 0.17267562 -0.02102838 0.98475425 -1.40671778] [ 0. 0. 0. 1. ]] SLAMing on 8.611463509 meters Centerline goodness [0,1] 0.9795473798862399 Centerline is valid? [True, True] Translation: X:-7.00, Y:-1.12, Z:-1.41 [[ 0.97072987 -0.16019745 -0.17894216 -7.00084486] [ 0.16149083 0.98684638 -0.00741192 -1.12279189] [ 0.17777579 -0.02170255 0.98383168 -1.4064542 ] [ 0. 0. 0. 1. ]] SLAMing on 8.641463509000001 meters Centerline goodness [0,1] 0.9740568993608222 Centerline is valid? [True, True] Translation: X:-7.03, Y:-1.13, Z:-1.41 [[ 0.96965115 -0.16819388 -0.17744705 -7.02983428] [ 0.1696119 0.9854842 -0.0072587 -1.13040777] [ 0.17609214 -0.02305873 0.98410358 -1.41483334] [ 0. 0. 0. 1. ]] SLAMing on 8.671463509 meters Centerline goodness [0,1] 0.973271652531483 Centerline is valid? [True, True] Translation: X:-7.06, Y:-1.15, Z:-1.42 [[ 0.96860382 -0.17499385 -0.17658931 -7.05825551] [ 0.17650841 0.98427265 -0.0072198 -1.15222883] [ 0.17507545 -0.02417637 0.98425814 -1.4212542 ] [ 0. 0. 0. 1. ]] SLAMing on 8.701463509 meters Centerline goodness [0,1] 0.9671243229625898 Centerline is valid? [True, True] Translation: X:-7.09, Y:-1.18, Z:-1.43 [[ 0.96757359 -0.1778624 -0.17934968 -7.08521147] [ 0.17947546 0.98373518 -0.00732524 -1.18013841] [ 0.17773547 -0.02510116 0.98375812 -1.43487614] [ 0. 0. 0. 1. ]] SLAMing on 8.731463509000001 meters Centerline goodness [0,1] 0.9629119158000251 Centerline is valid? [True, True] Translation: X:-7.12, Y:-1.19, Z:-1.43 [[ 0.96576531 -0.18577205 -0.18106935 -7.11605124] [ 0.18755282 0.98222671 -0.00739088 -1.19482493] [ 0.17922417 -0.02682221 0.98344256 -1.43052748] [ 0. 0. 0. 1. ]] SLAMing on 8.761463509 meters Centerline goodness [0,1] 0.9687143761874604 Centerline is valid? [True, True] Translation: X:-7.14, Y:-1.20, Z:-1.45 [[ 0.96449837 -0.19298327 -0.18027855 -7.14160664] [ 0.19487061 0.98080138 -0.00735456 -1.20206241] [ 0.17823676 -0.02803753 0.9835881 -1.45064799] [ 0. 0. 0. 1. ]] SLAMing on 8.791463509 meters Centerline goodness [0,1] 0.9659713168187745 Centerline is valid? [True, True] Translation: X:-7.17, Y:-1.23, Z:-1.46 [[ 0.9633014 -0.19992381 -0.17911135 -7.16939033] [ 0.20190328 0.97937827 -0.00729893 -1.22903088] [ 0.17687699 -0.0291321 0.98380173 -1.45826399] [ 0. 0. 0. 1. ]] SLAMing on 8.821463509 meters Centerline goodness [0,1] 0.9737700639436252 Centerline is valid? [True, True] Translation: X:-7.20, Y:-1.22, Z:-1.46 [[ 0.96173996 -0.20600659 -0.18060323 -7.19905195] [ 0.20812459 0.97807468 -0.00735364 -1.21645736] [ 0.17815835 -0.03051569 0.98352854 -1.46341339] [ 0. 0. 0. 1. ]] SLAMing on 8.851463509 meters Centerline goodness [0,1] 0.9664586583463338 Centerline is valid? [True, True] Translation: X:-7.23, Y:-1.25, Z:-1.47 [[ 0.96086837 -0.21105647 -0.17940774 -7.22817491] [ 0.2132315 0.97697444 -0.00729832 -1.2475334 ] [ 0.17681713 -0.03124266 0.98374773 -1.46544733] [ 0. 0. 0. 1. ]] SLAMing on 8.881463509 meters Centerline goodness [0,1] 0.976634287214492 Centerline is valid? [True, True] Translation: X:-7.25, Y:-1.24, Z:-1.48 [[ 0.96051555 -0.20972907 -0.18282123 -7.25362495] [ 0.21196785 0.97724837 -0.00743337 -1.24155875] [ 0.18022074 -0.03161236 0.98311807 -1.48476702] [ 0. 0. 0. 1. ]] SLAMing on 8.911463509 meters Centerline goodness [0,1] 0.9741170126718792 Centerline is valid? [True, True] Translation: X:-7.29, Y:-1.24, Z:-1.46 [[ 9.58908306e-01 -2.20470924e-01 -1.78570523e-01 -7.28903866e+00] [ 2.22786542e-01 9.74840397e-01 -7.23578500e-03 -1.24419011e+00] [ 1.75673040e-01 -3.28446549e-02 9.83900509e-01 -1.46155307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.941463509 meters Centerline goodness [0,1] 0.9728584668343705 Centerline is valid? [True, True] Translation: X:-7.32, Y:-1.26, Z:-1.47 [[ 0.95962486 -0.21407514 -0.18246084 -7.318648 ] [ 0.21638604 0.97627994 -0.00738696 -1.25623285] [ 0.17971422 -0.03239327 0.98318537 -1.46727025] [ 0. 0. 0. 1. ]] SLAMing on 8.971463509 meters Centerline goodness [0,1] 0.9727774855339295 Centerline is valid? [True, True] Translation: X:-7.35, Y:-1.26, Z:-1.47 [[ 0.9592509 -0.21268193 -0.18602179 -7.34730617] [ 0.21506156 0.97657145 -0.00753195 -1.26435863] [ 0.18326548 -0.03278111 0.98251675 -1.47124532] [ 0. 0. 0. 1. ]] SLAMing on 9.001463509 meters Centerline goodness [0,1] 0.975727504358321 Centerline is valid? [True, True] Translation: X:-7.38, Y:-1.26, Z:-1.48 [[ 0.95921561 -0.21401507 -0.18466986 -7.37586885] [ 0.21638572 0.97627944 -0.00746171 -1.26043574] [ 0.1818863 -0.03280253 0.98277229 -1.47603229] [ 0. 0. 0. 1. ]] SLAMing on 9.031463509 meters Centerline goodness [0,1] 0.9770360480640854 Centerline is valid? [True, True] Translation: X:-7.40, Y:-1.27, Z:-1.48 [[ 0.95929846 -0.21347617 -0.18486315 -7.40430378] [ 0.21584526 0.97639913 -0.00745371 -1.27194485] [ 0.18209141 -0.03275151 0.98273601 -1.47955189] [ 0. 0. 0. 1. ]] SLAMing on 9.061463509000001 meters Centerline goodness [0,1] 0.9802955665024631 Centerline is valid? [True, True] Translation: X:-7.44, Y:-1.25, Z:-1.47 [[ 0.96110018 -0.19943555 -0.19108089 -7.43650196] [ 0.20171926 0.97941368 -0.0076276 -1.25457854] [ 0.18866845 -0.03121381 0.98154466 -1.47085166] [ 0. 0. 0. 1. ]] SLAMing on 9.091463509 meters Centerline goodness [0,1] 0.9783644558918223 Centerline is valid? [True, True] Translation: X:-7.46, Y:-1.29, Z:-1.50 [[ 0.96220229 -0.19504189 -0.19006689 -7.46063367] [ 0.19721802 0.9803303 -0.00758596 -1.29122401] [ 0.18780791 -0.03018538 0.98174184 -1.50091407] [ 0. 0. 0. 1. ]] SLAMing on 9.121463509 meters Centerline goodness [0,1] 0.9810601078521636 Centerline is valid? [True, True] Translation: X:-7.50, Y:-1.26, Z:-1.48 [[ 9.61747595e-01 -1.99575960e-01 -1.87645940e-01 -7.49630353e+00] [ 2.01778298e-01 9.79402584e-01 -7.48973455e-03 -1.25772211e+00] [ 1.85275689e-01 -3.06596441e-02 9.82208178e-01 -1.47804793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.151463509000001 meters Centerline goodness [0,1] 0.9790822329716303 Centerline is valid? [True, True] Translation: X:-7.52, Y:-1.26, Z:-1.49 [[ 9.61776415e-01 -1.99708151e-01 -1.87357364e-01 -7.52325601e+00] [ 2.01907782e-01 9.79376063e-01 -7.46829537e-03 -1.26078557e+00] [ 1.84984797e-01 -3.06460794e-02 9.82263428e-01 -1.49357762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.181463509 meters Centerline goodness [0,1] 0.9812286689419796 Centerline is valid? [True, True] Translation: X:-7.55, Y:-1.26, Z:-1.49 [[ 9.63219560e-01 -1.91947055e-01 -1.88054268e-01 -7.55444293e+00] [ 1.94033713e-01 9.80966749e-01 -7.42663763e-03 -1.25688196e+00] [ 1.85900505e-01 -2.93353852e-02 9.82130560e-01 -1.49415283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.211463509 meters Centerline goodness [0,1] 0.9823271413828689 Centerline is valid? [True, True] Translation: X:-7.58, Y:-1.25, Z:-1.50 [[ 9.64618901e-01 -1.82192565e-01 -1.90568213e-01 -7.58458181e+00] [ 1.84153919e-01 9.82868653e-01 -7.51966891e-03 -1.25294954e+00] [ 1.88673551e-01 -2.78402687e-02 9.81645155e-01 -1.49703175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.241463509 meters Centerline goodness [0,1] 0.977769210999743 Centerline is valid? [True, True] Translation: X:-7.61, Y:-1.25, Z:-1.51 [[ 9.65440774e-01 -1.79035175e-01 -1.89395136e-01 -7.61353800e+00] [ 1.80913955e-01 