+ python -m lidar_slam --no-model /working/9ade07f4-a36b-4d52-a8c0-2563be467474 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/9ade07f4-a36b-4d52-a8c0-2563be467474 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 0.023741732 Adjusted end_distance from 9.223372036854776e+18 to 58.453901732 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.023741732 meters Centerline goodness [0,1] 0.21768693294399832 Centerline is valid? [0, False] SLAMing on 0.053741732 meters Centerline goodness [0,1] 0.20063502960611002 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.07, Z:0.02 [[ 9.99233515e-01 3.78133286e-02 -1.01259679e-02 -8.63336591e-04] [-3.81106493e-02 9.98793040e-01 -3.09845541e-02 7.45093226e-02] [ 8.94211717e-03 3.13467121e-02 9.99468570e-01 2.13256195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.083741732 meters Centerline goodness [0,1] 0.18616084846923442 Centerline is valid? [False, False] Translation: X:0.00, Y:0.11, Z:0.04 [[ 9.96496391e-01 7.85450942e-02 -2.87334390e-02 6.34996572e-04] [-7.93414918e-02 9.96462197e-01 -2.77131139e-02 1.08833114e-01] [ 2.64550567e-02 2.98957719e-02 9.99202869e-01 4.02991578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.113741732 meters Centerline goodness [0,1] 0.20979294178929553 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.11, Z:0.04 [[ 0.99387306 0.10437308 -0.03636756 -0.00777724] [-0.10487437 0.99441119 -0.01215521 0.10920747] [ 0.03489563 0.01589476 0.99926456 0.04306136] [ 0. 0. 0. 1. ]] SLAMing on 0.143741732 meters Centerline goodness [0,1] 0.23716232395132675 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.07, Z:0.07 [[ 0.99244436 0.11387271 -0.04568594 -0.04918599] [-0.11315858 0.9934151 0.01793275 0.06664652] [ 0.04742715 -0.0126275 0.99879488 0.06767517] [ 0. 0. 0. 1. ]] SLAMing on 0.17374173199999998 meters Centerline goodness [0,1] 0.2244400426634161 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.05, Z:0.06 [[ 0.99685574 0.07554311 -0.02391398 -0.07775868] [-0.07494907 0.9968781 0.0248332 0.05440807] [ 0.0257153 -0.02296279 0.99940554 0.05707548] [ 0. 0. 0. 1. ]] SLAMing on 0.203741732 meters Centerline goodness [0,1] 0.23302618295852395 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:0.04 [[ 0.99806245 0.0600742 0.01620011 -0.1227346 ] [-0.06020072 0.99815858 0.00743856 0.07040396] [-0.01572341 -0.0083994 0.9998411 0.03673605] [ 0. 0. 0. 1. ]] SLAMing on 0.23374173199999998 meters Centerline goodness [0,1] 0.23755800587509046 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.10, Z:0.04 [[ 0.99565078 0.09261448 0.01010406 -0.16463613] [-0.09254465 0.99568269 -0.00717356 0.10435131] [-0.01072481 0.00620728 0.99992322 0.03576166] [ 0. 0. 0. 1. ]] SLAMing on 0.263741732 meters Centerline goodness [0,1] 0.2810467273774233 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.12, Z:0.04 [[ 0.99187536 0.12706766 0.00608925 -0.18686755] [-0.12696938 0.99180121 -0.01446162 0.12222837] [-0.00787693 0.01357098 0.99987688 0.0389782 ] [ 0. 0. 0. 1. ]] SLAMing on 0.29374173200000003 meters Centerline goodness [0,1] 0.3104290345669656 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.12, Z:0.03 [[ 0.98794274 0.15437024 0.01178898 -0.20888337] [-0.1542367 0.98796691 -0.01150768 0.1172537 ] [-0.01342356 0.00955064 0.99986429 0.03408909] [ 0. 0. 0. 1. ]] SLAMing on 0.323741732 meters Centerline goodness [0,1] 0.435614728520907 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.12, Z:0.05 [[ 0.9826322 0.18531835 0.00954318 -0.23551379] [-0.18527912 0.98267396 -0.00485047 0.1208085 ] [-0.01027671 0.00299808 0.9999427 0.04535277] [ 0. 0. 0. 1. ]] SLAMing on 0.353741732 meters Centerline goodness [0,1] 0.5523474767762993 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.13, Z:0.05 [[ 0.97983256 0.19958293 0.00973717 -0.25073435] [-0.19955725 0.97987974 -0.00355055 0.12859987] [-0.01024988 0.00153582 0.99994629 0.05055737] [ 0. 0. 0. 1. ]] SLAMing on 0.383741732 meters Centerline goodness [0,1] 0.5713414121013212 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.14, Z:0.05 [[ 0.97909489 0.20334793 0.00477599 -0.2771883 ] [-0.20323428 0.9789672 -0.01786207 0.13501338] [-0.00830775 0.01651802 0.99982905 0.05057205] [ 0. 0. 0. 1. ]] SLAMing on 0.41374173200000003 meters Centerline goodness [0,1] 0.5139974301181724 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.14, Z:0.06 [[ 0.97883995 0.20457399 0.00467253 -0.29790407] [-0.20438968 0.97854836 -0.02584505 0.14168279] [-0.00985952 0.02434315 0.99965504 0.05902886] [ 0. 0. 0. 1. ]] SLAMing on 0.443741732 meters Centerline goodness [0,1] 0.530620097043798 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.16, Z:0.07 [[ 9.78717246e-01 2.05105528e-01 -6.65394869e-03 -3.30647870e-01] [-2.05211462e-01 9.78335302e-01 -2.73549241e-02 1.55757063e-01] [ 8.99146753e-04 2.81382026e-02 9.99603638e-01 7.11626426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.47374173199999997 meters Centerline goodness [0,1] 0.4789419838867812 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.17, Z:0.07 [[ 9.81733731e-01 1.90199357e-01 -4.80469786e-03 -3.65294811e-01] [-1.90258679e-01 9.81508982e-01 -2.10179379e-02 1.66777557e-01] [ 7.18255815e-04 2.15481541e-02 9.99767554e-01 6.69199030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5037417319999999 meters Centerline goodness [0,1] 0.537937185449449 Centerline is valid? [False, False] Translation: X:-0.40, Y:0.18, Z:0.07 [[ 0.98154236 0.19117346 -0.00522479 -0.39685915] [-0.1912346 0.9814062 -0.01646809 0.17672135] [ 0.00197938 0.01716329 0.99985074 0.06999793] [ 0. 0. 0. 1. ]] SLAMing on 0.533741732 meters Centerline goodness [0,1] 0.7892425455067824 Centerline is valid? [False, False] Translation: X:-0.44, Y:0.20, Z:0.07 [[ 0.97460246 0.2239242 -0.00282908 -0.4362109 ] [-0.22390471 0.97459286 0.00595251 0.20234428] [ 0.00409012 -0.00516789 0.99997828 0.07360311] [ 0. 0. 0. 1. ]] SLAMing on 0.563741732 meters Centerline goodness [0,1] 0.883997416333616 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.22, Z:0.08 [[ 0.97074646 0.24001889 -0.00649888 -0.47510126] [-0.24007352 0.97070709 -0.00961533 0.22271554] [ 0.00400065 0.01089426 0.99993265 0.08010919] [ 0. 0. 0. 1. ]] SLAMing on 0.5937417319999999 meters Centerline goodness [0,1] 0.8682433798261573 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.24, Z:0.08 [[ 0.97367969 0.22787621 -0.0045053 -0.49727509] [-0.22791206 0.97362485 -0.01052314 0.23641021] [ 0.0019885 0.01127298 0.99993448 0.08092043] [ 0. 0. 0. 1. ]] SLAMing on 0.6237417319999999 meters Centerline goodness [0,1] 0.5682291772036658 Centerline is valid? [False, False] Translation: X:-0.53, Y:0.26, Z:0.08 [[ 0.9803943 0.19699281 -0.00456643 -0.53378201] [-0.19704024 0.98027673 -0.01525359 0.25840389] [ 0.00147152 0.0158543 0.99987323 0.07976754] [ 0. 0. 0. 1. ]] SLAMing on 0.653741732 meters Centerline goodness [0,1] 0.5801783542764491 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.28, Z:0.08 [[ 0.98478869 0.17359202 -0.00755317 -0.56494877] [-0.17366916 0.98474087 -0.01115553 0.28396962] [ 0.00550141 0.01229759 0.99990925 0.07921732] [ 0. 0. 0. 1. ]] SLAMing on 0.6837417319999999 meters Centerline goodness [0,1] 0.4924014003278224 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.30, Z:0.09 [[ 0.98463096 0.17394348 -0.01566939 -0.58126852] [-0.17416841 0.98461128 -0.01435214 0.30229353] [ 0.0129318 0.01686068 0.99977422 0.08762716] [ 0. 0. 0. 1. ]] SLAMing on 0.7137417319999999 meters Centerline goodness [0,1] 0.6858299924703393 Centerline is valid? [False, False] Translation: X:-0.61, Y:0.33, Z:0.10 [[ 0.98171539 0.18937008 -0.01933555 -0.61132047] [-0.18976216 0.98160593 -0.02097887 0.33482919] [ 0.01500712 0.02426443 0.99959293 0.0977232 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7437417319999999 meters Centerline goodness [0,1] 0.6568780547161776 Centerline is valid? [False, False] Translation: X:-0.63, Y:0.36, Z:0.10 [[ 0.97965806 0.19971927 -0.01955267 -0.62879818] [-0.20016806 0.97945325 -0.02457817 0.35600896] [ 0.01424219 0.02799202 0.99950668 0.10342837] [ 0. 0. 0. 1. ]] SLAMing on 0.773741732 meters Centerline goodness [0,1] 0.6851028405514609 Centerline is valid? [False, False] Translation: X:-0.67, Y:0.39, Z:0.11 [[ 0.97862489 0.2043475 -0.02313921 -0.66513787] [-0.20468555 0.97873737 -0.01330353 0.38859486] [ 0.01992867 0.01775542 0.99964373 0.1071914 ] [ 0. 0. 0. 1. ]] SLAMing on 0.803741732 meters Centerline goodness [0,1] 0.744000652435419 Centerline is valid? [False, False] Translation: X:-0.70, Y:0.42, Z:0.11 [[ 0.98017375 0.19568584 -0.03108812 -0.69858369] [-0.19608171 0.98053439 -0.01021124 0.42399644] [ 0.02848477 0.0161046 0.99946449 0.11057166] [ 0. 0. 0. 1. ]] SLAMing on 0.8337417319999999 meters Centerline goodness [0,1] 0.663562471919291 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.45, Z:0.10 [[ 0.98225788 0.1857645 -0.02571005 -0.71898242] [-0.18599301 0.98252767 -0.00678103 0.44975845] [ 0.02400116 0.01144261 0.99964644 0.10185102] [ 0. 0. 0. 1. ]] SLAMing on 0.8637417319999999 meters Centerline goodness [0,1] 0.6225411256293699 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.48, Z:0.10 [[ 0.98383594 0.17774969 -0.02172322 -0.75275851] [-0.17806685 0.98392378 -0.01364503 0.48438789] [ 0.01894859 0.01729265 0.9996709 0.10047213] [ 0. 0. 0. 1. ]] SLAMing on 0.893741732 meters Centerline goodness [0,1] 0.6924035377984762 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.51, Z:0.11 [[ 0.98433183 0.17528123 -0.01916598 -0.77634501] [-0.17543196 0.98447026 -0.00647539 0.51078948] [ 0.01773332 0.00973626 0.99979535 0.10668198] [ 0. 0. 0. 1. ]] SLAMing on 0.9237417319999999 meters Centerline goodness [0,1] 0.6593982040215189 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.55, Z:0.11 [[ 0.98431643 0.1750514 -0.0218673 -0.81154166] [-0.17521149 0.98451479 -0.00561838 0.55176471] [ 0.02054517 0.00936167 0.9997451 0.11382177] [ 0. 0. 0. 1. ]] SLAMing on 0.9537417319999999 meters Centerline goodness [0,1] 0.7151785161809294 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.58, Z:0.12 [[ 0.98408786 0.17573984 -0.02620304 -0.82990542] [-0.17613731 0.98427021 -0.01370436 0.57833461] [ 0.02338247 0.01810163 0.9995627 0.11887584] [ 0. 0. 0. 1. ]] SLAMing on 0.9837417319999999 meters Centerline goodness [0,1] 0.7151785161809294 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.58, Z:0.12 [[ 0.98408786 0.17573984 -0.02620304 -0.82990542] [-0.17613731 0.98427021 -0.01370436 0.57833461] [ 0.02338247 0.01810163 0.9995627 0.11887584] [ 0. 0. 0. 1. ]] SLAMing on 1.013741732 meters Centerline goodness [0,1] 0.6788277388264978 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.62, Z:0.12 [[ 0.98426263 0.17372822 -0.03233546 -0.85797617] [-0.17419522 0.98463541 -0.0122122 0.62187306] [ 0.02971703 0.0176527 0.99940246 0.12155556] [ 0. 0. 0. 1. ]] SLAMing on 1.043741732 meters Centerline goodness [0,1] 0.6994564991909721 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.65, Z:0.12 [[ 0.98437049 0.17393246 -0.02760847 -0.87156691] [-0.17422914 0.98466659 -0.00871255 0.65041633] [ 0.02566975 0.01338658 0.99958084 0.12388341] [ 0. 0. 0. 1. ]] SLAMing on 1.073741732 meters Centerline goodness [0,1] 0.7114459962949857 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.68, Z:0.13 [[ 0.9841763 0.17559165 -0.02376104 -0.88235058] [-0.17579492 0.98440375 -0.00673862 0.67881858] [ 0.02220721 0.01080906 0.99969496 0.12815393] [ 0. 0. 0. 1. ]] SLAMing on 1.103741732 meters Centerline goodness [0,1] 0.7198308192349363 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.71, Z:0.14 [[ 0.98351245 0.17815135 -0.03107036 -0.89514538] [-0.17873189 0.98375076 -0.01701027 0.70625272] [ 0.02753509 0.02228308 0.99937244 0.13919983] [ 0. 0. 0. 1. ]] SLAMing on 1.1337417319999998 meters Centerline goodness [0,1] 0.7369508073601201 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.73, Z:0.15 [[ 0.98270318 0.18174174 -0.03555836 -0.90739526] [-0.18270184 0.98282715 -0.02590026 0.73451985] [ 0.03024057 0.03194884 0.99903192 0.14602955] [ 0. 0. 0. 1. ]] SLAMing on 1.1637417319999999 meters Centerline goodness [0,1] 0.7436063113575255 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.75, Z:0.14 [[ 0.98257239 0.182972 -0.03275273 -0.90834959] [-0.18384485 0.98261236 -0.02596207 0.7469493 ] [ 0.02743291 0.03153104 0.99912623 0.14270545] [ 0. 0. 0. 1. ]] SLAMing on 1.1937417319999999 meters Centerline goodness [0,1] 0.9220996322300234 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.76, Z:0.14 [[ 0.97650721 0.21334551 -0.03028793 -0.92970826] [-0.21442628 0.97597832 -0.0385705 0.76268599] [ 0.02133152 0.0441589 0.99879675 0.13731429] [ 0. 0. 0. 1. ]] SLAMing on 1.223741732 meters Centerline goodness [0,1] 0.9962018448182312 Centerline is valid? [False, True] Translation: X:-0.95, Y:0.75, Z:0.14 [[ 0.96579689 0.25700317 -0.03443444 -0.95081693] [-0.25778578 0.96598335 -0.02055865 0.74904416] [ 0.02797946 0.02873219 0.99919548 0.14197316] [ 0. 0. 0. 1. ]] SLAMing on 1.253741732 meters Centerline goodness [0,1] 0.9971751412429378 Centerline is valid? [True, True] Translation: X:-0.98, Y:0.76, Z:0.13 [[ 9.59245299e-01 2.80939530e-01 -3.03551729e-02 -9.79808352e-01] [-2.80786669e-01 9.59725399e-01 9.27387524e-03 7.57619690e-01] [ 3.17380286e-02 -3.72593332e-04 9.99496152e-01 1.32349859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.283741732 meters Centerline goodness [0,1] 0.996919578250982 Centerline is valid? [True, True] Translation: X:-1.02, Y:0.73, Z:0.12 [[ 9.55452998e-01 2.93290364e-01 -3.30201730e-02 -1.02174648e+00] [-2.93117060e-01 9.56023410e-01 1.00811192e-02 7.30083919e-01] [ 3.45247535e-02 4.67404416e-05 9.99403842e-01 1.22913818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.313741732 meters Centerline goodness [0,1] 0.9962789159241726 Centerline is valid? [True, True] Translation: X:-1.07, Y:0.70, Z:0.12 [[ 9.57608460e-01 2.86212300e-01 -3.26887925e-02 -1.06502990e+00] [-2.86038707e-01 9.58166207e-01 9.96881119e-03 7.00270801e-01] [ 3.41744927e-02 -1.95958002e-04 9.99415862e-01 1.15239075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3437417319999998 meters Centerline goodness [0,1] 0.9952252141481208 Centerline is valid? [True, True] Translation: X:-1.11, Y:0.65, Z:0.12 [[ 9.61911260e-01 2.71573229e-01 -3.12203433e-02 -1.11339062e+00] [-2.71407371e-01 9.62417540e-01 9.51408021e-03 6.45908043e-01] [ 3.26307755e-02 -6.78269592e-04 9.99467244e-01 1.21963512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3737417319999998 meters Centerline goodness [0,1] 0.9960187831768068 Centerline is valid? [True, True] Translation: X:-1.16, Y:0.60, Z:0.12 [[ 9.63922228e-01 2.64421527e-01 -3.05809357e-02 -1.16152347e+00] [-2.64258823e-01 9.64406784e-01 9.31825862e-03 5.95012828e-01] [ 3.19564100e-02 -9.00794559e-04 9.99488858e-01 1.19011532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4037417319999999 meters Centerline goodness [0,1] 0.9937940015464127 Centerline is valid? [True, True] Translation: X:-1.21, Y:0.55, Z:0.12 [[ 0.96582385 0.25585982 -0.04147346 -1.20813749] [-0.25555268 0.96671256 0.01263523 0.54806559] [ 0.04332576 -0.00160476 0.99905971 0.11543547] [ 0. 0. 0. 1. ]] SLAMing on 1.4337417319999999 meters Centerline goodness [0,1] 0.9941700470880812 Centerline is valid? [True, True] Translation: X:-1.25, Y:0.52, Z:0.13 [[ 0.96717646 0.25104387 -0.0393278 -1.24956281] [-0.25076387 0.96797418 0.01197815 0.51625672] [ 0.04107533 -0.001723 0.99915457 0.12903918] [ 0. 0. 0. 1. ]] SLAMing on 1.463741732 meters Centerline goodness [0,1] 0.9930153946403845 Centerline is valid? [True, True] Translation: X:-1.29, Y:0.48, Z:0.14 [[ 0.97084419 0.23704141 -0.03567805 -1.2915333 ] [-0.23680162 0.97149728 0.01086405 0.48419634] [ 0.03723636 -0.00209867 0.99930428 0.13646344] [ 0. 0. 0. 1. ]] SLAMing on 1.493741732 meters Centerline goodness [0,1] 0.980535920442347 Centerline is valid? [True, True] Translation: X:-1.33, Y:0.47, Z:0.14 [[ 0.97406084 0.2239957 -0.0321156 -1.32874778] [-0.22379435 0.97458733 0.00977879 0.46621826] [ 0.03348986 -0.00233785 0.99943632 0.13706411] [ 0. 0. 0. 1. ]] SLAMing on 1.523741732 meters Centerline goodness [0,1] 0.9890617403986388 Centerline is valid? [True, True] Translation: X:-1.36, Y:0.47, Z:0.14 [[ 0.97412546 0.22382523 -0.03133446 -1.35919588] [-0.22363356 0.97462662 0.00953853 0.47445376] [ 0.03267436 -0.00228429 0.99946344 0.14108686] [ 0. 0. 0. 1. ]] SLAMing on 1.553741732 meters Centerline goodness [0,1] 0.9893245656762462 Centerline is valid? [True, True] Translation: X:-1.39, Y:0.49, Z:0.14 [[ 0.97319986 0.22740087 -0.03421793 -1.38814619] [-0.22717463 0.97379838 0.010412 0.48576624] [ 0.03568906 -0.00235951 0.99936016 0.13627896] [ 0. 0. 0. 1. ]] SLAMing on 1.583741732 meters Centerline goodness [0,1] 0.990123757849174 Centerline is valid? [True, True] Translation: X:-1.41, Y:0.50, Z:0.13 [[ 0.97163531 0.23341875 -0.03795415 -1.41459821] [-0.23314502 0.97237342 0.01154697 0.50238434] [ 0.03960089 -0.00237063 0.99921277 0.12881787] [ 0. 0. 0. 1. ]] SLAMing on 1.6137417319999998 meters Centerline goodness [0,1] 0.9896252081049255 Centerline is valid? [True, True] Translation: X:-1.44, Y:0.51, Z:0.13 [[ 0.97271297 0.22936783 -0.03492676 -1.44277728] [-0.22913345 0.97333702 0.01062557 0.51074931] [ 0.03643267 -0.00233274 0.99933339 0.13452985] [ 0. 0. 0. 1. ]] SLAMing on 1.6437417319999998 meters Centerline goodness [0,1] 0.9496380998722705 Centerline is valid? [True, False] Translation: X:-1.49, Y:0.53, Z:0.14 [[ 0.97750535 0.20787221 -0.03567129 -1.4858972 ] [-0.20759208 0.97814875 0.01142603 0.53072393] [ 0.03726699 -0.00376392 0.99929826 0.13841124] [ 0. 0. 0. 1. ]] SLAMing on 1.6737417319999999 meters Centerline goodness [0,1] 0.8700688982379123 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.55, Z:0.14 [[ 9.80852485e-01 1.91179501e-01 -3.71322166e-02 -1.50799551e+00] [-1.91006850e-01 9.81554654e-01 8.17580389e-03 5.45061086e-01] [ 3.80103462e-02 -9.26749818e-04 9.99276916e-01 1.40521626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.703741732 meters Centerline goodness [0,1] 0.7895163414584726 Centerline is valid? [False, False] Translation: X:-1.52, Y:0.56, Z:0.15 [[ 9.83331451e-01 1.77572667e-01 -3.90794898e-02 -1.52073342e+00] [-1.77720317e-01 9.84080989e-01 -3.09406462e-04 5.60286315e-01] [ 3.84024408e-02 7.24946840e-03 9.99236057e-01 1.45950313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.733741732 meters Centerline goodness [0,1] 0.7765348383953223 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.59, Z:0.15 [[ 0.98511152 0.1655222 -0.04645107 -1.54041745] [-0.16607282 0.98607916 -0.00822908 0.59483327] [ 0.04444233 0.01582082 0.99888667 0.14853251] [ 0. 0. 0. 1. ]] SLAMing on 1.763741732 meters Centerline goodness [0,1] 0.7664503793503245 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.62, Z:0.15 [[ 0.98474649 0.16508483 -0.05496687 -1.54889184] [-0.16610399 0.9860018 -0.0144884 0.62172301] [ 0.05180562 0.02339761 0.99838306 0.15427905] [ 0. 0. 0. 1. ]] SLAMing on 1.793741732 meters Centerline goodness [0,1] 0.7788339929011464 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.65, Z:0.16 [[ 0.98334266 0.17243804 -0.05746586 -1.559371 ] [-0.17383678 0.98456596 -0.02026411 0.64984929] [ 0.05308463 0.02991625 0.99814179 0.15999534] [ 0. 0. 0. 1. ]] SLAMing on 1.8237417319999998 meters Centerline goodness [0,1] 0.8220275394942305 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.67, Z:0.16 [[ 0.98277325 0.17630435 -0.05543925 -1.56283968] [-0.17750876 0.98396238 -0.01756901 0.66582639] [ 0.05145265 0.02710731 0.99830748 0.16231566] [ 0. 0. 0. 1. ]] SLAMing on 1.8537417319999998 meters Centerline goodness [0,1] 0.8814515140370234 Centerline is valid? [False, False] Translation: X:-1.58, Y:0.70, Z:0.17 [[ 0.98094482 0.18629828 -0.05513804 -1.57541624] [-0.18781504 0.98191858 -0.02369404 0.69893493] [ 0.04972691 0.0335983 0.99819757 0.16873626] [ 0. 0. 0. 1. ]] SLAMing on 1.8837417319999998 meters Centerline goodness [0,1] 0.9302158125372889 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.73, Z:0.18 [[ 0.97926212 0.19365814 -0.05951652 -1.58957806] [-0.19542628 0.98038873 -0.02542646 0.73244905] [ 0.05342529 0.03653027 0.99790344 0.1754967 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9137417319999999 meters Centerline goodness [0,1] 0.9176701030927835 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.79, Z:0.18 [[ 0.97820945 0.19442476 -0.07283735 -1.62171353] [-0.1968599 0.98003666 -0.02782665 0.79034493] [ 0.06597309 0.04155904 0.99695556 0.18483188] [ 0. 0. 0. 1. ]] SLAMing on 1.9437417319999999 meters Centerline goodness [0,1] 0.9004472659067956 Centerline is valid? [False, False] Translation: X:-1.64, Y:0.82, Z:0.18 [[ 0.97951375 0.18998105 -0.06678332 -1.6366926 ] [-0.19214122 0.9809817 -0.02750747 0.82061346] [ 0.06028732 0.03977577 0.99738825 0.18431745] [ 0. 0. 0. 1. ]] SLAMing on 1.973741732 meters Centerline goodness [0,1] 0.9247740729199128 Centerline is valid? [False, False] Translation: X:-1.65, Y:0.85, Z:0.19 [[ 0.98070307 0.18550144 -0.06173094 -1.6533833 ] [-0.18741222 0.9819183 -0.02670423 0.85251965] [ 0.05566107 0.03775805 0.99773552 0.1860463 ] [ 0. 0. 0. 1. ]] SLAMing on 2.003741732 meters Centerline goodness [0,1] 0.8635351875351043 Centerline is valid? [False, False] Translation: X:-1.68, Y:0.90, Z:0.19 [[ 0.98135212 0.18017234 -0.06697714 -1.67787211] [-0.18239102 0.98281046 -0.02858528 0.89827165] [ 0.06067556 0.04026826 0.99734495 0.18835753] [ 0. 0. 0. 1. ]] SLAMing on 2.0337417319999997 meters Centerline goodness [0,1] 0.890377461020775 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.94, Z:0.19 [[ 0.98150812 0.17830451 -0.06963698 -1.6999783 ] [-0.18082677 0.98300325 -0.03172209 0.94231827] [ 0.06279718 0.04372772 0.9970679 0.18845039] [ 0. 0. 0. 1. ]] SLAMing on 2.063741732 meters Centerline goodness [0,1] 0.8788753159224937 Centerline is valid? [False, False] Translation: X:-1.72, Y:0.97, Z:0.19 [[ 0.98143732 0.18015063 -0.06577643 -1.71563277] [-0.18219609 0.98290505 -0.02649993 0.97088353] [ 0.05987801 0.03799223 0.99748244 0.19313618] [ 0. 0. 0. 1. ]] SLAMing on 2.093741732 meters Centerline goodness [0,1] 0.9551954242135368 Centerline is valid? [False, True] Translation: X:-1.75, Y:1.01, Z:0.20 [[ 0.98072343 0.18354317 -0.06703334 -1.74566137] [-0.18578206 0.98216888 -0.02879801 1.01274217] [ 0.06055238 0.04069648 0.99733505 0.20225802] [ 0. 0. 0. 1. ]] SLAMing on 2.123741732 meters Centerline goodness [0,1] 0.9247360288436776 Centerline is valid? [True, False] Translation: X:-1.76, Y:1.04, Z:0.20 [[ 0.98115549 0.18226548 -0.06413429 -1.76176285] [-0.18417794 0.98256876 -0.02524123 1.04107959] [ 0.05841574 0.0365777 0.99762201 0.20304955] [ 0. 0. 0. 1. ]] SLAMing on 2.153741732 meters Centerline goodness [0,1] 0.923893455232737 Centerline is valid? [False, False] Translation: X:-1.78, Y:1.07, Z:0.20 [[ 0.98170608 0.18063855 -0.06019037 -1.77826759] [-0.18209456 0.98308551 -0.0196077 1.07101995] [ 0.05563037 0.03020933 0.99799432 0.20008381] [ 0. 0. 0. 1. ]] SLAMing on 2.183741732 meters Centerline goodness [0,1] 0.9700780278186136 Centerline is valid? [False, True] Translation: X:-1.79, Y:1.10, Z:0.20 [[ 0.98197137 0.18021889 -0.05703848 -1.79276755] [-0.1811955 0.98336895 -0.01239744 1.10000878] [ 0.05385562 0.02250904 0.998295 0.19718928] [ 0. 0. 0. 1. ]] SLAMing on 2.213741732 meters Centerline goodness [0,1] 0.9925212630755694 Centerline is valid? [True, True] Translation: X:-1.81, Y:1.15, Z:0.18 [[ 0.98188519 0.18322018 -0.04828907 -1.81004134] [-0.18283331 0.98306638 0.01234814 1.15147768] [ 0.04973379 -0.00329561 0.99875707 0.17968577] [ 0. 0. 0. 1. ]] SLAMing on 2.2437417319999997 meters Centerline goodness [0,1] 0.9852667011910927 Centerline is valid? [True, True] Translation: X:-1.83, Y:1.19, Z:0.18 [[ 0.98182144 0.18323326 -0.04952001 -1.83478588] [-0.18282663 0.98306367 0.01265871 1.18524809] [ 0.05100082 -0.00337502 0.99869291 0.17619378] [ 0. 0. 0. 1. ]] SLAMing on 2.273741732 meters Centerline goodness [0,1] 0.9877744113113273 Centerline is valid? [True, True] Translation: X:-1.86, Y:1.21, Z:0.17 [[ 0.98185279 0.1823934 -0.05193987 -1.86079808] [-0.1819457 0.98321915 0.01326145 1.21352121] [ 0.05348707 -0.00357055 0.99856216 0.1711284 ] [ 0. 0. 0. 1. ]] SLAMing on 2.3037417319999998 meters Centerline goodness [0,1] 0.9940101744981128 Centerline is valid? [True, True] Translation: X:-1.88, Y:1.25, Z:0.17 [[ 0.98190079 0.18246084 -0.05078266 -1.88264566] [-0.1820337 0.98320698 0.01295217 1.25437407] [ 0.05229313 -0.00347359 0.99862574 0.16673789] [ 0. 0. 0. 1. ]] SLAMing on 2.333741732 meters Centerline goodness [0,1] 0.9926098684949983 Centerline is valid? [True, True] Translation: X:-1.91, Y:1.28, Z:0.17 [[ 0.98172165 0.18378487 -0.04945434 -1.91025118] [-0.18338208 0.98296094 0.01260136 1.27692133] [ 0.05092762 -0.00330199 0.99869689 0.16726839] [ 0. 0. 0. 1. ]] SLAMing on 2.363741732 meters Centerline goodness [0,1] 0.994865137747007 Centerline is valid? [True, True] Translation: X:-1.93, Y:1.31, Z:0.17 [[ 0.98098054 0.18761408 -0.04978093 -1.93349065] [-0.18721106 0.98223787 0.01268039 1.30700554] [ 0.05127573 -0.00311968 0.99867966 0.17025512] [ 0. 0. 0. 1. ]] SLAMing on 2.393741732 meters Centerline goodness [0,1] 0.9931096639144087 Centerline is valid? [True, True] Translation: X:-1.96, Y:1.33, Z:0.17 [[ 0.98041627 0.18979312 -0.05255966 -1.9613751 ] [-0.18934727 0.98181899 0.01338196 1.32751678] [ 0.05414387 -0.00316787 0.99852812 0.16956966] [ 0. 0. 0. 1. ]] SLAMing on 2.423741732 meters Centerline goodness [0,1] 0.9969435454872349 Centerline is valid? [True, True] Translation: X:-1.98, Y:1.38, Z:0.16 [[ 0.97612742 0.20997412 -0.05555291 -1.98006354] [-0.20950916 0.97770457 0.0141309 1.37911749] [ 0.05728145 -0.00215472 0.99835574 0.16109619] [ 0. 0. 0. 1. ]] SLAMing on 2.4537417319999997 meters Centerline goodness [0,1] 0.9973405900179355 Centerline is valid? [True, True] Translation: X:-2.00, Y:1.42, Z:0.16 [[ 9.73028398e-01 2.25305841e-01 -4.95279142e-02 -2.00109675e+00] [-2.24956220e-01 9.74287450e-01 1.25961811e-02 1.41923476e+00] [ 5.10924184e-02 -1.11482950e-03 9.98693307e-01 1.62642218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.483741732 meters Centerline goodness [0,1] 0.667285120800226 Centerline is valid? [True, False] Translation: X:-2.41, Y:0.83, Z:0.24 [[ 0.93879003 0.32810901 -0.10496547 -2.40793674] [-0.3412698 0.92735516 -0.15345142 0.83025389] [ 0.04699148 0.17988021 0.98256547 0.24021105] [ 0. 0. 0. 1. ]] SLAMing on 2.5137417319999997 meters Centerline goodness [0,1] 0.762634120713694 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.85, Z:0.24 [[ 0.94484543 0.3107569 -0.10342758 -2.43434539] [-0.32265989 0.93738388 -0.1311566 0.84677625] [ 0.05619353 0.15729464 0.98595166 0.23617882] [ 0. 0. 0. 1. ]] SLAMing on 2.543741732 meters Centerline goodness [0,1] 0.8686512386583749 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.86, Z:0.23 [[ 0.95038541 0.29361095 -0.10276271 -2.46486606] [-0.3041747 0.94632544 -0.10929733 0.86223096] [ 0.06515607 0.13513241 0.98868292 0.23216262] [ 0. 0. 0. 1. ]] SLAMing on 2.573741732 meters Centerline goodness [0,1] 0.9594900099798367 Centerline is valid? [False, True] Translation: X:-2.49, Y:0.88, Z:0.23 [[ 0.95382077 0.28326069 -0.09994655 -2.48910566] [-0.2918587 0.95264167 -0.08539519 0.87577086] [ 0.07102415 0.11062198 0.99132152 0.22686583] [ 0. 0. 0. 1. ]] SLAMing on 2.603741732 meters Centerline goodness [0,1] 0.9765653681419539 Centerline is valid? [True, True] Translation: X:-2.51, Y:0.90, Z:0.19 [[ 0.95690718 0.2786725 -0.08167184 -2.51331601] [-0.27823885 0.96036367 0.01687479 0.9003482 ] [ 0.08313721 0.00657667 0.99651641 0.19188472] [ 0. 0. 0. 1. ]] SLAMing on 2.633741732 meters Centerline goodness [0,1] 0.9814660176378338 Centerline is valid? [True, True] Translation: X:-2.54, Y:0.90, Z:0.19 [[ 0.95735585 0.27759936 -0.08005227 -2.54442603] [-0.27717966 0.96067587 0.01653224 0.90481667] [ 0.08149362 0.00636162 0.99665356 0.18995948] [ 0. 0. 0. 1. ]] SLAMing on 2.6637417319999996 meters Centerline goodness [0,1] 0.9675539069824318 Centerline is valid? [True, True] Translation: X:-2.57, Y:0.92, Z:0.19 [[ 0.95689694 0.27864707 -0.0818783 -2.57358434] [-0.27821342 0.96037077 0.01689013 0.91956686] [ 0.08333991 0.00661753 0.99649921 0.18726571] [ 0. 0. 0. 1. ]] SLAMing on 2.693741732 meters Centerline goodness [0,1] 0.9583435083435083 Centerline is valid? [True, True] Translation: X:-2.60, Y:0.93, Z:0.19 [[ 0.95629088 0.28221301 -0.07657401 -2.60384528] [-0.28184539 0.95932988 0.01579128 0.92836036] [ 0.07791624 0.00648098 0.99693884 0.18956456] [ 0. 0. 0. 1. ]] SLAMing on 2.7237417319999997 meters Centerline goodness [0,1] 0.9563024868338111 Centerline is valid? [True, True] Translation: X:-2.64, Y:0.94, Z:0.19 [[ 0.95604003 0.28299303 -0.07682708 -2.63547894] [-0.2826261 0.95909943 0.0158354 0.9362922 ] [ 0.07816611 0.00657406 0.99691867 0.19111159] [ 0. 0. 0. 1. ]] SLAMing on 2.753741732 meters Centerline goodness [0,1] 0.9708516063233045 Centerline is valid? [True, True] Translation: X:-2.67, Y:0.94, Z:0.19 [[ 0.9567207 0.28033265 -0.07809683 -2.6650166 ] [-0.27994621 0.95988104 0.0160783 0.94001629] [ 0.07947094 0.00648047 0.99681612 0.18882122] [ 0. 0. 0. 1. ]] SLAMing on 2.7837417319999997 meters Centerline goodness [0,1] 0.9792107835152305 Centerline is valid? [True, True] Translation: X:-2.69, Y:0.95, Z:0.19 [[ 0.95762221 0.2776876 -0.07648067 -2.69459123] [-0.2773086 0.96065187 0.01574557 0.94639181] [ 0.07784365 0.00613044 0.99694673 0.18764943] [ 0. 0. 0. 1. ]] SLAMing on 2.813741732 meters Centerline goodness [0,1] 0.975075851676882 Centerline is valid? [True, True] Translation: X:-2.72, Y:0.96, Z:0.19 [[ 0.95822974 0.27528854 -0.07753704 -2.72454886] [-0.27489129 0.96134281 0.01596197 0.95640457] [ 0.07893382 0.00601902 0.99686169 0.18575483] [ 0. 0. 0. 1. ]] SLAMing on 2.843741732 meters Centerline goodness [0,1] 0.9865956105201066 Centerline is valid? [True, True] Translation: X:-2.76, Y:0.96, Z:0.19 [[ 0.96020703 0.267595 -0.07997111 -2.75535812] [-0.26714625 0.96351544 0.01645845 0.96027088] [ 0.0814576 0.00556046 0.9966613 0.18592338] [ 0. 0. 0. 1. ]] SLAMing on 2.873741732 meters Centerline goodness [0,1] 0.9926021032037173 Centerline is valid? [True, True] Translation: X:-2.79, Y:0.96, Z:0.18 [[ 0.96136242 0.26350875 -0.07965819 -2.78582807] [-0.26304965 0.96464302 0.01639293 0.96068343] [ 0.0811614 0.00519451 0.99668744 0.18480532] [ 0. 0. 0. 1. ]] SLAMing on 2.903741732 meters Centerline goodness [0,1] 0.9926021032037173 Centerline is valid? [True, True] Translation: X:-2.82, Y:0.97, Z:0.18 [[ 0.96145308 0.26317741 -0.07965947 -2.81775142] [-0.26271769 0.96473359 0.0163867 0.96749234] [ 0.08116277 0.00517291 0.99668744 0.18275508] [ 0. 0. 0. 1. ]] SLAMing on 2.9337417319999997 meters Centerline goodness [0,1] 0.9939320388349514 Centerline is valid? [True, True] Translation: X:-2.85, Y:0.98, Z:0.17 [[ 0.96210981 0.25916241 -0.08473227 -2.84705928] [-0.25862889 0.96581993 0.01740571 0.97668947] [ 0.08634703 0.00516801 0.99625172 0.17249601] [ 0. 0. 0. 1. ]] SLAMing on 2.963741732 meters Centerline goodness [0,1] 0.9960146334484662 Centerline is valid? [True, True] Translation: X:-2.88, Y:0.98, Z:0.17 [[ 0.96223675 0.257994 -0.08683052 -2.87911168] [-0.25743 0.96613252 0.01782533 0.97966736] [ 0.08848862 0.0052006 0.99606361 0.16983741] [ 0. 0. 0. 1. ]] SLAMing on 2.9937417319999997 meters Centerline goodness [0,1] 0.9940489534717835 Centerline is valid? [True, True] Translation: X:-2.91, Y:0.99, Z:0.17 [[ 0.96198635 0.25941463 -0.08535987 -2.90953677] [-0.25887758 0.96575168 0.0174955 0.99206872] [ 0.08697503 0.00526732 0.99619657 0.16934365] [ 0. 0. 0. 1. ]] SLAMing on 3.023741732 meters Centerline goodness [0,1] 0.99019907492308 Centerline is valid? [True, True] Translation: X:-2.94, Y:1.00, Z:0.17 [[ 0.96118068 0.26417599 -0.07964136 -2.93979846] [-0.26372626 0.96445976 0.01630468 1.00084237] [ 0.08111819 0.00533177 0.99669023 0.17270478] [ 0. 0. 0. 1. ]] SLAMing on 3.0537417319999998 meters Centerline goodness [0,1] 0.9889582823087599 Centerline is valid? [True, True] Translation: X:-2.97, Y:1.01, Z:0.17 [[ 0.96138827 0.26365961 -0.07884292 -2.97135791] [-0.26321772 0.96460154 0.01613378 1.00675589] [ 0.08030583 0.00524203 0.99675649 0.17273037] [ 0. 0. 0. 1. ]] SLAMing on 3.083741732 meters Centerline goodness [0,1] 0.992005533066173 Centerline is valid? [True, True] Translation: X:-3.00, Y:1.01, Z:0.17 [[ 0.96228814 0.26024973 -0.07919348 -3.00308377] [-0.259794 0.9655284 0.01618593 1.00658072] [ 0.08067594 0.00499847 0.99672785 0.17176438] [ 0. 0. 0. 1. ]] SLAMing on 3.113741732 meters Centerline goodness [0,1] 0.9954554717750153 Centerline is valid? [True, True] Translation: X:-3.03, Y:1.00, Z:0.17 [[ 0.96342318 0.25517487 -0.08186313 -3.03454902] [-0.25466994 0.96688334 0.01672793 1.00476586] [ 0.08342064 0.004732 0.99650319 0.16747237] [ 0. 0. 0. 1. ]] SLAMing on 3.143741732 meters Centerline goodness [0,1] 0.9960722862143352 Centerline is valid? [True, True] Translation: X:-3.07, Y:1.00, Z:0.17 [[ 0.96451017 0.25089547 -0.08228968 -3.06559353] [-0.2503699 0.96800425 0.01681334 1.00385181] [ 0.08387515 0.00438622 0.99646662 0.16594638] [ 0. 0. 0. 1. ]] SLAMing on 3.173741732 meters Centerline goodness [0,1] 0.9973190348525469 Centerline is valid? [True, True] Translation: X:-3.10, Y:1.00, Z:0.17 [[ 0.96666459 0.24277374 -0.08136631 -3.09753533] [-0.24223139 0.97007611 0.01662227 1.0010226 ] [ 0.08296697 0.00364131 0.99654565 0.16539888] [ 0. 0. 0. 1. ]] SLAMing on 3.2037417319999997 meters Centerline goodness [0,1] 0.9978991596638656 Centerline is valid? [True, True] Translation: X:-3.13, Y:1.00, Z:0.16 [[ 0.96796848 0.23758047 -0.08119446 -3.12840094] [-0.23702261 0.97136261 0.01658197 0.99848276] [ 0.08280881 0.0031941 0.99656033 0.16289496] [ 0. 0. 0. 1. ]] SLAMing on 3.233741732 meters Centerline goodness [0,1] 0.9970718614014397 Centerline is valid? [True, True] Translation: X:-3.16, Y:1.00, Z:0.16 [[ 9.69708803e-01 2.30648750e-01 -8.04113844e-02 -3.16017596e+00] [-2.30078320e-01 9.73033651e-01 1.64158643e-02 9.95979261e-01] [ 8.20292815e-02 2.58230810e-03 9.96626574e-01 1.63797303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2637417319999997 meters Centerline goodness [0,1] 0.9968114058247695 Centerline is valid? [True, True] Translation: X:-3.19, Y:1.00, Z:0.16 [[ 9.70584080e-01 2.27079959e-01 -8.00077228e-02 -3.19200022e+00] [-2.26503391e-01 9.73873467e-01 1.63304409e-02 1.00018809e+00] [ 8.16257143e-02 2.27195451e-03 9.96660464e-01 1.62998042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.293741732 meters Centerline goodness [0,1] 0.9969823016067205 Centerline is valid? [True, True] Translation: X:-3.22, Y:1.00, Z:0.16 [[ 9.71007520e-01 2.25103847e-01 -8.04528055e-02 -3.22272442e+00] [-2.24514978e-01 9.74332453e-01 1.64102611e-02 1.00475774e+00] [ 8.20817922e-02 2.12837294e-03 9.96623324e-01 1.63765747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.323741732 meters Centerline goodness [0,1] 0.9981692060456885 Centerline is valid? [True, True] Translation: X:-3.25, Y:1.01, Z:0.16 [[ 9.71006096e-01 2.24746033e-01 -8.14639987e-02 -3.25347404e+00] [-2.24143003e-01 9.74415007e-01 1.65924152e-02 1.01300461e+00] [ 8.31088224e-02 2.14824909e-03 9.96538162e-01 1.60000123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.353741732 meters Centerline goodness [0,1] 0.9978768577494692 Centerline is valid? [True, True] Translation: X:-3.28, Y:1.02, Z:0.16 [[ 9.70098955e-01 2.27815936e-01 -8.37132997e-02 -3.28272359e+00] [-2.27192224e-01 9.73701012e-01 1.70303688e-02 1.02268206e+00] [ 8.53915140e-02 2.49786777e-03 9.96344343e-01 1.61801146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.383741732 meters Centerline goodness [0,1] 0.9976350662589195 Centerline is valid? [True, True] Translation: X:-3.31, Y:1.03, Z:0.16 [[ 9.69384484e-01 2.30594992e-01 -8.43781463e-02 -3.31338025e+00] [-2.29972059e-01 9.73045884e-01 1.71627679e-02 1.03240500e+00] [ 8.60614562e-02 2.76729511e-03 9.96285987e-01 1.62880021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4137417319999996 meters Centerline goodness [0,1] 0.9985968194574368 Centerline is valid? [True, True] Translation: X:-3.34, Y:1.05, Z:0.16 [[ 0.967639 0.23720532 -0.08607209 -3.34144844] [-0.23658353 0.97145349 0.01750267 1.04690109] [ 0.08776676 0.00342698 0.99613516 0.15898908] [ 0. 0. 0. 1. ]] SLAMing on 3.443741732 meters Centerline goodness [0,1] 0.9976361265079883 Centerline is valid? [True, True] Translation: X:-3.37, Y:1.06, Z:0.16 [[ 0.96561753 0.24464311 -0.08793484 -3.36993469] [-0.24402495 0.96960413 0.01787916 1.06002809] [ 0.089636 0.00419387 0.99596576 0.15596826] [ 0. 0. 0. 1. ]] SLAMing on 3.4737417319999997 meters Centerline goodness [0,1] 0.9950746936947938 Centerline is valid? [True, True] Translation: X:-3.40, Y:1.08, Z:0.16 [[ 0.96317984 0.25425778 -0.08739326 -3.39843702] [-0.25368676 0.96712326 0.01776609 1.07598337] [ 0.08903722 0.00505857 0.99601545 0.15516712] [ 0. 0. 0. 1. ]] SLAMing on 3.503741732 meters Centerline goodness [0,1] 0.9876661502079426 Centerline is valid? [True, True] Translation: X:-3.43, Y:1.09, Z:0.16 [[ 0.96060573 0.26511515 -0.08337021 -3.42749611] [-0.26463625 0.96419941 0.01694577 1.08960775] [ 0.08487808 0.00578457 0.99637455 0.15946291] [ 0. 0. 0. 1. ]] SLAMing on 3.5337417319999997 meters Centerline goodness [0,1] 0.985095567303782 Centerline is valid? [True, True] Translation: X:-3.46, Y:1.10, Z:0.16 [[ 0.95983568 0.26827435 -0.08212389 -3.45815164] [-0.26782139 0.96332402 0.01668938 1.09636211] [ 0.08358924 0.00597547 0.99648238 0.16222753] [ 0. 0. 0. 1. ]] SLAMing on 3.563741732 meters Centerline goodness [0,1] 0.9764984994727878 Centerline is valid? [True, True] Translation: X:-3.49, Y:1.11, Z:0.16 [[ 0.95934235 0.27058794 -0.08027721 -3.487968 ] [-0.27016344 0.96267631 0.01631059 1.10835694] [ 0.08169442 0.00604053 0.99663912 0.16158272] [ 0. 0. 0. 1. ]] SLAMing on 3.593741732 meters Centerline goodness [0,1] 0.9810793728464534 Centerline is valid? [True, True] Translation: X:-3.52, Y:1.11, Z:0.16 [[ 0.95971466 0.26909514 -0.08084289 -3.52036122] [-0.26865984 0.96309515 0.01641998 1.11009445] [ 0.08227794 0.00596074 0.9965916 0.15905673] [ 0. 0. 0. 1. ]] SLAMing on 3.6237417319999996 meters Centerline goodness [0,1] 0.9878458437671777 Centerline is valid? [True, True] Translation: X:-3.55, Y:1.11, Z:0.16 [[ 0.96043183 0.26591077 -0.0828382 -3.55145745] [-0.26544276 0.96397997 0.01681565 1.10997253] [ 0.08432583 0.00583851 0.99642113 0.15822481] [ 0. 0. 0. 1. ]] SLAMing on 3.653741732 meters Centerline goodness [0,1] 0.9858057221313626 Centerline is valid? [True, True] Translation: X:-3.58, Y:1.12, Z:0.16 [[ 0.96153276 0.26181957 -0.08309794 -3.58123321] [-0.26133358 0.96510118 0.0168666 1.11849517] [ 0.08461393 0.0054985 0.99639864 0.15792687] [ 0. 0. 0. 1. ]] SLAMing on 3.6837417319999997 meters Centerline goodness [0,1] 0.9894366197183099 Centerline is valid? [True, True] Translation: X:-3.61, Y:1.12, Z:0.16 [[ 0.96201334 0.26034268 -0.08217067 -3.61265806] [-0.2598627 0.96550165 0.01667137 1.12119787] [ 0.08367619 0.00531501 0.99647882 0.1596168 ] [ 0. 0. 0. 1. ]] SLAMing on 3.713741732 meters Centerline goodness [0,1] 0.9912757000793118 Centerline is valid? [True, True] Translation: X:-3.64, Y:1.13, Z:0.16 [[ 0.9623388 0.25888558 -0.08295952 -3.64401886] [-0.25839296 0.96589367 0.01680788 1.12678733] [ 0.0844814 0.00526128 0.99641117 0.15706816] [ 0. 0. 0. 1. ]] SLAMing on 3.7437417319999997 meters Centerline goodness [0,1] 0.9906305136993246 Centerline is valid? [True, True] Translation: X:-3.68, Y:1.13, Z:0.16 [[ 0.9621719 0.25911658 -0.08416555 -3.67514766] [-0.25861259 0.96583105 0.01702679 1.13480751] [ 0.08570162 0.00538357 0.9963063 0.15633647] [ 0. 0. 0. 1. ]] SLAMing on 3.773741732 meters Centerline goodness [0,1] 0.98967055803435 Centerline is valid? [True, True] Translation: X:-3.71, Y:1.14, Z:0.15 [[ 0.96160409 0.25981294 -0.0884014 -3.70517339] [-0.25926176 0.96564189 0.01786269 1.14490606] [ 0.09000505 0.00574226 0.99592475 0.151855 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8037417319999998 meters Centerline goodness [0,1] 0.9870431487593204 Centerline is valid? [True, True] Translation: X:-3.73, Y:1.16, Z:0.15 [[ 0.96109097 0.26218347 -0.08697109 -3.73478505] [-0.26166006 0.96500018 0.01756871 1.15542702] [ 0.08853335 0.00587173 0.99605591 0.14813916] [ 0. 0. 0. 1. ]] SLAMing on 3.833741732 meters Centerline goodness [0,1] 0.9845299162628495 Centerline is valid? [True, True] Translation: X:-3.76, Y:1.16, Z:0.15 [[ 0.96013611 0.26553373 -0.08735266 -3.76395429] [-0.26501971 0.96408157 0.01764317 1.16420522] [ 0.08889995 0.00621034 0.9960212 0.15051961] [ 0. 0. 0. 1. ]] SLAMing on 3.863741732 meters Centerline goodness [0,1] 0.9856072635479012 Centerline is valid? [True, True] Translation: X:-3.80, Y:1.17, Z:0.15 [[ 0.96050285 0.26472958 -0.08574682 -3.7956853 ] [-0.26423175 0.96430384 0.01731148 1.16895765] [ 0.08726885 0.00602931 0.99616655 0.15112689] [ 0. 0. 0. 1. ]] SLAMing on 3.8937417319999996 meters Centerline goodness [0,1] 0.9895486646643397 Centerline is valid? [True, True] Translation: X:-3.83, Y:1.17, Z:0.15 [[ 0.96166273 0.26101165 -0.0841291 -3.82773041] [-0.26051988 0.9653194 0.01696618 1.16882369] [ 0.08563982 0.00560156 0.99631042 0.151991 ] [ 0. 0. 0. 1. ]] SLAMing on 3.923741732 meters Centerline goodness [0,1] 0.9924703392417428 Centerline is valid? [True, True] Translation: X:-3.86, Y:1.17, Z:0.15 [[ 0.9626742 0.25720156 -0.08429556 -3.85892906] [-0.25669346 0.96634338 0.01699792 1.16964779] [ 0.08583035 0.00527466 0.9962958 0.15159951] [ 0. 0. 0. 1. ]] SLAMing on 3.9537417319999997 meters Centerline goodness [0,1] 0.9951586111898878 Centerline is valid? [True, True] Translation: X:-3.89, Y:1.17, Z:0.15 [[ 0.96471028 0.24975306 -0.08341157 -3.89079376] [-0.24922802 0.9682988 0.01681731 1.16742106] [ 0.0849675 0.00456467 0.99637327 0.14833197] [ 0. 0. 0. 1. ]] SLAMing on 3.983741732 meters Centerline goodness [0,1] 0.995533176317713 Centerline is valid? [True, True] Translation: X:-3.92, Y:1.17, Z:0.15 [[ 0.96642025 0.24327929 -0.0827471 -3.92260488] [-0.24273922 0.96994817 0.01667988 1.16703059] [ 0.08431827 0.00396619 0.99643098 0.1458175 ] [ 0. 0. 0. 1. ]] SLAMing on 4.013741732 meters Centerline goodness [0,1] 0.9973521264461463 Centerline is valid? [True, True] Translation: X:-3.95, Y:1.17, Z:0.14 [[ 9.67833751e-01 2.36856095e-01 -8.48352567e-02 -3.95407355e+00] [-2.36263963e-01 9.71538458e-01 1.70986415e-02 1.16554878e+00] [ 8.64706320e-02 3.49487167e-03 9.96248270e-01 1.43683850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.043741732 meters Centerline goodness [0,1] 0.9969642020333734 Centerline is valid? [True, True] Translation: X:-3.99, Y:1.16, Z:0.15 [[ 9.69808416e-01 2.28479077e-01 -8.52581242e-02 -3.98580062e+00] [-2.27848915e-01 9.73544901e-01 1.71812976e-02 1.16152882e+00] [ 8.69281791e-02 2.76340411e-03 9.96210748e-01 1.47018655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.073741732 meters Centerline goodness [0,1] 0.9964400504495707 Centerline is valid? [True, True] Translation: X:-4.02, Y:1.16, Z:0.15 [[ 9.70479064e-01 2.25953924e-01 -8.43517058e-02 -4.01735906e+00] [-2.25328432e-01 9.74134732e-01 1.69888577e-02 1.16473669e+00] [ 8.60086254e-02 2.51950693e-03 9.96291207e-01 1.46177503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1037417320000005 meters Centerline goodness [0,1] 0.9974242485701538 Centerline is valid? [True, True] Translation: X:-4.05, Y:1.17, Z:0.14 [[ 9.71450062e-01 2.22338339e-01 -8.27673864e-02 -4.04914393e+00] [-2.21724683e-01 9.74967141e-01 1.66504835e-02 1.17023002e+00] [ 8.43975229e-02 2.17645927e-03 9.96429787e-01 1.44650866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.133741732 meters Centerline goodness [0,1] 0.9970562559636194 Centerline is valid? [True, True] Translation: X:-4.08, Y:1.18, Z:0.14 [[ 9.71572836e-01 2.21317691e-01 -8.40517890e-02 -4.07964376e+00] [-2.20682067e-01 9.75199432e-01 1.68965364e-02 1.17981277e+00] [ 8.57067593e-02 2.13250679e-03 9.96318124e-01 1.39184141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.163741732 meters Centerline goodness [0,1] 0.9967877038181596 Centerline is valid? [True, True] Translation: X:-4.11, Y:1.19, Z:0.14 [[ 9.71715542e-01 2.20386301e-01 -8.48456501e-02 -4.11058322e+00] [-2.19737081e-01 9.75410426e-01 1.70328067e-02 1.18580915e+00] [ 8.65131289e-02 2.09269247e-03 9.96248513e-01 1.37156588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.193741732 meters Centerline goodness [0,1] 0.9972692629047707 Centerline is valid? [True, True] Translation: X:-4.14, Y:1.19, Z:0.14 [[ 9.71526220e-01 2.20279987e-01 -8.72555493e-02 -4.14205655e+00] [-2.19594718e-01 9.75434287e-01 1.74960310e-02 1.19110727e+00] [ 8.89660801e-02 2.16300486e-03 9.96032308e-01 1.37720931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.223741732000001 meters Centerline goodness [0,1] 0.9973803383221981 Centerline is valid? [True, True] Translation: X:-4.17, Y:1.20, Z:0.14 [[ 9.71118431e-01 2.22920707e-01 -8.50608692e-02 -4.17308871e+00] [-2.22281857e-01 9.74833702e-01 1.70302794e-02 1.20162501e+00] [ 8.67166039e-02 2.36906975e-03 9.96230203e-01 1.37158442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.253741732 meters Centerline goodness [0,1] 0.997089354773051 Centerline is valid? [True, True] Translation: X:-4.20, Y:1.21, Z:0.14 [[ 9.70586513e-01 2.25398035e-01 -8.46022889e-02 -4.20365924e+00] [-2.24777699e-01 9.74263289e-01 1.69123998e-02 1.21451518e+00] [ 8.62369259e-02 2.60176063e-03 9.96271260e-01 1.37368690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.283741732 meters Centerline goodness [0,1] 0.9974801357475258 Centerline is valid? [True, True] Translation: X:-4.23, Y:1.22, Z:0.14 [[ 9.70304733e-01 2.27546023e-01 -8.20459120e-02 -4.23426602e+00] [-2.26972330e-01 9.73763497e-01 1.63772369e-02 1.22382227e+00] [ 8.36198893e-02 2.73124127e-03 9.96493981e-01 1.38688621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.313741732 meters Centerline goodness [0,1] 0.9986997683962456 Centerline is valid? [True, True] Translation: X:-4.26, Y:1.23, Z:0.13 [[ 9.69974315e-01 2.29026616e-01 -8.18329852e-02 -4.26486636e+00] [-2.28463110e-01 9.73415917e-01 1.63113275e-02 1.23461389e+00] [ 8.33932585e-02 2.87424958e-03 9.96512570e-01 1.34953510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.343741732000001 meters Centerline goodness [0,1] 0.9976374745417516 Centerline is valid? [True, True] Translation: X:-4.30, Y:1.24, Z:0.13 [[ 9.70037124e-01 2.28246143e-01 -8.32566949e-02 -4.29553337e+00] [-2.27661909e-01 9.73599205e-01 1.65723617e-02 1.24010110e+00] [ 8.48412296e-02 2.87857197e-03 9.96390325e-01 1.31937091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.373741732 meters Centerline goodness [0,1] 0.9971471349951441 Centerline is valid? [True, True] Translation: X:-4.33, Y:1.24, Z:0.13 [[ 9.70894841e-01 2.24250732e-01 -8.41119317e-02 -4.32778841e+00] [-2.23640525e-01 9.74528100e-01 1.67301764e-02 1.24298984e+00] [ 8.57211952e-02 2.56759460e-03 9.96315856e-01 1.33151390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.403741732 meters Centerline goodness [0,1] 0.9975031971256318 Centerline is valid? [True, True] Translation: X:-4.36, Y:1.25, Z:0.13 [[ 9.71637536e-01 2.21811771e-01 -8.19758340e-02 -4.35885440e+00] [-2.21224461e-01 9.75086783e-01 1.62942739e-02 1.24594481e+00] [ 8.35478140e-02 2.30293156e-03 9.96501109e-01 1.32701334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4337417320000005 meters Centerline goodness [0,1] 0.9977379715106682 Centerline is valid? [True, True] Translation: X:-4.39, Y:1.25, Z:0.13 [[ 9.73051819e-01 2.14426095e-01 -8.48033419e-02 -4.39169229e+00] [-2.13771234e-01 9.76738656e-01 1.68362139e-02 1.24631448e+00] [ 8.64408258e-02 1.74600655e-03 9.96255457e-01 1.29037542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.463741732 meters Centerline goodness [0,1] 0.9973570789623485 Centerline is valid? [True, True] Translation: X:-4.42, Y:1.25, Z:0.13 [[ 9.74318492e-01 2.08785280e-01 -8.43337584e-02 -4.42412484e+00] [-2.08117563e-01 9.77960707e-01 1.67312614e-02 1.24715398e+00] [ 8.59683431e-02 1.24975890e-03 9.96297085e-01 1.28769242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.493741732 meters Centerline goodness [0,1] 0.9967235660545263 Centerline is valid? [True, True] Translation: X:-4.46, Y:1.25, Z:0.13 [[ 9.74974902e-01 2.05803061e-01 -8.40775842e-02 -4.45567658e+00] [-2.05130335e-01 9.78592912e-01 1.66570972e-02 1.25092401e+00] [ 8.57058095e-02 1.00661132e-03 9.96319979e-01 1.26904885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.523741732 meters Centerline goodness [0,1] 0.9964565004887586 Centerline is valid? [True, True] Translation: X:-4.49, Y:1.25, Z:0.12 [[ 9.75585443e-01 2.02253936e-01 -8.55943287e-02 -4.48756511e+00] [-2.01545246e-01 9.79332839e-01 1.69323429e-02 1.25392317e+00] [ 8.72499699e-02 7.32182868e-04 9.96186181e-01 1.21833482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.553741732000001 meters Centerline goodness [0,1] 0.9961241100752739 Centerline is valid? [True, True] Translation: X:-4.52, Y:1.26, Z:0.12 [[ 9.76260855e-01 1.98066318e-01 -8.76611518e-02 -4.51968381e+00] [-1.97308611e-01 9.80188542e-01 1.73128260e-02 1.25671545e+00] [ 8.93535443e-02 3.94465728e-04 9.95999894e-01 1.19410457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.583741732 meters Centerline goodness [0,1] 0.9957798202365735 Centerline is valid? [True, True] Translation: X:-4.55, Y:1.26, Z:0.12 [[ 9.76851470e-01 1.96284792e-01 -8.50499046e-02 -4.55149116e+00] [-1.95567099e-01 9.80546897e-01 1.67717523e-02 1.26171581e+00] [ 8.66874600e-02 2.49452184e-04 9.96235525e-01 1.18365158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.613741732 meters Centerline goodness [0,1] 0.9966709556195494 Centerline is valid? [True, True] Translation: X:-4.58, Y:1.27, Z:0.12 [[ 9.77086024e-01 1.94967831e-01 -8.53841118e-02 -4.58296646e+00] [-1.94241774e-01 9.80809624e-01 1.68111163e-02 1.26804573e+00] [ 8.70231855e-02 1.59254578e-04 9.96206274e-01 1.17211653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6437417320000005 meters Centerline goodness [0,1] 0.9963754176369343 Centerline is valid? [True, True] Translation: X:-4.61, Y:1.28, Z:0.11 [[ 9.76901909e-01 1.96173048e-01 -8.47277768e-02 -4.61446778e+00] [-1.95465068e-01 9.80569248e-01 1.66540406e-02 1.27799910e+00] [ 8.63485262e-02 2.91956620e-04 9.96264948e-01 1.14084673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.673741732 meters Centerline goodness [0,1] 0.9968619460010189 Centerline is valid? [True, True] Translation: X:-4.65, Y:1.29, Z:0.11 [[ 9.76478976e-01 1.97911032e-01 -8.55571845e-02 -4.64512907e+00] [-1.97198237e-01 9.80219871e-01 1.67886954e-02 1.28775911e+00] [ 8.71875204e-02 4.77917899e-04 9.96191803e-01 1.12810777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.703741732 meters Centerline goodness [0,1] 0.9975796774259158 Centerline is valid? [True, True] Translation: X:-4.67, Y:1.30, Z:0.11 [[ 9.75487060e-01 2.02405388e-01 -8.63542432e-02 -4.67425478e+00] [-2.01698935e-01 9.79301398e-01 1.69207583e-02 1.29988366e+00] [ 8.79916837e-02 9.11578080e-04 9.96120792e-01 1.12011256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.733741732 meters Centerline goodness [0,1] 0.9970282317979198 Centerline is valid? [True, True] Translation: X:-4.70, Y:1.31, Z:0.11 [[ 9.74522581e-01 2.07448560e-01 -8.52691827e-02 -4.70442120e+00] [-2.06781153e-01 9.78244963e-01 1.66837157e-02 1.31376665e+00] [ 8.68751614e-02 1.37340219e-03 9.96218259e-01 1.09017829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.763741732000001 meters Centerline goodness [0,1] 0.9975168932671171 Centerline is valid? [True, True] Translation: X:-4.73, Y:1.32, Z:0.11 [[ 9.74422833e-01 2.07316574e-01 -8.67178205e-02 -4.73413577e+00] [-2.06628059e-01 9.78272890e-01 1.69409794e-02 1.32259001e+00] [ 8.83458387e-02 1.41065779e-03 9.96088863e-01 1.08502755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.793741732 meters Centerline goodness [0,1] 0.9975168932671171 Centerline is valid? [True, True] Translation: X:-4.77, Y:1.33, Z:0.11 [[ 9.74491132e-01 2.06993280e-01 -8.67226387e-02 -4.76605394e+00] [-2.06305686e-01 9.78341353e-01 1.69162835e-02 1.32906151e+00] [ 8.83459007e-02 1.40660518e-03 9.96088863e-01 1.06462197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.823741732 meters Centerline goodness [0,1] 0.997452151403355 Centerline is valid? [True, True] Translation: X:-4.80, Y:1.34, Z:0.10 [[ 9.74721405e-01 2.05840809e-01 -8.68777566e-02 -4.79837956e+00] [-2.05148832e-01 9.78584581e-01 1.69166874e-02 1.33568481e+00] [ 8.84993777e-02 1.33381299e-03 9.96075339e-01 1.03226601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8537417320000005 meters Centerline goodness [0,1] 0.9968546439659896 Centerline is valid? [True, True] Translation: X:-4.83, Y:1.34, Z:0.10 [[ 9.75151350e-01 2.04585117e-01 -8.49986743e-02 -4.82968362e+00] [-2.03920400e-01 9.78848018e-01 1.65235795e-02 1.34110591e+00] [ 8.65812623e-02 1.21997285e-03 9.96244045e-01 1.01122609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.883741732 meters Centerline goodness [0,1] 0.9960655604028213 Centerline is valid? [True, True] Translation: X:-4.86, Y:1.35, Z:0.10 [[ 9.75700227e-01 2.02053326e-01 -8.47556499e-02 -4.86112907e+00] [-2.01384971e-01 9.79373994e-01 1.64521357e-02 1.34642113e+00] [ 8.63316882e-02 1.01616152e-03 9.96265932e-01 1.00575327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.913741732 meters Centerline goodness [0,1] 0.9964414982309162 Centerline is valid? [True, True] Translation: X:-4.89, Y:1.35, Z:0.10 [[ 9.76677618e-01 1.97020013e-01 -8.53460358e-02 -4.89297002e+00] [-1.96325365e-01 9.80399283e-01 1.65407739e-02 1.35110246e+00] [ 8.69320558e-02 6.00588044e-04 9.96214062e-01 1.00038199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.943741732 meters Centerline goodness [0,1] 0.996831908369042 Centerline is valid? [True, True] Translation: X:-4.92, Y:1.36, Z:0.10 [[ 9.77097924e-01 1.96154299e-01 -8.24811329e-02 -4.92423500e+00] [-1.95504560e-01 9.80572899e-01 1.59611111e-02 1.36088422e+00] [ 8.40096042e-02 5.29869053e-04 9.96464804e-01 1.01328605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.973741732000001 meters Centerline goodness [0,1] 0.9957529351710056 Centerline is valid? [True, True] Translation: X:-4.96, Y:1.37, Z:0.10 [[ 9.77198700e-01 1.95612872e-01 -8.25730225e-02 -4.95570389e+00] [-1.94961939e-01 9.80681062e-01 1.59529786e-02 1.37263493e+00] [ 8.40984074e-02 5.09366681e-04 9.96457324e-01 9.74911432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.003741732 meters Centerline goodness [0,1] 0.9968869536908929 Centerline is valid? [True, True] Translation: X:-4.99, Y:1.38, Z:0.10 [[ 9.77113070e-01 1.96433619e-01 -8.16325976e-02 -4.98631250e+00] [-1.95802318e-01 9.80516944e-01 1.57472341e-02 1.38131919e+00] [ 8.31354313e-02 5.97023564e-04 9.96538079e-01 9.98745783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.033741732 meters Centerline goodness [0,1] 0.9971725739674846 Centerline is valid? [True, True] Translation: X:-5.02, Y:1.39, Z:0.10 [[ 9.76731266e-01 1.97417368e-01 -8.37998679e-02 -5.01714583e+00] [-1.96756761e-01 9.80319273e-01 1.61524128e-02 1.39318403e+00] [ 8.53393924e-02 7.11624009e-04 9.96351686e-01 9.56972295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.063741732 meters Centerline goodness [0,1] 0.9978635087290929 Centerline is valid? [True, True] Translation: X:-5.05, Y:1.40, Z:0.09 [[ 9.76284917e-01 1.98227297e-01 -8.70270043e-02 -5.04662115e+00] [-1.97518950e-01 9.80155733e-01 1.67631816e-02 1.40311588e+00] [ 8.86229373e-02 8.23841224e-04 9.96064906e-01 9.28898178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.093741732 meters Centerline goodness [0,1] 0.9973112256329822 Centerline is valid? [True, True] Translation: X:-5.08, Y:1.42, Z:0.09 [[ 9.75056978e-01 2.03843705e-01 -8.78159052e-02 -5.07650938e+00] [-2.03146789e-01 9.79002494e-01 1.68967197e-02 1.41719164e+00] [ 8.94162801e-02 1.36425470e-03 9.95993407e-01 9.09124738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.123741732 meters Centerline goodness [0,1] 0.9969638308711156 Centerline is valid? [True, True] Translation: X:-5.11, Y:1.43, Z:0.09 [[ 9.73849422e-01 2.10702994e-01 -8.49797138e-02 -5.10689979e+00] [-2.10078230e-01 9.77548183e-01 1.63305483e-02 1.43176110e+00] [ 8.65126602e-02 1.94889283e-03 9.96248845e-01 8.98144231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.153741732 meters Centerline goodness [0,1] 0.9965027814136126 Centerline is valid? [True, True] Translation: X:-5.14, Y:1.44, Z:0.09 [[ 9.73343595e-01 2.13063840e-01 -8.48884402e-02 -5.13805547e+00] [-2.12450567e-01 9.77035870e-01 1.62992230e-02 1.44200469e+00] [ 8.64118261e-02 2.16985290e-03 9.96257140e-01 8.88399351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1837417320000005 meters Centerline goodness [0,1] 0.9972650270435759 Centerline is valid? [True, True] Translation: X:-5.17, Y:1.45, Z:0.09 [[ 9.73313915e-01 2.13736408e-01 -8.35270694e-02 -5.16974461e+00] [-2.13147385e-01 9.76888849e-01 1.60115568e-02 1.45137811e+00] [ 8.50189153e-02 2.21930535e-03 9.96376866e-01 8.78549321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.213741732 meters Centerline goodness [0,1] 0.9970003673019631 Centerline is valid? [True, True] Translation: X:-5.20, Y:1.46, Z:0.08 [[ 9.73580303e-01 2.12293928e-01 -8.40992414e-02 -5.20077161e+00] [-2.11693901e-01 9.77203523e-01 1.60924356e-02 1.45888993e+00] [ 8.55984014e-02 2.13601819e-03 9.96327432e-01 8.47573913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.243741732 meters Centerline goodness [0,1] 0.9969540864303529 Centerline is valid? [True, True] Translation: X:-5.23, Y:1.46, Z:0.08 [[ 9.74131080e-01 2.08806913e-01 -8.64193997e-02 -5.23266043e+00] [-2.08161959e-01 9.77955028e-01 1.65094462e-02 1.46290847e+00] [ 8.79615729e-02 