9.83470585e-01 -7.46650344e-03 -1.24644037e+00] [ 1.87601312e-01 -2.70557561e-02 9.81872565e-01 -1.50701545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.271463509 meters Centerline goodness [0,1] 0.9729070364663585 Centerline is valid? [True, True] Translation: X:-7.65, Y:-1.25, Z:-1.49 [[ 9.66302567e-01 -1.73880795e-01 -1.89802052e-01 -7.64683343e+00] [ 1.75672376e-01 9.84420293e-01 -7.47681547e-03 -1.25486371e+00] [ 1.88145066e-01 -2.61181115e-02 9.81793908e-01 -1.49002831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.301463509 meters Centerline goodness [0,1] 0.9850783699059561 Centerline is valid? [True, True] Translation: X:-7.67, Y:-1.24, Z:-1.51 [[ 9.69000472e-01 -1.52816802e-01 -1.94126533e-01 -7.67391106e+00] [ 1.54282143e-01 9.87997293e-01 -7.63994739e-03 -1.23877444e+00] [ 1.92964001e-01 -2.25471449e-02 9.80946747e-01 -1.50646007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.331463509 meters Centerline goodness [0,1] 0.9901269393511989 Centerline is valid? [True, True] Translation: X:-7.70, Y:-1.22, Z:-1.50 [[ 9.69761683e-01 -1.52228780e-01 -1.90758163e-01 -7.70404897e+00] [ 1.53632564e-01 9.88099601e-01 -7.49757147e-03 -1.22407482e+00] [ 1.89629411e-01 -2.20358081e-02 9.81608430e-01 -1.50133850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.361463509 meters Centerline goodness [0,1] 0.9911526479750778 Centerline is valid? [True, True] Translation: X:-7.73, Y:-1.22, Z:-1.51 [[ 9.71090185e-01 -1.37506278e-01 -1.95130408e-01 -7.73229867e+00] [ 1.38691738e-01 9.90306118e-01 -7.64167680e-03 -1.22265312e+00] [ 1.94289615e-01 -1.96422180e-02 9.80747536e-01 -1.51113677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.391463509 meters Centerline goodness [0,1] 0.9946303696303697 Centerline is valid? [True, True] Translation: X:-7.76, Y:-1.21, Z:-1.52 [[ 9.71359259e-01 -1.39679721e-01 -1.92225817e-01 -7.76054930e+00] [ 1.40873218e-01 9.89999133e-01 -7.51354802e-03 -1.21391411e+00] [ 1.91352882e-01 -1.97811149e-02 9.81321956e-01 -1.51730859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.421463509 meters Centerline goodness [0,1] 0.9995116591380784 Centerline is valid? [True, True] Translation: X:-7.79, Y:-1.20, Z:-1.53 [[ 9.73336448e-01 -1.16281290e-01 -1.97724101e-01 -7.78884147e+00] [ 1.17076137e-01 9.93093045e-01 -7.70603940e-03 -1.19999237e+00] [ 1.97254498e-01 -1.56482049e-02 9.80227421e-01 -1.53127619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.451463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.82, Y:-1.20, Z:-1.53 [[ 9.74265302e-01 -1.12216049e-01 -1.95485752e-01 -7.81789396e+00] [ 1.12914499e-01 9.93575612e-01 -7.60388724e-03 -1.19775021e+00] [ 1.95083154e-01 -1.46649722e-02 9.80677063e-01 -1.53246690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.481463509000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.85, Y:-1.19, Z:-1.55 [[ 9.74676304e-01 -1.03633525e-01 -1.98156996e-01 -7.84576870e+00] [ 1.04181081e-01 9.94528621e-01 -7.68923407e-03 -1.19069056e+00] [ 1.97869667e-01 -1.31496958e-02 9.80140133e-01 -1.54798056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.511463509 meters Centerline goodness [0,1] 0.9995054401582592 Centerline is valid? [True, True] Translation: X:-7.87, Y:-1.18, Z:-1.55 [[ 9.75767449e-01 -1.03917812e-01 -1.92559015e-01 -7.87459861e+00] [ 1.04442037e-01 9.94503037e-01 -7.45454683e-03 -1.18005819e+00] [ 1.92275186e-01 -1.28373516e-02 9.81257079e-01 -1.54553969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.541463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.90, Y:-1.17, Z:-1.56 [[ 9.76521869e-01 -8.12296934e-02 -1.99516357e-01 -7.90128019e+00] [ 8.13323621e-02 9.96657328e-01 -7.69530369e-03 -1.17214565e+00] [ 1.99474526e-01 -8.71250425e-03 9.79864279e-01 -1.56380459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.571463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.93, Y:-1.16, Z:-1.57 [[ 9.77038610e-01 -7.89315765e-02 -1.97902400e-01 -7.92850317e+00] [ 7.89902017e-02 9.96846340e-01 -7.61070205e-03 -1.15960512e+00] [ 1.97879008e-01 -8.19640076e-03 9.80192184e-01 -1.56959892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.601463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.95, Y:-1.15, Z:-1.60 [[ 9.76910827e-01 -4.61361119e-02 -2.08606558e-01 -7.95319336e+00] [ 4.54752091e-02 9.98933708e-01 -7.96568034e-03 -1.15170393e+00] [ 2.08751628e-01 -1.70466747e-03 9.77967204e-01 -1.59787595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.631463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.98, Y:-1.14, Z:-1.58 [[ 9.78684368e-01 -5.86533108e-02 -1.96816407e-01 -7.98471884e+00] [ 5.83278840e-02 9.98269645e-01 -7.45482305e-03 -1.14002461e+00] [ 1.96913094e-01 -4.18396576e-03 9.80412019e-01 -1.58435793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.661463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-8.01, Y:-1.13, Z:-1.59 [[ 9.79235061e-01 -4.37975773e-02 -1.97940565e-01 -8.01376270e+00] [ 4.31769723e-02 9.99039645e-01 -7.45229259e-03 -1.12839144e+00] [ 1.98076864e-01 -1.24892810e-03 9.80185695e-01 -1.59422383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.691463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-8.04, Y:-1.11, Z:-1.60 [[ 9.79014004e-01 -2.67485015e-02 -2.02029940e-01 -8.04318756e+00] [ 2.57572777e-02 9.99639834e-01 -7.53418992e-03 -1.11244285e+00] [ 2.02158704e-01 2.17233616e-03 9.79350366e-01 -1.59704737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.721463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-8.07, Y:-1.10, Z:-1.60 [[ 9.79119204e-01 -1.11253657e-02 -2.02982290e-01 -8.07289446e+00] [ 9.80928627e-03 9.99923846e-01 -7.48862319e-03 -1.09642165e+00] [ 2.03050146e-01 5.34114339e-03 9.79153773e-01 -1.60158280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.751463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-8.10, Y:-1.09, Z:-1.63 [[ 9.78538697e-01 1.09619722e-02 -2.05771362e-01 -8.09624901e+00] [-1.27808265e-02 9.99890104e-01 -7.51205502e-03 -1.08998209e+00] [ 2.05666402e-01 9.98076462e-03 9.78571262e-01 -1.63139710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.781463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-8.13, Y:-1.07, Z:-1.63 [[ 9.78077580e-01 1.98859636e-02 -2.07289161e-01 -8.12601095e+00] [-2.19127347e-02 9.99731862e-01 -7.48579015e-03 -1.06897884e+00] [ 2.07084717e-01 1.18639559e-02 9.78251075e-01 -1.63241835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.811463509000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-8.16, Y:-1.06, Z:-1.63 [[ 9.78530141e-01 2.23827401e-02 -2.04884788e-01 -8.15556007e+00] [-2.43994364e-02 9.99675477e-01 -7.32171241e-03 -1.06138043e+00] [ 2.04654418e-01 1.21635896e-02 9.78758712e-01 -1.62689489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.841463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-8.18, Y:-1.04, Z:-1.64 [[ 9.77255554e-01 3.95189038e-02 -2.08350278e-01 -8.18356540e+00] [-4.19823083e-02 9.99090854e-01 -7.41284618e-03 -1.04307992e+00] [ 2.07867910e-01 1.59912707e-02 9.78026181e-01 -1.63522742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.871463509 meters Centerline goodness [0,1] 0.9995935372421502 Centerline is valid? [True, True] Translation: X:-8.21, Y:-1.02, Z:-1.64 [[ 