1.90686696e-03 9.96122043e-01 8.34406925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.273741732 meters Centerline goodness [0,1] 0.9969430178527757 Centerline is valid? [True, True] Translation: X:-5.27, Y:1.47, Z:0.08 [[ 9.75064402e-01 2.04504360e-01 -8.61822434e-02 -5.26506783e+00] [-2.03847970e-01 9.78864450e-01 1.64436253e-02 1.46529206e+00] [ 8.77235274e-02 1.53448173e-03 9.96143678e-01 8.22255127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.303741732 meters Centerline goodness [0,1] 0.9964686670749132 Centerline is valid? [True, True] Translation: X:-5.30, Y:1.47, Z:0.08 [[ 9.75851926e-01 2.01882269e-01 -8.34060374e-02 -5.29579026e+00] [-2.01258501e-01 9.79408983e-01 1.59078690e-02 1.46857432e+00] [ 8.49001390e-02 1.26244938e-03 9.96388665e-01 8.24259814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.333741732 meters Centerline goodness [0,1] 0.997352611750331 Centerline is valid? [True, True] Translation: X:-5.33, Y:1.47, Z:0.08 [[ 9.76784459e-01 1.96944707e-01 -8.42905884e-02 -5.32789738e+00] [-1.96290076e-01 9.80414228e-01 1.60669946e-02 1.47177758e+00] [ 8.58040016e-02 8.51415414e-04 9.96311672e-01 7.74777985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.363741732 meters Centerline goodness [0,1] 0.9973476965764884 Centerline is valid? [True, True] Translation: X:-5.36, Y:1.48, Z:0.08 [[ 9.77423885e-01 1.93830855e-01 -8.40960699e-02 -5.35963640e+00] [-1.93169925e-01 9.81034779e-01 1.60044584e-02 1.47667713e+00] [ 8.56033272e-02 6.01691530e-04 9.96329116e-01 7.53241175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3937417320000005 meters Centerline goodness [0,1] 0.9980843692683921 Centerline is valid? [True, True] Translation: X:-5.39, Y:1.48, Z:0.08 [[ 9.77550536e-01 1.93506428e-01 -8.33679292e-02 -5.39030908e+00] [-1.92857815e-01 9.81098829e-01 1.58414582e-02 1.48437157e+00] [ 8.48576016e-02 5.92330645e-04 9.96392913e-01 7.73759988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.423741732 meters Centerline goodness [0,1] 0.9968872232802932 Centerline is valid? [True, True] Translation: X:-5.42, Y:1.49, Z:0.07 [[ 9.77109235e-01 1.95918422e-01 -8.29066594e-02 -5.42154357e+00] [-1.95287624e-01 9.80619854e-01 1.57303872e-02 1.49402463e+00] [ 8.43817889e-02 8.20337871e-04 9.96433159e-01 7.41540657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.453741732 meters Centerline goodness [0,1] 0.9972180174283026 Centerline is valid? [True, True] Translation: X:-5.45, Y:1.50, Z:0.07 [[ 9.76382621e-01 1.98404649e-01 -8.55135781e-02 -5.45208010e+00] [-1.97745312e-01 9.80119584e-01 1.61985531e-02 1.50453327e+00] [ 8.70274008e-02 1.09392345e-03 9.96205318e-01 7.26067146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.483741732 meters Centerline goodness [0,1] 0.9978360280908052 Centerline is valid? [True, True] Translation: X:-5.48, Y:1.51, Z:0.07 [[ 9.75704340e-01 2.00849320e-01 -8.75248064e-02 -5.48285795e+00] [-2.00170781e-01 9.79621189e-01 1.65524558e-02 1.51440908e+00] [ 8.90657044e-02 1.36960591e-03 9.96024811e-01 6.90818560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.513741732000001 meters Centerline goodness [0,1] 0.9982256847429283 Centerline is valid? [True, True] Translation: X:-5.51, Y:1.53, Z:0.07 [[ 9.74684452e-01 2.05353844e-01 -8.84308637e-02 -5.51174326e+00] [-2.04681452e-01 9.78686103e-01 1.67037223e-02 1.52610819e+00] [ 8.99762310e-02 1.81929914e-03 9.95942251e-01 6.53479068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.543741732 meters Centerline goodness [0,1] 0.9967022900763359 Centerline is valid? [True, True] Translation: X:-5.54, Y:1.54, Z:0.07 [[ 9.73949198e-01 2.10156594e-01 -8.51890004e-02 -5.54238979e+00] [-2.09551824e-01 9.77665288e-01 1.60816028e-02 1.53835815e+00] [ 8.66659835e-02 2.18884630e-03 9.96235021e-01 6.61790367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.573741732 meters Centerline goodness [0,1] 0.9971182145192936 Centerline is valid? [True, True] Translation: X:-5.57, Y:1.55, Z:0.07 [[ 9.73525915e-01 2.11998021e-01 -8.54642199e-02 -5.57297381e+00] [-2.11398669e-01 9.77267183e-01 1.61076321e-02 1.54590310e+00] [ 8.69361635e-02 2.38582510e-03 9.96211028e-01 6.72769663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6037417320000005 meters Centerline goodness [0,1] 0.9969357738192515 Centerline is valid? [True, True] Translation: X:-5.60, Y:1.56, Z:0.06 [[ 9.73203978e-01 2.13950946e-01 -8.42556272e-02 -5.60275483e+00] [-2.13377913e-01 9.76841081e-01 1.58546024e-02 1.55912502e+00] [ 8.56964651e-02 2.54852778e-03 9.96318032e-01 6.18684060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.633741732 meters Centerline goodness [0,1] 0.9973113351665139 Centerline is valid? [True, True] Translation: X:-5.64, Y:1.57, Z:0.06 [[ 9.73266272e-01 2.13864515e-01 -8.37540021e-02 -5.63528870e+00] [-2.13300303e-01 9.76859997e-01 1.57329666e-02 1.56770064e+00] [ 8.51806576e-02 2.55238827e-03 9.96362254e-01 6.08157985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.663741732 meters Centerline goodness [0,1] 0.9974241030358786 Centerline is valid? [True, True] Translation: X:-5.67, Y:1.57, Z:0.06 [[ 9.73683390e-01 2.11097619e-01 -8.58979134e-02 -5.66689500e+00] [-2.10495896e-01 9.77462042e-01 1.61069306e-02 1.57195916e+00] [ 8.73620846e-02 2.39810743e-03 9.96173737e-01 6.00137205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.693741732 meters Centerline goodness [0,1] 0.9973668633014227 Centerline is valid? [True, True] Translation: X:-5.70, Y:1.58, Z:0.06 [[ 9.74129520e-01 2.08590726e-01 -8.69573938e-02 -5.69812462e+00] [-2.07966363e-01 9.78000489e-01 1.62799047e-02 1.57624814e+00] [ 8.84402108e-02 2.22547721e-03 9.96079001e-01 5.60786045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.723741732000001 meters Centerline goodness [0,1] 0.9962927308850337 Centerline is valid? [True, True] Translation: X:-5.73, Y:1.58, Z:0.05 [[ 9.74197769e-01 2.08170614e-01 -8.71992141e-02 -5.72965365e+00] [-2.07543375e-01 9.78090013e-01 1.62995261e-02 1.58111669e+00] [ 8.86817628e-02 2.21865724e-03 9.96057540e-01 5.13409817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.753741732 meters Centerline goodness [0,1] 0.9977242439774474 Centerline is valid? [True, True] Translation: X:-5.76, Y:1.59, Z:0.05 [[ 9.73746333e-01 2.09023698e-01 -9.01508327e-02 -5.76031552e+00] [-2.08358957e-01 9.77907638e-01 1.68284685e-02 1.58957400e+00] [ 9.16767365e-02 2.39707396e-03 9.95785936e-01 4.78121650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.783741732 meters Centerline goodness [0,1] 0.996746603372074 Centerline is valid? [True, True] Translation: X:-5.79, Y:1.60, Z:0.05 [[ 9.72144542e-01 2.16809560e-01 -8.90427034e-02 -5.78883788e+00] [-2.16193953e-01 9.76209010e-01 1.66175907e-02 1.60105264e+00] [ 9.05271418e-02 3.09579389e-03 9.95889177e-01 4.58934425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.813741732 meters Centerline goodness [0,1] 0.9973266942840234 Centerline is valid? [True, True] Translation: X:-5.82, Y:1.62, Z:0.05 [[ 9.69898211e-01 2.26515181e-01 -8.93774732e-02 -5.81781400e+00] [-2.25935935e-01 9.73999355e-01 1.66796154e-02 1.61516240e+00] [ 9.08317874e-02 4.01605382e-03 9.95858151e-01 4.58226556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.843741732 meters Centerline goodness [0,1] 0.9974806955738075 Centerline is valid? [True, True] Translation: X:-5.85, Y:1.63, Z:0.05 [[ 9.68442085e-01 2.33037262e-01 -8.83943614e-02 -5.84780595e+00] [-2.32497874e-01 9.72457032e-01 1.64942448e-02 1.62522955e+00] [ 8.98034920e-02 4.57778028e-03 9.95948983e-01 4.53946813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.873741732 meters Centerline goodness [0,1] 0.9952652094940713 Centerline is valid? [True, True] Translation: X:-5.88, Y:1.63, Z:0.05 [[ 9.67107434e-01 2.39180830e-01 -8.65779491e-02 -5.87784874e+00] [-2.38688030e-01 9.70961944e-01 1.61532523e-02 1.63038494e+00] [ 8.79274421e-02 5.04318972e-03 9.96114116e-01 4.78960239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.903741732 meters Centerline goodness [0,1] 0.9958535887903918 Centerline is valid? [True, True] Translation: X:-5.91, Y:1.63, Z:0.04 [[ 9.67145935e-01 2.39530137e-01 -8.51707329e-02 -5.91107914e+00] [-2.39055286e-01 9.70876056e-01 1.58825251e-02 1.63222898e+00] [ 8.64945686e-02 4.99979438e-03 9.96239776e-01 4.48257821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9337417320000005 meters Centerline goodness [0,1] 0.994483942142682 Centerline is valid? [True, True] Translation: X:-5.94, Y:1.63, Z:0.04 [[ 9.67075227e-01 2.38748958e-01 -8.81160620e-02 -5.94373394e+00] [-2.38240178e-01 9.71067766e-01 1.64015802e-02 1.63251747e+00] [ 8.94825277e-02 5.13122435e-03 9.95975174e-01 3.64945678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.963741732 meters Centerline goodness [0,1] 0.9947454508280515 Centerline is valid? [True, True] Translation: X:-5.98, Y:1.63, Z:0.03 [[ 9.66702971e-01 2.37937612e-01 -9.41862993e-02 -5.97538600e+00] [-2.37354468e-01 9.71265273e-01 1.75107293e-02 1.62596597e+00] [ 9.56463429e-02 5.42786486e-03 9.95400580e-01 2.63952116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.993741732 meters Centerline goodness [0,1] 0.9954262378764676 Centerline is valid? [True, True] Translation: X:-6.01, Y:1.62, Z:0.03 [[ 9.65993933e-01 2.39781387e-01 -9.67502381e-02 -6.00731742e+00] [-2.39175435e-01 9.70809783e-01 1.79854607e-02 1.62018272e+00] [ 9.82386564e-02 5.76643431e-03 9.95146178e-01 2.72959840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.023741732 meters Centerline goodness [0,1] 0.9920141789068389 Centerline is valid? [True, True] Translation: X:-6.04, Y:1.61, Z:0.03 [[ 9.65111995e-01 2.44637829e-01 -9.33336531e-02 -6.04026386e+00] [-2.44096695e-01 9.69595717e-01 1.73478988e-02 1.61479470e+00] [ 9.47398626e-02 6.03977107e-03 9.95483742e-01 2.96495823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.053741732 meters Centerline goodness [0,1] 0.9911230556234221 Centerline is valid? [True, True] Translation: X:-6.08, Y:1.60, Z:0.03 [[ 9.65433980e-01 2.44804782e-01 -8.94865861e-02 -6.07596387e+00] [-2.44309066e-01 9.69554950e-01 1.66216492e-02 1.60019225e+00] [ 9.08312217e-02 5.81527927e-03 9.95849322e-01 3.36438613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.083741732 meters Centerline goodness [0,1] 0.991005291005291 Centerline is valid? [True, True] Translation: X:-6.11, Y:1.59, Z:0.03 [[ 9.65863581e-01 2.42943500e-01 -8.99221766e-02 -6.11002156e+00] [-2.42436894e-01 9.70023759e-01 1.66810990e-02 1.59199505e+00] [ 9.12792124e-02 5.68878718e-03 9.95809090e-01 3.17049348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.113741732 meters Centerline goodness [0,1] 0.9915881014304291 Centerline is valid? [True, True] Translation: X:-6.14, Y:1.57, Z:0.03 [[ 9.66522004e-01 2.39682492e-01 -9.15834028e-02 -6.14485827e+00] [-2.39143720e-01 9.70835781e-01 1.69754804e-02 1.57096891e+00] [ 9.29811699e-02 5.49442031e-03 9.95652707e-01 2.78046735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1437417320000005 meters Centerline goodness [0,1] 0.9860978435397655 Centerline is valid? [True, True] Translation: X:-6.18, Y:1.56, Z:0.02 [[ 9.66006520e-01 2.40512269e-01 -9.47905645e-02 -6.17875916e+00] [-2.39940902e-01 9.70628831e-01 1.75509734e-02 1.55789985e+00] [ 9.62276792e-02 5.78977881e-03 9.95342510e-01 2.18960578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.173741732 meters Centerline goodness [0,1] 0.9670476653696498 Centerline is valid? [True, True] Translation: X:-6.21, Y:1.56, Z:0.02 [[ 9.65413016e-01 2.42842011e-01 -9.48971377e-02 -6.21057887e+00] [-2.42280924e-01 9.70047094e-01 1.75667021e-02 1.55765306e+00] [ 9.63206260e-02 6.03264338e-03 9.95332077e-01 1.69425745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.203741732 meters Centerline goodness [0,1] 0.9893234822497818 Centerline is valid? [True, True] Translation: X:-6.25, Y:1.52, Z:0.03 [[ 9.65390873e-01 2.45026365e-01 -8.93450789e-02 -6.25018634e+00] [-2.44539199e-01 9.69498516e-01 1.65290149e-02 1.51828868e+00] [ 9.06699658e-02 5.89141388e-03 9.95863569e-01 2.51597232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.233741732 meters Centerline goodness [0,1] 0.986240666922968 Centerline is valid? [True, True] Translation: X:-6.28, Y:1.50, Z:0.02 [[ 9.66265312e-01 2.41588095e-01 -8.92554715e-02 -6.28446552e+00] [-2.41088951e-01 9.70362845e-01 1.64944586e-02 1.50294677e+00] [ 9.05950581e-02 5.58048484e-03 9.95872177e-01 2.32314378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.263741732000001 meters Centerline goodness [0,1] 0.9903398274535218 Centerline is valid? [True, True] Translation: X:-6.32, Y:1.49, Z:0.02 [[ 9.66994452e-01 2.38108496e-01 -9.06977013e-02 -6.31787272e+00] [-2.37578179e-01 9.71223863e-01 1.67575679e-02 1.49027696e+00] [ 9.20778911e-02 5.34331945e-03 9.95737471e-01 2.12059348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.293741732 meters Centerline goodness [0,1] 0.9915243902439025 Centerline is valid? [True, True] Translation: X:-6.35, Y:1.48, Z:0.02 [[ 9.67914370e-01 2.35170169e-01 -8.85254943e-02 -6.35123621e+00] [-2.34652932e-01 9.71941640e-01 1.63538752e-02 1.47964553e+00] [ 8.98875578e-02 4.94361606e-03 9.95939651e-01 1.66470409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.323741732 meters Centerline goodness [0,1] 0.992240680713128 Centerline is valid? [True, True] Translation: X:-6.38, Y:1.47, Z:0.01 [[ 9.68615823e-01 2.33152557e-01 -8.61584189e-02 -6.38365262e+00] [-2.32654937e-01 9.72429143e-01 1.59135716e-02 1.46987326e+00] [ 8.74932474e-02 4.63104424e-03 9.96154348e-01 1.29551462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3537417320000005 meters Centerline goodness [0,1] 0.9922444610506331 Centerline is valid? [True, True] Translation: X:-6.42, Y:1.46, Z:0.01 [[ 9.68687710e-01 2.31838968e-01 -8.88527610e-02 -6.41770284e+00] [-2.31305074e-01 9.72742999e-01 1.64018581e-02 1.46408214e+00] [ 9.02334911e-02 4.66381607e-03 9.95909718e-01 1.21853392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.383741732 meters Centerline goodness [0,1] 0.992018197696854 Centerline is valid? [True, True] Translation: X:-6.45, Y:1.45, Z:0.01 [[ 9.68814072e-01 2.31431429e-01 -8.85369291e-02 -6.45114219e+00] [-2.30901932e-01 9.72840181e-01 1.63180727e-02 1.45356023e+00] [ 8.99087970e-02 4.63416951e-03 9.95939221e-01 1.09521166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.413741732 meters Centerline goodness [0,1] 0.9911007500506791 Centerline is valid? [True, True] Translation: X:-6.48, Y:1.46, Z:0.01 [[ 9.68757817e-01 2.33045948e-01 -8.48403079e-02 -6.48456635e+00] [-2.32567573e-01 9.72454839e-01 1.56176395e-02 1.45543117e+00] [ 8.61429956e-02 4.60139419e-03 9.96272157e-01 5.88436547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.443741732 meters Centerline goodness [0,1] 0.9908043183245225 Centerline is valid? [True, True] Translation: X:-6.52, Y:1.45, Z:0.00 [[ 9.67660164e-01 2.36747106e-01 -8.70896898e-02 -6.51526016e+00] [-2.36258630e-01 9.71558079e-01 1.60236943e-02 1.45176915e+00] [ 8.84062550e-02 5.07020019e-03 9.96071597e-01 2.51419133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.473741732000001 meters Centerline goodness [0,1] 0.9889904908659597 Centerline is valid? [True, True] Translation: X:-6.55, Y:1.45, Z:-0.00 [[ 9.66710987e-01 2.40929611e-01 -8.61556205e-02 -6.54626875e+00] [-2.40468055e-01 9.70527605e-01 1.58518721e-02 1.44840844e+00] [ 8.74355934e-02 5.39349552e-03 9.96155574e-01 -1.73215569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.503741732 meters Centerline goodness [0,1] 0.9876103328204713 Centerline is valid? [True, True] Translation: X:-6.58, Y:1.45, Z:-0.00 [[ 9.66493192e-01 2.41792782e-01 -8.61809714e-02 -6.57915812e+00] [-2.41334547e-01 9.70312461e-01 1.58544632e-02 1.44695309e+00] [ 8.74559652e-02 5.47521488e-03 9.96153340e-01 -3.50130565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.533741732 meters Centerline goodness [0,1] 0.988409465268571 Centerline is valid? [True, True] Translation: X:-6.61, Y:1.44, Z:-0.00 [[ 9.67059481e-01 2.39879915e-01 -8.51679946e-02 -6.61276171e+00] [-2.39425541e-01 9.70788398e-01 1.56619798e-02 1.43988147e+00] [ 8.64370954e-02 5.24532708e-03 9.96243502e-01 -1.78419852e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.563741732 meters Centerline goodness [0,1] 0.9906271508967974 Centerline is valid? [True, True] Translation: X:-6.65, Y:1.44, Z:-0.00 [[ 9.68034336e-01 2.36851807e-01 -8.25272407e-02 -6.64502342e+00] [-2.36414465e-01 9.71533822e-01 1.51734341e-02 1.43546275e+00] [ 8.37718609e-02 4.82222827e-03 9.96473292e-01 -1.33803776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.593741732 meters Centerline goodness [0,1] 0.9935024188814444 Centerline is valid? [True, True] Translation: X:-6.68, Y:1.42, Z:-0.00 [[ 9.69066418e-01 2.32425042e-01 -8.29992638e-02 -6.67780864e+00] [-2.31966615e-01 9.72604058e-01 1.52589587e-02 1.42264512e+00] [ 8.42719849e-02 4.46611386e-03 9.96432781e-01 -4.19113752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.623741732 meters Centerline goodness [0,1] 0.9926080019388848 Centerline is valid? [True, True] Translation: X:-6.71, Y:1.42, Z:-0.01 [[ 9.69643626e-01 2.28981963e-01 -8.57816925e-02 -6.70996304e+00] [-2.28478990e-01 9.73421128e-01 1.57689212e-02 1.42088245e+00] [ 8.71125104e-02 4.30908055e-03 9.96189160e-01 -1.14219051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.653741732 meters Centerline goodness [0,1] 0.9930360143328543 Centerline is valid? [True, True] Translation: X:-6.74, Y:1.42, Z:-0.01 [[ 9.69902685e-01 2.27981741e-01 -8.55167133e-02 -6.74142788e+00] [-2.27478656e-01 9.73656291e-01 1.57126831e-02 1.41898355e+00] [ 8.68460907e-02 4.21345346e-03 9.96212830e-01 -1.24920448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6837417320000005 meters Centerline goodness [0,1] 0.9920962961469444 Centerline is valid? [True, True] Translation: X:-6.77, Y:1.43, Z:-0.01 [[ 9.70017872e-01 2.27761451e-01 -8.47941573e-02 -6.77157026e+00] [-2.27266864e-01 9.73708042e-01 1.55699052e-02 1.42543565e+00] [ 8.61109771e-02 4.16781584e-03 9.96276833e-01 -1.48841580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.713741732 meters Centerline goodness [0,1] 0.9920962961469444 Centerline is valid? [True, True] Translation: X:-6.80, Y:1.43, Z:-0.02 [[ 9.70035445e-01 2.27686300e-01 -8.47949525e-02 -6.80268733e+00] [-2.27191804e-01 9.73725627e-01 1.55655733e-02 1.43124863e+00] [ 8.61110861e-02 4.16556036e-03 9.96276833e-01 -1.68724291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.743741732 meters Centerline goodness [0,1] 0.9935087258093871 Centerline is valid? [True, True] Translation: X:-6.84, Y:1.43, Z:-0.02 [[ 9.70144533e-01 2.27916201e-01 -8.29083255e-02 -6.83532903e+00] [-2.27444862e-01 9.73672125e-01 1.52127279e-02 1.43358625e+00] [ 8.41927526e-02 4.09852790e-03 9.96441058e-01 -1.72119349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.773741732 meters Centerline goodness [0,1] 0.9932850718880442 Centerline is valid? [True, True] Translation: X:-6.87, Y:1.43, Z:-0.02 [[ 9.69938490e-01 2.27998430e-01 -8.50649306e-02 -6.86659719e+00] [-2.27503036e-01 9.73652360e-01 1.56028808e-02 1.43212989e+00] [ 8.63811028e-02 4.21869541e-03 9.96253235e-01 -1.80634231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.803741732 meters Centerline goodness [0,1] 0.9927707915679485 Centerline is valid? [True, True] Translation: X:-6.90, Y:1.43, Z:-0.02 [[ 9.69598803e-01 2.27397717e-01 -9.03794143e-02 -6.89700226e+00] [-2.26836038e-01 9.73791896e-01 1.65757149e-02 1.43388064e+00] [ 9.17800210e-02 4.42951486e-03 9.95769455e-01 -2.32325945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.833741732 meters Centerline goodness [0,1] 0.992807790213746 Centerline is valid? [True, True] Translation: X:-6.93, Y:1.44, Z:-0.03 [[ 9.70376214e-01 2.25800177e-01 -8.59318562e-02 -6.92737180e+00] [-2.25286314e-01 9.74165149e-01 1.57587959e-02 1.43684058e+00] [ 8.72701584e-02 4.06731043e-03 9.96176378e-01 -2.60381467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.863741732 meters Centerline goodness [0,1] 0.9922280315723601 Centerline is valid? [True, True] Translation: X:-6.96, Y:1.44, Z:-0.02 [[ 9.70947085e-01 2.24704955e-01 -8.22766218e-02 -6.95778844e+00] [-2.24229950e-01 9.74419445e-01 1.50888644e-02 1.43699737e+00] [ 8.35624827e-02 3.79839393e-03 9.96495300e-01 -2.07954646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8937417320000005 meters Centerline goodness [0,1] 0.9931814030886621 Centerline is valid? [True, True] Translation: X:-6.99, Y:1.44, Z:-0.02 [[ 9.71138085e-01 2.23993151e-01 -8.19627280e-02 -6.98750563e+00] [-2.23519034e-01 9.74583617e-01 1.50337755e-02 1.43633468e+00] [ 8.32469947e-02 3.72035780e-03 9.96522000e-01 -1.82395582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.923741732 meters Centerline goodness [0,1] 0.992841688067458 Centerline is valid? [True, True] Translation: X:-7.02, Y:1.44, Z:-0.02 [[ 9.71161667e-01 2.23766930e-01 -8.23005332e-02 -7.01623296e+00] [-2.23287674e-01 9.74635617e-01 1.51006325e-02 1.44351020e+00] [ 8.35920531e-02 3.71153915e-03 9.96493148e-01 -2.20866562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.953741732 meters Centerline goodness [0,1] 0.9921459079775713 Centerline is valid? [True, True] Translation: X:-7.05, Y:1.45, Z:-0.03 [[ 9.70575083e-01 2.25550429e-01 -8.43268144e-02 -7.04605762e+00] [-2.25053774e-01 9.74223451e-01 1.54746981e-02 1.45162621e+00] [ 8.56434849e-02 3.95871146e-03 9.96317982e-01 -2.77765729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.983741732 meters Centerline goodness [0,1] 0.9927246271371408 Centerline is valid? [True, True] Translation: X:-7.07, Y:1.46, Z:-0.03 [[ 9.70546793e-01 2.25929819e-01 -8.36339625e-02 -7.07459784e+00] [-2.25442769e-01 9.74135532e-01 1.53467318e-02 1.45677839e+00] [ 8.49380990e-02 3.95995077e-03 9.96378361e-01 -2.90064711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.013741732 meters Centerline goodness [0,1] 0.9931181054549135 Centerline is valid? [True, True] Translation: X:-7.10, Y:1.46, Z:-0.03 [[ 9.70150094e-01 2.27464990e-01 -8.40742124e-02 -7.10404308e+00] [-2.26978427e-01 9.73777565e-01 1.54287790e-02 1.46289864e+00] [ 8.53790890e-02 4.11480102e-03 9.96340042e-01 -2.81117079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.043741732 meters Centerline goodness [0,1] 0.9930096773541831 Centerline is valid? [True, True] Translation: X:-7.13, Y:1.47, Z:-0.03 [[ 9.69861281e-01 2.27678529e-01 -8.67846888e-02 -7.13373525e+00] [-2.27160969e-01 9.73726999e-01 1.59256537e-02 1.47192744e+00] [ 8.81305240e-02 4.26841903e-03 9.96099790e-01 -3.16909952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.073741732 meters Centerline goodness [0,1] 0.9930825242718446 Centerline is valid? [True, True] Translation: X:-7.16, Y:1.48, Z:-0.03 [[ 9.70026107e-01 2.26997181e-01 -8.67273373e-02 -7.16364846e+00] [-2.26477708e-01 9.73886337e-01 1.59138184e-02 1.47840608e+00] [ 8.80749608e-02 4.20498924e-03 9.96104974e-01 -3.30838786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1037417320000005 meters Centerline goodness [0,1] 0.9931620473396723 Centerline is valid? [True, True] Translation: X:-7.19, Y:1.49, Z:-0.04 [[ 9.70584225e-01 2.25557275e-01 -8.42031907e-02 -7.19266822e+00] [-2.25062218e-01 9.74221882e-01 1.54506564e-02 1.48698215e+00] [ 8.55175989e-02 3.95479348e-03 9.96328811e-01 -3.65368662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.133741732 meters Centerline goodness [0,1] 0.9932238359156924 Centerline is valid? [True, True] Translation: X:-7.22, Y:1.49, Z:-0.04 [[ 9.70951222e-01 2.23784156e-01 -8.47016911e-02 -7.22254771e+00] [-2.23276451e-01 9.74631240e-01 1.55426287e-02 1.48921466e+00] [ 8.60311082e-02 3.82075871e-03 9.96285125e-01 -3.76973262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.163741732 meters Centerline goodness [0,1] 0.9922480620155039 Centerline is valid? [True, True] Translation: X:-7.25, Y:1.50, Z:-0.04 [[ 9.71172029e-01 2.22066503e-01 -8.66680929e-02 -7.25124207e+00] [-2.21527997e-01 9.75024299e-01 1.59048310e-02 1.49945597e+00] [ 8.80354266e-02 3.75308203e-03 9.96110274e-01 -4.43586697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.193741732 meters Centerline goodness [0,1] 0.9927064972953261 Centerline is valid? [True, True] Translation: X:-7.28, Y:1.50, Z:-0.05 [[ 9.71987672e-01 2.18521273e-01 -8.65356470e-02 -7.28094971e+00] [-2.17970359e-01 9.75826171e-01 1.58810323e-02 1.50287450e+00] [ 8.79140924e-02 3.42603841e-03 9.96122169e-01 -4.64347193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.223741732 meters Centerline goodness [0,1] 0.9949878738884398 Centerline is valid? [True, True] Translation: X:-7.31, Y:1.50, Z:-0.04 [[ 9.72419473e-01 2.16398463e-01 -8.70176602e-02 -7.30918247e+00] [-2.15832505e-01 9.76299727e-01 1.59741005e-02 1.50255865e+00] [ 8.84120887e-02 3.24771323e-03 9.96078689e-01 -4.16558958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.253741732 meters Centerline goodness [0,1] 0.9935123991996605 Centerline is valid? [True, True] Translation: X:-7.34, Y:1.51, Z:-0.05 [[ 9.73427325e-01 2.13783480e-01 -8.20723238e-02 -7.33757704e+00] [-2.13270119e-01 9.76876971e-01 1.50744720e-02 1.51421547e+00] [ 8.33972362e-02 2.82967127e-03 9.96512365e-01 -4.63605813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.283741732 meters Centerline goodness [0,1] 0.9935659339544135 Centerline is valid? [True, True] Translation: X:-7.37, Y:1.52, Z:-0.05 [[ 9.73591815e-01 2.12852087e-01 -8.25406930e-02 -7.36743585e+00] [-2.12329369e-01 9.77080523e-01 1.51621254e-02 1.52076647e+00] [ 8.38761935e-02 2.76409205e-03 9.96472350e-01 -4.56958253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.313741732 meters Centerline goodness [0,1] 0.9942979618246522 Centerline is valid? [True, True] Translation: X:-7.40, Y:1.53, Z:-0.04 [[ 9.73643919e-01 2.13246823e-01 -8.08907401e-02 -7.39587060e+00] [-2.12746139e-01 9.76994512e-01 1.48594412e-02 1.52874707e+00] [ 8.21985378e-02 2.74138809e-03 9.96612204e-01 -4.32639170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.343741732 meters Centerline goodness [0,1] 0.9941866353379651 Centerline is valid? [True, True] Translation: X:-7.42, Y:1.54, Z:-0.05 [[ 9.73411102e-01 2.14437655e-01 -8.05438885e-02 -7.42465972e+00] [-2.13945219e-01 9.76733583e-01 1.47970015e-02 1.54176098e+00] [ 8.18429551e-02 2.82841431e-03 9.96641225e-01 -4.71369104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.373741732 meters Centerline goodness [0,1] 0.9944059345737566 Centerline is valid? [True, True] Translation: X:-7.45, Y:1.55, Z:-0.05 [[ 9.72956460e-01 2.15147930e-01 -8.40660146e-02 -7.45396870e+00] [-2.14614165e-01 9.76576812e-01 1.54431166e-02 1.55445680e+00] [ 8.54194751e-02 3.01627745e-03 9.96340512e-01 -5.32048453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.403741732 meters Centerline goodness [0,1] 0.9946092736705577 Centerline is valid? [True, True] Translation: X:-7.48, Y:1.56, Z:-0.06 [[ 9.72993250e-01 2.14268060e-01 -8.58681243e-02 -7.48420677e+00] [-2.13708135e-01 9.76770268e-01 1.57695099e-02 1.56375398e+00] [ 8.72523330e-02 3.00708997e-03 9.96181704e-01 -5.84479764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4337417320000005 meters Centerline goodness [0,1] 0.9958888573858804 Centerline is valid? [True, True] Translation: X:-7.51, Y:1.57, Z:-0.06 [[ 9.73975938e-01 2.10758961e-01 -8.33758526e-02 -7.51425376e+00] [-2.10218726e-01 9.77534552e-01 1.53064170e-02 1.57170933e+00] [ 8.47287413e-02 2.61908370e-03 9.96400613e-01 -5.89205415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.463741732 meters Centerline goodness [0,1] 0.9943137971650218 Centerline is valid? [True, True] Translation: X:-7.54, Y:1.58, Z:-0.06 [[ 9.74398783e-01 2.08448156e-01 -8.42400003e-02 -7.54480300e+00] [-2.07888271e-01 9.78030359e-01 1.54623284e-02 1.57979142e+00] [ 8.56123716e-02 2.44603399e-03 9.96325518e-01 -5.84452115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.493741732 meters Centerline goodness [0,1] 0.9943116257414117 Centerline is valid? [True, True] Translation: X:-7.58, Y:1.59, Z:-0.06 [[ 9.74650862e-01 2.06801884e-01 -8.53737545e-02 -7.57646057e+00] [-2.06221029e-01 9.78380045e-01 1.56644442e-02 1.58832218e+00] [ 8.67674143e-02 2.33849952e-03 9.96225852e-01 -5.76946371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.523741732 meters Centerline goodness [0,1] 0.9940893303272196 Centerline is valid? [True, True] Translation: X:-7.61, Y:1.60, Z:-0.06 [[ 9.75158129e-01 2.04658969e-01 -8.47427226e-02 -7.60590134e+00] [-2.04079100e-01 9.78831006e-01 1.55429482e-02 1.59691720e+00] [ 8.61298081e-02 2.13738622e-03 9.96281631e-01 -5.58251761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.553741732 meters Centerline goodness [0,1] 0.9956821406851815 Centerline is valid? [True, True] Translation: X:-7.64, Y:1.61, Z:-0.06 [[ 9.75450017e-01 2.03380158e-01 -8.44616864e-02 -7.63560030e+00] [-2.02799632e-01 9.79097762e-01 1.54881282e-02 1.60890006e+00] [ 8.58462261e-02 2.02090405e-03 9.96306349e-01 -6.29253706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.583741732 meters Centerline goodness [0,1] 0.9958126833215333 Centerline is valid? [True, True] Translation: X:-7.67, Y:1.62, Z:-0.07 [[ 9.75338123e-01 2.02736021e-01 -8.72562457e-02 -7.66534750e+00] [-2.02114455e-01 9.79231310e-01 1.59934167e-02 1.61789305e+00] [ 8.86864894e-02 2.03675954e-03 9.96057507e-01 -6.61953986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.613741732 meters Centerline goodness [0,1] 0.9947175944737912 Centerline is valid? [True, True] Translation: X:-7.70, Y:1.64, Z:-0.07 [[ 9.74744212e-01 2.05179865e-01 -8.81756417e-02 -7.69526364e+00] [-2.04555709e-01 9.78721605e-01 1.61549450e-02 1.63584850e+00] [ 8.96140750e-02 2.28989180e-03 9.95973932e-01 -6.90771800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6437417320000005 meters Centerline goodness [0,1] 0.9956047072167872 Centerline is valid? [True, True] Translation: X:-7.73, Y:1.65, Z:-0.06 [[ 9.74067090e-01 2.08357841e-01 -8.82060845e-02 -7.72513693e+00] [-2.07747002e-01 9.78049229e-01 1.61520368e-02 1.64916509e+00] [ 8.96352965e-02 2.59138218e-03 9.95971284e-01 -6.48714487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.673741732 meters Centerline goodness [0,1] 0.9957148343540921 Centerline is valid? [True, True] Translation: X:-7.75, Y:1.66, Z:-0.07 [[ 9.73314946e-01 2.11684194e-01 -8.85879076e-02 -7.75460501e+00] [-2.11082293e-01 9.77333771e-01 1.62162174e-02 1.66412000e+00] [ 9.00126707e-02 2.91585192e-03 9.95936352e-01 -6.66356236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.703741732 meters Centerline goodness [0,1] 0.9955328266494179 Centerline is valid? [True, True] Translation: X:-7.78, Y:1.68, Z:-0.07 [[ 9.72584312e-01 2.16273452e-01 -8.54725065e-02 -7.78455108e+00] [-2.15731480e-01 9.76327489e-01 1.56385179e-02 1.68268055e+00] [ 8.68313539e-02 3.22933316e-03 9.96217791e-01 -6.62054557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.733741732 meters Centerline goodness [0,1] 0.9963977091048914 Centerline is valid? [True, True] Translation: X:-7.81, Y:1.70, Z:-0.07 [[ 9.71832227e-01 2.19853771e-01 -8.48907658e-02 -7.81247547e+00] [-2.19333635e-01 9.75526435e-01 1.55219571e-02 1.70127525e+00] [ 8.62257469e-02 3.53466207e-03 9.96269355e-01 -7.05274706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.763741732 meters Centerline goodness [0,1] 0.9948728300363343 Centerline is valid? [True, True] Translation: X:-7.84, Y:1.71, Z:-0.07 [[ 9.71250633e-01 2.22046251e-01 -8.58351334e-02 -7.84252230e+00] [-2.21523346e-01 9.75028826e-01 1.56906120e-02 1.71279667e+00] [ 8.71757709e-02 3.77496909e-03 9.96185793e-01 -7.46530006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.793741732 meters Centerline goodness [0,1] 0.9948724184755072 Centerline is valid? [True, True] Translation: X:-7.87, Y:1.72, Z:-0.07 [[ 9.70944411e-01 2.22958573e-01 -8.69277050e-02 -7.87273563e+00] [-2.22426850e-01 9.74820052e-01 1.58796436e-02 1.72253363e+00] [ 8.82793726e-02 3.91680440e-03 9.96088054e-01 -7.43034078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.823741732 meters Centerline goodness [0,1] 0.9961237950279046 Centerline is valid? [True, True] Translation: X:-7.90, Y:1.74, Z:-0.07 [[ 9.71137540e-01 2.22585605e-01 -8.57177192e-02 -7.90294741e+00] [-2.22068777e-01 9.74905560e-01 1.56399115e-02 1.73512893e+00] [ 8.70479002e-02 3.84672395e-03 9.96196700e-01 -7.31679812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8537417320000005 meters Centerline goodness [0,1] 0.9953729895740726 Centerline is valid? [True, True] Translation: X:-7.93, Y:1.75, Z:-0.08 [[ 9.71293102e-01 2.21381066e-01 -8.70639629e-02 -7.93280667e+00] [-2.20843705e-01 9.75179955e-01 1.58781003e-02 1.74987261e+00] [ 8.84181422e-02 3.80523879e-03 9.96076178e-01 -7.69488293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.883741732 meters Centerline goodness [0,1] 0.9959625880013796 Centerline is valid? [True, True] Translation: X:-7.96, Y:1.75, Z:-0.08 [[ 9.71563003e-01 2.19165248e-01 -8.96210138e-02 -7.96465730e+00] [-2.18587633e-01 9.75680651e-01 1.63313766e-02 1.75184237e+00] [ 9.10207593e-02 3.72308400e-03 9.95842036e-01 -7.60570006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.913741732 meters Centerline goodness [0,1] 0.9965329873078951 Centerline is valid? [True, True] Translation: X:-8.00, Y:1.76, Z:-0.08 [[ 9.71721269e-01 2.18745420e-01 -8.89281508e-02 -7.99531129e+00] [-2.18176706e-01 9.75775048e-01 1.61858462e-02 1.76263290e+00] [ 9.03144503e-02 3.67391997e-03 9.95906523e-01 -8.04075147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.943741732 meters Centerline goodness [0,1] 0.995232395366294 Centerline is valid? [True, True] Translation: X:-8.03, Y:1.78, Z:-0.09 [[ 9.71824808e-01 2.18602804e-01 -8.81439536e-02 -8.02516548e+00] [-2.18044168e-01 9.75807152e-01 1.60356730e-02 1.77780420e+00] [ 8.95169434e-02 3.63541017e-03 9.95978665e-01 -8.58269041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.973741732 meters Centerline goodness [0,1] 0.9970138338716558 Centerline is valid? [True, True] Translation: X:-8.06, Y:1.78, Z:-0.08 [[ 9.71778914e-01 2.18260146e-01 -8.94888339e-02 -8.05697013e+00] [-2.17683799e-01 9.75883725e-01 1.62701680e-02 1.77910966e+00] [ 9.08818258e-02 3.66926316e-03 9.95854924e-01 -8.44311817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.003741732 meters Centerline goodness [0,1] 0.996616830760504 Centerline is valid? [True, True] Translation: X:-8.09, Y:1.79, Z:-0.09 [[ 9.71851518e-01 2.16444656e-01 -9.30394410e-02 -8.08767313e+00] [-2.15815353e-01 9.76288027e-01 1.68944276e-02 1.79077272e+00] [ 9.44900009e-02 3.66046463e-03 9.95519081e-01 -8.82932887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.033741732 meters Centerline goodness [0,1] 0.9958892736366766 Centerline is valid? [True, True] Translation: X:-8.12, Y:1.80, Z:-0.09 [[ 9.72338250e-01 2.14675609e-01 -9.20473262e-02 -8.11853032e+00] [-2.14054367e-01 9.76679213e-01 1.66865996e-02 1.79715402e+00] [ 9.34829161e-02 3.47811310e-03 9.95614809e-01 -9.17548268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.063741731999999 meters Centerline goodness [0,1] 0.9951641948080853 Centerline is valid? [True, True] Translation: X:-8.15, Y:1.80, Z:-0.09 [[ 9.72617990e-01 2.13737567e-01 -9.12715578e-02 -8.15021358e+00] [-2.13124457e-01 9.76885275e-01 1.65265200e-02 1.80270332e+00] [ 9.26941790e-02 3.37821057e-03 9.95688896e-01 -9.13245088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.093741732 meters Centerline goodness [0,1] 0.9961117074059823 Centerline is valid? [True, True] Translation: X:-8.18, Y:1.81, Z:-0.09 [[ 9.72883882e-01 2.12645677e-01 -9.09877336e-02 -8.18151170e+00] [-2.12032334e-01 9.77123899e-01 1.64674157e-02 1.80960840e+00] [ 9.24080138e-02 3.27145819e-03 9.95715851e-01 -9.10738266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.123741732 meters Centerline goodness [0,1] 0.9954167511660921 Centerline is valid? [True, True] Translation: X:-8.21, Y:1.82, Z:-0.09 [[ 9.73134198e-01 2.12023847e-01 -8.97536713e-02 -8.21269650e+00] [-2.11425290e-01 9.77259326e-01 1.62344515e-02 1.81693847e+00] [ 9.11547031e-02 3.17789608e-03 9.95831673e-01 -8.82666122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.153741731999999 meters Centerline goodness [0,1] 0.9954352656029085 Centerline is valid? [True, True] Translation: X:-8.24, Y:1.83, Z:-0.09 [[ 9.72992781e-01 2.13372703e-01 -8.80746139e-02 -8.24349493e+00] [-2.12802921e-01 9.76965457e-01 1.59189340e-02 1.82647368e+00] [ 8.94425214e-02 3.25352720e-03 9.95986672e-01 -9.00737684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.183741732 meters Centerline goodness [0,1] 0.9960548676863317 Centerline is valid? [True, True] Translation: X:-8.27, Y:1.84, Z:-0.09 [[ 9.72346177e-01 2.15046990e-01 -9.10917346e-02 -8.27296791e+00] [-2.14445405e-01 9.76597316e-01 1.64575154e-02 1.83964836e+00] [ 9.24990828e-02 3.53180174e-03 9.95706506e-01 -9.39539814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.213741731999999 meters Centerline goodness [0,1] 0.9947851142404935 Centerline is valid? [True, True] Translation: X:-8.30, Y:1.85, Z:-0.10 [[ 9.71601906e-01 2.17065108e-01 -9.41938217e-02 -8.30217839e+00] [-2.16431641e-01 9.76149513e-01 1.70139073e-02 1.85019399e+00] [ 9.56403788e-02 3.85577861e-03 9.95408484e-01 -9.86368790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.243741731999998 meters Centerline goodness [0,1] 0.9956885209400239 Centerline is valid? [True, True] Translation: X:-8.33, Y:1.86, Z:-0.10 [[ 9.71423867e-01 2.17427351e-01 -9.51893782e-02 -8.33282734e+00] [-2.16783361e-01 9.76068533e-01 1.71811709e-02 1.86114949e+00] [ 9.66470132e-02 3.94527380e-03 9.95310901e-01 -1.03229185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.273741732 meters Centerline goodness [0,1] 0.9949150138773526 Centerline is valid? [True, True] Translation: X:-8.36, Y:1.87, Z:-0.10 [[ 9.71422216e-01 2.17885868e-01 -9.41521512e-02 -8.36462469e+00] [-2.17260781e-01 9.75966159e-01 1.69649313e-02 1.87410303e+00] [ 9.55857322e-02 3.97545876e-03 9.95413263e-01 -1.02841330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.303741731999999 meters Centerline goodness [0,1] 0.9949934123847167 Centerline is valid? [True, True] Translation: X:-8.40, Y:1.88, Z:-0.10 [[ 9.72057372e-01 2.15034199e-01 -9.41528516e-02 -8.39552288e+00] [-2.14398612e-01 9.76599419e-01 1.69354605e-02 1.87932040e+00] [ 9.55913234e-02 3.72400151e-03 9.95413698e-01 -9.97420034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.333741732 meters Centerline goodness [0,1] 0.9952932584041712 Centerline is valid? [True, True] Translation: X:-8.43, Y:1.89, Z:-0.10 [[ 9.72452305e-01 2.12868951e-01 -9.49911834e-02 -8.42694453e+00] [-2.12214327e-01 9.77074239e-01 1.70590203e-02 1.88516919e+00] [ 9.64447740e-02 3.56940645e-03 9.95331937e-01 -1.03598955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.363741732 meters Centerline goodness [0,1] 0.9963076423687894 Centerline is valid? [True, True] Translation: X:-8.46, Y:1.89, Z:-0.11 [[ 9.73017756e-01 2.09059849e-01 -9.76239038e-02 -8.45770328e+00] [-2.08352260e-01 9.77897244e-01 1.75018770e-02 1.89212749e+00] [ 9.91250863e-02 3.31052395e-03 9.95069474e-01 -1.12204440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.393741731999999 meters Centerline goodness [0,1] 0.9957005820438459 Centerline is valid? [True, True] Translation: X:-8.49, Y:1.90, Z:-0.12 [[ 9.73658437e-01 2.05720667e-01 -9.83272841e-02 -8.48977561e+00] [-2.04988827e-01 9.78606090e-01 1.75983373e-02 1.89558824e+00] [ 9.98440208e-02 3.02122504e-03 9.94998514e-01 -1.15728680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.423741732 meters Centerline goodness [0,1] 0.9952197690905408 Centerline is valid? [True, True] Translation: X:-8.52, Y:1.90, Z:-0.12 [[ 9.74482356e-01 2.01675232e-01 -9.85456145e-02 -8.52135162e+00] [-2.00921863e-01 9.79448904e-01 1.76139199e-02 1.89632015e+00] [ 1.00072686e-01 2.63551425e-03 9.94976639e-01 -1.20180073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.453741732 meters Centerline goodness [0,1] 0.9954728165983191 Centerline is valid? [True, True] Translation: X:-8.55, Y:1.90, Z:-0.12 [[ 9.74809993e-01 1.99188392e-01 -1.00346709e-01 -8.55263476e+00] [-1.98396114e-01 9.79958168e-01 1.79156625e-02 1.89987525e+00] [ 1.01904169e-01 2.44403028e-03 9.94791218e-01 -1.15280575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.483741731999999 meters Centerline goodness [0,1] 0.9963818648555778 Centerline is valid? [True, True] Translation: X:-8.58, Y:1.91, Z:-0.11 [[ 9.74734986e-01 2.00541360e-01 -9.83609176e-02 -8.58379499e+00] [-1.99789142e-01 9.79681907e-01 1.75402609e-02 1.90899984e+00] [ 9.98799591e-02 2.55433730e-03 9.94996216e-01 -1.14618668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.513741732 meters Centerline goodness [0,1] 0.9956239870340357 Centerline is valid? [True, True] Translation: X:-8.61, Y:1.92, Z:-0.12 [[ 9.74658699e-01 2.02408014e-01 -9.52439803e-02 -8.61465087e+00] [-2.01712470e-01 9.79297651e-01 1.69761812e-02 1.91872988e+00] [ 9.67083213e-02 2.66591579e-03 9.95309195e-01 -1.21214586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.543741731999999 meters Centerline goodness [0,1] 0.9955451631760366 Centerline is valid? [True, True] Translation: X:-8.64, Y:1.93, Z:-0.12 [[ 9.73967269e-01 2.04890233e-01 -9.69935616e-02 -8.64383939e+00] [-2.04181728e-01 9.78780444e-01 1.72819056e-02 1.92816918e+00] [ 9.84762950e-02 2.97230261e-03 9.95134958e-01 -1.22326095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.573741731999998 meters Centerline goodness [0,1] 0.9940576388748048 Centerline is valid? [True, True] Translation: X:-8.67, Y:1.94, Z:-0.12 [[ 9.73063889e-01 2.09540369e-01 -9.61223247e-02 -8.67229346e+00] [-2.08867337e-01 9.77794039e-01 1.71246413e-02 1.94135164e+00] [ 9.75761397e-02 3.41344386e-03 9.95222209e-01 -1.18355931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.603741732 meters Centerline goodness [0,1] 0.9940576388748048 Centerline is valid? [True, True] Translation: X:-8.70, Y:1.95, Z:-0.12 [[ 9.73133913e-01 2.09213882e-01 -9.61246064e-02 -8.70430003e+00] [-2.08540528e-01 9.77864016e-01 1.71118216e-02 1.94728947e+00] [ 9.75768243e-02 3.39378228e-03 9.95222209e-01 -1.20400331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.633741731999999 meters Centerline goodness [0,1] 0.9955169685782096 Centerline is valid? [True, True] Translation: X:-8.73, Y:1.96, Z:-0.12 [[ 9.72736476e-01 2.11607931e-01 -9.48990632e-02 -8.73351180e+00] [-2.10965597e-01 9.77347956e-01 1.68668382e-02 1.95863811e+00] [ 9.63185621e-02 3.61344879e-03 9.95344000e-01 -1.23208085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.663741732 meters Centerline goodness [0,1] 0.9960034893392571 Centerline is valid? [True, True] Translation: X:-8.76, Y:1.97, Z:-0.13 [[ 9.71572987e-01 2.14448059e-01 -1.00289385e-01 -8.76181888e+00] [-2.13746850e-01 9.76726663e-01 1.78131703e-02 1.97498040e+00] [ 1.01775316e-01 4.12974507e-03 9.94798839e-01 -1.29124306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.693741732 meters Centerline goodness [0,1] 0.9946219101351625 Centerline is valid? [True, True] Translation: X:-8.79, Y:1.99, Z:-0.13 [[ 9.71270209e-01 2.15880951e-01 -1.00147867e-01 -8.79220586e+00] [-2.15190556e-01 9.76410286e-01 1.77757590e-02 1.98835893e+00] [ 1.01622856e-01 4.28581012e-03 9.94813765e-01 -1.33058574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.723741731999999 meters Centerline goodness [0,1] 0.9955917604517938 Centerline is valid? [True, True] Translation: X:-8.82, Y:2.00, Z:-0.14 [[ 9.71138753e-01 2.15915387e-01 -1.01341343e-01 -8.82256615e+00] [-2.15211805e-01 9.76402292e-01 1.79566831e-02 1.99944639e+00] [ 1.02827044e-01 4.37142246e-03 9.94689645e-01 -1.36344875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.753741732 meters Centerline goodness [0,1] 0.9935574343549305 Centerline is valid? [True, True] Translation: X:-8.85, Y:2.01, Z:-0.14 [[ 9.71243690e-01 2.15749397e-01 -1.00687104e-01 -8.85360250e+00] [-2.15057120e-01 9.76439055e-01 1.78102906e-02 2.00825519e+00] [ 1.02157380e-01 4.35534628e-03 9.94758715e-01 -1.41358610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.783741732 meters Centerline goodness [0,1] 0.9928217016430779 Centerline is valid? [True, True] Translation: X:-8.88, Y:2.02, Z:-0.15 [[ 9.71649462e-01 2.13613609e-01 -1.01323982e-01 -8.88416029e+00] [-2.12904148e-01 9.76909255e-01 1.78922146e-02 2.01725510e+00] [ 1.02806356e-01 4.18733540e-03 9.94692575e-01 -1.47458416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.813741731999999 meters Centerline goodness [0,1] 0.995012619888945 Centerline is valid? [True, True] Translation: X:-8.92, Y:2.02, Z:-0.15 [[ 9.72028297e-01 2.12170412e-01 -1.00720930e-01 -8.91525408e+00] [-2.11464146e-01 9.77224356e-01 1.77615580e-02 2.02140889e+00] [ 1.02195423e-01 4.03412856e-03 9.94756162e-01 -1.47545139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.843741732 meters Centerline goodness [0,1] 0.9953690539058374 Centerline is valid? [True, True] Translation: X:-8.95, Y:2.03, Z:-0.15 [[ 9.72182407e-01 2.10835799e-01 -1.02027608e-01 -8.94739308e+00] [-2.10105965e-01 9.77513447e-01 1.79706852e-02 2.02696179e+00] [ 1.03522222e-01 3.96582494e-03 9.94619235e-01 -1.49790811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.873741732 meters Centerline goodness [0,1] 0.9941138131899466 Centerline is valid? [True, True] Translation: X:-8.98, Y:2.03, Z:-0.15 [[ 9.71659834e-01 2.12116947e-01 -1.04324343e-01 -8.97680521e+00] [-2.11363769e-01 9.77235180e-01 1.83510258e-02 2.03462469e+00] [ 1.05841982e-01 4.21943168e-03 9.94374010e-01 -1.53368534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.903741731999999 meters Centerline goodness [0,1] 0.9939100148685256 Centerline is valid? [True, True] Translation: X:-9.01, Y:2.04, Z:-0.16 [[ 9.71545955e-01 2.12347430e-01 -1.04914374e-01 -9.00836345e+00] [-2.11588386e-01 9.77184855e-01 1.84421992e-02 2.04270296e+00] [ 1.06436891e-01 4.28121902e-03 9.94310243e-01 -1.57793470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.933741732 meters Centerline goodness [0,1] 0.9954560207724765 Centerline is valid? [True, True] Translation: X:-9.04, Y:2.05, Z:-0.16 [[ 9.71542579e-01 2.13708277e-01 -1.02145919e-01 -9.03865504e+00] [-2.12997610e-01 9.76887952e-01 1.79428946e-02 2.04849920e+00] [ 1.03619663e-01 4.32455045e-03 9.94607593e-01 -1.55993676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.963741731999999 meters Centerline goodness [0,1] 0.9952698038897235 Centerline is valid? [True, True] Translation: X:-9.07, Y:2.06, Z:-0.16 [[ 9.71982077e-01 2.12769792e-01 -9.98992372e-02 -9.06948268e+00] [-2.12086417e-01 9.77093574e-01 1.75356697e-02 2.05736868e+00] [ 1.01341963e-01 4.14291463e-03 9.94843024e-01 -1.57822438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.993741731999998 meters Centerline goodness [0,1] 0.9963972399193959 Centerline is valid? [True, True] Translation: X:-9.10, Y:2.06, Z:-0.15 [[ 9.72018244e-01 2.11868538e-01 -1.01450752e-01 -9.10059974e+00] [-2.11160620e-01 9.77289452e-01 1.77910158e-02 2.06181356e+00] [ 1.02916107e-01 4.12921188e-03 9.94681469e-01 -1.54197690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.023741732 meters Centerline goodness [0,1] 0.9950573269051574 Centerline is valid? [True, True] Translation: X:-9.13, Y:2.07, Z:-0.16 [[ 9.72099097e-01 2.12033026e-01 -1.00326177e-01 -9.13091694e+00] [-2.11344641e-01 9.77253777e-01 1.75641139e-02 2.07377392e+00] [ 1.01768308e-01 4.12934073e-03 9.94799558e-01 -1.63690514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.053741731999999 meters Centerline goodness [0,1] 0.9949332198374576 Centerline is valid? [True, True] Translation: X:-9.16, Y:2.08, Z:-0.16 [[ 9.72466161e-01 2.10203075e-01 -1.00619246e-01 -9.16155449e+00] [-2.09503988e-01 9.77649648e-01 1.75853337e-02 2.07880261e+00] [ 1.02066862e-01 3.97899137e-03 9.94769583e-01 -1.64791343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.083741732 meters Centerline goodness [0,1] 0.9948687666714178 Centerline is valid? [True, True] Translation: X:-9.19, Y:2.08, Z:-0.17 [[ 9.72684908e-01 2.08525199e-01 -1.01986822e-01 -9.19361774e+00] [-2.07800977e-01 9.78009276e-01 1.77935261e-02 2.08251299e+00] [ 1.03454457e-01 3.88546706e-03 9.94626603e-01 -1.65023019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.113741732 meters Centerline goodness [0,1] 0.9955436176057628 Centerline is valid? [True, True] Translation: X:-9.22, Y:2.09, Z:-0.17 [[ 9.73233664e-01 2.05792882e-01 -1.02301150e-01 -9.22364067e+00] [-2.05052583e-01 9.78588806e-01 1.78153764e-02 2.09189508e+00] [ 1.03777038e-01 3.63859107e-03 9.94593931e-01 -1.74142515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.143741731999999 meters Centerline goodness [0,1] 0.9957257166008305 Centerline is valid? [True, True] Translation: X:-9.26, Y:2.10, Z:-0.18 [[ 9.73420191e-01 2.04857099e-01 -1.02404591e-01 -9.25505866e+00] [-2.04113351e-01 9.78785372e-01 1.78026581e-02 2.09831335e+00] [ 1.03879117e-01 3.57267747e-03 9.94583513e-01 -1.76019232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.173741732 meters Centerline goodness [0,1] 0.9951650584052819 Centerline is valid? [True, True] Translation: X:-9.29, Y:2.11, Z:-0.18 [[ 9.73088740e-01 2.06983565e-01 -1.01272448e-01 -9.28665127e+00] [-2.06270001e-01 9.78337119e-01 1.75831567e-02 2.10697348e+00] [ 1.02718020e-01 3.77949617e-03 9.94703335e-01 -1.77745554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.203741732 meters Centerline goodness [0,1] 0.991119831701594 Centerline is valid? [True, True] Translation: X:-9.32, Y:2.12, Z:-0.18 [[ 9.71770373e-01 2.12771534e-01 -1.01934371e-01 -9.31520275e+00] [-2.12081044e-01 9.77091948e-01 1.76905678e-02 2.12134755e+00] [ 1.03363302e-01 4.42717808e-03 9.94633816e-01 -1.76715421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.233741731999999 meters Centerline goodness [0,1] 0.9876223082065515 Centerline is valid? [True, True] Translation: X:-9.34, Y:2.13, Z:-0.18 [[ 9.69652196e-01 2.22532882e-01 -1.01260732e-01 -9.34246601e+00] [-2.21904383e-01 9.74910062e-01 1.75731800e-02 2.13408633e+00] [ 1.02630717e-01 5.43032779e-03 9.94704704e-01 -1.80861949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.263741732 meters Centerline goodness [0,1] 0.9676662586699306 Centerline is valid? [True, True] Translation: X:-9.37, Y:2.15, Z:-0.19 [[ 9.67224930e-01 2.30238346e-01 -1.07080527e-01 -9.37059970e+00] [-2.29582225e-01 9.73111828e-01 1.85842007e-02 2.15053101e+00] [ 1.08480123e-01 6.60868344e-03 9.94076651e-01 -1.86954151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.293741731999999 meters Centerline goodness [0,1] 0.9533154981926604 Centerline is valid? [True, True] Translation: X:-9.40, Y:2.16, Z:-0.19 [[ 9.64753216e-01 2.41136740e-01 -1.05376962e-01 -9.39837850e+00] [-2.40565776e-01 9.70460547e-01 1.82875488e-02 2.16296698e+00] [ 1.06673984e-01 7.70711915e-03 9.94264181e-01 -1.91194898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.323741731999998 meters Centerline goodness [0,1] 0.9602472056783878 Centerline is valid? [True, True] Translation: X:-9.43, Y:2.16, Z:-0.19 [[ 9.63349109e-01 2.46877235e-01 -1.04929139e-01 -9.42912437e+00] [-2.46344818e-01 9.69011163e-01 1.82097694e-02 2.16255654e+00] [ 1.06173084e-01 8.30638454e-03 9.94312969e-01 -1.86949378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.353741732 meters Centerline goodness [0,1] 0.9646122448979592 Centerline is valid? [True, True] Translation: X:-9.46, Y:2.16, Z:-0.19 [[ 9.63854291e-01 2.45900190e-01 -1.02557307e-01 -9.46126570e+00] [-2.45386127e-01 9.69262040e-01 1.77973558e-02 2.16020896e+00] [ 1.03781278e-01 8.01208266e-03 9.94567872e-01 -1.88430441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.383741731999999 meters Centerline goodness [0,1] 0.9627741988094267 Centerline is valid? [True, True] Translation: X:-9.49, Y:2.15, Z:-0.19 [[ 9.65483151e-01 2.39285676e-01 -1.02881731e-01 -9.49390046e+00] [-2.38731403e-01 9.70921563e-01 1.78503536e-02 2.15253498e+00] [ 1.04161425e-01 7.32688428e-03 9.94533415e-01 -1.91386360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.413741731999998 meters Centerline goodness [0,1] 0.9781236682427907 Centerline is valid? [True, True] Translation: X:-9.53, Y:2.14, Z:-0.19 [[ 9.67784444e-01 2.31066236e-01 -1.00008322e-01 -9.52761491e+00] [-2.30498947e-01 9.72917880e-01 1.73503241e-02 2.13570243e+00] [ 1.01308958e-01 6.26043912e-03 9.94835314e-01 -1.93604435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.443741732 meters Centerline goodness [0,1] 0.9849374261138967 Centerline is valid? [True, True] Translation: X:-9.56, Y:2.13, Z:-0.19 [[ 9.68145408e-01 2.27592941e-01 -1.04383533e-01 -9.56122265e+00] [-2.26956449e-01 9.73736800e-01 1.80946013e-02 2.12746216e+00] [ 1.05760291e-01 6.17231080e-03 9.94372497e-01 -1.94055433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.473741731999999 meters Centerline goodness [0,1] 0.9771555050156358 Centerline is valid? [True, True] Translation: X:-9.59, Y:2.12, Z:-0.20 [[ 9.68137347e-01 2.28515728e-01 -1.02423824e-01 -9.59450930e+00] [-2.27911549e-01 9.73520561e-01 1.77212436e-02 2.12391796e+00] [ 1.03761282e-01 6.18697466e-03 9.94582987e-01 -2.03004778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.503741732 meters Centerline goodness [0,1] 0.9816855028864135 Centerline is valid? [True, True] Translation: X:-9.63, Y:2.12, Z:-0.20 [[ 9.67289916e-01 2.33329884e-01 -9.95358447e-02 -9.62630805e+00] [-2.32786688e-01 9.72375695e-01 1.72007555e-02 2.11584640e+00] [ 1.00799686e-01 6.53250229e-03 9.94885295e-01 -2.01668832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.533741732 meters Centerline goodness [0,1] 0.9782187110866148 Centerline is valid? [True, True] Translation: X:-9.66, Y:2.11, Z:-0.20 [[ 9.66347039e-01 2.37401441e-01 -9.90654145e-02 -9.65835816e+00] [-2.36884665e-01 9.71386950e-01 1.71186589e-02 2.11111960e+00] [ 1.00294845e-01 6.92451216e-03 9.94933664e-01 -2.02204666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.563741731999999 meters Centerline goodness [0,1] 0.9808255984367367 Centerline is valid? [True, True] Translation: X:-9.69, Y:2.10, Z:-0.21 [[ 9.65798388e-01 2.39194003e-01 -1.00098466e-01 -9.69216971e+00] [-2.38676339e-01 9.70945181e-01 1.72933845e-02 2.09727801e+00] [ 1.01326597e-01 7.18921261e-03 9.94827239e-01 -2.06087956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.593741732 meters Centerline goodness [0,1] 0.9772819637486791 Centerline is valid? [True, True] Translation: X:-9.72, Y:2.09, Z:-0.21 [[ 9.66291640e-01 2.38033952e-01 -9.80831496e-02 -9.72469843e+00] [-2.37531431e-01 9.71232123e-01 1.69405723e-02 2.08689970e+00] [ 9.92939370e-02 6.92829749e-03 9.95034026e-01 -2.13302642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.623741732 meters Centerline goodness [0,1] 0.9787618158951682 Centerline is valid? [True, True] Translation: X:-9.76, Y:2.08, Z:-0.22 [[ 9.66859125e-01 2.36276652e-01 -9.67304334e-02 -9.75699846e+00] [-2.35779423e-01 9.71663025e-01 1.67041604e-02 2.08352810e+00] [ 9.79361887e-02 6.65647586e-03 9.95170435e-01 -2.15326533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.653741731999999 meters Centerline goodness [0,1] 0.9718661257606491 Centerline is valid? [True, True] Translation: X:-9.79, Y:2.09, Z:-0.22 [[ 9.66939563e-01 2.35523692e-01 -9.77572067e-02 -9.79017233e+00] [-2.35013500e-01 9.71845753e-01 1.68667697e-02 2.08732115e+00] [ 9.89774499e-02 6.66511643e-03 9.95067355e-01 -2.19497801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.683741732 meters Centerline goodness [0,1] 0.9764302245320557 Centerline is valid? [True, True] Translation: X:-9.82, Y:2.08, Z:-0.22 [[ 9.67491766e-01 2.34074145e-01 -9.57547768e-02 -9.82193556e+00] [-2.33579615e-01 9.72197667e-01 1.65003013e-02 2.08349124e+00] [ 9.69548645e-02 6.40245832e-03 9.95268186e-01 -2.21624003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.713741731999999 meters Centerline goodness [0,1] 0.9874461762387046 Centerline is valid? [True, True] Translation: X:-9.85, Y:2.07, Z:-0.22 [[ 9.68586584e-01 2.30490339e-01 -9.33500577e-02 -9.85355920e+00] [-2.30003841e-01 9.73056781e-01 1.60851817e-02 2.07176184e+00] [ 9.45423857e-02 5.89098060e-03 9.95503407e-01 -2.23237868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.743741731999998 meters Centerline goodness [0,1] 0.9880966865393195 Centerline is valid? [True, True] Translation: X:-9.89, Y:2.07, Z:-0.23 [[ 9.68732069e-01 2.29489826e-01 -9.43005786e-02 -9.88576142e+00] [-2.28988828e-01 9.73293452e-01 1.62472370e-02 2.07248235e+00] [ 9.55107113e-02 5.85455950e-03 9.95411185e-01 -2.25203767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.773741732 meters Centerline goodness [0,1] 0.9763169633805101 Centerline is valid? [True, True] Translation: X:-9.92, Y:2.07, Z:-0.23 [[ 9.69359753e-01 2.27634661e-01 -9.23262169e-02 -9.91650591e+00] [-2.27146670e-01 9.73730746e-01 1.59004499e-02 2.07438991e+00] [ 9.35203696e-02 5.55833659e-03 9.95601851e-01 -2.28596158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.803741731999999 meters Centerline goodness [0,1] 0.9793918782136929 Centerline is valid? [True, True] Translation: X:-9.95, Y:2.07, Z:-0.23 [[ 9.69567072e-01 2.27028985e-01 -9.16380508e-02 -9.94912290e+00] [-2.26546552e-01 9.73872645e-01 1.57711879e-02 2.06952721e+00] [ 9.28243078e-02 5.46905997e-03 9.95667483e-01 -2.29152470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.833741732 meters Centerline goodness [0,1] 0.9807127372920845 Centerline is valid? [True, True] Translation: X:-9.98, Y:2.07, Z:-0.23 [[ 9.69394501e-01 2.27927005e-01 -9.12336659e-02 -9.98182667e+00] [-2.27454417e-01 9.73662418e-01 1.56838811e-02 2.06630252e+00] [ 9.24055718e-02 5.54763214e-03 9.95705998e-01 -2.30246967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.863741732 meters Centerline goodness [0,1] 0.987802894779639 Centerline is valid? [True, True] Translation: X:-10.01, Y:2.06, Z:-0.23 [[ 9.68590127e-01 2.29684357e-01 -9.52799148e-02 -1.00127854e+01] [-2.29177862e-01 9.73246826e-01 1.63744588e-02 2.06414330e+00] [ 9.64918317e-02 5.97590805e-03 9.95315837e-01 -2.31680900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.893741731999999 meters Centerline goodness [0,1] 0.9767541096864649 Centerline is valid? [True, True] Translation: X:-10.04, Y:2.07, Z:-0.24 [[ 9.68101641e-01 2.31767203e-01 -9.52007160e-02 -1.00437152e+01] [-2.31271835e-01 9.72751642e-01 1.63578954e-02 2.06925912e+00] [ 9.63978764e-02 6.18113898e-03 9.95323688e-01 -2.37892575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.923741732 meters Centerline goodness [0,1] 0.9812431265528899 Centerline is valid? [True, True] Translation: X:-10.08, Y:2.07, Z:-0.24 [[ 9.68348713e-01 2.31867629e-01 -9.24022381e-02 -1.00758658e+01] [-2.31402069e-01 9.72728754e-01 1.58698940e-02 2.06567657e+00] [ 9.35620286e-02 6.01447766e-03 9.95595286e-01 -2.37110266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.953741732 meters Centerline goodness [0,1] 0.9809162627512219 Centerline is valid? [True, True] Translation: X:-10.11, Y:2.07, Z:-0.24 [[ 9.68278536e-01 2.31176090e-01 -9.48382365e-02 -1.01083058e+01] [-2.30683010e-01 9.72892725e-01 1.62817197e-02 2.06610672e+00] [ 9.60313747e-02 6.11233014e-03 9.95359540e-01 -2.37275211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.983741731999999 meters Centerline goodness [0,1] 0.9858167524415448 Centerline is valid? [True, True] Translation: X:-10.14, Y:2.06, Z:-0.24 [[ 9.69386893e-01 2.27834036e-01 -9.15461779e-02 -1.01400098e+01] [-2.27360217e-01 9.73683972e-01 1.57115769e-02 2.06188190e+00] [ 9.27166782e-02 5.58336215e-03 9.95676877e-01 -2.39455912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.013741732 meters Centerline goodness [0,1] 0.9867479888958683 Centerline is valid? [True, True] Translation: X:-10.17, Y:2.06, Z:-0.24 [[ 9.69359177e-01 2.27588261e-01 -9.24465787e-02 -1.01720639e+01] [-2.27104163e-01 9.73741255e-01 1.58640191e-02 2.06171650e+00] [ 9.36295121e-02 5.61707035e-03 9.95591263e-01 -2.41683571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.043741731999999 meters Centerline goodness [0,1] 0.9853159511074051 Centerline is valid? [True, True] Translation: X:-10.20, Y:2.06, Z:-0.25 [[ 9.69607553e-01 2.25743882e-01 -9.43445447e-02 -1.02039277e+01] [-2.25231789e-01 9.74170823e-01 1.61817427e-02 2.06172879e+00] [ 9.55606321e-02 5.55945062e-03 9.95408086e-01 -2.46198021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.073741731999998 meters Centerline goodness [0,1] 0.988675799086758 Centerline is valid? [True, True] Translation: X:-10.24, Y:2.06, Z:-0.24 [[ 9.69723965e-01 2.24817868e-01 -9.53538575e-02 -1.02364035e+01] [-2.24291278e-01 9.74385072e-01 1.63448790e-02 2.05787670e+00] [ 9.65859961e-02 5.53701765e-03 9.95309242e-01 -2.44052434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.103741732 meters Centerline goodness [0,1] 0.987732304255103 Centerline is valid? [True, True] Translation: X:-10.27, Y:2.06, Z:-0.24 [[ 9.70493580e-01 2.22346889e-01 -9.32956162e-02 -1.02677589e+01] [-2.21831844e-01 9.74953860e-01 1.59876486e-02 2.05805396e+00] [ 9.45137250e-02 5.18002825e-03 9.95510082e-01 -2.44289888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.133741731999999 meters Centerline goodness [0,1] 0.989136184237295 Centerline is valid? [True, True] Translation: X:-10.30, Y:2.06, Z:-0.25 [[ 9.71139838e-01 2.19010317e-01 -9.44557927e-02 -1.02986987e+01] [-2.18466861e-01 9.75710148e-01 1.61844694e-02 2.05817173e+00] [ 9.57060413e-02 4.91807760e-03 9.95397492e-01 -2.47711176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.163741731999998 meters Centerline goodness [0,1] 0.990430330366939 Centerline is valid? [True, True] Translation: X:-10.33, Y:2.06, Z:-0.25 [[ 9.71401912e-01 2.16945408e-01 -9.65039612e-02 -1.03293442e+01] [-2.16368108e-01 9.76171842e-01 1.65340881e-02 2.05916270e+00] [ 9.77914441e-02 4.81913464e-03 9.95195262e-01 -2.50699511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.193741732 meters Centerline goodness [0,1] 0.9921168889069023 Centerline is valid? [True, True] Translation: X:-10.36, Y:2.06, Z:-0.25 [[ 9.71767751e-01 2.13931008e-01 -9.95035784e-02 -1.03596209e+01] [-2.13301351e-01 9.76837676e-01 1.70495830e-02 2.05783629e+00] [ 1.00846279e-01 4.65601276e-03 9.94891124e-01 -2.53807513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.223741731999999 meters Centerline goodness [0,1] 0.9913244415616005 Centerline is valid? [True, True] Translation: X:-10.39, Y:2.06, Z:-0.25 [[ 9.73036922e-01 2.11179952e-01 -9.27479180e-02 -1.03908855e+01] [-2.10620242e-01 9.77438732e-01 1.58946164e-02 2.05783840e+00] [ 9.40120317e-02 4.06854038e-03 9.95562748e-01 -2.52949552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.253741732 meters Centerline goodness [0,1] 0.9909552845528455 Centerline is valid? [True, True] Translation: X:-10.42, Y:2.06, Z:-0.25 [[ 9.73142702e-01 2.11255935e-01 -9.14560579e-02 -1.04201724e+01] [-2.10711208e-01 9.77422556e-01 1.56823076e-02 2.06061128e+00] [ 9.27041944e-02 4.00969321e-03 9.95685620e-01 -2.49899107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.283741732 meters Centerline goodness [0,1] 0.9905489725818581 Centerline is valid? [True, True] Translation: X:-10.45, Y:2.07, Z:-0.25 [[ 9.72780412e-01 2.12223438e-01 -9.30563427e-02 -1.04475701e+01] [-2.11661258e-01 9.77212369e-01 1.59843222e-02 2.06847602e+00] [ 9.43280569e-02 4.14718709e-03 9.95532530e-01 -2.52569966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.313741731999999 meters Centerline goodness [0,1] 0.9902400422052229 Centerline is valid? [True, True] Translation: X:-10.48, Y:2.08, Z:-0.25 [[ 9.72448198e-01 2.14165382e-01 -9.20743756e-02 -1.04750330e+01] [-2.13621781e-01 9.76788084e-01 1.58358608e-02 2.07565858e+00] [ 9.33286461e-02 4.26953772e-03 9.95626202e-01 -2.54840623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.343741732 meters Centerline goodness [0,1] 0.9910840932117528 Centerline is valid? [True, True] Translation: X:-10.50, Y:2.08, Z:-0.26 [[ 9.71662843e-01 2.16735137e-01 -9.43249726e-02 -1.05040768e+01] [-2.16176159e-01 9.76219501e-01 1.62282155e-02 2.08321356e+00] [ 9.55991021e-02 4.62245625e-03 9.95409184e-01 -2.56484397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.373741732 meters Centerline goodness [0,1] 0.9906763206860286 Centerline is valid? [True, True] Translation: X:-10.53, Y:2.09, Z:-0.26 [[ 9.70867465e-01 2.19043318e-01 -9.71410843e-02 -1.05333294e+01] [-2.18461808e-01 9.75702352e-01 1.67140303e-02 2.09126597e+00] [ 9.84418811e-02 4.99450869e-03 9.95130268e-01 -2.61169279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.403741731999999 meters Centerline goodness [0,1] 0.9909079839266144 Centerline is valid? [True, True] Translation: X:-10.56, Y:2.10, Z:-0.27 [[ 9.70344031e-01 2.20254706e-01 -9.96008324e-02 -1.05617356e+01] [-2.19649629e-01 9.75428279e-01 1.71380375e-02 2.09762487e+00] [ 1.00928202e-01 5.24749346e-03 9.94879873e-01 -2.65943138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.433741732 meters Centerline goodness [0,1] 0.991655330639758 Centerline is valid? [True, True] Translation: X:-10.59, Y:2.10, Z:-0.27 [[ 9.70043680e-01 2.20501535e-01 -1.01952597e-01 -1.05922976e+01] [-2.19868845e-01 9.75371687e-01 1.75431663e-02 2.10373544e+00] [ 1.03309972e-01 5.39856218e-03 9.94634559e-01 -2.66158772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.463741731999999 meters Centerline goodness [0,1] 0.9922297092211497 Centerline is valid? [True, True] Translation: X:-10.62, Y:2.11, Z:-0.27 [[ 9.71061078e-01 2.19399055e-01 -9.43633266e-02 -1.06222246e+01] [-2.18851992e-01 9.75622975e-01 1.62362597e-02 2.11053637e+00] [ 9.56252495e-02 4.88520221e-03 9.95405418e-01 -2.65536991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.493741731999998 meters Centerline goodness [0,1] 0.9919790970407729 Centerline is valid? [True, True] Translation: X:-10.65, Y:2.12, Z:-0.27 [[ 9.71221824e-01 2.17283287e-01 -9.75507151e-02 -1.06516891e+01] [-2.16687969e-01 9.76096607e-01 1.67850549e-02 2.11652908e+00] [ 9.88660338e-02 4.83605475e-03 9.95089001e-01 -2.66651126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.523741732 meters Centerline goodness [0,1] 0.9919790970407729 Centerline is valid? [True, True] Translation: X:-10.68, Y:2.12, Z:-0.27 [[ 9.71221824e-01 2.17283287e-01 -9.75507151e-02 -1.06812514e+01] [-2.16687969e-01 9.76096607e-01 1.67850549e-02 2.12161571e+00] [ 9.88660338e-02 4.83605475e-03 9.95089001e-01 -2.68535261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.553741731999999 meters Centerline goodness [0,1] 0.9914465968374652 Centerline is valid? [True, True] Translation: X:-10.71, Y:2.12, Z:-0.27 [[ 9.71963085e-01 2.13560193e-01 -9.83860053e-02 -1.07102997e+01] [-2.12935399e-01 9.76919574e-01 1.69311229e-02 2.12078466e+00] [ 9.97310282e-02 4.49343681e-03 9.95004287e-01 -2.70885697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.583741731999998 meters Centerline goodness [0,1] 0.9918172588832488 Centerline is valid? [True, True] Translation: X:-10.74, Y:2.13, Z:-0.27 [[ 9.73076311e-01 2.09366591e-01 -9.63749073e-02 -1.07398555e+01] [-2.08746115e-01 9.77829143e-01 1.65899508e-02 2.12676594e+00] [ 9.77115744e-02 3.97459936e-03 9.95206838e-01 -2.74654724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.613741732 meters Centerline goodness [0,1] 0.9936454442098425 Centerline is valid? [True, True] Translation: X:-10.77, Y:2.13, Z:-0.26 [[ 9.73539786e-01 2.07701388e-01 -9.52912294e-02 -1.07696725e+01] [-2.07086458e-01 9.78185051e-01 1.64074575e-02 2.12726323e+00] [ 9.66203078e-02 3.76021056e-03 9.95314210e-01 -2.64867898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.643741731999999 meters Centerline goodness [0,1] 0.9933613496558865 Centerline is valid? [True, True] Translation: X:-10.80, Y:2.14, Z:-0.27 [[ 9.73645027e-01 2.08493373e-01 -9.24439006e-02 -1.07966664e+01] [-2.07916972e-01 9.78016743e-01 1.59305715e-02 2.13935960e+00] [ 9.37331011e-02 3.70993414e-03 9.95590449e-01 -2.68836060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.673741732 meters Centerline goodness [0,1] 0.9930239611768275 Centerline is valid? [True, True] Translation: X:-10.82, Y:2.15, Z:-0.27 [[ 9.73108746e-01 2.10405038e-01 -9.37501414e-02 -1.08245725e+01] [-2.09819148e-01 9.77606401e-01 1.61755941e-02 2.14829417e+00] [ 9.50541648e-02 3.92996265e-03 9.95464344e-01 -2.74778390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.703741732 meters Centerline goodness [0,1] 0.9936352064011639 Centerline is valid? [True, True] Translation: X:-10.85, Y:2.16, Z:-0.28 [[ 9.72300302e-01 2.12507387e-01 -9.73279702e-02 -1.08532299e+01] [-2.11886234e-01 9.77150028e-01 1.67942511e-02 2.15952311e+00] [ 9.86729313e-02 4.29340167e-03 9.95110657e-01 -2.78864186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.733741731999999 meters Centerline goodness [0,1] 0.993415303322833 Centerline is valid? [True, True] Translation: X:-10.88, Y:2.17, Z:-0.27 [[ 9.72025028e-01 2.15639865e-01 -9.30956168e-02 -1.08829745e+01] [-2.15085954e-01 9.76463007e-01 1.60632803e-02 2.16662653e+00] [ 9.43683095e-02 4.40964905e-03 9.95527587e-01 -2.74124869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.763741732 meters Centerline goodness [0,1] 0.99219623224338 Centerline is valid? [True, True] Translation: X:-10.91, Y:2.17, Z:-0.27 [[ 9.71947129e-01 2.16378923e-01 -9.21897001e-02 -1.09123336e+01] [-2.15839237e-01 9.76299367e-01 1.59050165e-02 2.17468101e+00] [ 9.34462562e-02 4.43931942e-03 9.95614428e-01 -2.72837970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.793741731999999 meters Centerline goodness [0,1] 0.9941464797861136 Centerline is valid? [True, True] Translation: X:-10.94, Y:2.19, Z:-0.28 [[ 9.70927348e-01 2.20187143e-01 -9.39026502e-02 -1.09404549e+01] [-2.19645124e-01 9.75445351e-01 1.61983488e-02 2.18988382e+00] [ 9.51635718e-02 4.89783942e-03 9.95449600e-01 -2.80503041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.823741731999998 meters Centerline goodness [0,1] 0.9886095517044993 Centerline is valid? [True, True] Translation: X:-10.97, Y:2.20, Z:-0.29 [[ 9.70351074e-01 2.21135519e-01 -9.75596040e-02 -1.09697762e+01] [-2.20555603e-01 9.75229274e-01 1.68252531e-02 2.20316481e+00] [ 9.88636428e-02 5.19091489e-03 9.95087451e-01 -2.89625412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.853741732 meters Centerline goodness [0,1] 0.9888058185364268 Centerline is valid? [True, True] Translation: X:-11.00, Y:2.21, Z:-0.29 [[ 9.70370377e-01 2.19928543e-01 -1.00063817e-01 -1.10013587e+01] [-2.19312805e-01 9.75502091e-01 1.72500286e-02 2.20942276e+00] [ 1.01406236e-01 5.20635955e-03 9.94831478e-01 -2.91759454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.883741731999999 meters Centerline goodness [0,1] 0.9915913347992508 Centerline is valid? [True, True] Translation: X:-11.03, Y:2.21, Z:-0.29 [[ 9.71586931e-01 2.15382023e-01 -9.81296071e-02 -1.10324287e+01] [-2.14767278e-01 9.76518826e-01 1.69115082e-02 2.21122149e+00] [ 9.94678436e-02 4.64402830e-03 9.95029940e-01 -2.94028344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.913741731999998 meters Centerline goodness [0,1] 0.9933327912838442 Centerline is valid? [True, True] Translation: X:-11.06, Y:2.21, Z:-0.29 [[ 9.72975334e-01 2.10920908e-01 -9.39753714e-02 -1.10628457e+01] [-2.10336368e-01 9.77494913e-01 1.61959133e-02 2.21014512e+00] [ 9.52765042e-02 4.00821418e-03 9.95442777e-01 -2.85826681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.943741732 meters Centerline goodness [0,1] 0.9946290634052141 Centerline is valid? [True, True] Translation: X:-11.09, Y:2.22, Z:-0.29 [[ 9.73993496e-01 2.07653182e-01 -9.06467091e-02 -1.10931367e+01] [-2.07095251e-01 9.78196047e-01 1.56221200e-02 2.21970027e+00] [ 9.19142354e-02 3.55665966e-03 9.95760575e-01 -2.85620044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.973741731999999 meters Centerline goodness [0,1] 0.9936713995943205 Centerline is valid? [True, True] Translation: X:-11.12, Y:2.23, Z:-0.29 [[ 9.72853619e-01 2.08898719e-01 -9.95849441e-02 -1.11210923e+01] [-2.08231906e-01 9.77928927e-01 1.71606031e-02 2.23037875e+00] [ 1.00971826e-01 4.04200790e-03 9.94881075e-01 -2.91591084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.003741732 meters Centerline goodness [0,1] 0.9923536828405255 Centerline is valid? [True, True] Translation: X:-11.15, Y:2.24, Z:-0.29 [[ 9.72157483e-01 2.12044722e-01 -9.97339656e-02 -1.11506010e+01] [-2.11392409e-01 9.77250168e-01 1.71859953e-02 2.24029360e+00] [ 1.01109234e-01 4.37550935e-03 9.94865708e-01 -2.94947717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.033741732 meters Centerline goodness [0,1] 0.9923983739837399 Centerline is valid? [True, True] Translation: X:-11.18, Y:2.25, Z:-0.30 [[ 9.72228223e-01 2.13603240e-01 -9.56343949e-02 -1.11813243e+01] [-2.13011515e-01 9.76910791e-01 1.64742264e-02 2.25243874e+00] [ 9.69452205e-02 4.35451949e-03 9.95280193e-01 -2.95277858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.063741731999999 meters Centerline goodness [0,1] 0.9932887266828873 Centerline is valid? [True, True] Translation: X:-11.21, Y:2.26, Z:-0.29 [[ 9.71205875e-01 2.18200713e-01 -9.56430717e-02 -1.12105599e+01] [-2.17631554e-01 9.75892017e-01 1.64705101e-02 2.26058007e+00] [ 9.69311872e-02 4.81869413e-03 9.95279421e-01 -2.88732779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.093741732 meters Centerline goodness [0,1] 0.990987875335666 Centerline is valid? [True, True] Translation: X:-11.24, Y:2.27, Z:-0.30 [[ 9.69978215e-01 2.21663916e-01 -1.00036844e-01 -1.12392409e+01] [-2.21059547e-01 9.75108150e-01 1.72271094e-02 2.27184758e+00] [ 1.01365370e-01 5.40417854e-03 9.94834588e-01 -2.96996378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.123741732 meters Centerline goodness [0,1] 0.9895393240168996 Centerline is valid? [True, True] Translation: X:-11.27, Y:2.28, Z:-0.30 [[ 9.70258902e-01 2.21217740e-01 -9.82872094e-02 -1.12699558e+01] [-2.20632369e-01 9.75210224e-01 1.69226697e-02 2.28138628e+00] [ 9.95942863e-02 5.26596884e-03 9.95014195e-01 -3.04178714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.153741731999999 meters Centerline goodness [0,1] 0.9917949551159674 Centerline is valid? [True, True] Translation: X:-11.30, Y:2.29, Z:-0.30 [[ 9.70429477e-01 2.19601038e-01 -1.00209854e-01 -1.13008141e+01] [-2.18984747e-01 9.75575859e-01 1.72459848e-02 2.28636397e+00] [ 1.01549550e-01 5.20841746e-03 9.94816848e-01 -2.99480939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.183741732 meters Centerline goodness [0,1] 0.9935267857142858 Centerline is valid? [True, True] Translation: X:-11.33, Y:2.29, Z:-0.30 [[ 9.71607829e-01 2.16783367e-01 -9.47797347e-02 -1.13309165e+01] [-2.16219095e-01 9.76208668e-01 1.63076667e-02 2.29283693e+00] [ 9.60600294e-02 4.64853182e-03 9.95364688e-01 -2.95577742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.213741731999999 meters Centerline goodness [0,1] 0.9951309569698322 Centerline is valid? [True, True] Translation: X:-11.36, Y:2.30, Z:-0.30 [[ 9.72366819e-01 2.13884715e-01 -9.35740213e-02 -1.13616645e+01] [-2.13321520e-01 9.76849411e-01 1.60983751e-02 2.29542308e+00] [ 9.48509240e-02 4.30782668e-03 9.95482167e-01 -2.95890877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.243741731999998 meters Centerline goodness [0,1] 0.9933078393881453 Centerline is valid? [True, True] Translation: X:-11.39, Y:2.30, Z:-0.31 [[ 9.73231091e-01 2.08087428e-01 -9.75749253e-02 -1.13926317e+01] [-2.07446690e-01 9.78102409e-01 1.67793787e-02 2.29851992e+00] [ 9.89298473e-02 3.91138225e-03 9.95086723e-01 -3.09569054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.273741732 meters Centerline goodness [0,1] 0.9938669057418803 Centerline is valid? [True, True] Translation: X:-11.42, Y:2.30, Z:-0.32 [[ 9.73194083e-01 2.04550115e-01 -1.05131001e-01 -1.14227222e+01] [-2.03786512e-01 9.78848568e-01 1.80703966e-02 2.30074377e+00] [ 1.06603631e-01 3.83827685e-03 9.94294189e-01 -3.15565263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.303741731999999 meters Centerline goodness [0,1] 0.9933908162850287 Centerline is valid? [True, True] Translation: X:-11.45, Y:2.31, Z:-0.31 [[ 9.74089771e-01 2.03607783e-01 -9.84529739e-02 -1.14532415e+01] [-2.02933572e-01 9.79046293e-01 1.69210595e-02 2.30617477e+00] [ 9.98352785e-02 3.49678263e-03 9.94997834e-01 -3.13068503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.333741731999998 meters Centerline goodness [0,1] 0.9945777994395029 Centerline is valid? [True, True] Translation: X:-11.48, Y:2.31, Z:-0.31 [[ 9.74820182e-01 2.03190191e-01 -9.18659831e-02 -1.14836185e+01] [-2.02601520e-01 9.79133988e-01 1.57879010e-02 2.31264650e+00] [ 9.31570530e-02 3.22182326e-03 9.95646214e-01 -3.05225143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.363741732 meters Centerline goodness [0,1] 0.993796399877962 Centerline is valid? [True, True] Translation: X:-11.51, Y:2.33, Z:-0.31 [[ 9.73105937e-01 2.07376651e-01 -1.00298355e-01 -1.15120809e+01] [-2.06697156e-01 9.78253159e-01 1.72349156e-02 2.32564584e+00] [ 1.01691301e-01 3.95998595e-03 9.94808121e-01 -3.14238107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.393741731999999 meters Centerline goodness [0,1] 0.991500728508985 Centerline is valid? [True, True] Translation: X:-11.54, Y:2.34, Z:-0.32 [[ 9.72234322e-01 2.11512423e-01 -1.00114519e-01 -1.15411271e+01] [-2.10857515e-01 9.77365464e-01 1.72005524e-02 2.33863218e+00] [ 1.01486604e-01 4.38693125e-03 9.94827233e-01 -3.21801490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.423741732 meters Centerline goodness [0,1] 0.9924663932096007 Centerline is valid? [True, True] Translation: X:-11.57, Y:2.35, Z:-0.32 [[ 9.71310504e-01 2.16024989e-01 -9.94439942e-02 -1.15696658e+01] [-2.15402523e-01 9.76375903e-01 1.70835911e-02 2.34896940e+00] [ 1.00785202e-01 4.82701575e-03 9.94896499e-01 -3.15900120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.453741732 meters Centerline goodness [0,1] 0.9928223376938474 Centerline is valid? [True, True] Translation: X:-11.60, Y:2.36, Z:-0.32 [[ 9.71076915e-01 2.17248430e-01 -9.90593040e-02 -1.16006958e+01] [-2.16637289e-01 9.76103863e-01 1.70156831e-02 2.35861285e+00] [ 1.00388800e-01 4.93640203e-03 9.94936039e-01 -3.16248009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.483741731999999 meters Centerline goodness [0,1] 0.9890404831133974 Centerline is valid? [True, True] Translation: X:-11.63, Y:2.37, Z:-0.32 [[ 9.70739846e-01 2.18666316e-01 -9.92431064e-02 -1.16318247e+01] [-2.18061179e-01 9.75786359e-01 1.70382875e-02 2.36917022e+00] [ 1.00565769e-01 5.10132422e-03 9.94917335e-01 -3.21240168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.513741732 meters Centerline goodness [0,1] 0.9932974510003046 Centerline is valid? [True, True] Translation: X:-11.66, Y:2.37, Z:-0.32 [[ 9.71705896e-01 2.15433081e-01 -9.68309879e-02 -1.16615979e+01] [-2.14841603e-01 9.76507510e-01 1.66183258e-02 2.37125308e+00] [ 9.81363240e-02 4.65519947e-03 9.95162093e-01 -3.22273678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.543741731999999 meters Centerline goodness [0,1] 0.993787054332819 Centerline is valid? [True, True] Translation: X:-11.69, Y:2.37, Z:-0.32 [[ 9.73050804e-01 2.09828184e-01 -9.56256563e-02 -1.16921223e+01] [-2.09224317e-01 9.77729938e-01 1.64119925e-02 2.37296037e+00] [ 9.69397656e-02 4.03751015e-03 9.95282061e-01 -3.22364896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.573741731999998 meters Centerline goodness [0,1] 0.9925327705856094 Centerline is valid? [True, True] Translation: X:-11.72, Y:2.38, Z:-0.33 [[ 9.72771973e-01 2.08801234e-01 -1.00581972e-01 -1.17228837e+01] [-2.08127893e-01 9.77949320e-01 1.72599870e-02 2.37874647e+00] [ 1.01967977e-01 4.14388219e-03 9.94779051e-01 -3.29086678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.603741732 meters Centerline goodness [0,1] 0.993868030232037 Centerline is valid? [True, True] Translation: X:-11.75, Y:2.38, Z:-0.33 [[ 9.72610849e-01 2.08142680e-01 -1.03463818e-01 -1.17534237e+01] [-2.07427053e-01 9.78089463e-01 1.77488170e-02 2.38282402e+00] [ 1.04891156e-01 4.19850281e-03 9.94474845e-01 -3.32383193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.633741731999999 meters Centerline goodness [0,1] 0.9934341182669315 Centerline is valid? [True, True] Translation: X:-11.78, Y:2.39, Z:-0.33 [[ 9.73361846e-01 2.07519342e-01 -9.74804547e-02 -1.17838603e+01] [-2.06881433e-01 9.78223166e-01 1.67185826e-02 2.38755809e+00] [ 9.88270682e-02 3.89366564e-03 9.95097005e-01 -3.28530167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.663741731999998 meters Centerline goodness [0,1] 0.9932479013747516 Centerline is valid? [True, True] Translation: X:-11.81, Y:2.40, Z:-0.33 [[ 9.73289051e-01 2.09072669e-01 -9.48527444e-02 -1.18148439e+01] [-2.08476484e-01 9.77892148e-01 1.62635457e-02 2.39517387e+00] [ 9.61560168e-02 3.94543571e-03 9.95358455e-01 -3.25193196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.693741732 meters Centerline goodness [0,1] 0.9940320321539492 Centerline is valid? [True, True] Translation: X:-11.85, Y:2.40, Z:-0.32 [[ 9.73153617e-01 2.11085404e-01 -9.17332551e-02 -1.18462312e+01] [-2.10537307e-01 9.77459384e-01 1.57224024e-02 2.40480942e+00] [ 9.29843007e-02 4.01295970e-03 9.95659488e-01 -3.21443096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.723741731999999 meters Centerline goodness [0,1] 0.994548967761619 Centerline is valid? [True, True] Translation: X:-11.88, Y:2.41, Z:-0.32 [[ 9.73177748e-01 2.11107054e-01 -9.14269192e-02 -1.18778416e+01] [-2.10563371e-01 9.77454727e-01 1.56627951e-02 2.40837596e+00] [ 9.26722010e-02 4.00847657e-03 9.95688604e-01 -3.20998317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.753741732 meters Centerline goodness [0,1] 0.9942958060980066 Centerline is valid? [True, True] Translation: X:-11.91, Y:2.42, Z:-0.34 [[ 9.72974514e-01 2.08624437e-01 -9.89769626e-02 -1.19078407e+01] [-2.07975062e-01 9.77987264e-01 1.69494724e-02 2.41652868e+00] [ 1.00334283e-01 4.09333526e-03 9.94945363e-01 -3.35808433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.783741732 meters Centerline goodness [0,1] 0.9926286932683521 Centerline is valid? [True, True] Translation: X:-11.94, Y:2.43, Z:-0.35 [[ 9.72614818e-01 2.07799221e-01 -1.04114838e-01 -1.19374233e+01] [-2.07076542e-01 9.78162378e-01 1.78232661e-02 2.42649682e+00] [ 1.05544879e-01 4.22456802e-03 9.94405567e-01 -3.46087273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.813741731999999 meters Centerline goodness [0,1] 0.993605359317905 Centerline is valid? [True, True] Translation: X:-11.97, Y:2.43, Z:-0.34 [[ 9.72937105e-01 2.07744279e-01 -1.01171656e-01 -1.19688556e+01] [-2.07062145e-01 9.78174565e-01 1.73143874e-02 2.43049270e+00] [ 1.02560506e-01 4.10301018e-03 9.94718306e-01 -3.43937043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.843741732 meters Centerline goodness [0,1] 0.9941585931775625 Centerline is valid? [True, True] Translation: X:-12.00, Y:2.43, Z:-0.34 [[ 9.74534972e-01 2.01177918e-01 -9.90405692e-02 -1.20001193e+01] [-2.00490833e-01 9.79549015e-01 1.69456049e-02 2.43207893e+00] [ 1.00424173e-01 3.34264163e-03 9.94939100e-01 -3.36225987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.873741732 meters Centerline goodness [0,1] 0.9943953700883339 Centerline is valid? [True, True] Translation: X:-12.03, Y:2.44, Z:-0.34 [[ 9.74784459e-01 2.02251540e-01 -9.42845361e-02 -1.20304207e+01] [-2.01634240e-01 9.79328085e-01 1.61287283e-02 2.44482192e+00] [ 9.55975543e-02 3.28895708e-03 9.95414632e-01 -3.36516143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.903741731999999 meters Centerline goodness [0,1] 0.9947063118611066 Centerline is valid? [True, True] Translation: X:-12.06, Y:2.45, Z:-0.34 [[ 9.74680529e-01 2.03324605e-01 -9.30428436e-02 -1.20625065e+01] [-2.02729207e-01 9.79105627e-01 1.59072272e-02 2.45393126e+00] [ 9.43331024e-02 3.35803727e-03 9.95535027e-01 -3.41458195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.933741732 meters Centerline goodness [0,1] 0.9963068931231103 Centerline is valid? [True, True] Translation: X:-12.09, Y:2.46, Z:-0.35 [[ 9.74439191e-01 2.03648312e-01 -9.48452876e-02 -1.20938415e+01] [-2.03032212e-01 9.79037970e-01 1.62041324e-02 2.46257765e+00] [ 9.61570821e-02 3.46670687e-03 9.95360135e-01 -3.45789821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.963741731999999 meters Centerline goodness [0,1] 0.9929903693770572 Centerline is valid? [True, True] Translation: X:-12.12, Y:2.47, Z:-0.35 [[ 9.74356245e-01 2.03474242e-01 -9.60632161e-02 -1.21241286e+01] [-2.02842209e-01 9.79074034e-01 1.64035095e-02 2.47181143e+00] [ 9.73906922e-02 3.50281305e-03 9.95240063e-01 -3.48439274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.993741731999998 meters Centerline goodness [0,1] 0.9944882850634559 Centerline is valid? [True, True] Translation: X:-12.16, Y:2.48, Z:-0.35 [[ 9.74222244e-01 2.03438365e-01 -9.74877010e-02 -1.21552978e+01] [-2.02788017e-01 9.79081285e-01 1.66390088e-02 2.48177081e+00] [ 9.88333963e-02 3.55924510e-03 9.95097629e-01 -3.52701412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.023741732 meters Centerline goodness [0,1] 0.9939668785682472 Centerline is valid? [True, True] Translation: X:-12.19, Y:2.49, Z:-0.36 [[ 9.74000651e-01 2.03572105e-01 -9.94038749e-02 -1.21858386e+01] [-2.02897600e-01 9.79053140e-01 1.69562198e-02 2.49310421e+00] [ 1.00773489e-01 3.65343853e-03 9.94902687e-01 -3.59472344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.053741731999999 meters Centerline goodness [0,1] 0.9949087650700554 Centerline is valid? [True, True] Translation: X:-12.22, Y:2.50, Z:-0.36 [[ 9.74436029e-01 2.01684023e-01 -9.89847521e-02 -1.22163793e+01] [-2.01006576e-01 9.79444549e-01 1.68739795e-02 2.50215238e+00] [ 1.00353288e-01 3.45397254e-03 9.94945872e-01 -3.55184940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.083741731999998 meters Centerline goodness [0,1] 0.9942902265686692 Centerline is valid? [True, True] Translation: X:-12.25, Y:2.51, Z:-0.36 [[ 9.74141000e-01 2.01709961e-01 -1.01795894e-01 -1.22459445e+01] [-2.00994740e-01 9.79438803e-01 1.73420156e-02 2.51249639e+00] [ 1.03200906e-01 3.56687079e-03 9.94654136e-01 -3.64207055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.113741732 meters Centerline goodness [0,1] 0.9944990016706736 Centerline is valid? [True, True] Translation: X:-12.28, Y:2.52, Z:-0.37 [[ 9.74145116e-01 2.00699429e-01 -1.03735397e-01 -1.22774014e+01] [-1.99951593e-01 9.79646498e-01 1.76663429e-02 2.51828740e+00] [ 1.05169644e-01 3.53247628e-03 9.94448022e-01 -3.65553636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.143741731999999 meters Centerline goodness [0,1] 0.993449205995092 Centerline is valid? [True, True] Translation: X:-12.31, Y:2.53, Z:-0.36 [[ 9.74533549e-01 2.01250313e-01 -9.89073993e-02 -1.23079120e+01] [-2.00574018e-01 9.79533844e-01 1.68378079e-02 2.52810540e+00] [ 1.00271759e-01 3.42924577e-03 9.94954177e-01 -3.63655540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.173741732 meters Centerline goodness [0,1] 0.99446606665045 Centerline is valid? [True, True] Translation: X:-12.34, Y:2.54, Z:-0.36 [[ 9.74588664e-01 