9.77223229e-01 4.99122616e-02 -2.06260821e-01 -8.21181351e+00] [-5.25432214e-02 9.98592012e-01 -7.29402102e-03 -1.02469869e+00] [ 2.05606347e-01 1.79654948e-02 9.78469862e-01 -1.64412425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.901463509000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-8.24, Y:-1.02, Z:-1.65 [[ 9.77290609e-01 5.46535370e-02 -2.04734111e-01 -8.23927428e+00] [-5.73299044e-02 9.98329619e-01 -7.15920003e-03 -1.01836243e+00] [ 2.04000852e-01 1.87340060e-02 9.78791443e-01 -1.64965742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.931463509 meters Centerline goodness [0,1] 0.9973238180196253 Centerline is valid? [True, True] Translation: X:-8.27, Y:-0.99, Z:-1.67 [[ 9.76108785e-01 6.58394979e-02 -2.07067137e-01 -8.26646935e+00] [-6.88116896e-02 9.97603856e-01 -7.17621247e-03 -9.91860727e-01] [ 2.06098497e-01 2.12534036e-02 9.78300415e-01 -1.66725498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.961463509 meters Centerline goodness [0,1] 0.9994974874371859 Centerline is valid? [True, True] Translation: X:-8.29, Y:-0.99, Z:-1.67 [[ 9.75869759e-01 7.31506740e-02 -2.05735732e-01 -8.29349926e+00] [-7.62248361e-02 9.97065764e-01 -7.04534777e-03 -9.87587115e-01] [ 2.04616683e-01 2.25575143e-02 9.78582225e-01 -1.67386893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.991463509 meters Centerline goodness [0,1] 0.992467227548425 Centerline is valid? [True, True] Translation: X:-8.32, Y:-0.96, Z:-1.69 [[ 9.75097964e-01 8.35985332e-02 -2.05414812e-01 -8.32161846e+00] [-8.68737690e-02 9.96195004e-01 -6.96149475e-03 -9.63402481e-01] [ 2.04051239e-01 2.46332983e-02 9.78650240e-01 -1.68526681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.021463509 meters Centerline goodness [0,1] 0.9808764174514704 Centerline is valid? [True, True] Translation: X:-8.35, Y:-0.95, Z:-1.70 [[ 9.74689057e-01 8.82879359e-02 -2.05393481e-01 -8.34998696e+00] [-9.16540339e-02 9.95766912e-01 -6.91345500e-03 -9.52554321e-01] [ 2.03913657e-01 2.55636100e-02 9.78655058e-01 -1.69515844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.051463509 meters Centerline goodness [0,1] 0.9720003943606428 Centerline is valid? [True, True] Translation: X:-8.38, Y:-0.94, Z:-1.71 [[ 9.74062920e-01 9.58040230e-02 -2.04995162e-01 -8.37770909e+00] [-9.93038276e-02 9.95033724e-01 -6.82914893e-03 -9.38500496e-01] [ 2.03322840e-01 2.70088250e-02 9.78739162e-01 -1.70791520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.081463509 meters Centerline goodness [0,1] 0.924009111617312 Centerline is valid? [True, False] Translation: X:-8.38, Y:-0.92, Z:-1.71 [[ 9.75742919e-01 8.81613745e-02 -2.00382955e-01 -8.38078207e+00] [-9.12034595e-02 9.95814310e-01 -5.98240245e-03 -9.16562256e-01] [ 1.99016797e-01 2.41129055e-02 9.79699384e-01 -1.71348874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.111463509 meters Centerline goodness [0,1] 0.9043478260869565 Centerline is valid? [False, False] Translation: X:-8.40, Y:-0.90, Z:-1.73 [[ 9.78698931e-01 7.52161203e-02 -1.91026014e-01 -8.40097151e+00] [-7.81567208e-02 9.96909821e-01 -7.89531252e-03 -8.95510827e-01] [ 1.89841855e-01 2.26571008e-02 9.81553221e-01 -1.72765492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.141463509 meters Centerline goodness [0,1] 0.8888510638297873 Centerline is valid? [False, False] Translation: X:-8.40, Y:-0.87, Z:-1.73 [[ 0.98058755 0.06305383 -0.1856671 -8.39927865] [-0.06576019 0.99779969 -0.00844809 -0.87075962] [ 0.18472589 0.02049359 0.98257639 -1.73307639] [ 0. 0. 0. 1. ]] SLAMing on 10.171463509 meters Centerline goodness [0,1] 0.8638884221139305 Centerline is valid? [False, False] Translation: X:-8.41, Y:-0.85, Z:-1.74 [[ 9.82789408e-01 5.20216474e-02 -1.77253285e-01 -8.41214508e+00] [-5.42834410e-02 9.98494066e-01 -7.93150102e-03 -8.50376447e-01] [ 1.76573743e-01 1.74169134e-02 9.84133306e-01 -1.74411537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.201463509 meters Centerline goodness [0,1] 0.8093474862173948 Centerline is valid? [False, False] Translation: X:-8.41, Y:-0.83, Z:-1.75 [[ 0.98369943 0.04299138 -0.17460578 -8.41031433] [-0.04559559 0.9989002 -0.01092893 -0.83363837] [ 0.1739439 0.01871203 0.98457777 -1.74958119] [ 0. 0. 0. 1. ]] SLAMing on 10.231463509000001 meters Centerline goodness [0,1] 0.8746617050067659 Centerline is valid? [False, False] Translation: X:-8.42, Y:-0.83, Z:-1.75 [[ 0.98497704 0.03391285 -0.16932259 -8.42329857] [-0.03623648 0.99928648 -0.01065093 -0.8257368 ] [ 0.16884057 0.01662657 0.98550313 -1.75433707] [ 0. 0. 0. 1. ]] SLAMing on 10.261463509 meters Centerline goodness [0,1] 0.7909773222500202 Centerline is valid? [False, False] Translation: X:-8.42, Y:-0.81, Z:-1.76 [[ 0.98528649 0.03267242 -0.16775889 -8.42277514] [-0.03486421 0.99934066 -0.01013574 -0.81460204] [ 0.16731712 0.01583539 0.98577595 -1.75663106] [ 0. 0. 0. 1. ]] SLAMing on 10.291463509 meters Centerline goodness [0,1] 0.7903532393473784 Centerline is valid? [False, False] Translation: X:-8.42, Y:-0.81, Z:-1.76 [[ 0.98538722 0.0316602 -0.16736086 -8.42394551] [-0.03394614 0.99936515 -0.0108149 -0.80851174] [ 0.16691221 0.01633812 0.98583639 -1.75766008] [ 0. 0. 0. 1. ]] SLAMing on 10.321463509 meters Centerline goodness [0,1] 0.8089097303634232 Centerline is valid? [False, False] Translation: X:-8.42, Y:-0.80, Z:-1.76 [[ 0.98551733 0.02535428 -0.1676686 -8.41938628] [-0.02785034 0.9995333 -0.01255184 -0.80138086] [ 0.16727211 0.01703969 0.98576351 -1.75893139] [ 0. 0. 0. 1. ]] SLAMing on 10.351463509 meters Centerline goodness [0,1] 0.825739669084685 Centerline is valid? [False, False] Translation: X:-8.44, Y:-0.79, Z:-1.77 [[ 9.87405842e-01 3.95301339e-03 -1.58158391e-01 -8.43986735e+00] [-6.44884076e-03 9.99862603e-01 -1.52704689e-02 -7.89208145e-01] [ 1.58076296e-01 1.60980885e-02 9.87295668e-01 -1.76810023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.381463509 meters Centerline goodness [0,1] 0.8445823839082266 Centerline is valid? [False, False] Translation: X:-8.43, Y:-0.78, Z:-1.77 [[ 9.87497956e-01 -1.66350245e-03 -1.57623030e-01 -8.43229901e+00] [-1.01922462e-03 9.99856030e-01 -1.69375324e-02 -7.83552117e-01] [ 1.57628513e-01 1.68864319e-02 9.87354091e-01 -1.77026397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.411463509 meters Centerline goodness [0,1] 0.8988798062367545 Centerline is valid? [False, False] Translation: X:-8.43, Y:-0.78, Z:-1.77 [[ 9.87380632e-01 -5.95228626e-03 -1.58253143e-01 -8.42831325e+00] [ 3.08320673e-03 9.99826521e-01 -1.83690194e-02 -7.75577038e-01] [ 1.58335027e-01 1.76492868e-02 9.87227695e-01 -1.77064666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.441463509 meters Centerline goodness [0,1] 0.9359167671893848 Centerline is valid? [False, False] Translation: X:-8.43, Y:-0.77, Z:-1.77 [[ 9.87404794e-01 -9.67243700e-03 -1.57918387e-01 -8.42832993e+00] [ 6.58877934e-03 9.99777493e-01 -2.00387843e-02 -7.74586581e-01] [ 1.58077073e-01 1.87459023e-02 9.87248819e-01 -1.77145486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.471463509 meters Centerline goodness [0,1] 0.9659791460537331 Centerline is valid? [False, True] Translation: X:-8.43, Y:-0.77, Z:-1.77 [[ 0.987292 -0.01263401 -0.15841367 -8.42891987] [ 0.00938684 0.99973056 -0.02122959 -0.7728905 ] [ 0.1586392 0.0194728 0.98714458 -1.77124065] [ 0. 0. 0. 1. ]] SLAMing on 10.501463509 meters Centerline goodness [0,1] 0.9659791460537331 Centerline is valid? [True, True] Translation: X:-8.46, Y:-0.78, Z:-1.77 [[ 0.98728966 -0.01216751 -0.15846475 -8.45616489] [ 0.00897582 0.9997425 -0.02084149 -0.7763507 ] [ 0.15867753 0.01915423 0.98714465 -1.7749585 ] [ 0. 0. 0. 1. ]] SLAMing on 10.531463509 meters Centerline goodness [0,1] 0.9836598835010213 Centerline is valid? [True, True] Translation: X:-8.48, Y:-0.78, Z:-1.78 [[ 0.98721962 -0.01784782 -0.15836314 -8.48365272] [ 0.0147416 0.99967564 -0.02076764 -0.7755523 ] [ 0.15868243 0.01816769 0.98716251 -1.7842903 ] [ 0. 0. 0. 1. ]] SLAMing on 10.561463509 meters Centerline goodness [0,1] 0.9936104582843713 Centerline is valid? [True, True] Translation: X:-8.51, Y:-0.78, Z:-1.80 [[ 0.98672935 -0.02286186 -0.16075609 -8.50998865] [ 0.01972818 0.99958349 -0.02106269 -0.77914018] [ 0.16117066 0.01761175 0.9867694 -1.79772442] [ 0. 0. 0. 1. ]] SLAMing on 10.591463509 meters Centerline goodness [0,1] 0.9971029564700639 Centerline is valid? [True, True] Translation: X:-8.54, Y:-0.78, Z:-1.81 [[ 0.98674369 -0.02957233 -0.15956935 -8.53739102] [ 0.02657435 0.99942855 -0.02088972 -0.78201942] [ 0.16009592 0.01637235 0.98696567 -1.81117101] [ 0. 0. 0. 1. ]] SLAMing on 10.621463509 meters Centerline goodness [0,1] 0.9988983548766157 Centerline is valid? [True, True] Translation: X:-8.56, Y:-0.79, Z:-1.82 [[ 0.9867587 -0.03711295 -0.15789203 -8.5645539 ] [ 0.03427605 0.99919897 -0.02065353 -0.79248804] [ 0.15853207 0.01496814 0.98724037 -1.81684105] [ 0. 0. 0. 1. ]] SLAMing on 10.651463509000001 meters Centerline goodness [0,1] 0.999928227948037 Centerline is valid? [True, True] Translation: X:-8.59, Y:-0.79, Z:-1.84 [[ 0.98600265 -0.04590158 -0.16028667 -8.59140157] [ 0.04309378 0.99885132 -0.02095168 -0.79403937] [ 0.16106427 0.01375106 0.98684812 -1.83793962] [ 0. 0. 0. 1. ]] SLAMing on 10.681463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-8.62, Y:-0.81, Z:-1.84 [[ 0.98530288 -0.05984349 -0.15999059 -8.61912376] [ 0.05722953 0.99814225 -0.02090061 -0.80615249] [ 0.16094413 0.01143725 0.98689725 -1.83908329] [ 0. 0. 0. 1. ]] SLAMing on 10.711463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-8.64, Y:-0.82, Z:-1.86 [[ 0.98374776 -0.07527958 -0.16301325 -8.64379989] [ 0.07277645 0.9971212 -0.02128167 -0.82131923] [ 0.16414604 0.00907227 0.98639433 -1.8557965 ] [ 0. 0. 0. 1. ]] SLAMing on 10.741463509 meters Centerline goodness [0,1] 0.9996435445925714 Centerline is valid? [True, True] Translation: X:-8.67, Y:-0.83, Z:-1.86 [[ 9.83186477e-01 -8.97407650e-02 -1.59031276e-01 -8.67162104e+00] [ 8.75495047e-02 9.95944114e-01 -2.07462188e-02 -8.31708324e-01] [ 1.60248045e-01 6.47429236e-03 9.87055544e-01 -1.86431061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.771463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-8.70, Y:-0.84, Z:-1.88 [[ 9.81093319e-01 -1.05527217e-01 -1.62234106e-01 -8.69698474e+00] [ 1.03462808e-01 9.94408529e-01 -2.11453383e-02 -8.42253292e-01] [ 1.63558387e-01 3.96035400e-03 9.86525707e-01 -1.88153796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.801463509 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-8.72, Y:-0.86, Z:-1.89 [[ 9.79571980e-01 -1.24980420e-01 -1.57539300e-01 -8.72258777e+00] [ 1.23286461e-01 9.92158977e-01 -2.05185824e-02 -8.58873945e-01] [ 1.58868452e-01 6.76965596e-04 9.87299527e-01 -1.89323677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.831463509 meters Centerline goodness [0,1] 0.999232593832845 Centerline is valid? [True, True] Translation: X:-8.75, Y:-0.88, Z:-1.92 [[ 9.75885578e-01 -1.44895933e-01 -1.63255959e-01 -8.74705746e+00] [ 1.43354715e-01 9.89443298e-01 -2.12458444e-02 -8.79120559e-01] [ 1.64610951e-01 -2.66999833e-03 9.86354959e-01 -1.91974764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.861463509 meters Centerline goodness [0,1] 0.9986650741235158 Centerline is valid? [True, True] Translation: X:-8.77, Y:-0.90, Z:-1.92 [[ 9.74486459e-01 -1.58916507e-01 -1.58498219e-01 -8.77437140e+00] [ 1.57650323e-01 9.87279860e-01 -2.06119791e-02 -8.99166834e-01] [ 1.59757684e-01 -4.90120100e-03 9.87144093e-01 -1.92150991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.891463509 meters Centerline goodness [0,1] 0.9995086684916122 Centerline is valid? [True, True] Translation: X:-8.80, Y:-0.91, Z:-1.94 [[ 9.73581552e-01 -1.66128772e-01 -1.56653097e-01 -8.79928018e+00] [ 1.64985780e-01 9.86085695e-01 -2.03640633e-02 -9.12618401e-01] [ 1.57856435e-01 -6.01945694e-03 9.87443726e-01 -1.94177199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.921463509 meters Centerline goodness [0,1] 0.9961023315144214 Centerline is valid? [True, True] Translation: X:-8.83, Y:-0.94, Z:-1.94 [[ 9.70516575e-01 -1.80520067e-01 -1.59718760e-01 -8.82617013e+00] [ 1.79525755e-01 9.83534308e-01 -2.07549698e-02 -9.36830715e-01] [ 1.60835568e-01 -8.53058867e-03 9.86944350e-01 -1.94479689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.951463509 meters Centerline goodness [0,1] 0.983096590909091 Centerline is valid? [True, True] Translation: X:-8.85, Y:-0.96, Z:-1.93 [[ 0.96542415 -0.20227787 -0.16443805 -8.85466012] [ 0.20153542 0.97924821 -0.02136414 -0.9648133 ] [ 0.16534716 -0.01251463 0.98615602 -1.93499441] [ 0. 0. 0. 1. ]] SLAMing on 10.981463509000001 meters Centerline goodness [0,1] 0.9812605226557353 Centerline is valid? [True, True] Translation: X:-8.88, Y:-0.98, Z:-1.94 [[ 0.96436234 -0.20962396 -0.1614406 -8.88217242] [ 0.2090103 0.97768859 -0.02096928 -0.98005873] [ 0.1622343 -0.01352076 0.98665963 -1.94169221] [ 0. 0. 0. 1. ]] SLAMing on 11.011463509 meters Centerline goodness [0,1] 0.8897456222526483 Centerline is valid? [True, False] Translation: X:-8.88, Y:-0.99, Z:-1.94 [[ 0.96414948 -0.21033141 -0.16179143 -8.88177738] [ 0.20972234 0.97753478 -0.02103069 -0.98552539] [ 0.16258017 -0.01365455 0.98660085 -1.942345 ] [ 0. 0. 0. 1. ]] SLAMing on 11.041463509 meters Centerline goodness [0,1] 0.8374081295935203 Centerline is valid? [False, False] Translation: X:-8.91, Y:-1.00, Z:-1.94 [[ 0.96274347 -0.21077407 -0.16940867 -8.90628165] [ 0.20978182 0.97745503 -0.02394269 -0.99681229] [ 0.17063586 -0.01248819 0.98525502 -1.94472609] [ 0. 0. 0. 1. ]] SLAMing on 11.071463509 meters Centerline goodness [0,1] 0.8635976789168278 Centerline is valid? [False, False] Translation: X:-8.92, Y:-1.01, Z:-1.94 [[ 0.9630665 -0.20600906 -0.17338739 -8.9223622 ] [ 0.20458074 0.97849719 -0.02626739 -1.01307099] [ 0.17507039 -0.01017448 0.98450335 -1.94475354] [ 0. 0. 0. 1. ]] SLAMing on 11.101463509 meters Centerline goodness [0,1] 0.7854189336235038 Centerline is valid? [False, False] Translation: X:-8.87, Y:-1.04, Z:-1.92 [[ 0.96421175 -0.16016691 -0.21128714 -8.86889279] [ 0.15898465 0.98702039 -0.0226854 -1.04048796] [ 0.21217816 -0.01171788 0.97716074 -1.91804311] [ 0. 0. 0. 1. ]] SLAMing on 11.131463509 meters Centerline goodness [0,1] 0.7710913172568614 Centerline is valid? [False, False] Translation: X:-8.84, Y:-1.06, Z:-1.91 [[ 0.96713742 -0.12779334 -0.21980462 -8.83655122] [ 0.12825305 0.99166596 -0.01223803 -1.05700806] [ 0.21953669 -0.01635476 0.97546715 -1.90749299] [ 0. 0. 0. 1. ]] SLAMing on 11.161463509 meters Centerline goodness [0,1] 0.687858981976629 Centerline is valid? [False, False] Translation: X:-8.86, Y:-1.04, Z:-1.92 [[ 0.96949059 -0.13421859 -0.20511793 -8.85971234] [ 0.14030727 0.98998878 0.01536524 -1.04123039] [ 0.20100215 -0.04367599 0.97861665 -1.91705195] [ 0. 0. 0. 1. ]] SLAMing on 11.191463509 meters Centerline goodness [0,1] 0.6058648753391035 Centerline is valid? [False, False] Translation: X:-8.92, Y:-1.05, Z:-1.93 [[ 0.96858646 -0.13443713 -0.20920547 -8.91999018] [ 0.140289 0.99002101 0.01331919 -1.04899564] [ 0.20532721 -0.04225001 0.97778099 -1.92889343] [ 0. 0. 0. 1. ]] SLAMing on 11.221463509 meters Centerline goodness [0,1] 0.06562657908034364 Centerline is valid? [False, False] Translation: X:-9.00, Y:-1.06, Z:-1.95 [[ 0.96805358 -0.13488761 -0.21137075 -9.00215395] [ 0.14020821 0.99006827 0.01031892 -1.05733322] [ 0.20787958 -0.03962518 0.97735149 -1.94950204] [ 0. 0. 0. 1. ]] SLAMing on 11.251463509 meters Centerline goodness [0,1] 0.10593064575419675 Centerline is valid? [False, False] Translation: X:-9.07, Y:-1.06, Z:-1.96 [[ 9.67672848e-01 -1.33407004e-01 -2.14036985e-01 -9.06735293e+00] [ 1.38067242e-01 9.90398792e-01 6.90434408e-03 -1.06495776e+00] [ 2.11060884e-01 -3.62326424e-02 9.76801156e-01 -1.96164244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.281463509 meters Centerline goodness [0,1] 0.13938596992739127 Centerline is valid? [False, False] Translation: X:-9.13, Y:-1.07, Z:-1.98 [[ 9.66997313e-01 -1.33010164e-01 -2.17311973e-01 -9.13484847e+00] [ 1.37393734e-01 9.90503286e-01 5.11875704e-03 -1.07128564e+00] [ 2.14567377e-01 -3.48071277e-02 9.76088779e-01 -1.97762695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.311463509 meters Centerline goodness [0,1] 0.15710348283638187 Centerline is valid? [False, False] Translation: X:-9.22, Y:-1.08, Z:-2.00 [[ 9.65190991e-01 -1.30909411e-01 -2.26426760e-01 -9.22363334e+00] [ 1.35253100e-01 9.90804145e-01 3.70754044e-03 -1.07956428e+00] [ 2.23859220e-01 -3.42034058e-02 9.74021138e-01 -1.99988315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.341463509 meters Centerline goodness [0,1] 0.19705308775731312 Centerline is valid? [False, False] Translation: X:-9.31, Y:-1.09, Z:-2.02 [[ 9.64295008e-01 -1.26362353e-01 -2.32739538e-01 -9.31216487e+00] [ 1.29979911e-01 9.91516606e-01 2.08848839e-04 -1.08696681e+00] [ 2.30738726e-01 -3.04528562e-02 9.72539081e-01 -2.02154375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.371463509 meters Centerline goodness [0,1] 0.25032150692185495 Centerline is valid? [False, False] Translation: X:-9.39, Y:-1.10, Z:-2.04 [[ 9.62853099e-01 -1.19574040e-01 -2.42107330e-01 -9.38635783e+00] [ 1.23770742e-01 9.92308527e-01 2.14245273e-03 -1.09611354e+00] [ 2.39988986e-01 -3.20286712e-02 9.70247108e-01 -2.03864571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.401463509000001 meters Centerline goodness [0,1] 0.2471787986317573 Centerline is valid? [False, False] Translation: X:-9.49, Y:-1.11, Z:-2.07 [[ 9.63871106e-01 -1.11658514e-01 -2.41836449e-01 -9.48512679e+00] [ 1.13580985e-01 9.93510487e-01 -6.02256087e-03 -1.10771550e+00] [ 2.40939518e-01 -2.16630496e-02 9.70298336e-01 -2.06661297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.431463509 meters Centerline goodness [0,1] 0.23173594412000453 Centerline is valid? [False, False] Translation: X:-9.56, Y:-1.11, Z:-2.09 [[ 9.65084416e-01 -1.05206342e-01 -2.39882672e-01 -9.56173842e+00] [ 1.07736226e-01 9.94176164e-01 -2.58078125e-03 -1.11469790e+00] [ 2.38757150e-01 -2.33533821e-02 9.70798456e-01 -2.08997360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.461463509 meters Centerline goodness [0,1] 0.24412658415474686 Centerline is valid? [False, False] Translation: X:-9.65, Y:-1.12, Z:-2.12 [[ 0.96657348 -0.10076228 -0.23575978 -9.65370109] [ 0.10111146 0.99481821 -0.01064002 -1.12196041] [ 0.23561024 -0.01355366 0.97175311 -2.11896826] [ 0. 0. 0. 1. ]] SLAMing on 11.491463509 meters Centerline goodness [0,1] 0.26288683709924376 Centerline is valid? [False, False] Translation: X:-9.73, Y:-1.13, Z:-2.13 [[ 9.66766266e-01 -9.84098292e-02 -2.35962906e-01 -9.72739020e+00] [ 9.91094906e-02 9.95036520e-01 -8.92369876e-03 -1.12647673e+00] [ 2.35669888e-01 -1.47590324e-02 9.71721089e-01 -2.13446448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.521463509 meters Centerline goodness [0,1] 0.31007102210066606 Centerline is valid? [False, False] Translation: X:-9.79, Y:-1.13, Z:-2.15 [[ 0.96715379 -0.09576158 -0.23546393 -9.78520075] [ 0.0956648 0.99534293 -0.01186181 -1.13103431] [ 0.23550327 -0.01105341 0.9718107 -2.14779879] [ 0. 0. 0. 1. ]] SLAMing on 11.551463509 meters Centerline goodness [0,1] 0.37366160159004935 Centerline is valid? [False, False] Translation: X:-9.85, Y:-1.14, Z:-2.16 [[ 9.66805919e-01 -9.27113208e-02 -2.38098563e-01 -9.85367016e+00] [ 9.34639259e-02 9.95589295e-01 -8.15175732e-03 -1.13638143e+00] [ 2.37804141e-01 -1.43724592e-02 9.71206787e-01 -2.16361270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.581463509 meters Centerline goodness [0,1] 0.40229788837034086 Centerline is valid? [False, False] Translation: X:-9.91, Y:-1.14, Z:-2.17 [[ 9.67520679e-01 -8.65645303e-02 -2.37508562e-01 -9.90634971e+00] [ 8.60192339e-02 9.96212799e-01 -1.26787237e-02 -1.14162673e+00] [ 2.37706597e-01 -8.16337724e-03 9.71302699e-01 -2.17284029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.611463509 meters Centerline goodness [0,1] 0.4487809007788689 Centerline is valid? [False, False] Translation: X:-9.97, Y:-1.15, Z:-2.19 [[ 9.67256651e-01 -8.06864784e-02 -2.40633048e-01 -9.96906410e+00] [ 8.00526534e-02 9.96713197e-01 -1.24247954e-02 -1.14724077e+00] [ 2.40844647e-01 -7.24534792e-03 9.70536636e-01 -2.18662366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.641463509 meters Centerline goodness [0,1] 0.5213086993334926 Centerline is valid? [False, False] Translation: X:-10.42, Y:-1.17, Z:-2.28 [[ 9.64228177e-01 -6.97193160e-02 -2.55740572e-01 -1.04216246e+01] [ 6.92511518e-02 9.97540290e-01 -1.08465968e-02 -1.16596699e+00] [ 2.55867742e-01 -7.25173488e-03 9.66684598e-01 -2.27640487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.671463509 meters Centerline goodness [0,1] 0.5137596688092385 Centerline is valid? [False, False] Translation: X:-10.45, Y:-1.17, Z:-2.28 [[ 9.64992931e-01 -5.64737627e-02 -2.56123716e-01 -1.04529448e+01] [ 5.50948657e-02 9.98402102e-01 -1.25617710e-02 -1.17032446e+00] [ 2.56423867e-01 -1.98908158e-03 9.66562385e-01 -2.28372398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.701463509 meters Centerline goodness [0,1] 0.5287140669815187 Centerline is valid? [False, False] Translation: X:-10.49, Y:-1.17, Z:-2.29 [[ 9.64962413e-01 -4.58065450e-02 -2.58358862e-01 -1.04910203e+01] [ 4.54213010e-02 9.98940042e-01 -7.46304509e-03 -1.17307193e+00] [ 2.58426869e-01 -4.53343763e-03 9.66020187e-01 -2.29075792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.731463509000001 meters Centerline goodness [0,1] 0.5316890080428954 Centerline is valid? [False, False] Translation: X:-10.52, Y:-1.18, Z:-2.30 [[ 9.65653867e-01 -3.53298981e-02 -2.57418738e-01 -1.05176986e+01] [ 3.37098217e-02 9.99374325e-01 -1.07054110e-02 -1.17582268e+00] [ 2.57635899e-01 1.66018179e-03 9.66240647e-01 -2.29520198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.761463509 meters Centerline goodness [0,1] 0.5423876373925345 Centerline is valid? [False, False] Translation: X:-10.55, Y:-1.18, Z:-2.30 [[ 9.64933592e-01 -2.54113547e-02 -2.61261221e-01 -1.05501999e+01] [ 2.47841601e-02 9.99676600e-01 -5.69570932e-03 -1.17759129e+00] [ 2.61321464e-01 -9.79158679e-04 9.65251332e-01 -2.30052897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.791463509 meters Centerline goodness [0,1] 0.540234674854699 Centerline is valid? [False, False] Translation: X:-10.57, Y:-1.18, Z:-2.30 [[ 9.64736035e-01 -1.83922022e-02 -2.62575913e-01 -1.05667120e+01] [ 1.80811661e-02 9.99830038e-01 -3.60095378e-03 -1.18035890e+00] [ 2.62597514e-01 -1.27370883e-03 9.64904619e-01 -2.29791812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.821463509 meters Centerline goodness [0,1] 0.5584847483757296 Centerline is valid? [False, False] Translation: X:-10.58, Y:-1.18, Z:-2.30 [[ 9.62598171e-01 -9.67168808e-03 -2.70760447e-01 -1.05843991e+01] [ 9.99421740e-03 9.99950039e-01 -1.87580885e-04 -1.18304731e+00] [ 2.70748734e-01 -2.52547376e-03 9.62646739e-01 -2.29559617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.851463509 meters Centerline goodness [0,1] 0.5509404905950941 Centerline is valid? [False, False] Translation: X:-10.59, Y:-1.18, Z:-2.29 [[ 9.62097100e-01 -3.67791730e-03 -2.72682312e-01 -1.05941872e+01] [ 4.89280194e-03 9.99980903e-01 3.77546853e-03 -1.18403854e+00] [ 2.72663219e-01 -4.96654787e-03 9.62096722e-01 -2.29133869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.881463509 meters Centerline goodness [0,1] 0.5606310647567496 Centerline is valid? [False, False] Translation: X:-10.61, Y:-1.19, Z:-2.29 [[ 9.62056691e-01 4.15587051e-03 -2.72817982e-01 -1.06058084e+01] [-2.57986149e-03 9.99977851e-01 6.13524607e-03 -1.18582032e+00] [ 2.72837437e-01 -5.19862192e-03 9.62046105e-01 -2.29180593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.911463509 meters Centerline goodness [0,1] 0.5631866295264624 Centerline is valid? [False, False] Translation: X:-10.61, Y:-1.19, Z:-2.29 [[ 9.61193910e-01 9.19341409e-03 -2.75720416e-01 -1.06126184e+01] [-6.91718800e-03 9.99933506e-01 9.22689672e-03 -1.18718957e+00] [ 2.75786909e-01 -6.96162698e-03 9.61193589e-01 -2.28854156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.941463509 meters Centerline goodness [0,1] 0.5606094207398208 Centerline is valid? [False, False] Translation: X:-10.62, Y:-1.19, Z:-2.29 [[ 9.61356679e-01 1.19207041e-02 -2.75047690e-01 -1.06171084e+01] [-9.15571540e-03 9.99893845e-01 1.13345089e-02 -1.18785849e+00] [ 2.75153608e-01 -8.37824744e-03 9.61363769e-01 -2.28719005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.971463509 meters Centerline goodness [0,1] 0.5590254706533777 Centerline is valid? [False, False] Translation: X:-10.62, Y:-1.19, Z:-2.29 [[ 9.61226220e-01 1.18084040e-02 -2.75508105e-01 -1.06222203e+01] [-9.32878270e-03 9.99903345e-01 1.03089241e-02 -1.18842346e+00] [ 2.75603208e-01 -7.33905292e-03 9.61243471e-01 -2.28503905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.001463509 meters Centerline goodness [0,1] 0.5613821228307365 Centerline is valid? [False, False] Translation: X:-10.62, Y:-1.19, Z:-2.28 [[ 9.61371733e-01 1.30712388e-02 -2.74942783e-01 -1.06235357e+01] [-1.03599639e-02 9.99882357e-01 1.13111701e-02 -1.18820873e+00] [ 2.75058289e-01 -8.02584184e-03 9.61394052e-01 -2.28498153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.031463509 meters Centerline goodness [0,1] 0.558303730017762 Centerline is valid? [False, False] Translation: X:-10.62, Y:-1.19, Z:-2.29 [[ 9.61293124e-01 1.33921600e-02 -2.75202070e-01 -1.06227703e+01] [-1.06964646e-02 9.99879010e-01 1.12938897e-02 -1.18967916e+00] [ 2.75320023e-01 -7.91304932e-03 9.61320066e-01 -2.28556436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.061463509 meters Centerline goodness [0,1] 0.5595486650970636 Centerline is valid? [False, False] Translation: X:-10.62, Y:-1.19, Z:-2.29 [[ 9.61438519e-01 1.29806575e-02 -2.74713446e-01 -1.06222168e+01] [-1.02991298e-02 9.99884222e-01 1.12013977e-02 -1.19064191e+00] [ 2.74827041e-01 -7.94014580e-03 9.61460894e-01 -2.28616806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.091463509 meters Centerline goodness [0,1] 0.5624499955551605 Centerline is valid? [False, False] Translation: X:-10.62, Y:-1.19, Z:-2.29 [[ 9.61952994e-01 1.05263441e-02 -2.73012147e-01 -1.06207565e+01] [-8.33571027e-03 9.99923095e-01 9.18264298e-03 -1.19148572e+00] [ 2.73087811e-01 -6.55752076e-03 9.61966760e-01 -2.28790576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.121463509 meters Centerline goodness [0,1] 0.5606067375569654 Centerline is valid? [False, False] Translation: X:-10.62, Y:-1.19, Z:-2.29 [[ 9.61928151e-01 9.12106001e-03 -2.73150212e-01 -1.06158999e+01] [-7.08109556e-03 9.99939199e-01 8.45322528e-03 -1.19298042e+00] [ 2.73210706e-01 -6.19719262e-03 9.61934252e-01 -2.28999389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.151463509000001 meters Centerline goodness [0,1] 0.5583168470891591 Centerline is valid? [False, False] Translation: X:-10.61, Y:-1.19, Z:-2.29 [[ 9.62889818e-01 4.36822805e-03 -2.69859441e-01 -1.06115289e+01] [-3.13512142e-03 9.99982584e-01 5.00029007e-03 -1.19453735e+00] [ 2.69876583e-01 -3.96868628e-03 9.62886743e-01 -2.29255069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.181463509 meters Centerline goodness [0,1] 0.5633774388876429 Centerline is valid? [False, False] Translation: X:-10.60, Y:-1.20, Z:-2.30 [[ 9.63424171e-01 3.45200753e-03 -2.67958858e-01 -1.06045311e+01] [-2.04941883e-03 9.99982698e-01 5.51386203e-03 -1.19719812e+00] [ 2.67973256e-01 -4.76302803e-03 9.63414577e-01 -2.29616743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.211463509 meters Centerline goodness [0,1] 0.5610294117647059 Centerline is valid? [False, False] Translation: X:-10.60, Y:-1.20, Z:-2.30 [[ 9.63619291e-01 -8.22131001e-04 -2.67277360e-01 -1.05971089e+01] [ 1.40836717e-03 9.99997005e-01 2.00167059e-03 -1.19978950e+00] [ 2.67274914e-01 -2.30527305e-03 9.63617562e-01 -2.29869407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.241463509 meters Centerline goodness [0,1] 0.5520446096654275 Centerline is valid? [False, False] Translation: X:-10.58, Y:-1.20, Z:-2.30 [[ 9.65494938e-01 -4.47998340e-03 -2.60383283e-01 -1.05843635e+01] [ 5.77577087e-03 9.99974451e-01 4.21151692e-03 -1.20316245e+00] [ 2.60357763e-01 -5.57011245e-03 9.65496147e-01 -2.30056013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.271463509 meters Centerline goodness [0,1] 0.5519954289732771 Centerline is valid? [False, False] Translation: X:-10.57, Y:-1.21, Z:-2.31 [[ 9.66357199e-01 -8.20890761e-03 -2.57072709e-01 -1.05694208e+01] [ 9.00088927e-03 9.99957678e-01 1.90418482e-03 -1.20817037e+00] [ 2.57046198e-01 -4.15400570e-03 9.66390188e-01 -2.30610992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.301463509 meters Centerline goodness [0,1] 0.5420070776355455 Centerline is valid? [False, False] Translation: X:-10.56, Y:-1.21, Z:-2.31 [[ 9.67984891e-01 -1.16023525e-02 -2.50740176e-01 -1.05580475e+01] [ 1.22123021e-02 9.99925043e-01 8.76768524e-04 -1.21097701e+00] [ 2.50711208e-01 -3.91081345e-03 9.68054025e-01 -2.30944996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.331463509 meters Centerline goodness [0,1] 0.5294312315227463 Centerline is valid? [False, False] Translation: X:-10.54, Y:-1.22, Z:-2.31 [[ 9.69318421e-01 -1.61858010e-02 -2.45274987e-01 -1.05405820e+01] [ 1.71063832e-02 9.99852358e-01 1.62316223e-03 -1.21559467e+00] [ 2.45212501e-01 -5.76912897e-03 9.69452189e-01 -2.31213657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.361463509 meters Centerline goodness [0,1] 0.5222072974698875 Centerline is valid? [False, False] Translation: X:-10.52, Y:-1.22, Z:-2.31 [[ 9.70479245e-01 -1.80696071e-02 -2.40506808e-01 -1.05241602e+01] [ 1.79792343e-02 9.99835057e-01 -2.57020966e-03 -1.21905904e+00] [ 2.40513581e-01 -1.82979313e-03 9.70644049e-01 -2.31246195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.391463509 meters Centerline goodness [0,1] 0.5222072974698875 Centerline is valid? [False, False] Translation: X:-10.52, Y:-1.22, Z:-2.31 [[ 9.70479245e-01 -1.80696071e-02 -2.40506808e-01 -1.05241602e+01] [ 1.79792343e-02 9.99835057e-01 -2.57020966e-03 -1.21905904e+00] [ 2.40513581e-01 -1.82979313e-03 9.70644049e-01 -2.31246195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.421463509 meters Centerline goodness [0,1] 0.5135935101951327 Centerline is valid? [False, False] Translation: X:-10.51, Y:-1.22, Z:-2.31 [[ 9.71423808e-01 -2.17028466e-02 -2.36357295e-01 -1.05073915e+01] [ 2.19297833e-02 9.99758120e-01 -1.66901328e-03 -1.22174895e+00] [ 2.36336348e-01 -3.56194504e-03 9.71664779e-01 -2.31472306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.451463509 meters Centerline goodness [0,1] 0.5168250539956804 Centerline is valid? [False, False] Translation: X:-10.48, Y:-1.23, Z:-2.31 [[ 9.71495622e-01 -2.43823280e-02 -2.35800250e-01 -1.04800828e+01] [ 2.40880260e-02 9.99701314e-01 -4.12906066e-03 -1.22647886e+00] [ 2.35830496e-01 -1.66859817e-03 9.71792773e-01 -2.31392571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.481463509000001 meters Centerline goodness [0,1] 0.5039225541399882 Centerline is valid? [False, False] Translation: X:-10.45, Y:-1.23, Z:-2.31 [[ 9.73375209e-01 -2.68156576e-02 -2.27643630e-01 -1.04530018e+01] [ 2.62500060e-02 9.99640210e-01 -5.51258334e-03 -1.23167184e+00] [ 2.27709549e-01 -6.09834692e-04 9.73728910e-01 -2.31315393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.511463509 meters Centerline goodness [0,1] 0.5177021146318529 Centerline is valid? [False, False] Translation: X:-10.43, Y:-1.24, Z:-2.32 [[ 9.73659637e-01 -2.66989823e-02 -2.26437797e-01 -1.04330562e+01] [ 2.51261304e-02 9.99635998e-01 -9.82594285e-03 -1.23505257e+00] [ 2.26617716e-01 3.87761832e-03 9.73976065e-01 -2.31517690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.541463509 meters Centerline goodness [0,1] 0.5031986679519762 Centerline is valid? [False, False] Translation: X:-10.41, Y:-1.24, Z:-2.31 [[ 9.74366909e-01 -2.83369615e-02 -2.23172899e-01 -1.04119263e+01] [ 2.64889509e-02 9.99585570e-01 -1.12704571e-02 -1.23786826e+00] [ 2.23399780e-01 5.06994453e-03 9.74713719e-01 -2.31488514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.571463509 meters Centerline goodness [0,1] 0.4968726328319446 Centerline is valid? [False, False] Translation: X:-10.38, Y:-1.24, Z:-2.32 [[ 9.75798295e-01 -3.27953770e-02 -2.16199330e-01 -1.03838901e+01] [ 3.01053771e-02 9.99423033e-01 -1.57247459e-02 -1.24322385e+00] [ 2.16590289e-01 8.83541787e-03 9.76222609e-01 -2.31524665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.601463509 meters Centerline goodness [0,1] 0.49499913778237625 Centerline is valid? [False, False] Translation: X:-10.36, Y:-1.25, Z:-2.31 [[ 9.76482380e-01 -3.32844312e-02 -2.13012461e-01 -1.03553634e+01] [ 3.08557401e-02 9.99415497e-01 -1.47169320e-02 -1.24681539e+00] [ 2.13377799e-01 7.79816763e-03 9.76938638e-01 -2.31393956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.631463509 meters Centerline goodness [0,1] 0.48002836208934063 Centerline is valid? [False, False] Translation: X:-10.33, Y:-1.25, Z:-2.32 [[ 0.97710323 -0.03567105 -0.20975428 -10.33425295] [ 0.03204202 0.99927265 -0.02067536 -1.25052142] [ 0.21033923 0.01348102 0.97753551 -2.3157243 ] [ 0. 0. 0. 1. ]] SLAMing on 12.661463509 meters Centerline goodness [0,1] 0.49415965753866675 Centerline is valid? [False, False] Translation: X:-10.31, Y:-1.26, Z:-2.31 [[ 0.97767789 -0.03770148 -0.20669914 -10.30671079] [ 0.03405618 0.99919575 -0.0211669 -1.25502896] [ 0.20733093 0.01365503 0.97817556 -2.31321833] [ 0. 0. 0. 1. ]] SLAMing on 12.691463509 meters Centerline goodness [0,1] 0.48387645707478943 Centerline is valid? [False, False] Translation: X:-10.29, Y:-1.26, Z:-2.31 [[ 0.97816569 -0.03906239 -0.20412256 -10.28550963] [ 0.0342669 0.99904857 -0.02697651 -1.25850229] [ 0.20498212 0.01939285 0.97857358 -2.31479202] [ 0. 0. 0. 1. ]] SLAMing on 12.721463509 meters Centerline goodness [0,1] 0.46972900249855853 Centerline is valid? [False, False] Translation: X:-10.26, Y:-1.26, Z:-2.32 [[ 0.97828326 -0.0436103 -0.20263266 -10.26400597] [ 0.03935343 0.99891278 -0.02499147 -1.26203026] [ 0.20350224 0.01647444 0.97893587 -2.31889244] [ 0. 0. 0. 1. ]] SLAMing on 12.751463509 meters Centerline goodness [0,1] 0.46743988082570764 Centerline is valid? [False, False] Translation: X:-10.23, Y:-1.27, Z:-2.31 [[ 0.97910336 -0.05233772 -0.19651306 -10.2313941 ] [ 0.04771548 0.99846321 -0.02818594 -1.26657232] [ 0.19768625 0.01822023 0.980096 -2.31277931] [ 0. 0. 0. 1. ]] SLAMing on 12.781463509 meters Centerline goodness [0,1] 0.4744744102487328 Centerline is valid? [False, False] Translation: X:-10.21, Y:-1.27, Z:-2.32 [[ 0.97949313 -0.04890468 -0.19545213 -10.21016889] [ 0.04376781 0.99857551 -0.03051767 -1.2682984 ] [ 0.19666616 0.02133734 0.98023831 -2.31567239] [ 0. 0. 0. 1. ]] SLAMing on 12.811463509 meters Centerline goodness [0,1] 0.45131282820705176 Centerline is valid? [False, False] Translation: X:-10.18, Y:-1.27, Z:-2.32 [[ 0.98086384 -0.0472685 -0.18886984 -10.18202948] [ 0.04232002 0.99864908 -0.03015022 -1.27169859] [ 0.19003984 0.02158028 0.98153917 -2.31562535] [ 0. 0. 0. 1. ]] SLAMing on 12.841463509 meters Centerline goodness [0,1] 0.44484505107734573 Centerline is valid? [False, False] Translation: X:-10.16, Y:-1.27, Z:-2.32 [[ 0.9813756 -0.04617433 -0.18646676 -10.16180655] [ 0.0404083 0.99858373 -0.03460786 -1.27270392] [ 0.18780067 0.02642851 0.98185154 -2.31680921] [ 0. 0. 0. 1. ]] SLAMing on 12.871463509 meters Centerline goodness [0,1] 0.4273844630518544 Centerline is valid? [False, False] Translation: X:-10.14, Y:-1.27, Z:-2.32 [[ 0.98146328 -0.04499249 -0.18629416 -10.13554804] [ 0.03864811 0.99854709 -0.03755038 -1.27116597] [ 0.18771297 0.0296544 0.98177617 -2.31702048] [ 0. 0. 0. 1. ]] SLAMing on 12.901463509000001 meters Centerline goodness [0,1] 0.42395658353792476 Centerline is valid? [False, False] Translation: X:-10.12, Y:-1.27, Z:-2.32 [[ 0.98221003 -0.03995077 -0.18348678 -10.11680465] [ 0.03321344 0.99866159 -0.03964714 -1.26979313] [ 0.18482513 0.03284759 0.98222233 -2.31784052] [ 0. 0. 0. 1. ]] SLAMing on 12.931463509 meters Centerline goodness [0,1] 0.3938912006274373 Centerline is valid? [False, False] Translation: X:-10.10, Y:-1.27, Z:-2.32 [[ 0.98286589 -0.03415319 -0.18113037 -10.09545189] [ 0.0270055 0.99876169 -0.04178272 -1.2658991 ] [ 0.18233309 0.03617529 0.98257111 -2.31891657] [ 0. 0. 0. 1. ]] SLAMing on 12.961463509 meters Centerline goodness [0,1] 0.3941813529788032 Centerline is valid? [False, False] Translation: X:-10.08, Y:-1.26, Z:-2.32 [[ 0.98368095 -0.02494 -0.1781847 -10.08064211] [ 0.017736 0.99896398 -0.04190933 -1.26257882] [ 0.17904531 0.03806513 0.98310418 -2.31900861] [ 0. 0. 0. 1. ]] SLAMing on 12.991463509 meters Centerline goodness [0,1] 0.3684734073124365 Centerline is valid? [False, False] Translation: X:-10.06, Y:-1.25, Z:-2.32 [[ 9.84557309e-01 -1.43359136e-02 -1.74474604e-01 -1.00644361e+01] [ 7.17756278e-03 9.99108976e-01 -4.15901102e-02 -1.25450691e+00] [ 1.74915375e-01 3.96955446e-02 9.83782941e-01 -2.31931698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.021463509 meters Centerline goodness [0,1] 0.35282275904787186 Centerline is valid? [False, False] Translation: X:-10.05, Y:-1.25, Z:-2.32 [[ 9.85147908e-01 -2.35177921e-03 -1.71691783e-01 -1.00524442e+01] [-4.72057933e-03 9.99157313e-01 -4.07722846e-02 -1.24631416e+00] [ 1.71642988e-01 4.09772156e-02 9.84306635e-01 -2.31901521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.051463509 meters Centerline goodness [0,1] 0.3460554231097308 Centerline is valid? [False, False] Translation: X:-10.04, Y:-1.23, Z:-2.32 [[ 0.98585139 0.01342693 -0.16708306 -10.0427084 ] [ -0.02027358 0.99902021 -0.0393395 -1.23045388] [ 0.16639115 0.04217028 0.98515768 -2.31708654] [ 0. 0. 0. 1. ]] SLAMing on 13.081463509 meters Centerline goodness [0,1] 0.35281558004615354 Centerline is valid? [False, False] Translation: X:-10.04, Y:-1.22, Z:-2.31 [[ 0.9852871 0.03273321 -0.16774349 -10.03687755] [ -0.03893305 0.99866984 -0.03380499 -1.21575408] [ 0.16641381 0.03983838 0.9852509 -2.31168266] [ 0. 0. 0. 1. ]] SLAMing on 13.111463509 meters Centerline goodness [0,1] 0.36020032531461343 Centerline is valid? [False, False] Translation: X:-10.04, Y:-1.19, Z:-2.31 [[ 0.98470843 0.06165244 -0.16293642 -10.03585634] [ -0.06875254 0.9968984 -0.03829709 -1.19447285] [ 0.16006994 0.04891376 0.98589303 -2.30710862] [ 0. 0. 0. 1. ]] SLAMing on 13.141463509 meters Centerline goodness [0,1] 0.3658352388344627 Centerline is valid? [False, False] Translation: X:-10.05, Y:-1.17, Z:-2.31 [[ 0.98298 0.09255476 -0.15869447 -10.05185691] [ -0.09945471 0.99438752 -0.03608624 -1.16954759] [ 0.15446385 0.05125496 0.98666805 -2.30501269] [ 0. 0. 0. 1. ]] SLAMing on 13.171463509 meters Centerline goodness [0,1] 0.3882396894912721 Centerline is valid? [False, False] Translation: X:-10.10, Y:-1.15, Z:-2.30 [[ 0.98155752 0.11786437 -0.15050857 -10.09872998] [ -0.12557129 0.99116358 -0.04273888 -1.14632432] [ 0.14414122 0.06085022 0.98768444 -2.30441409] [ 0. 0. 0. 1. ]] SLAMing on 13.201463509 meters Centerline goodness [0,1] 0.4201022007777031 Centerline is valid? [False, False] Translation: X:-10.18, Y:-1.13, Z:-2.31 [[ 0.98211049 0.12353387 -0.14212095 -10.18105755] [ -0.13123392 0.99027849 -0.04611052 -1.12765275] [ 0.13504311 0.06393671 0.98877472 -2.31118402] [ 0. 0. 0. 1. ]] SLAMing on 13.231463509 meters Centerline goodness [0,1] 0.46926818950930627 Centerline is valid? [False, False] Translation: X:-10.32, Y:-1.12, Z:-2.33 [[ 0.98503257 0.10416891 -0.13733054 -10.32460075] [ -0.11121993 0.99279046 -0.0446904 -1.11810944] [ 0.1316851 0.05929539 0.98951659 -2.32705689] [ 0. 0. 0. 1. ]] SLAMing on 13.261463509 meters Centerline goodness [0,1] 0.4482419578924869 Centerline is valid? [False, False] Translation: X:-10.45, Y:-1.12, Z:-2.34 [[ 0.98849487 0.07455297 -0.13160451 -10.44594692] [ -0.08112565 0.99567385 -0.04530128 -1.11877427] [ 0.12765782 0.05545658 0.99026666 -2.34138288] [ 0. 0. 0. 1. ]] SLAMing on 13.291463509 meters Centerline goodness [0,1] 0.4340509399636143 Centerline is valid? [False, False] Translation: X:-10.61, Y:-1.13, Z:-2.36 [[ 0.99228514 0.03782712 -0.11806485 -10.6077802 ] [ -0.04321481 0.99812221 -0.04341112 -1.12632133] [ 0.11620104 0.04817836 0.99205653 -2.35703453] [ 0. 0. 0. 1. ]] SLAMing on 13.321463509 meters Centerline goodness [0,1] 0.4576858923711702 Centerline is valid? [False, False] Translation: X:-10.79, Y:-1.13, Z:-2.37 [[ 9.96000732e-01 4.52264679e-03 -8.92305276e-02 -1.07903050e+01] [-8.23582852e-03 9.99113295e-01 -4.12891730e-02 -1.13409963e+00] [ 8.89646701e-02 4.18589339e-02 9.95154821e-01 -2.36574491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.351463509 meters Centerline goodness [0,1] 0.4617652313739503 Centerline is valid? [False, False] Translation: X:-10.89, Y:-1.14, Z:-2.36 [[ 9.98559696e-01 -7.40183265e-03 -5.31389360e-02 -1.08852493e+01] [ 5.08282026e-03 9.99034226e-01 -4.36437925e-02 -1.13797439e+00] [ 5.34106599e-02 4.33108365e-02 9.97632935e-01 -2.36195522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.381463509 meters Centerline goodness [0,1] 0.2233716645207121 Centerline is valid? [False, False] Translation: X:-10.90, Y:-1.14, Z:-2.35 [[ 9.99715227e-01 -1.06078281e-02 -2.13761070e-02 -1.09015221e+01] [ 9.70886473e-03 9.99081823e-01 -4.17282855e-02 -1.13578553e+00] [ 2.17991265e-02 4.15088647e-02 9.98900301e-01 -2.34834366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.411463509 meters Centerline goodness [0,1] 0.2084945404522397 Centerline is valid? [False, False] Translation: X:-10.85, Y:-1.13, Z:-2.32 [[ 9.99929647e-01 -1.12557106e-02 3.74286535e-03 -1.08482525e+01] [ 1.14365420e-02 9.98559001e-01 -5.24321155e-02 -1.13066938e+00] [-3.14731117e-03 5.24712322e-02 9.98617476e-01 -2.32431305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.441463509 meters Centerline goodness [0,1] 0.21523920251474826 Centerline is valid? [False, False] Translation: X:-10.76, Y:-1.13, Z:-2.29 [[ 0.99946704 -0.01827289 0.02705074 -10.76091558] [ 0.01965043 0.99847622 -0.05156648 -1.13006011] [ -0.02606725 0.05207056 0.99830314 -2.29194201] [ 0. 0. 0. 1. ]] SLAMing on 13.471463509 meters Centerline goodness [0,1] 0.22828514902035868 Centerline is valid? [False, False] Translation: X:-10.69, Y:-1.13, Z:-2.27 [[ 0.99871948 -0.0168005 0.0477194 -10.69094772] [ 0.01869057 0.99904704 -0.03944197 -1.12615962] [ -0.04701129 0.04028336 0.99808176 -2.2664565 ] [ 0. 0. 0. 1. ]] SLAMing on 13.501463509 meters Centerline goodness [0,1] 0.22440442575976238 Centerline is valid? [False, False] Translation: X:-10.63, Y:-1.12, Z:-2.23 [[ 9.96282182e-01 -6.69048576e-03 8.58897582e-02 -1.06317535e+01] [ 1.09645755e-02 9.98719500e-01 -4.93876419e-02 -1.11767267e+00] [-8.54493490e-02 5.01457724e-02 9.95079801e-01 -2.23088683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.531463509 meters Centerline goodness [0,1] 0.2217811853677899 Centerline is valid? [False, False] Translation: X:-10.61, Y:-1.10, Z:-2.20 [[ 9.92513260e-01 8.67865561e-03 1.21828200e-01 -1.06108852e+01] [-1.52328787e-03 9.98274275e-01 -5.87039390e-02 -1.10019165e+00] [-1.22127429e-01 5.80788584e-02 9.90813674e-01 -2.20072180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 321.01 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%| | 0/430 [00:00