2.03798431e-01 -9.29684617e-02 -1.23374104e+01] [-2.03213557e-01 9.79006691e-01 1.58160994e-02 2.54425599e+00] [ 9.42400424e-02 3.47826063e-03 9.95543428e-01 -3.61884372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.203741732 meters Centerline goodness [0,1] 0.9962137404580153 Centerline is valid? [True, True] Translation: X:-12.37, Y:2.56, Z:-0.36 [[ 9.72921135e-01 2.08747134e-01 -9.92426240e-02 -1.23659597e+01] [-2.08107937e-01 9.77960441e-01 1.68660270e-02 2.55605052e+00] [ 1.00576095e-01 4.24386365e-03 9.94920318e-01 -3.61405102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.233741731999999 meters Centerline goodness [0,1] 0.9886749716874292 Centerline is valid? [True, True] Translation: X:-12.39, Y:2.57, Z:-0.37 [[ 9.71755810e-01 2.12220276e-01 -1.03214337e-01 -1.23939322e+01] [-2.11548343e-01 9.77210119e-01 1.75408703e-02 2.57191158e+00] [ 1.04584623e-01 4.78937943e-03 9.94504459e-01 -3.73696404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.263741732 meters Centerline goodness [0,1] 0.985794126613149 Centerline is valid? [True, True] Translation: X:-12.42, Y:2.58, Z:-0.38 [[ 9.72037884e-01 2.11328966e-01 -1.02383694e-01 -1.24242349e+01] [-2.10664133e-01 9.77403851e-01 1.73877928e-02 2.58487924e+00] [ 1.03744761e-01 4.66697892e-03 9.94593004e-01 -3.76636259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.293741731999999 meters Centerline goodness [0,1] 0.994703626291118 Centerline is valid? [True, True] Translation: X:-12.46, Y:2.58, Z:-0.37 [[ 9.73367812e-01 2.07861459e-01 -9.66887615e-02 -1.24551114e+01] [-2.07253152e-01 9.78149802e-01 1.64041600e-02 2.58275688e+00] [ 9.79858855e-02 4.07176923e-03 9.95179475e-01 -3.69969835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.323741731999998 meters Centerline goodness [0,1] 0.9949642461476483 Centerline is valid? [True, True] Translation: X:-12.49, Y:2.59, Z:-0.37 [[ 9.74596513e-01 2.02909961e-01 -9.48113063e-02 -1.24862446e+01] [-2.02301788e-01 9.79191129e-01 1.60847614e-02 2.58574476e+00] [ 9.61021484e-02 3.50434441e-03 9.95365308e-01 -3.70959344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.353741732 meters Centerline goodness [0,1] 0.9948197054342306 Centerline is valid? [True, True] Translation: X:-12.51, Y:2.59, Z:-0.38 [[ 9.73264420e-01 2.05159330e-01 -1.03276413e-01 -1.25140433e+01] [-2.04450315e-01 9.78720152e-01 1.75195196e-02 2.59420298e+00] [ 1.04672999e-01 4.06377013e-03 9.94498391e-01 -3.81009151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.383741731999999 meters Centerline goodness [0,1] 0.9944801834527264 Centerline is valid? [True, True] Translation: X:-12.55, Y:2.60, Z:-0.38 [[ 9.73037156e-01 2.07042246e-01 -1.01647434e-01 -1.25454422e+01] [-2.06366725e-01 9.78322952e-01 1.72329993e-02 2.60366871e+00] [ 1.03011976e-01 4.20829943e-03 9.94671213e-01 -3.81607707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.413741731999998 meters Centerline goodness [0,1] 0.9944801834527264 Centerline is valid? [True, True] Translation: X:-12.58, Y:2.61, Z:-0.38 [[ 9.73103135e-01 2.06729420e-01 -1.01652528e-01 -1.25775039e+01] [-2.06055337e-01 9.78389114e-01 1.72029088e-02 2.60934369e+00] [ 1.03012074e-01 4.20584147e-03 9.94671214e-01 -3.83649880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.443741732 meters Centerline goodness [0,1] 0.9954079040942801 Centerline is valid? [True, True] Translation: X:-12.61, Y:2.62, Z:-0.37 [[ 9.72910705e-01 2.08770809e-01 -9.92950641e-02 -1.26099785e+01] [-2.08141461e-01 9.77954922e-01 1.67720840e-02 2.61512854e+00] [ 1.00607618e-01 4.34967959e-03 9.94916674e-01 -3.74103299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.473741731999999 meters Centerline goodness [0,1] 0.9933195256660169 Centerline is valid? [True, True] Translation: X:-12.64, Y:2.63, Z:-0.38 [[ 9.72341748e-01 2.11447656e-01 -9.92039028e-02 -1.26395586e+01] [-2.10835480e-01 9.77378294e-01 1.67353288e-02 2.62712479e+00] [ 1.00498387e-01 4.64324362e-03 9.94926386e-01 -3.77202506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.503741732 meters Centerline goodness [0,1] 0.9905623919454897 Centerline is valid? [True, True] Translation: X:-12.67, Y:2.64, Z:-0.38 [[ 9.71386334e-01 2.15310134e-01 -1.00250370e-01 -1.26682575e+01] [-2.14705688e-01 9.76532410e-01 1.69091943e-02 2.63598253e+00] [ 1.01538456e-01 5.09896431e-03 9.94818548e-01 -3.83884910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.533741732 meters Centerline goodness [0,1] 0.9894788055707596 Centerline is valid? [True, True] Translation: X:-12.70, Y:2.64, Z:-0.39 [[ 9.71620380e-01 2.13924975e-01 -1.00945244e-01 -1.27002157e+01] [-2.13305855e-01 9.76837296e-01 1.70149442e-02 2.64052421e+00] [ 1.02247001e-01 5.00014498e-03 9.94746475e-01 -3.89928620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.563741731999999 meters Centerline goodness [0,1] 0.9919597173718834 Centerline is valid? [True, True] Translation: X:-12.73, Y:2.64, Z:-0.39 [[ 9.72342329e-01 2.09558517e-01 -1.03129154e-01 -1.27321388e+01] [-2.08890388e-01 9.77784984e-01 1.73588619e-02 2.64268548e+00] [ 1.04475835e-01 4.66393276e-03 9.94516489e-01 -3.88802737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.593741732 meters Centerline goodness [0,1] 0.9930915371329879 Centerline is valid? [True, True] Translation: X:-12.76, Y:2.64, Z:-0.39 [[ 9.73236155e-01 2.06828577e-01 -1.00166496e-01 -1.27631507e+01] [-2.06184840e-01 9.78367954e-01 1.68510539e-02 2.64490937e+00] [ 1.01484969e-01 4.25275806e-03 9.94827983e-01 -3.89059064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.623741732 meters Centerline goodness [0,1] 0.9951180974759957 Centerline is valid? [True, True] Translation: X:-12.79, Y:2.65, Z:-0.39 [[ 9.74121490e-01 2.02856286e-01 -9.96827507e-02 -1.27935504e+01] [-2.02198158e-01 9.79201065e-01 1.67683983e-02 2.64536085e+00] [ 1.01011031e-01 3.82121140e-03 9.94877967e-01 -3.86565247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.653741731999999 meters Centerline goodness [0,1] 0.9952513740704817 Centerline is valid? [True, True] Translation: X:-12.82, Y:2.65, Z:-0.39 [[ 9.75093177e-01 1.99060654e-01 -9.78169375e-02 -1.28244275e+01] [-1.98408067e-01 9.79981396e-01 1.64530243e-02 2.65020428e+00] [ 9.91339287e-02 3.36443782e-03 9.95068412e-01 -3.88557891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.683741732 meters Centerline goodness [0,1] 0.9937432709691836 Centerline is valid? [True, True] Translation: X:-12.85, Y:2.66, Z:-0.39 [[ 9.74591806e-01 1.99292627e-01 -1.02241184e-01 -1.28542283e+01] [-1.98581231e-01 9.79933606e-01 1.71936743e-02 2.65991452e+00] [ 1.03616145e-01 3.54636622e-03 9.94611038e-01 -3.92943950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.713741731999999 meters Centerline goodness [0,1] 0.9859046069358284 Centerline is valid? [True, True] Translation: X:-12.88, Y:2.68, Z:-0.40 [[ 9.71174810e-01 2.13068645e-01 -1.06870202e-01 -1.28807934e+01] [-2.12374065e-01 9.77023166e-01 1.79718905e-02 2.67716932e+00] [ 1.08243909e-01 5.24261188e-03 9.94110543e-01 -4.00147454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.743741731999998 meters Centerline goodness [0,1] 0.975667365763271 Centerline is valid? [True, True] Translation: X:-12.91, Y:2.68, Z:-0.40 [[ 9.69710900e-01 2.18931315e-01 -1.08304427e-01 -1.29096507e+01] [-2.18254106e-01 9.75721977e-01 1.82144897e-02 2.68499731e+00] [ 1.09662732e-01 5.97509685e-03 9.93950896e-01 -4.04078452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.773741732 meters Centerline goodness [0,1] 0.9600275532324398 Centerline is valid? [True, True] Translation: X:-12.94, Y:2.69, Z:-0.41 [[ 9.69466322e-01 2.20213317e-01 -1.07894136e-01 -1.29408529e+01] [-2.19550609e-01 9.75432603e-01 1.81319210e-02 2.69271982e+00] [ 1.09236349e-01 6.10993659e-03 9.93997027e-01 -4.08122966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.803741731999999 meters Centerline goodness [0,1] 0.9676586050485121 Centerline is valid? [True, True] Translation: X:-12.97, Y:2.69, Z:-0.40 [[ 9.69560484e-01 2.18759022e-01 -1.09986175e-01 -1.29729111e+01] [-2.18064546e-01 9.75759889e-01 1.84524253e-02 2.69476326e+00] [ 1.11356733e-01 6.09334309e-03 9.93761817e-01 -4.04384835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.833741731999998 meters Centerline goodness [0,1] 0.9831967045964354 Centerline is valid? [True, True] Translation: X:-13.00, Y:2.69, Z:-0.40 [[ 9.70135483e-01 2.17650486e-01 -1.07076655e-01 -1.30033491e+01] [-2.16987276e-01 9.76009412e-01 1.79485179e-02 2.69421838e+00] [ 1.08414327e-01 5.82177767e-03 9.94088749e-01 -4.01486601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.863741732 meters Centerline goodness [0,1] 0.989989665444082 Centerline is valid? [True, True] Translation: X:-13.03, Y:2.69, Z:-0.40 [[ 9.71518512e-01 2.12849114e-01 -1.04149104e-01 -1.30347725e+01] [-2.12194197e-01 9.77071565e-01 1.74579180e-02 2.69269997e+00] [ 1.05477030e-01 5.13914496e-03 9.94408460e-01 -3.97946764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.893741731999999 meters Centerline goodness [0,1] 0.9942630454684163 Centerline is valid? [True, True] Translation: X:-13.07, Y:2.69, Z:-0.40 [[ 9.73770191e-01 2.03852054e-01 -1.01074009e-01 -1.30662958e+01] [-2.03186991e-01 9.78993372e-01 1.69417863e-02 2.68695829e+00] [ 1.02404403e-01 4.03951734e-03 9.94734648e-01 -4.01901867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.923741732 meters Centerline goodness [0,1] 0.9952791795539638 Centerline is valid? [True, True] Translation: X:-13.10, Y:2.69, Z:-0.40 [[ 9.74625100e-01 1.99798639e-01 -1.00927788e-01 -1.30971564e+01] [-1.99114059e-01 9.79830327e-01 1.69151305e-02 2.68971399e+00] [ 1.02271728e-01 3.61023073e-03 9.94749948e-01 -3.98710262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.953741732 meters Centerline goodness [0,1] 0.9942339708450075 Centerline is valid? [True, True] Translation: X:-13.13, Y:2.70, Z:-0.41 [[ 9.74518963e-01 2.01030940e-01 -9.94954847e-02 -1.31266206e+01] [-2.00372517e-01 9.79577941e-01 1.66706728e-02 2.70221292e+00] [ 1.00814903e-01 3.69027393e-03 9.94898355e-01 -4.10415380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.983741731999999 meters Centerline goodness [0,1] 0.9892228232136321 Centerline is valid? [True, True] Translation: X:-13.16, Y:2.71, Z:-0.42 [[ 9.73407846e-01 2.02849249e-01 -1.06439405e-01 -1.31551058e+01] [-2.02107009e-01 9.79201152e-01 1.78286433e-02 2.71069025e+00] [ 1.07842115e-01 4.15760848e-03 9.94159340e-01 -4.20896431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.013741732 meters Centerline goodness [0,1] 0.9863671352752907 Centerline is valid? [True, True] Translation: X:-13.19, Y:2.72, Z:-0.42 [[ 9.72854892e-01 2.05523305e-01 -1.06365077e-01 -1.31852849e+01] [-2.04798189e-01 9.78642093e-01 1.78144623e-02 2.72103475e+00] [ 1.07754628e-01 4.45248827e-03 9.94167549e-01 -4.21591666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.043741731999999 meters Centerline goodness [0,1] 0.9774795870578893 Centerline is valid? [True, True] Translation: X:-13.21, Y:2.74, Z:-0.42 [[ 9.71498854e-01 2.12609474e-01 -1.04819791e-01 -1.32133458e+01] [-2.11946522e-01 9.77123612e-01 1.75533082e-02 2.73828117e+00] [ 1.06153893e-01 5.16317147e-03 9.94336308e-01 -4.21397029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.073741731999998 meters Centerline goodness [0,1] 0.9691472269112652 Centerline is valid? [True, True] Translation: X:-13.24, Y:2.75, Z:-0.42 [[ 9.70531016e-01 2.17311665e-01 -1.04140233e-01 -1.32426483e+01] [-2.16684259e-01 9.76085971e-01 1.74387310e-02 2.75154808e+00] [ 1.05439460e-01 5.64071982e-03 9.94409726e-01 -4.22250476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.103741732 meters Centerline goodness [0,1] 0.9723139909604978 Centerline is valid? [True, True] Translation: X:-13.27, Y:2.76, Z:-0.42 [[ 9.70363568e-01 2.18396989e-01 -1.03427754e-01 -1.32726493e+01] [-2.17785084e-01 9.75843206e-01 1.73116686e-02 2.75942386e+00] [ 1.04710087e-01 5.72640956e-03 9.94486302e-01 -4.23557638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.133741731999999 meters Centerline goodness [0,1] 0.9735958144174589 Centerline is valid? [True, True] Translation: X:-13.30, Y:2.76, Z:-0.43 [[ 9.70527127e-01 2.15887325e-01 -1.07096955e-01 -1.33046391e+01] [-2.15218516e-01 9.76401798e-01 1.79030654e-02 2.76221825e+00] [ 1.08434704e-01 5.67383714e-03 9.94087382e-01 -4.28732892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.163741731999998 meters Centerline goodness [0,1] 0.9766303906440348 Centerline is valid? [True, True] Translation: X:-13.34, Y:2.77, Z:-0.43 [[ 9.70998805e-01 2.12600179e-01 -1.09373147e-01 -1.33366777e+01] [-2.11885354e-01 9.77124069e-01 1.82524313e-02 2.76560126e+00] [ 1.10751605e-01 5.45147912e-03 9.93833167e-01 -4.33234760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.193741732 meters Centerline goodness [0,1] 0.9857358275257774 Centerline is valid? [True, True] Translation: X:-13.37, Y:2.77, Z:-0.44 [[ 9.72079489e-01 2.08696684e-01 -1.07271440e-01 -1.33681605e+01] [-2.07987434e-01 9.77968004e-01 1.78832363e-02 2.76574976e+00] [ 1.08640208e-01 4.92718430e-03 9.94068925e-01 -4.35560972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.223741731999999 meters Centerline goodness [0,1] 0.9941697476943079 Centerline is valid? [True, True] Translation: X:-13.40, Y:2.76, Z:-0.43 [[ 9.73385243e-01 2.03272047e-01 -1.05837817e-01 -1.33989596e+01] [-2.02550007e-01 9.79113006e-01 1.76413114e-02 2.76356006e+00] [ 1.07213168e-01 4.26565832e-03 9.94226906e-01 -4.33689872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.253741731999998 meters Centerline goodness [0,1] 0.9945597913567921 Centerline is valid? [True, True] Translation: X:-13.43, Y:2.77, Z:-0.44 [[ 9.73925519e-01 2.00965011e-01 -1.05271779e-01 -1.34311593e+01] [-2.00237823e-01 9.79590273e-01 1.75416793e-02 2.76789308e+00] [ 1.06648475e-01 3.99510287e-03 9.94288762e-01 -4.35381449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.283741732 meters Centerline goodness [0,1] 0.9946886149854038 Centerline is valid? [True, True] Translation: X:-13.46, Y:2.78, Z:-0.44 [[ 9.74393900e-01 2.00069861e-01 -1.02608860e-01 -1.34611890e+01] [-1.99374705e-01 9.79774253e-01 1.70921084e-02 2.77598918e+00] [ 1.03953135e-01 3.80316515e-03 9.94574925e-01 -4.35191222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.313741731999999 meters Centerline goodness [0,1] 0.9930728169186259 Centerline is valid? [True, True] Translation: X:-13.49, Y:2.79, Z:-0.45 [[ 9.73145496e-01 2.02932094e-01 -1.08657305e-01 -1.34889100e+01] [-2.02170361e-01 9.79183128e-01 1.80982421e-02 2.78729183e+00] [ 1.10068114e-01 4.35506380e-03 9.93914505e-01 -4.47335935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.343741732 meters Centerline goodness [0,1] 0.9878233154905406 Centerline is valid? [True, True] Translation: X:-13.52, Y:2.80, Z:-0.45 [[ 9.72220608e-01 2.05101282e-01 -1.12785431e-01 -1.35178994e+01] [-2.04295083e-01 9.78729091e-01 1.87852414e-02 2.80045410e+00] [ 1.14239260e-01 4.77811024e-03 9.93441775e-01 -4.54008255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.373741732 meters Centerline goodness [0,1] 0.9884382492786605 Centerline is valid? [True, True] Translation: X:-13.55, Y:2.81, Z:-0.45 [[ 9.71640100e-01 2.10699822e-01 -1.07336396e-01 -1.35492135e+01] [-2.10005383e-01 9.77537054e-01 1.78619013e-02 2.81497092e+00] [ 1.08688804e-01 5.18588143e-03 9.94062297e-01 -4.46115939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.403741731999999 meters Centerline goodness [0,1] 0.9662296950698205 Centerline is valid? [True, True] Translation: X:-13.58, Y:2.83, Z:-0.45 [[ 9.70170672e-01 2.16615968e-01 -1.08841123e-01 -1.35780570e+01] [-2.15941237e-01 9.76238750e-01 1.80910204e-02 2.82864177e+00] [ 1.10173726e-01 5.95190918e-03 9.93894524e-01 -4.53261328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.433741732 meters Centerline goodness [0,1] 0.9806822349920529 Centerline is valid? [True, True] Translation: X:-13.61, Y:2.83, Z:-0.45 [[ 9.69734690e-01 2.18082558e-01 -1.09793571e-01 -1.36095824e+01] [-2.17405613e-01 9.75910786e-01 1.82465706e-02 2.82694858e+00] [ 1.11127989e-01 6.17540604e-03 9.93786916e-01 -4.54992397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.463741731999999 meters Centerline goodness [0,1] 0.9610032395427967 Centerline is valid? [True, True] Translation: X:-13.64, Y:2.84, Z:-0.46 [[ 9.70002030e-01 2.15608025e-01 -1.12290875e-01 -1.36413551e+01] [-2.14885813e-01 9.76461265e-01 1.86409689e-02 2.83522015e+00] [ 1.13666833e-01 6.04793830e-03 9.93500515e-01 -4.64266118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.493741731999998 meters Centerline goodness [0,1] 0.9718327082993641 Centerline is valid? [True, True] Translation: X:-13.67, Y:2.83, Z:-0.46 [[ 9.71921294e-01 2.11210198e-01 -1.03726811e-01 -1.36732866e+01] [-2.10571201e-01 9.77427222e-01 1.71986655e-02 2.83391910e+00] [ 1.05017942e-01 5.12612991e-03 9.94457116e-01 -4.60292103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.523741732 meters Centerline goodness [0,1] 0.9924290220820189 Centerline is valid? [True, True] Translation: X:-13.71, Y:2.83, Z:-0.45 [[ 9.73081890e-01 2.06645009e-01 -1.02026833e-01 -1.37051340e+01] [-2.06001816e-01 9.78405376e-01 1.69166391e-02 2.82712930e+00] [ 1.03319341e-01 4.55643779e-03 9.94637800e-01 -4.52626251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.553741731999999 meters Centerline goodness [0,1] 0.991344289068082 Centerline is valid? [True, True] Translation: X:-13.73, Y:2.83, Z:-0.46 [[ 9.72473721e-01 2.06245180e-01 -1.08433330e-01 -1.37348329e+01] [-2.05516046e-01 9.78488572e-01 1.79796897e-02 2.83018242e+00] [ 1.09808999e-01 4.80001353e-03 9.93941117e-01 -4.63303182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.583741731999998 meters Centerline goodness [0,1] 0.9564077551518108 Centerline is valid? [True, True] Translation: X:-13.76, Y:2.84, Z:-0.48 [[ 9.70386061e-01 2.13864600e-01 -1.12306838e-01 -1.37629746e+01] [-2.13133138e-01 9.76845697e-01 1.86212011e-02 2.84408083e+00] [ 1.13688867e-01 5.86655488e-03 9.93499082e-01 -4.81656350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.613741732 meters Centerline goodness [0,1] 0.9423304135261764 Centerline is valid? [True, False] Translation: X:-13.78, Y:2.84, Z:-0.48 [[ 9.68852006e-01 2.19184155e-01 -1.15256657e-01 -1.37776631e+01] [-2.19021290e-01 9.75616269e-01 1.42326801e-02 2.84457113e+00] [ 1.15565848e-01 1.14543011e-02 9.93233776e-01 -4.79144893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.643741731999999 meters Centerline goodness [0,1] 0.9577585678376556 Centerline is valid? [False, True] Translation: X:-13.81, Y:2.84, Z:-0.47 [[ 9.69367543e-01 2.18893395e-01 -1.11410273e-01 -1.38072527e+01] [-2.19270774e-01 9.75622479e-01 9.00585971e-03 2.84480486e+00] [ 1.10665690e-01 1.56990286e-02 9.93733689e-01 -4.73328859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.673741732 meters Centerline goodness [0,1] 0.9825808817537283 Centerline is valid? [True, True] Translation: X:-13.84, Y:2.84, Z:-0.48 [[ 9.71417104e-01 2.11737186e-01 -1.07313435e-01 -1.38390257e+01] [-2.11085152e-01 9.77310465e-01 1.75303359e-02 2.83671000e+00] [ 1.08590367e-01 5.62300458e-03 9.94070679e-01 -4.76343215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.703741732 meters Centerline goodness [0,1] 0.9895992346990699 Centerline is valid? [True, True] Translation: X:-13.87, Y:2.84, Z:-0.48 [[ 9.72449952e-01 2.06748961e-01 -1.07684527e-01 -1.38706885e+01] [-2.06062276e-01 9.78380804e-01 1.75880877e-02 2.83713782e+00] [ 1.08992793e-01 5.08618366e-03 9.94029528e-01 -4.77226702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.733741731999999 meters Centerline goodness [0,1] 0.9944471564559434 Centerline is valid? [True, True] Translation: X:-13.90, Y:2.83, Z:-0.48 [[ 9.74166737e-01 1.99142773e-01 -1.06495650e-01 -1.39024503e+01] [-1.98426230e-01 9.79961529e-01 1.73906003e-02 2.83325737e+00] [ 1.07824853e-01 4.19018609e-03 9.94161075e-01 -4.79324942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.763741732 meters Centerline goodness [0,1] 0.9938459030424062 Centerline is valid? [True, True] Translation: X:-13.93, Y:2.83, Z:-0.49 [[ 9.74450507e-01 1.96239039e-01 -1.09254053e-01 -1.39338963e+01] [-1.95467200e-01 9.80548030e-01 1.78363257e-02 2.83379887e+00] [ 1.10629030e-01 3.97496729e-03 9.93853821e-01 -4.90914911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.793741731999999 meters Centerline goodness [0,1] 0.9921347857897732 Centerline is valid? [True, True] Translation: X:-13.96, Y:2.84, Z:-0.50 [[ 9.73942223e-01 1.96695986e-01 -1.12903657e-01 -1.39635237e+01] [-1.95875352e-01 9.80455665e-01 1.84264965e-02 2.83590798e+00] [ 1.14321448e-01 4.16870050e-03 9.93435065e-01 -5.02215521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.823741731999998 meters Centerline goodness [0,1] 0.9949510310846158 Centerline is valid? [True, True] Translation: X:-14.00, Y:2.84, Z:-0.48 [[ 9.74829341e-01 1.98230510e-01 -1.02041271e-01 -1.39953853e+01] [-1.97568766e-01 9.80147566e-01 1.66532808e-02 2.83624333e+00] [ 1.03316692e-01 3.92606133e-03 9.94640763e-01 -4.82301673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.853741732 meters Centerline goodness [0,1] 0.989073257915795 Centerline is valid? [True, True] Translation: X:-14.02, Y:2.85, Z:-0.49 [[ 9.73172675e-01 2.05575122e-01 -1.03314152e-01 -1.40246285e+01] [-2.04937970e-01 9.78629737e-01 1.68601821e-02 2.84669998e+00] [ 1.04572335e-01 4.76512403e-03 9.94505867e-01 -4.90175743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.883741731999999 meters Centerline goodness [0,1] 0.9791649727620132 Centerline is valid? [True, True] Translation: X:-14.05, Y:2.85, Z:-0.50 [[ 9.71900285e-01 2.09070935e-01 -1.08162745e-01 -1.40541590e+01] [-2.08394098e-01 9.77885648e-01 1.76510315e-02 2.85444734e+00] [ 1.09461113e-01 5.38543503e-03 9.93976490e-01 -4.99601967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.913741731999998 meters Centerline goodness [0,1] 0.9594358411575824 Centerline is valid? [True, True] Translation: X:-14.08, Y:2.86, Z:-0.51 [[ 9.69987297e-01 2.13349524e-01 -1.16647432e-01 -1.40837299e+01] [-2.12593114e-01 9.76955397e-01 1.90347030e-02 2.86138974e+00] [ 1.18020383e-01 6.33502063e-03 9.92990965e-01 -5.05847073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.943741732 meters Centerline goodness [0,1] 0.9595943204868154 Centerline is valid? [True, True] Translation: X:-14.11, Y:2.87, Z:-0.50 [[ 9.70454631e-01 2.15885160e-01 -1.07756235e-01 -1.41146766e+01] [-2.15255393e-01 9.76399503e-01 1.75820001e-02 2.86753439e+00] [ 1.09008827e-01 6.13257728e-03 9.94021864e-01 -5.01337103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.973741731999999 meters Centerline goodness [0,1] 0.9660158633312996 Centerline is valid? [True, True] Translation: X:-14.14, Y:2.87, Z:-0.51 [[ 9.70367454e-01 2.13933256e-01 -1.12336845e-01 -1.41448825e+01] [-2.13236684e-01 9.76828760e-01 1.83218494e-02 2.86670552e+00] [ 1.13653514e-01 6.17541011e-03 9.93501255e-01 -5.12032522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.003741731999998 meters Centerline goodness [0,1] 0.9586464638258114 Centerline is valid? [True, True] Translation: X:-14.18, Y:2.87, Z:-0.52 [[ 9.70532238e-01 2.09569438e-01 -1.18944634e-01 -1.41759379e+01] [-2.08757190e-01 9.77775280e-01 1.93891309e-02 2.86822761e+00] [ 1.20364492e-01 6.01277101e-03 9.92711557e-01 -5.22723652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.033741732 meters Centerline goodness [0,1] 0.9898864767165574 Centerline is valid? [True, True] Translation: X:-14.21, Y:2.86, Z:-0.51 [[ 9.73540861e-01 2.00580485e-01 -1.09479045e-01 -1.42085182e+01] [-1.99835952e-01 9.79666866e-01 1.78444236e-02 2.85764006e+00] [ 1.10832236e-01 4.50557359e-03 9.93828917e-01 -5.11998154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.063741731999999 meters Centerline goodness [0,1] 0.9930278884462151 Centerline is valid? [True, True] Translation: X:-14.24, Y:2.86, Z:-0.52 [[ 9.75159881e-01 1.92040420e-01 -1.10379724e-01 -1.42397155e+01] [-1.91228945e-01 9.81380550e-01 1.79918682e-02 2.85550784e+00] [ 1.11779680e-01 3.56285008e-03 9.93726627e-01 -5.17162609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.093741732 meters Centerline goodness [0,1] 0.9929823138082103 Centerline is valid? [True, True] Translation: X:-14.27, Y:2.86, Z:-0.51 [[ 9.75865432e-01 1.89264943e-01 -1.08928600e-01 -1.42698334e+01] [-1.88458033e-01 9.81920821e-01 1.77502302e-02 2.85939623e+00] [ 1.10318757e-01 3.20663378e-03 9.93891085e-01 -5.13396341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.123741732 meters Centerline goodness [0,1] 0.9671238443563954 Centerline is valid? [True, True] Translation: X:-14.30, Y:2.89, Z:-0.52 [[ 9.74802088e-01 1.98511602e-01 -1.01754766e-01 -1.42961648e+01] [-1.97858689e-01 9.80090462e-01 1.65718530e-02 2.89239097e+00] [ 1.03018581e-01 3.97878770e-03 9.94671474e-01 -5.24346197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.153741731999999 meters Centerline goodness [0,1] 0.9892608713338485 Centerline is valid? [True, True] Translation: X:-14.33, Y:2.89, Z:-0.52 [[ 9.72963868e-01 2.04062537e-01 -1.08165578e-01 -1.43262223e+01] [-2.03359300e-01 9.78945783e-01 1.76110411e-02 2.89133571e+00] [ 1.09481990e-01 4.86156959e-03 9.93976891e-01 -5.21535364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.183741732 meters Centerline goodness [0,1] 0.9827974896927107 Centerline is valid? [True, True] Translation: X:-14.36, Y:2.90, Z:-0.53 [[ 9.72811292e-01 2.03120209e-01 -1.11267114e-01 -1.43561688e+01] [-2.02369948e-01 9.79141578e-01 1.81156084e-02 2.90020959e+00] [ 1.12625904e-01 4.89405173e-03 9.93625409e-01 -5.30812402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.213741731999999 meters Centerline goodness [0,1] 0.9901098677930993 Centerline is valid? [True, True] Translation: X:-14.39, Y:2.90, Z:-0.53 [[ 9.73718224e-01 1.99643007e-01 -1.09615192e-01 -1.43873072e+01] [-1.98893441e-01 9.79858693e-01 1.78421287e-02 2.90175165e+00] [ 1.10969455e-01 4.42853687e-03 9.93813950e-01 -5.31232830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.243741731999998 meters Centerline goodness [0,1] 0.9889629659742266 Centerline is valid? [True, True] Translation: X:-14.42, Y:2.91, Z:-0.54 [[ 9.76233343e-01 1.89822760e-01 -1.04574280e-01 -1.44176704e+01] [-1.89084779e-01 9.81813289e-01 1.70179734e-02 2.90622386e+00] [ 1.05902816e-01 3.15989154e-03 9.94371464e-01 -5.39063820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.273741732 meters Centerline goodness [0,1] 0.9930215051575756 Centerline is valid? [True, True] Translation: X:-14.45, Y:2.91, Z:-0.54 [[ 9.77076413e-01 1.87509421e-01 -1.00806248e-01 -1.44481085e+01] [-1.86811693e-01 9.82258799e-01 1.64025471e-02 2.90953918e+00] [ 1.02093456e-01 2.80524393e-03 9.94770856e-01 -5.36403954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.303741731999999 meters Centerline goodness [0,1] 0.9923809910806802 Centerline is valid? [True, True] Translation: X:-14.48, Y:2.92, Z:-0.54 [[ 9.76722197e-01 1.86707672e-01 -1.05612479e-01 -1.44762047e+01] [-1.85937087e-01 9.82411373e-01 1.71841407e-02 2.91724482e+00] [ 1.06963311e-01 2.85314509e-03 9.94258875e-01 -5.42299541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.333741731999998 meters Centerline goodness [0,1] 0.9923809910806802 Centerline is valid? [True, True] Translation: X:-14.51, Y:2.92, Z:-0.54 [[ 9.76774475e-01 1.86433040e-01 -1.05614141e-01 -1.45082676e+01] [-1.85661960e-01 9.82463584e-01 1.71739183e-02 2.92274051e+00] [ 1.06963833e-01 2.83348333e-03 9.94258875e-01 -5.44454572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.363741732 meters Centerline goodness [0,1] 0.9899065953073808 Centerline is valid? [True, True] Translation: X:-14.54, Y:2.93, Z:-0.55 [[ 9.76136961e-01 1.86889699e-01 -1.10584236e-01 -1.45369153e+01] [-1.86049331e-01 9.82376199e-01 1.79624467e-02 2.93035302e+00] [ 1.11992318e-01 3.04031509e-03 9.93704421e-01 -5.54519260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.393741731999999 meters Centerline goodness [0,1] 0.9918541900010183 Centerline is valid? [True, True] Translation: X:-14.57, Y:2.94, Z:-0.56 [[ 9.76267079e-01 1.85034892e-01 -1.12537459e-01 -1.45678218e+01] [-1.84153027e-01 9.82727717e-01 1.82728415e-02 2.93517795e+00] [ 1.13974794e-01 2.88494019e-03 9.93479453e-01 -5.58197314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.423741731999998 meters Centerline goodness [0,1] 0.990231915844198 Centerline is valid? [True, True] Translation: X:-14.60, Y:2.95, Z:-0.56 [[ 9.75755786e-01 1.89569534e-01 -1.09380244e-01 -1.45974341e+01] [-1.88767108e-01 9.81861628e-01 1.77404377e-02 2.94530913e+00] [ 1.10759311e-01 3.33705768e-03 9.93841657e-01 -5.60386323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.453741732 meters Centerline goodness [0,1] 0.9903220559531555 Centerline is valid? [True, True] Translation: X:-14.63, Y:2.95, Z:-0.57 [[ 9.75747915e-01 1.89132406e-01 -1.10204082e-01 -1.46283563e+01] [-1.88318127e-01 9.81945915e-01 1.78466549e-02 2.95111229e+00] [ 1.11589829e-01 3.33958998e-03 9.93748740e-01 -5.67772416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.483741731999999 meters Centerline goodness [0,1] 0.9926264472882389 Centerline is valid? [True, True] Translation: X:-14.66, Y:2.95, Z:-0.57 [[ 9.76285723e-01 1.86654498e-01 -1.09664418e-01 -1.46605334e+01] [-1.85834870e-01 9.82420851e-01 1.77390338e-02 2.95408254e+00] [ 1.11047682e-01 3.06110739e-03 9.93810365e-01 -5.67205098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.513741732 meters Centerline goodness [0,1] 0.9940708252111761 Centerline is valid? [True, True] Translation: X:-14.69, Y:2.96, Z:-0.57 [[ 9.76621376e-01 1.86416580e-01 -1.07049269e-01 -1.46919111e+01] [-1.85635845e-01 9.82466287e-01 1.73011056e-02 2.95908022e+00] [ 1.08397511e-01 2.97555198e-03 9.94103177e-01 -5.65731783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.543741731999999 meters Centerline goodness [0,1] 0.9937397101567105 Centerline is valid? [True, True] Translation: X:-14.72, Y:2.97, Z:-0.56 [[ 9.76761747e-01 1.87890532e-01 -1.03119527e-01 -1.47236002e+01] [-1.87176235e-01 9.82185269e-01 1.66479283e-02 2.96636484e+00] [ 1.04410468e-01 3.04046519e-03 9.94529642e-01 -5.60721017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.573741731999998 meters Centerline goodness [0,1] 0.9947376975903125 Centerline is valid? [True, True] Translation: X:-14.75, Y:2.98, Z:-0.55 [[ 9.76910263e-01 1.90474530e-01 -9.67770164e-02 -1.47526895e+01] [-1.89858648e-01 9.81687193e-01 1.56188458e-02 2.97930754e+00] [ 9.79797499e-02 3.11574273e-03 9.95183531e-01 -5.51405734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.603741732 meters Centerline goodness [0,1] 0.9943137971650218 Centerline is valid? [True, True] Translation: X:-14.78, Y:2.99, Z:-0.56 [[ 9.76375678e-01 1.91281973e-01 -1.00507425e-01 -1.47822798e+01] [-1.90622162e-01 9.81529500e-01 1.62182723e-02 2.98667098e+00] [ 1.01753265e-01 3.32381601e-03 9.94804114e-01 -5.57540125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.633741731999999 meters Centerline goodness [0,1] 0.9911818015192554 Centerline is valid? [True, True] Translation: X:-14.81, Y:2.99, Z:-0.57 [[ 9.75597765e-01 1.93069296e-01 -1.04562171e-01 -1.48101035e+01] [-1.92365516e-01 9.81178316e-01 1.68707244e-02 2.99282406e+00] [ 1.05851354e-01 3.65511488e-03 9.94375247e-01 -5.71873427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.663741731999998 meters Centerline goodness [0,1] 0.9935928629359286 Centerline is valid? [True, True] Translation: X:-14.84, Y:3.00, Z:-0.57 [[ 9.76271963e-01 1.91576161e-01 -1.00953594e-01 -1.48400713e+01] [-1.90912412e-01 9.81471954e-01 1.62866351e-02 2.99688686e+00] [ 1.02203252e-01 3.37310887e-03 9.94757818e-01 -5.65726333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.693741732 meters Centerline goodness [0,1] 0.988557143147497 Centerline is valid? [True, True] Translation: X:-14.87, Y:3.01, Z:-0.58 [[ 9.76510141e-01 1.90549761e-01 -1.00591918e-01 -1.48698169e+01] [-1.89886445e-01 9.81672110e-01 1.62174737e-02 3.00717222e+00] [ 1.01838516e-01 3.26451409e-03 9.94795587e-01 -5.77025694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.723741731999999 meters Centerline goodness [0,1] 0.9852107668867446 Centerline is valid? [True, True] Translation: X:-14.90, Y:3.01, Z:-0.59 [[ 9.76027946e-01 1.89746233e-01 -1.06610584e-01 -1.48995771e+01] [-1.88997456e-01 9.81827335e-01 1.71769014e-02 3.01007977e+00] [ 1.07932438e-01 3.38399335e-03 9.94152472e-01 -5.88474224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.753741731999998 meters Centerline goodness [0,1] 0.9826577857200878 Centerline is valid? [True, True] Translation: X:-14.93, Y:3.02, Z:-0.59 [[ 9.75895158e-01 1.89598697e-01 -1.08078560e-01 -1.49305881e+01] [-1.88829530e-01 9.81855689e-01 1.74015574e-02 3.01613661e+00] [ 1.09416862e-01 3.42632811e-03 9.93990046e-01 -5.94948578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.783741732 meters Centerline goodness [0,1] 0.9796768621075094 Centerline is valid? [True, True] Translation: X:-14.96, Y:3.02, Z:-0.60 [[ 9.75353997e-01 1.91008344e-01 -1.10455394e-01 -1.49609073e+01] [-1.90215961e-01 9.81581507e-01 1.77660868e-02 3.02329985e+00] [ 1.11814442e-01 3.68215501e-03 9.93722281e-01 -5.96149436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.813741731999999 meters Centerline goodness [0,1] 0.9935109705154723 Centerline is valid? [True, True] Translation: X:-14.99, Y:3.03, Z:-0.58 [[ 9.76712504e-01 1.89476473e-01 -1.00654613e-01 -1.49909833e+01] [-1.88810911e-01 9.81880061e-01 1.61859810e-02 3.02830096e+00] [ 1.01897620e-01 3.19563917e-03 9.94789758e-01 -5.79961827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.843741732 meters Centerline goodness [0,1] 0.9942691080537321 Centerline is valid? [True, True] Translation: X:-15.02, Y:3.04, Z:-0.58 [[ 9.77014623e-01 1.89869964e-01 -9.69114173e-02 -1.50223974e+01] [-1.89255490e-01 9.81804288e-01 1.55788020e-02 3.03582517e+00] [ 9.81059917e-02 3.12030038e-03 9.95171080e-01 -5.81214628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.873741732 meters Centerline goodness [0,1] 0.9859535166954227 Centerline is valid? [True, True] Translation: X:-15.05, Y:3.05, Z:-0.59 [[ 9.75283813e-01 1.95200842e-01 -1.03528329e-01 -1.50500704e+01] [-1.94529873e-01 9.80755484e-01 1.66375738e-02 3.05058726e+00] [ 1.04783645e-01 3.91299628e-03 9.94487343e-01 -5.89830576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.903741731999999 meters Centerline goodness [0,1] 0.9848956743002545 Centerline is valid? [True, True] Translation: X:-15.08, Y:3.06, Z:-0.59 [[ 9.74961360e-01 1.97755471e-01 -1.01701133e-01 -1.50805013e+01] [-1.97122737e-01 9.80242719e-01 1.63352002e-02 3.05965193e+00] [ 1.02922170e-01 4.12141674e-03 9.94680874e-01 -5.92922264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.933741732 meters Centerline goodness [0,1] 0.9821599494939209 Centerline is valid? [True, True] Translation: X:-15.11, Y:3.06, Z:-0.60 [[ 9.74643705e-01 1.96427190e-01 -1.07172792e-01 -1.51107940e+01] [-1.95718388e-01 9.80509353e-01 1.71965499e-02 3.06227136e+00] [ 1.08461795e-01 4.21517697e-03 9.94091682e-01 -6.03293131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.963741731999999 meters Centerline goodness [0,1] 0.9834181346415033 Centerline is valid? [True, True] Translation: X:-15.14, Y:3.07, Z:-0.60 [[ 9.74439196e-01 1.98698573e-01 -1.04819512e-01 -1.51435616e+01] [-1.98035076e-01 9.80050854e-01 1.68057148e-02 3.07093239e+00] [ 1.06067724e-01 4.38179285e-03 9.94349253e-01 -5.96207285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.993741731999998 meters Centerline goodness [0,1] 0.980775888402403 Centerline is valid? [True, True] Translation: X:-15.18, Y:3.08, Z:-0.60 [[ 9.74148536e-01 2.00875248e-01 -1.03362294e-01 -1.51750171e+01] [-2.00245389e-01 9.79606110e-01 1.65424782e-02 3.08092842e+00] [ 1.04577309e-01 4.58299189e-03 9.94506200e-01 -5.97297526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.023741732 meters Centerline goodness [0,1] 0.9839335405114455 Centerline is valid? [True, True] Translation: X:-15.21, Y:3.09, Z:-0.60 [[ 9.74244824e-01 2.01608021e-01 -1.01001134e-01 -1.52071168e+01] [-2.01013268e-01 9.79455578e-01 1.61380766e-02 3.08643128e+00] [ 1.02179690e-01 4.58013040e-03 9.94755414e-01 -5.98970873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.053741731999999 meters Centerline goodness [0,1] 0.9886112182545321 Centerline is valid? [True, True] Translation: X:-15.24, Y:3.09, Z:-0.60 [[ 9.75273560e-01 1.97337980e-01 -9.94947427e-02 -1.52380893e+01] [-1.96740563e-01 9.80326990e-01 1.58790159e-02 3.08954951e+00] [ 1.00670915e-01 4.08826737e-03 9.94911379e-01 -6.03502247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.083741731999998 meters Centerline goodness [0,1] 0.9939281942977825 Centerline is valid? [True, True] Translation: X:-15.27, Y:3.09, Z:-0.61 [[ 9.76018144e-01 1.92810564e-01 -1.01057750e-01 -1.52686779e+01] [-1.92170770e-01 9.81229077e-01 1.61212157e-02 3.09257068e+00] [ 1.02269143e-01 3.68574655e-03 9.94749937e-01 -6.07501578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.113741732 meters Centerline goodness [0,1] 0.9883723293964588 Centerline is valid? [True, True] Translation: X:-15.30, Y:3.10, Z:-0.61 [[ 9.75180823e-01 1.96349163e-01 -1.02319937e-01 -1.52976418e+01] [-1.95713582e-01 9.80525400e-01 1.63136221e-02 3.10036744e+00] [ 1.03530463e-01 4.11666995e-03 9.94617764e-01 -6.14114526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.143741731999999 meters Centerline goodness [0,1] 0.9838667073046835 Centerline is valid? [True, True] Translation: X:-15.33, Y:3.10, Z:-0.62 [[ 9.74597607e-01 1.96027776e-01 -1.08317198e-01 -1.53273818e+01] [-1.95313455e-01 9.80588807e-01 1.72698097e-02 3.10394726e+00] [ 1.09599995e-01 4.32469093e-03 9.93966367e-01 -6.22927275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.173741731999998 meters Centerline goodness [0,1] 0.9909794599865911 Centerline is valid? [True, True] Translation: X:-15.36, Y:3.11, Z:-0.62 [[ 9.75410076e-01 1.93261046e-01 -1.05949762e-01 -1.53581751e+01] [-1.92561565e-01 9.81139516e-01 1.68906397e-02 3.10652433e+00] [ 1.07215801e-01 3.92655177e-03 9.94228019e-01 -6.21659638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.203741732 meters Centerline goodness [0,1] 0.9883129772538535 Centerline is valid? [True, True] Translation: X:-15.39, Y:3.12, Z:-0.62 [[ 9.74936136e-01 1.95301520e-01 -1.06568512e-01 -1.53879819e+01] [-1.94606442e-01 9.80734340e-01 1.69849010e-02 3.11682152e+00] [ 1.07832576e-01 4.17972514e-03 9.94160282e-01 -6.23019465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.233741731999999 meters Centerline goodness [0,1] 0.9906190988649516 Centerline is valid? [True, True] Translation: X:-15.42, Y:3.12, Z:-0.62 [[ 9.75106120e-01 1.94898202e-01 -1.05748501e-01 -1.54191217e+01] [-1.94212818e-01 9.80814841e-01 1.68412910e-02 3.12283682e+00] [ 1.07002037e-01 4.11566852e-03 9.94250283e-01 -6.21849110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.263741732 meters Centerline goodness [0,1] 0.9965691548752512 Centerline is valid? [True, True] Translation: X:-15.45, Y:3.12, Z:-0.61 [[ 9.76847030e-01 1.91461505e-01 -9.54587453e-02 -1.54491353e+01] [-1.90888390e-01 9.81494277e-01 1.51857690e-02 3.12462409e+00] [ 9.65997024e-02 3.38779288e-03 9.95317548e-01 -6.14660449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.293741731999999 meters Centerline goodness [0,1] 0.9959105172588318 Centerline is valid? [True, True] Translation: X:-15.48, Y:3.13, Z:-0.62 [[ 9.76935340e-01 1.89738711e-01 -9.79620530e-02 -1.54812711e+01] [-1.89127191e-01 9.81829042e-01 1.55768542e-02 3.12833684e+00] [ 9.91375209e-02 3.30970855e-03 9.95068238e-01 -6.20968890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.323741731999998 meters Centerline goodness [0,1] 0.995102720936376 Centerline is valid? [True, True] Translation: X:-15.51, Y:3.13, Z:-0.63 [[ 9.76335289e-01 1.87729777e-01 -1.07363557e-01 -1.55103121e+01] [-1.86983722e-01 9.82214780e-01 1.70649688e-02 3.13218021e+00] [ 1.08657676e-01 3.41410626e-03 9.94073364e-01 -6.31886875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.353741732 meters Centerline goodness [0,1] 0.995473184198774 Centerline is valid? [True, True] Translation: X:-15.54, Y:3.14, Z:-0.62 [[ 9.76971252e-01 1.88699869e-01 -9.95968526e-02 -1.55393429e+01] [-1.88062903e-01 9.82029383e-01 1.58314811e-02 3.14093444e+00] [ 1.00794434e-01 3.26357136e-03 9.94901920e-01 -6.22380693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.383741731999999 meters Centerline goodness [0,1] 0.9944454617591406 Centerline is valid? [True, True] Translation: X:-15.57, Y:3.15, Z:-0.63 [[ 9.76856952e-01 1.89738220e-01 -9.87416005e-02 -1.55704705e+01] [-1.89118373e-01 9.81828998e-01 1.56862919e-02 3.14907138e+00] [ 9.99236557e-02 3.35058753e-03 9.94989466e-01 -6.26434063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.413741731999998 meters Centerline goodness [0,1] 0.9941299534864827 Centerline is valid? [True, True] Translation: X:-15.60, Y:3.16, Z:-0.63 [[ 9.76440445e-01 1.88872767e-01 -1.04360600e-01 -1.56003840e+01] [-1.88177681e-01 9.81995431e-01 1.65569698e-02 3.15567655e+00] [ 1.05608793e-01 3.47144061e-03 9.94401695e-01 -6.32554075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.443741732 meters Centerline goodness [0,1] 0.9933648519773552 Centerline is valid? [True, True] Translation: X:-15.63, Y:3.17, Z:-0.64 [[ 9.76435975e-01 1.88702134e-01 -1.04710511e-01 -1.56306926e+01] [-1.88002961e-01 9.82028207e-01 1.65978002e-02 3.16746737e+00] [ 1.05960716e-01 3.47919689e-03 9.94364230e-01 -6.37176246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.473741731999999 meters Centerline goodness [0,1] 0.9943031536113937 Centerline is valid? [True, True] Translation: X:-15.66, Y:3.18, Z:-0.64 [[ 9.76537036e-01 1.90719601e-01 -1.00007259e-01 -1.56613911e+01] [-1.90095287e-01 9.81638108e-01 1.58242471e-02 3.17526216e+00] [ 1.01188931e-01 3.55794533e-03 9.94860865e-01 -6.35986332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.503741731999998 meters Centerline goodness [0,1] 0.9935083435083435 Centerline is valid? [True, True] Translation: X:-15.69, Y:3.18, Z:-0.64 [[ 9.76098614e-01 1.92227893e-01 -1.01390009e-01 -1.56913358e+01] [-1.91596241e-01 9.81343014e-01 1.60240087e-02 3.18124144e+00] [ 1.02578638e-01 3.78493196e-03 9.94717697e-01 -6.40847737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.533741732 meters Centerline goodness [0,1] 0.9934131614791925 Centerline is valid? [True, True] Translation: X:-15.72, Y:3.19, Z:-0.65 [[ 9.75473958e-01 1.92996423e-01 -1.05843936e-01 -1.57212085e+01] [-1.92312897e-01 9.81191138e-01 1.67242201e-02 3.18736207e+00] [ 1.07080847e-01 4.04111274e-03 9.94242104e-01 -6.51869935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.563741731999999 meters Centerline goodness [0,1] 0.9934588741950555 Centerline is valid? [True, True] Translation: X:-15.75, Y:3.20, Z:-0.64 [[ 9.75174528e-01 1.94389750e-01 -1.06053122e-01 -1.57523952e+01] [-1.93713165e-01 9.80915314e-01 1.67438628e-02 3.19605297e+00] [ 1.07283967e-01 4.21569740e-03 9.94219482e-01 -6.44801791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.593741732 meters Centerline goodness [0,1] 0.9932503862730747 Centerline is valid? [True, True] Translation: X:-15.78, Y:3.21, Z:-0.64 [[ 9.75146494e-01 1.97931601e-01 -9.95610226e-02 -1.57830035e+01] [-1.97356068e-01 9.80206212e-01 1.56959680e-02 3.20683658e+00] [ 1.00697061e-01 4.34310379e-03 9.94907654e-01 -6.44614112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.623741732 meters Centerline goodness [0,1] 0.9910218739797584 Centerline is valid? [True, True] Translation: X:-15.81, Y:3.21, Z:-0.65 [[ 9.74955108e-01 1.95751019e-01 -1.05565510e-01 -1.58140405e+01] [-1.95092522e-01 9.80643841e-01 1.66302470e-02 3.21260422e+00] [ 1.06777555e-01 4.38129734e-03 9.94273281e-01 -6.52456132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.653741731999999 meters Centerline goodness [0,1] 0.99288750982249 Centerline is valid? [True, True] Translation: X:-15.85, Y:3.22, Z:-0.66 [[ 9.75703300e-01 1.92592052e-01 -1.04457511e-01 -1.58451092e+01] [-1.91929885e-01 9.81270766e-01 1.64500235e-02 3.21631580e+00] [ 1.05669246e-01 3.99817596e-03 9.94393295e-01 -6.56633434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.683741732 meters Centerline goodness [0,1] 0.9952084137006882 Centerline is valid? [True, True] Translation: X:-15.88, Y:3.22, Z:-0.66 [[ 9.76755336e-01 1.87010957e-01 -1.04766004e-01 -1.58765805e+01] [-1.86313328e-01 9.82351915e-01 1.64942290e-02 3.21764461e+00] [ 1.06001686e-01 3.40847661e-03 9.94360108e-01 -6.56566658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.713741731999999 meters Centerline goodness [0,1] 0.9944835728534788 Centerline is valid? [True, True] Translation: X:-15.91, Y:3.22, Z:-0.67 [[ 9.77063697e-01 1.82703241e-01 -1.09389476e-01 -1.59076297e+01] [-1.81917423e-01 9.83163257e-01 1.72064411e-02 3.21930317e+00] [ 1.10691386e-01 3.08806272e-03 9.93850029e-01 -6.71956981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.743741731999998 meters Centerline goodness [0,1] 0.9938813136941063 Centerline is valid? [True, True] Translation: X:-15.94, Y:3.22, Z:-0.67 [[ 9.77577534e-01 1.82630329e-01 -1.04825225e-01 -1.59382521e+01] [-1.81910435e-01 9.83177171e-01 1.64694674e-02 3.22431740e+00] [ 1.06069593e-01 2.96862092e-03 9.94354277e-01 -6.65067876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.773741732 meters Centerline goodness [0,1] 0.9945865640963022 Centerline is valid? [True, True] Translation: X:-15.97, Y:3.24, Z:-0.66 [[ 9.77291506e-01 1.85222256e-01 -1.02927293e-01 -1.59697380e+01] [-1.84543852e-01 9.82691436e-01 1.61588453e-02 3.23556746e+00] [ 1.04138747e-01 3.20269676e-03 9.94557622e-01 -6.62057892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.803741731999999 meters Centerline goodness [0,1] 0.9920285423037717 Centerline is valid? [True, True] Translation: X:-16.00, Y:3.25, Z:-0.67 [[ 9.75743153e-01 1.91500600e-01 -1.06079308e-01 -1.59983239e+01] [-1.90819013e-01 9.81484297e-01 1.66336486e-02 3.24803265e+00] [ 1.07300528e-01 4.01178011e-03 9.94218538e-01 -6.69599921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.833741731999998 meters Centerline goodness [0,1] 0.9888970080785937 Centerline is valid? [True, True] Translation: X:-16.03, Y:3.26, Z:-0.68 [[ 9.75823579e-01 1.90467632e-01 -1.07193397e-01 -1.60296943e+01] [-1.89766820e-01 9.81685521e-01 1.67956149e-02 3.25682285e+00] [ 1.08429227e-01 3.95219314e-03 9.94096315e-01 -6.75045116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.863741732 meters Centerline goodness [0,1] 0.9936898243328516 Centerline is valid? [True, True] Translation: X:-16.06, Y:3.26, Z:-0.67 [[ 9.75808055e-01 1.92620173e-01 -1.03421995e-01 -1.60606270e+01] [-1.91982933e-01 9.81264948e-01 1.61757837e-02 3.26229985e+00] [ 1.04600161e-01 4.07079781e-03 9.94506026e-01 -6.70680458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.893741731999999 meters Centerline goodness [0,1] 0.9913087934560327 Centerline is valid? [True, True] Translation: X:-16.09, Y:3.27, Z:-0.68 [[ 9.76276498e-01 1.87662359e-01 -1.08014064e-01 -1.60919795e+01] [-1.86940410e-01 9.82226517e-01 1.68627680e-02 3.26729073e+00] [ 1.09258784e-01 3.72946927e-03 9.94006343e-01 -6.82365784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.923741731999998 meters Centerline goodness [0,1] 0.9933912617794639 Centerline is valid? [True, True] Translation: X:-16.12, Y:3.27, Z:-0.68 [[ 9.77362914e-01 1.84190801e-01 -1.04093631e-01 -1.61229914e+01] [-1.83502926e-01 9.82885171e-01 1.62301246e-02 3.26665380e+00] [ 1.05301526e-01 3.23876403e-03 9.94435065e-01 -6.75840312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.953741732 meters Centerline goodness [0,1] 0.9938835426520959 Centerline is valid? [True, True] Translation: X:-16.15, Y:3.27, Z:-0.68 [[ 9.77526595e-01 1.83817372e-01 -1.03213032e-01 -1.61539187e+01] [-1.83140581e-01 9.82955251e-01 1.60780304e-02 3.27440430e+00] [ 1.04409213e-01 3.18579223e-03 9.94529319e-01 -6.81457968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.983741731999999 meters Centerline goodness [0,1] 0.9949053708439898 Centerline is valid? [True, True] Translation: X:-16.19, Y:3.28, Z:-0.68 [[ 9.77586615e-01 1.82194550e-01 -1.05496709e-01 -1.61852891e+01] [-1.81481386e-01 9.83257580e-01 1.64023925e-02 3.27846310e+00] [ 1.06718866e-01 3.11092964e-03 9.94284369e-01 -6.82535243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.013741732 meters Centerline goodness [0,1] 0.9931762927247839 Centerline is valid? [True, True] Translation: X:-16.22, Y:3.29, Z:-0.69 [[ 9.77565218e-01 1.81072624e-01 -1.07605524e-01 -1.62166168e+01] [-1.80326345e-01 9.83464931e-01 1.67074426e-02 3.28717911e+00] [ 1.08851520e-01 3.07149612e-03 9.94053274e-01 -6.90910764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.043741732 meters Centerline goodness [0,1] 0.9926665849573069 Centerline is valid? [True, True] Translation: X:-16.25, Y:3.30, Z:-0.69 [[ 9.77042174e-01 1.84644811e-01 -1.06277390e-01 -1.62464337e+01] [-1.83939835e-01 9.82799285e-01 1.64833949e-02 3.29949076e+00] [ 1.07492917e-01 3.44367368e-03 9.94199886e-01 -6.90731427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.073741732000002 meters Centerline goodness [0,1] 0.9897525056248722 Centerline is valid? [True, True] Translation: X:-16.27, Y:3.31, Z:-0.70 [[ 9.75503337e-01 1.87101499e-01 -1.15699041e-01 -1.62749589e+01] [-1.86285191e-01 9.82332171e-01 1.79257859e-02 3.30810744e+00] [ 1.17008831e-01 4.06635391e-03 9.93122549e-01 -7.00360569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.103741732 meters Centerline goodness [0,1] 0.9912218025926304 Centerline is valid? [True, True] Translation: X:-16.31, Y:3.31, Z:-0.70 [[ 9.75745457e-01 1.87631375e-01 -1.12762009e-01 -1.63068524e+01] [-1.86860018e-01 9.82231259e-01 1.74667711e-02 3.31213265e+00] [ 1.14035685e-01 4.02758856e-03 9.93468490e-01 -7.03459280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.133741732 meters Centerline goodness [0,1] 0.9886502817016413 Centerline is valid? [True, True] Translation: X:-16.34, Y:3.33, Z:-0.70 [[ 9.76216471e-01 1.90722699e-01 -1.03083722e-01 -1.63370278e+01] [-1.90095981e-01 9.81635748e-01 1.59617022e-02 3.32507342e+00] [ 1.04234925e-01 4.01372461e-03 9.94544605e-01 -6.95455880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.163741732000002 meters Centerline goodness [0,1] 0.9835156998186523 Centerline is valid? [True, True] Translation: X:-16.37, Y:3.33, Z:-0.70 [[ 9.75365886e-01 1.94371544e-01 -1.04312470e-01 -1.63651544e+01] [-1.93750595e-01 9.80917855e-01 1.61514440e-02 3.33391291e+00] [ 1.05461345e-01 4.45703566e-03 9.94413415e-01 -6.99172266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.193741732 meters Centerline goodness [0,1] 0.9730364620569911 Centerline is valid? [True, True] Translation: X:-16.39, Y:3.34, Z:-0.71 [[ 9.73970544e-01 1.98212152e-01 -1.09969643e-01 -1.63939466e+01] [-1.97546162e-01 9.80145672e-01 1.70286952e-02 3.34110045e+00] [ 1.11161563e-01 5.13863326e-03 9.93789063e-01 -7.10298055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.223741732 meters Centerline goodness [0,1] 0.9730364620569911 Centerline is valid? [True, True] Translation: X:-16.43, Y:3.35, Z:-0.71 [[ 9.74033786e-01 1.97899901e-01 -1.09971872e-01 -1.64261245e+01] [-1.97233555e-01 9.80208875e-01 1.70142812e-02 3.34633432e+00] [ 1.11162530e-01 5.11765855e-03 9.93789063e-01 -7.12457541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.253741732 meters Centerline goodness [0,1] 0.9722091380122468 Centerline is valid? [True, True] Translation: X:-16.45, Y:3.35, Z:-0.71 [[ 9.72486791e-01 2.03155124e-01 -1.14006303e-01 -1.64548292e+01] [-2.02477282e-01 9.79128480e-01 1.76173206e-02 3.35232890e+00] [ 1.15205867e-01 5.95107464e-03 9.93323811e-01 -7.12203830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.283741732 meters Centerline goodness [0,1] 0.9358528400720248 Centerline is valid? [True, False] Translation: X:-16.47, Y:3.36, Z:-0.71 [[ 9.69596376e-01 2.14322461e-01 -1.18104831e-01 -1.64690859e+01] [-2.13673376e-01 9.76734088e-01 1.82814066e-02 3.35516156e+00] [ 1.19275131e-01 7.51027247e-03 9.92832835e-01 -7.08327801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.313741732 meters Centerline goodness [0,1] 0.9391884993159216 Centerline is valid? [False, False] Translation: X:-16.49, Y:3.36, Z:-0.71 [[ 9.69281004e-01 2.18442493e-01 -1.13036334e-01 -1.64915009e+01] [-2.18608726e-01 9.75749743e-01 1.10753897e-02 3.35671187e+00] [ 1.12714509e-01 1.39755641e-02 9.93529125e-01 -7.05821644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.343741732 meters Centerline goodness [0,1] 0.9368233996486784 Centerline is valid? [False, False] Translation: X:-16.51, Y:3.36, Z:-0.70 [[ 9.68604571e-01 2.19030274e-01 -1.17604954e-01 -1.65136690e+01] [-2.20022402e-01 9.75483781e-01 4.64075039e-03 3.35624469e+00] [ 1.15738190e-01 2.13806723e-02 9.93049615e-01 -7.02223079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.373741732 meters Centerline goodness [0,1] 0.9265529816840862 Centerline is valid? [False, False] Translation: X:-16.52, Y:3.35, Z:-0.70 [[ 9.67132872e-01 2.19139629e-01 -1.28964458e-01 -1.65242883e+01] [-2.20644011e-01 9.75350719e-01 2.68227902e-03 3.35372372e+00] [ 1.26373370e-01 2.58611150e-02 9.91645589e-01 -7.01246001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.403741732 meters Centerline goodness [0,1] 0.9215432896437142 Centerline is valid? [False, False] Translation: X:-16.54, Y:3.35, Z:-0.70 [[ 9.67426652e-01 2.15144128e-01 -1.33411683e-01 -1.65361518e+01] [-2.16142926e-01 9.76335741e-01 7.12437646e-03 3.35420459e+00] [ 1.31787363e-01 2.19436799e-02 9.91035098e-01 -7.00132408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.433741732 meters Centerline goodness [0,1] 0.9459062238461695 Centerline is valid? [False, False] Translation: X:-16.57, Y:3.36, Z:-0.70 [[ 9.69774333e-01 2.08514542e-01 -1.26725804e-01 -1.65738196e+01] [-2.09633291e-01 9.77769289e-01 4.59362655e-03 3.35522170e+00] [ 1.24866437e-01 2.21111661e-02 9.91927149e-01 -6.99171748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.463741732 meters Centerline goodness [0,1] 0.9731319587209184 Centerline is valid? [False, True] Translation: X:-16.63, Y:3.36, Z:-0.70 [[ 9.72638345e-01 1.97811511e-01 -1.21841106e-01 -1.66287006e+01] [-1.98381351e-01 9.80095766e-01 7.55833403e-03 3.36259018e+00] [ 1.20911078e-01 1.68194778e-02 9.92520839e-01 -7.00948657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.493741732 meters Centerline goodness [0,1] 0.9371053760804267 Centerline is valid? [True, False] Translation: X:-16.68, Y:3.37, Z:-0.71 [[ 9.69888992e-01 2.03816629e-01 -1.33319634e-01 -1.66848967e+01] [-2.04645919e-01 9.78806563e-01 7.60001212e-03 3.36848786e+00] [ 1.32043142e-01 1.99121509e-02 9.91043952e-01 -7.10842941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.523741732 meters Centerline goodness [0,1] 0.9376725354272744 Centerline is valid? [False, False] Translation: X:-16.69, Y:3.37, Z:-0.71 [[ 9.69646713e-01 2.04705743e-01 -1.33719148e-01 -1.66857141e+01] [-2.05484952e-01 9.78626780e-01 8.09692415e-03 3.36941060e+00] [ 1.32518626e-01 1.96261168e-02 9.90986190e-01 -7.09546194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.553741732000002 meters Centerline goodness [0,1] 0.8928841709108015 Centerline is valid? [False, False] Translation: X:-16.70, Y:3.37, Z:-0.71 [[ 9.67001349e-01 2.15401501e-01 -1.36053607e-01 -1.67049085e+01] [-2.16389247e-01 9.76277082e-01 7.66503170e-03 3.36772202e+00] [ 1.34477078e-01 2.20284416e-02 9.90671824e-01 -7.07084364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.583741732 meters Centerline goodness [0,1] 0.9115357106365587 Centerline is valid? [False, False] Translation: X:-16.73, Y:3.37, Z:-0.70 [[ 9.67676222e-01 2.15010000e-01 -1.31808307e-01 -1.67346306e+01] [-2.16035136e-01 9.76362984e-01 6.64404875e-03 3.36682405e+00] [ 1.30121289e-01 2.20459375e-02 9.91252958e-01 -7.04241971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.613741732 meters Centerline goodness [0,1] 0.9466404779441853 Centerline is valid? [False, False] Translation: X:-16.78, Y:3.37, Z:-0.71 [[ 9.69811300e-01 2.07764880e-01 -1.27670662e-01 -1.67756464e+01] [-2.08388175e-01 9.78008347e-01 8.60480204e-03 3.36839309e+00] [ 1.26650748e-01 1.82600219e-02 9.91779290e-01 -7.05275050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.643741732000002 meters Centerline goodness [0,1] 0.9621478154348714 Centerline is valid? [False, True] Translation: X:-16.82, Y:3.37, Z:-0.71 [[ 9.72156325e-01 1.96368098e-01 -1.27873573e-01 -1.68195790e+01] [-1.96725059e-01 9.80408124e-01 9.95801931e-03 3.37221913e+00] [ 1.27323727e-01 1.54751848e-02 9.91740484e-01 -7.10959868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.673741732 meters Centerline goodness [0,1] 0.9724618718567282 Centerline is valid? [True, True] Translation: X:-16.85, Y:3.37, Z:-0.72 [[ 9.73063190e-01 1.87659757e-01 -1.33909836e-01 -1.68510477e+01] [-1.86836943e-01 9.82211059e-01 1.87987471e-02 3.36624845e+00] [ 1.35055490e-01 6.72693565e-03 9.90815201e-01 -7.24551701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.703741732 meters Centerline goodness [0,1] 0.9715656256378853 Centerline is valid? [True, True] Translation: X:-16.88, Y:3.37, Z:-0.73 [[ 9.72630540e-01 1.87910471e-01 -1.36672925e-01 -1.68807822e+01] [-1.87056491e-01 9.82161863e-01 1.91818661e-02 3.36735550e+00] [ 1.37839409e-01 6.90868919e-03 9.90430496e-01 -7.32323046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.733741732000002 meters Centerline goodness [0,1] 0.8717801829081163 Centerline is valid? [True, False] Translation: X:-16.90, Y:3.36, Z:-0.74 [[ 9.65485138e-01 2.22028923e-01 -1.36167568e-01 -1.68997266e+01] [-2.21432205e-01 9.74976614e-01 1.97073694e-02 3.36396448e+00] [ 1.37135800e-01 1.11247125e-02 9.90489784e-01 -7.35273205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.763741732 meters Centerline goodness [0,1] 0.8348631355152605 Centerline is valid? [False, False] Translation: X:-16.90, Y:3.36, Z:-0.74 [[ 9.64028014e-01 2.28922590e-01 -1.35071962e-01 -1.68982008e+01] [-2.27510195e-01 9.73428211e-01 2.60121004e-02 3.35669505e+00] [ 1.37437616e-01 5.65385502e-03 9.90494289e-01 -7.37028361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.793741732 meters Centerline goodness [0,1] 0.8203209649391803 Centerline is valid? [False, False] Translation: X:-16.91, Y:3.34, Z:-0.73 [[ 9.65273859e-01 2.23820349e-01 -1.34725008e-01 -1.69076953e+01] [-2.22874565e-01 9.74592990e-01 2.22583193e-02 3.34488143e+00] [ 1.36283913e-01 8.54140384e-03 9.90632999e-01 -7.33808304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.823741732000002 meters Centerline goodness [0,1] 0.9138956447096813 Centerline is valid? [False, False] Translation: X:-16.94, Y:3.33, Z:-0.73 [[ 9.68083771e-01 2.13423117e-01 -1.31394006e-01 -1.69359532e+01] [-2.13184635e-01 9.76880170e-01 1.60450681e-02 3.33142685e+00] [ 1.31780587e-01 1.24782130e-02 9.91200369e-01 -7.32978760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.853741732 meters Centerline goodness [0,1] 0.9410574092247301 Centerline is valid? [False, False] Translation: X:-16.98, Y:3.32, Z:-0.74 [[ 9.70068961e-01 2.03310589e-01 -1.32781833e-01 -1.69770011e+01] [-2.03222301e-01 9.79027292e-01 1.43616682e-02 3.32127818e+00] [ 1.32916917e-01 1.30524210e-02 9.91041234e-01 -7.35099983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.883741732 meters Centerline goodness [0,1] 0.9213037374621066 Centerline is valid? [False, False] Translation: X:-17.02, Y:3.31, Z:-0.74 [[ 9.70291980e-01 1.98817667e-01 -1.37858655e-01 -1.70196274e+01] [-1.98693845e-01 9.79949855e-01 1.47999368e-02 3.31327398e+00] [ 1.38037058e-01 1.30314062e-02 9.90341332e-01 -7.37204650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.913741732000002 meters Centerline goodness [0,1] 0.90095482399886 Centerline is valid? [False, False] Translation: X:-17.09, Y:3.29, Z:-0.75 [[ 9.69932967e-01 2.00206329e-01 -1.38374368e-01 -1.70887727e+01] [-1.99723592e-01 9.79695830e-01 1.75090902e-02 3.29376347e+00] [ 1.39070222e-01 1.06539820e-02 9.90225210e-01 -7.45358560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.943741732 meters Centerline goodness [0,1] 0.8917494301530446 Centerline is valid? [False, False] Translation: X:-17.15, Y:3.28, Z:-0.75 [[ 9.68835310e-01 2.05540929e-01 -1.38242792e-01 -1.71489345e+01] [-2.06363440e-01 9.78438373e-01 8.51360359e-03 3.27873028e+00] [ 1.37011947e-01 2.02799784e-02 9.90361777e-01 -7.45804784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.973741732 meters Centerline goodness [0,1] 0.8727320911648387 Centerline is valid? [False, False] Translation: X:-17.18, Y:3.27, Z:-0.75 [[ 9.69491191e-01 2.03471373e-01 -1.36697591e-01 -1.71761581e+01] [-2.04317467e-01 9.78872293e-01 7.96286833e-03 3.27198388e+00] [ 1.35429700e-01 2.02097749e-02 9.90580820e-01 -7.46366984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.003741732 meters Centerline goodness [0,1] 0.8835898901637336 Centerline is valid? [False, False] Translation: X:-17.21, Y:3.26, Z:-0.75 [[ 9.69856518e-01 1.99668234e-01 -1.39681532e-01 -1.72120936e+01] [-2.00188712e-01 9.79701529e-01 1.04591311e-02 3.25834557e+00] [ 1.38934567e-01 1.78188095e-02 9.90141240e-01 -7.47977709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.033741732 meters Centerline goodness [0,1] 0.8927755102040816 Centerline is valid? [False, False] Translation: X:-17.24, Y:3.25, Z:-0.75 [[ 9.70557097e-01 1.96968172e-01 -1.38645086e-01 -1.72363303e+01] [-1.97236328e-01 9.80283253e-01 1.19404327e-02 3.25057653e+00] [ 1.38263342e-01 1.57569760e-02 9.90270148e-01 -7.49222049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.063741732 meters Centerline goodness [0,1] 0.9017546729927605 Centerline is valid? [False, False] Translation: X:-17.26, Y:3.24, Z:-0.75 [[ 9.71560315e-01 1.93386743e-01 -1.36645972e-01 -1.72631605e+01] [-1.93650693e-01 9.81003287e-01 1.14873693e-02 3.24411671e+00] [ 1.36271652e-01 1.53009150e-02 9.90553340e-01 -7.50461063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.093741732 meters Centerline goodness [0,1] 0.9053252015881462 Centerline is valid? [False, False] Translation: X:-17.29, Y:3.24, Z:-0.75 [[ 9.71673211e-01 1.89857432e-01 -1.40731397e-01 -1.72920500e+01] [-1.90665902e-01 9.81623664e-01 7.84187832e-03 3.23885133e+00] [ 1.39634108e-01 1.92129357e-02 9.90016757e-01 -7.51118586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.123741732 meters Centerline goodness [0,1] 0.8931120264263285 Centerline is valid? [False, False] Translation: X:-17.30, Y:3.24, Z:-0.75 [[ 9.71899052e-01 1.87841471e-01 -1.41872529e-01 -1.73009392e+01] [-1.88969038e-01 9.81967045e-01 5.60577180e-03 3.23645350e+00] [ 1.40367145e-01 2.13612710e-02 9.89869062e-01 -7.47092463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.153741732 meters Centerline goodness [0,1] 0.8539190458685618 Centerline is valid? [False, False] Translation: X:-17.33, Y:3.23, Z:-0.75 [[ 9.70530323e-01 1.89420749e-01 -1.48965339e-01 -1.73279278e+01] [-1.90504816e-01 9.81660656e-01 7.09021567e-03 3.22846615e+00] [ 1.47576447e-01 2.14973453e-02 9.88816998e-01 -7.46604606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.183741732 meters Centerline goodness [0,1] 0.8815455735558828 Centerline is valid? [False, False] Translation: X:-17.35, Y:3.22, Z:-0.75 [[ 9.71814385e-01 1.86846738e-01 -1.43753601e-01 -1.73539366e+01] [-1.87938184e-01 9.82162095e-01 6.07117161e-03 3.21791834e+00] [ 1.42323716e-01 2.11167387e-02 9.89594888e-01 -7.47040557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.213741732 meters Centerline goodness [0,1] 0.9021659473984203 Centerline is valid? [False, False] Translation: X:-17.38, Y:3.21, Z:-0.75 [[ 9.73156069e-01 1.82644199e-01 -1.40029862e-01 -1.73846993e+01] [-1.84111868e-01 9.82902085e-01 2.51220072e-03 3.21233882e+00] [ 1.38094482e-01 2.33363960e-02 9.90144094e-01 -7.47084096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.243741732 meters Centerline goodness [0,1] 0.9171476523803676 Centerline is valid? [False, False] Translation: X:-17.45, Y:3.21, Z:-0.76 [[ 9.73929904e-01 1.79534812e-01 -1.38664316e-01 -1.74510118e+01] [-1.80940848e-01 9.83490794e-01 2.50340003e-03 3.21059694e+00] [ 1.36824525e-01 2.26519027e-02 9.90336277e-01 -7.55301638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.273741732 meters Centerline goodness [0,1] 0.9187636705574521 Centerline is valid? [False, False] Translation: X:-17.50, Y:3.21, Z:-0.76 [[ 9.73603866e-01 1.79024385e-01 -1.41583128e-01 -1.74954725e+01] [-1.81306083e-01 9.83421257e-01 -3.27664529e-03 3.20918098e+00] [ 1.38649259e-01 2.88600369e-02 9.89920947e-01 -7.57777087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.303741732000002 meters Centerline goodness [0,1] 0.9060690105228811 Centerline is valid? [False, False] Translation: X:-17.56, Y:3.21, Z:-0.77 [[ 9.73088413e-01 1.79017015e-01 -1.45092553e-01 -1.75577124e+01] [-1.81919982e-01 9.83289245e-01 -6.88333782e-03 3.20887941e+00] [ 1.41435712e-01 3.30933309e-02 9.89394143e-01 -7.65142003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.333741732 meters Centerline goodness [0,1] 0.8995373971425062 Centerline is valid? [False, False] Translation: X:-17.62, Y:3.21, Z:-0.78 [[ 9.72452098e-01 1.77881400e-01 -1.50649011e-01 -1.76154195e+01] [-1.80793300e-01 9.83504327e-01 -5.74644702e-03 3.21002508e+00] [ 1.47141768e-01 3.28244762e-02 9.88570612e-01 -7.75452060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.363741732 meters Centerline goodness [0,1] 0.8833841773439088 Centerline is valid? [False, False] Translation: X:-17.67, Y:3.21, Z:-0.78 [[ 9.72266188e-01 1.78017589e-01 -1.51684531e-01 -1.76673765e+01] [-1.82634103e-01 9.83034784e-01 -1.69528230e-02 3.21194571e+00] [ 1.46093270e-01 4.41854250e-02 9.88283565e-01 -7.79967892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.393741732000002 meters Centerline goodness [0,1] 0.898226204813129 Centerline is valid? [False, False] Translation: X:-17.69, Y:3.21, Z:-0.78 [[ 0.9729059 0.17708895 -0.14863917 -17.6913781 ] [ -0.18177945 0.98316571 -0.01847772 3.21482963] [ 0.14286474 0.04499663 0.98871885 -0.78224677] [ 0. 0. 0. 1. ]] SLAMing on 17.423741732 meters Centerline goodness [0,1] 0.8632244338522594 Centerline is valid? [False, False] Translation: X:-17.69, Y:3.21, Z:-0.78 [[ 0.97277165 0.17670457 -0.14996934 -17.69488997] [ -0.18147434 0.98321922 -0.01862887 3.21329784] [ 0.14416093 0.04533722 0.98851513 -0.78025446] [ 0. 0. 0. 1. ]] SLAMing on 17.453741732 meters Centerline goodness [0,1] 0.8483727961756113 Centerline is valid? [False, False] Translation: X:-17.69, Y:3.21, Z:-0.78 [[ 0.97308633 0.17455981 -0.15043889 -17.69499126] [ -0.17960793 0.98352378 -0.02054188 3.21037841] [ 0.14437444 0.04700904 0.98840587 -0.78017145] [ 0. 0. 0. 1. ]] SLAMing on 17.483741732000002 meters Centerline goodness [0,1] 0.8744692144373674 Centerline is valid? [False, False] Translation: X:-17.70, Y:3.21, Z:-0.78 [[ 0.97296855 0.17590678 -0.14962954 -17.69807379] [ -0.18080573 0.98332183 -0.01968404 3.2102533 ] [ 0.14367144 0.04620583 0.98854617 -0.77825928] [ 0. 0. 0. 1. ]] SLAMing on 17.513741732 meters Centerline goodness [0,1] 0.7572831324076521 Centerline is valid? [False, False] Translation: X:-17.72, Y:3.21, Z:-0.78 [[ 0.97274964 0.17961294 -0.14661967 -17.71551867] [ -0.1845526 0.98260463 -0.02069963 3.20866568] [ 0.14035124 0.0471946 0.98897634 -0.77648722] [ 0. 0. 0. 1. ]] SLAMing on 17.543741732 meters Centerline goodness [0,1] 0.8266715635265552 Centerline is valid? [False, False] Translation: X:-17.74, Y:3.21, Z:-0.78 [[ 0.97326094 0.17685899 -0.14657434 -17.74224517] [ -0.18202534 0.98303615 -0.02250986 3.21010536] [ 0.14010681 0.04858822 0.98894351 -0.77905326] [ 0. 0. 0. 1. ]] SLAMing on 17.573741732000002 meters Centerline goodness [0,1] 0.8578891519059668 Centerline is valid? [False, False] Translation: X:-17.80, Y:3.22, Z:-0.79 [[ 0.97375009 0.16996404 -0.1514034 -17.80240972] [ -0.17532567 0.98424882 -0.02269753 3.21574205] [ 0.14516085 0.04864662 0.98821143 -0.78678066] [ 0. 0. 0. 1. ]] SLAMing on 17.603741732 meters Centerline goodness [0,1] 0.883110248288546 Centerline is valid? [False, False] Translation: X:-17.86, Y:3.22, Z:-0.79 [[ 0.97432184 0.16001343 -0.1584066 -17.86021999] [ -0.16578798 0.98587298 -0.02384961 3.22209023] [ 0.15235253 0.0494991 0.98708588 -0.79403155] [ 0. 0. 0. 1. ]] SLAMing on 17.633741732 meters Centerline goodness [0,1] 0.8945413733292521 Centerline is valid? [False, False] Translation: X:-17.91, Y:3.23, Z:-0.80 [[ 0.97589268 0.15317417 -0.15547075 -17.91229511] [ -0.15909365 0.98691316 -0.02629897 3.22731311] [ 0.1494078 0.05039938 0.98749036 -0.79818834] [ 0. 0. 0. 1. ]] SLAMing on 17.663741732000002 meters Centerline goodness [0,1] 0.8417463040104549 Centerline is valid? [False, False] Translation: X:-17.94, Y:3.23, Z:-0.80 [[ 0.97571244 0.15019466 -0.15945782 -17.93541386] [ -0.15643465 0.98731216 -0.02725625 3.23111148] [ 0.15334091 0.05153899 0.9868284 -0.80095412] [ 0. 0. 0. 1. ]] SLAMing on 17.693741732 meters Centerline goodness [0,1] 0.8898623534697545 Centerline is valid? [False, False] Translation: X:-17.93, Y:3.23, Z:-0.80 [[ 0.97622822 0.14518566 -0.16093347 -17.93089831] [ -0.15211707 0.98785867 -0.03155381 3.23117982] [ 0.15439837 0.05528445 0.98646073 -0.80380682] [ 0. 0. 0. 1. ]] SLAMing on 17.723741732 meters Centerline goodness [0,1] 0.9181918008784773 Centerline is valid? [False, False] Translation: X:-17.92, Y:3.23, Z:-0.80 [[ 0.97790548 0.13773782 -0.15725512 -17.92011346] [ -0.14431036 0.98904311 -0.03111664 3.23070499] [ 0.15124616 0.05312267 0.98706767 -0.80247592] [ 0. 0. 0. 1. ]] SLAMing on 17.753741732 meters Centerline goodness [0,1] 0.9412606278613473 Centerline is valid? [False, False] Translation: X:-17.93, Y:3.23, Z:-0.80 [[ 0.97855644 0.13501874 -0.15555459 -17.92614447] [ -0.14181823 0.98932826 -0.03342422 3.23050816] [ 0.14938165 0.05476796 0.98726166 -0.79983892] [ 0. 0. 0. 1. ]] SLAMing on 17.783741732 meters Centerline goodness [0,1] 0.9630497696979579 Centerline is valid? [False, True] Translation: X:-17.96, Y:3.24, Z:-0.80 [[ 0.97943034 0.13384683 -0.15100076 -17.96306965] [ -0.14047909 0.98949638 -0.03409605 3.23552972] [ 0.14485106 0.05460716 0.98794546 -0.7982105 ] [ 0. 0. 0. 1. ]] SLAMing on 17.813741732 meters Centerline goodness [0,1] 0.9309752957763746 Centerline is valid? [True, False] Translation: X:-18.02, Y:3.25, Z:-0.81 [[ 0.97905429 0.13196097 -0.15504516 -18.02142066] [ -0.13828691 0.98991624 -0.03070132 3.24603668] [ 0.14943035 0.05149898 0.98743021 -0.80607989] [ 0. 0. 0. 1. ]] SLAMing on 17.843741732 meters Centerline goodness [0,1] 0.9364180818771023 Centerline is valid? [False, False] Translation: X:-18.04, Y:3.25, Z:-0.81 [[ 0.9769083 0.12719152 -0.17167552 -18.040408 ] [ -0.13346551 0.99072626 -0.02546426 3.25184323] [ 0.16684461 0.04778901 0.98482439 -0.80737142] [ 0. 0. 0. 1. ]] SLAMing on 17.873741732 meters Centerline goodness [0,1] 0.9566107664270942 Centerline is valid? [False, True] Translation: X:-18.05, Y:3.26, Z:-0.81 [[ 0.97721048 0.1188444 -0.17588545 -18.05010607] [ -0.12491665 0.99188116 -0.02382426 3.25563233] [ 0.17162608 0.04525233 0.98412231 -0.80790006] [ 0. 0. 0. 1. ]] SLAMing on 17.903741732 meters Centerline goodness [0,1] 0.9678472335563898 Centerline is valid? [True, True] Translation: X:-18.08, Y:3.27, Z:-0.79 [[ 9.79763170e-01 1.22724402e-01 -1.58122900e-01 -1.80825676e+01] [-1.22560174e-01 9.92402025e-01 1.08270259e-02 3.26615672e+00] [ 1.58250226e-01 8.77164894e-03 9.87360078e-01 -7.87396473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.933741732 meters Centerline goodness [0,1] 0.9669935373386883 Centerline is valid? [True, True] Translation: X:-18.11, Y:3.28, Z:-0.79 [[ 9.79229636e-01 1.26640483e-01 -1.58339852e-01 -1.81113094e+01] [-1.26525997e-01 9.91904006e-01 1.08450018e-02 3.27730239e+00] [ 1.58431350e-01 9.41436053e-03 9.87325112e-01 -7.91313870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.963741732 meters Centerline goodness [0,1] 0.9537553363155422 Centerline is valid? [True, True] Translation: X:-18.14, Y:3.29, Z:-0.80 [[ 9.78521696e-01 1.29160269e-01 -1.60663983e-01 -1.81393347e+01] [-1.29075254e-01 9.91573673e-01 1.10104644e-02 3.28792411e+00] [ 1.60732290e-01 9.96376618e-03 9.86947747e-01 -8.00741236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.993741732 meters Centerline goodness [0,1] 0.9575825519771708 Centerline is valid? [True, True] Translation: X:-18.17, Y:3.29, Z:-0.81 [[ 9.77549594e-01 1.29523717e-01 -1.66193855e-01 -1.81666260e+01] [-1.29437593e-01 9.91522082e-01 1.13960842e-02 3.28923875e+00] [ 1.66260940e-01 1.03714950e-02 9.86027247e-01 -8.12547820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.023741732 meters Centerline goodness [0,1] 0.9594389533691506 Centerline is valid? [True, True] Translation: X:-18.19, Y:3.29, Z:-0.83 [[ 9.77052144e-01 1.27001947e-01 -1.70995944e-01 -1.81935518e+01] [-1.26870816e-01 9.91849774e-01 1.17397466e-02 3.29016671e+00] [ 1.71093259e-01 1.02240504e-02 9.85201789e-01 -8.25589817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.053741732 meters Centerline goodness [0,1] 0.9630632648490155 Centerline is valid? [True, True] Translation: X:-18.22, Y:3.30, Z:-0.81 [[ 9.77974576e-01 1.30875234e-01 -1.62595823e-01 -1.82228306e+01] [-1.30802211e-01 9.91345203e-01 1.12013821e-02 3.30217446e+00] [ 1.62654573e-01 1.03132264e-02 9.86629174e-01 -8.14639441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.083741732 meters Centerline goodness [0,1] 0.9578175429995506 Centerline is valid? [True, True] Translation: X:-18.25, Y:3.32, Z:-0.81 [[ 9.78038892e-01 1.36148586e-01 -1.57808389e-01 -1.82527876e+01] [-1.36144882e-01 9.90629136e-01 1.08851462e-02 3.31637297e+00] [ 1.57811585e-01 1.08387081e-02 9.87409756e-01 -8.10745459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.113741732 meters Centerline goodness [0,1] 0.9127404629931529 Centerline is valid? [True, False] Translation: X:-18.29, Y:3.32, Z:-0.82 [[ 9.77142104e-01 1.37815942e-01 -1.61864370e-01 -1.82945270e+01] [-1.39229246e-01 9.90256673e-01 2.63429465e-03 3.32289870e+00] [ 1.60650320e-01 1.99621739e-02 9.86809498e-01 -8.15860252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.143741732000002 meters Centerline goodness [0,1] 0.9127404629931529 Centerline is valid? [False, False] Translation: X:-18.29, Y:3.32, Z:-0.82 [[ 9.77142104e-01 1.37815942e-01 -1.61864370e-01 -1.82945270e+01] [-1.39229246e-01 9.90256673e-01 2.63429465e-03 3.32289870e+00] [ 1.60650320e-01 1.99621739e-02 9.86809498e-01 -8.15860252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.173741732 meters Centerline goodness [0,1] 0.9551291240860964 Centerline is valid? [False, True] Translation: X:-18.33, Y:3.33, Z:-0.82 [[ 9.77149804e-01 1.37211739e-01 -1.62330526e-01 -1.83263540e+01] [-1.39904744e-01 9.90151203e-01 -5.22097707e-03 3.32685744e+00] [ 1.60015387e-01 2.78124874e-02 9.86722626e-01 -8.21004331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.203741732 meters Centerline goodness [0,1] 0.9535871036547848 Centerline is valid? [True, True] Translation: X:-18.35, Y:3.34, Z:-0.83 [[ 9.75861823e-01 1.41216405e-01 -1.66588201e-01 -1.83542235e+01] [-1.41284988e-01 9.89902166e-01 1.15002122e-02 3.33793619e+00] [ 1.66530040e-01 1.23137939e-02 9.85959490e-01 -8.31058333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.233741732000002 meters Centerline goodness [0,1] 0.9566242821985234 Centerline is valid? [True, True] Translation: X:-18.38, Y:3.34, Z:-0.84 [[ 9.75781412e-01 1.32637754e-01 -1.73947873e-01 -1.83824836e+01] [-1.32578635e-01 9.91099700e-01 1.20120529e-02 3.34422303e+00] [ 1.73992937e-01 1.13406336e-02 9.84681597e-01 -8.43437112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.263741732 meters Centerline goodness [0,1] 0.9519289902013037 Centerline is valid? [True, True] Translation: X:-18.41, Y:3.35, Z:-0.84 [[ 9.76468821e-01 1.31032612e-01 -1.71286590e-01 -1.84125180e+01] [-1.30950231e-01 9.91318366e-01 1.18293968e-02 3.34955853e+00] [ 1.71349579e-01 1.08789814e-02 9.85150227e-01 -8.41980755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.293741732 meters Centerline goodness [0,1] 0.9820420518694265 Centerline is valid? [True, True] Translation: X:-18.44, Y:3.35, Z:-0.84 [[ 9.77189918e-01 1.30235301e-01 -1.67745732e-01 -1.84428727e+01] [-1.30143256e-01 9.91427458e-01 1.15900181e-02 3.34611182e+00] [ 1.67817154e-01 1.05053268e-02 9.85762162e-01 -8.35731279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.323741732000002 meters Centerline goodness [0,1] 0.961314048568024 Centerline is valid? [True, True] Translation: X:-18.47, Y:3.36, Z:-0.84 [[ 9.76984302e-01 1.30153625e-01 -1.69002096e-01 -1.84693607e+01] [-1.30055393e-01 9.91437709e-01 1.16988754e-02 3.35758750e+00] [ 1.69077701e-01 1.05500164e-02 9.85546259e-01 -8.40613677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.353741732 meters Centerline goodness [0,1] 0.9588699965299748 Centerline is valid? [True, True] Translation: X:-18.50, Y:3.37, Z:-0.85 [[ 9.75699127e-01 1.31483877e-01 -1.75280355e-01 -1.84971382e+01] [-1.31392025e-01 9.91255650e-01 1.21807821e-02 3.36605600e+00] [ 1.75349219e-01 1.11456624e-02 9.84443206e-01 -8.50625309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.383741732 meters Centerline goodness [0,1] 0.9691018110621635 Centerline is valid? [True, True] Translation: X:-18.53, Y:3.37, Z:-0.85 [[ 9.75243130e-01 1.34963324e-01 -1.75173451e-01 -1.85257212e+01] [-1.34926055e-01 9.90780824e-01 1.21785866e-02 3.37248341e+00] [ 1.75202159e-01 1.17583798e-02 9.84462261e-01 -8.50515097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.413741732000002 meters Centerline goodness [0,1] 0.9567237163814181 Centerline is valid? [True, True] Translation: X:-18.55, Y:3.38, Z:-0.86 [[ 9.75199768e-01 1.37527340e-01 -1.73411772e-01 -1.85537772e+01] [-1.37528830e-01 9.90424273e-01 1.20656847e-02 3.38135067e+00] [ 1.73410590e-01 1.20826653e-02 9.84775495e-01 -8.58489575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.443741732 meters Centerline goodness [0,1] 0.8956683269372091 Centerline is valid? [True, False] Translation: X:-18.57, Y:3.39, Z:-0.86 [[ 9.72266278e-01 1.49934269e-01 -1.79493731e-01 -1.85728246e+01] [-1.51290791e-01 9.88469936e-01 6.18730592e-03 3.38622110e+00] [ 1.78351846e-01 2.11400397e-02 9.83739659e-01 -8.63789466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.473741732 meters Centerline goodness [0,1] 0.868931840470742 Centerline is valid? [False, False] Translation: X:-18.58, Y:3.39, Z:-0.86 [[ 9.71396968e-01 1.57154482e-01 -1.78017976e-01 -1.85783380e+01] [-1.57566516e-01 9.87436536e-01 1.19113881e-02 3.38768750e+00] [ 1.77653381e-01 1.64789860e-02 9.83955141e-01 -8.60827338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.503741732 meters Centerline goodness [0,1] 0.8849118942731278 Centerline is valid? [False, False] Translation: X:-18.62, Y:3.39, Z:-0.86 [[ 9.72631053e-01 1.59876580e-01 -1.68606978e-01 -1.86187158e+01] [-1.62147404e-01 9.86766501e-01 3.03981307e-04 3.38527185e+00] [ 1.66424318e-01 2.70435222e-02 9.85683313e-01 -8.58880855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.533741732 meters Centerline goodness [0,1] 0.8705446596636104 Centerline is valid? [False, False] Translation: X:-18.67, Y:3.39, Z:-0.86 [[ 9.73537034e-01 1.56210445e-01 -1.66805094e-01 -1.86665296e+01] [-1.59061239e-01 9.87261461e-01 -3.78558161e-03 3.38619763e+00] [ 1.64088894e-01 3.02176288e-02 9.85982621e-01 -8.62667372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.563741732 meters Centerline goodness [0,1] 0.9099806694475532 Centerline is valid? [False, False] Translation: X:-18.68, Y:3.41, Z:-0.87 [[ 9.79008219e-01 1.19906646e-01 -1.64819003e-01 -1.86764937e+01] [-1.23253791e-01 9.92322810e-01 -1.01952755e-02 3.40691277e+00] [ 1.62331175e-01 3.02958255e-02 9.86271135e-01 -8.74505973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.593741732 meters Centerline goodness [0,1] 0.8733911697621375 Centerline is valid? [False, False] Translation: X:-18.73, Y:3.41, Z:-0.89 [[ 9.78694583e-01 1.15864213e-01 -1.69506337e-01 -1.87290082e+01] [-1.18888857e-01 9.92877171e-01 -7.76931573e-03 3.41119823e+00] [ 1.67398787e-01 2.77562019e-02 9.85498473e-01 -8.86459880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.623741732 meters Centerline goodness [0,1] 0.856537246509732 Centerline is valid? [False, False] Translation: X:-18.77, Y:3.41, Z:-0.89 [[ 9.77882572e-01 1.20084606e-01 -1.71246495e-01 -1.87651242e+01] [-1.23602726e-01 9.92281468e-01 -9.99274565e-03 3.40812549e+00] [ 1.68724749e-01 3.09382654e-02 9.85177539e-01 -8.89991648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.653741732 meters Centerline goodness [0,1] 0.8287583035258048 Centerline is valid? [False, False] Translation: X:-18.78, Y:3.41, Z:-0.89 [[ 9.76878383e-01 1.22551381e-01 -1.75184999e-01 -1.87758448e+01] [-1.24341943e-01 9.92239136e-01 7.61024080e-04 3.40578559e+00] [ 1.73918677e-01 2.10394151e-02 9.84535239e-01 -8.90400413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.683741732 meters Centerline goodness [0,1] 0.8148375229920295 Centerline is valid? [False, False] Translation: X:-18.78, Y:3.40, Z:-0.89 [[ 9.77114053e-01 1.20511745e-01 -1.75285616e-01 -1.87773581e+01] [-1.22556010e-01 9.92461240e-01 -8.44128298e-04 3.40199663e+00] [ 1.73862452e-01 2.23071153e-02 9.84517263e-01 -8.89616816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.713741732 meters Centerline goodness [0,1] 0.8472962758677045 Centerline is valid? [False, False] Translation: X:-18.78, Y:3.40, Z:-0.89 [[ 9.77570213e-01 1.17319583e-01 -1.74907387e-01 -1.87809082e+01] [-1.19691306e-01 9.92806514e-01 -3.03594187e-03 3.39698096e+00] [ 1.73293018e-01 2.39027399e-02 9.84580210e-01 -8.88044189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.743741732 meters Centerline goodness [0,1] 0.9010894671218037 Centerline is valid? [False, False] Translation: X:-18.80, Y:3.39, Z:-0.89 [[ 9.78484054e-01 1.07902121e-01 -1.75858151e-01 -1.88023727e+01] [-1.10139981e-01 9.93911601e-01 -2.98561874e-03 3.39121712e+00] [ 1.74465302e-01 2.22903938e-02 9.84410990e-01 -8.85483656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.773741732 meters Centerline goodness [0,1] 0.9358221134230926 Centerline is valid? [False, False] Translation: X:-18.83, Y:3.39, Z:-0.89 [[ 9.79623048e-01 1.02063816e-01 -1.72978787e-01 -1.88332241e+01] [-1.04517147e-01 9.94509957e-01 -5.11001522e-03 3.38910131e+00] [ 1.71507579e-01 2.30851380e-02 9.84912294e-01 -8.85446192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.803741732 meters Centerline goodness [0,1] 0.9704536166734777 Centerline is valid? [False, True] Translation: X:-18.89, Y:3.39, Z:-0.89 [[ 9.81446444e-01 9.43724528e-02 -1.66903319e-01 -1.88948343e+01] [-9.63194113e-02 9.95344000e-01 -3.59063595e-03 3.39302651e+00] [ 1.65787360e-01 1.96000464e-02 9.85966728e-01 -8.94279647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.833741732 meters Centerline goodness [0,1] 0.9615738751457861 Centerline is valid? [True, True] Translation: X:-18.92, Y:3.40, Z:-0.91 [[ 9.80617274e-01 9.26448432e-02 -1.72646157e-01 -1.89218979e+01] [-9.34514441e-02 9.95617798e-01 3.46810146e-03 3.40093196e+00] [ 1.72210888e-01 1.27331525e-02 9.84977805e-01 -9.07172653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.863741732 meters Centerline goodness [0,1] 0.9357676450177572 Centerline is valid? [True, False] Translation: X:-18.97, Y:3.41, Z:-0.92 [[ 9.79459956e-01 8.87692741e-02 -1.81047537e-01 -1.89655825e+01] [-9.01682458e-02 9.95926419e-01 5.05277228e-04 3.40594051e+00] [ 1.80354878e-01 1.58298400e-02 9.83474216e-01 -9.16299357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.893741732000002 meters Centerline goodness [0,1] 0.9396920444824637 Centerline is valid? [False, False] Translation: X:-18.98, Y:3.41, Z:-0.91 [[ 9.78603995e-01 8.77167232e-02 -1.86118235e-01 -1.89797000e+01] [-8.78382689e-02 9.96105685e-01 7.60938750e-03 3.40764704e+00] [ 1.86060902e-01 8.90172654e-03 9.82497888e-01 -9.14512954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.923741732 meters Centerline goodness [0,1] 0.9870996713682105 Centerline is valid? [False, True] Translation: X:-18.99, Y:3.40, Z:-0.91 [[ 9.79256328e-01 8.29719614e-02 -1.84858589e-01 -1.89900610e+01] [-8.36654215e-02 9.96485633e-01 4.05971973e-03 3.40469562e+00] [ 1.84545771e-01 1.14907655e-02 9.82756745e-01 -9.09743084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.953741732 meters Centerline goodness [0,1] 0.982756157786258 Centerline is valid? [True, True] Translation: X:-19.02, Y:3.41, Z:-0.91 [[ 9.80997732e-01 7.89612310e-02 -1.77224643e-01 -1.90204498e+01] [-7.97058418e-02 9.96814136e-01 2.92522100e-03 3.41048820e+00] [ 1.76891008e-01 1.12562042e-02 9.84166078e-01 -9.08559082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.983741732000002 meters Centerline goodness [0,1] 0.9936158929591254 Centerline is valid? [True, True] Translation: X:-19.05, Y:3.41, Z:-0.91 [[ 9.81910127e-01 7.72377444e-02 -1.72878090e-01 -1.90503418e+01] [-7.79184186e-02 9.96955648e-01 2.85589272e-03 3.40976654e+00] [ 1.72572371e-01 1.06661574e-02 9.84939089e-01 -9.08387817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.013741732 meters Centerline goodness [0,1] 0.9786920780336182 Centerline is valid? [True, True] Translation: X:-19.08, Y:3.43, Z:-0.92 [[ 9.80030126e-01 8.09163588e-02 -1.81641117e-01 -1.90782683e+01] [-8.17316487e-02 9.96649843e-01 3.00481704e-03 3.42664237e+00] [ 1.81275729e-01 1.19010167e-02 9.83360298e-01 -9.22412010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.043741732 meters Centerline goodness [0,1] 0.9525244913338358 Centerline is valid? [True, True] Translation: X:-19.11, Y:3.44, Z:-0.94 [[ 9.78802212e-01 8.46337871e-02 -1.86502956e-01 -1.91056753e+01] [-8.55601400e-02 9.96328211e-01 3.09150824e-03 3.44096050e+00] [ 1.86079802e-01 1.29312439e-02 9.82449536e-01 -9.37930918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.073741732000002 meters Centerline goodness [0,1] 0.9531400077657205 Centerline is valid? [True, True] Translation: X:-19.13, Y:3.45, Z:-0.94 [[ 9.78499708e-01 8.83277285e-02 -1.86377396e-01 -1.91344264e+01] [-8.93176854e-02 9.95998378e-01 3.09557524e-03 3.45390595e+00] [ 1.85905010e-01 1.36177782e-02 9.82473350e-01 -9.39505991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.103741732 meters Centerline goodness [0,1] 0.9762006992578053 Centerline is valid? [True, True] Translation: X:-19.17, Y:3.46, Z:-0.93 [[ 9.79913408e-01 8.72274539e-02 -1.79335115e-01 -1.91657935e+01] [-8.81223484e-02 9.96105184e-01 2.98574066e-03 3.45933765e+00] [ 1.78897077e-01 1.28776642e-02 9.83783514e-01 -9.31885411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.133741732 meters Centerline goodness [0,1] 0.9787329394988796 Centerline is valid? [True, True] Translation: X:-19.20, Y:3.46, Z:-0.94 [[ 9.80225808e-01 8.26567679e-02 -1.79792168e-01 -1.91952560e+01] [-8.34797747e-02 9.96504965e-01 2.99707125e-03 3.46257009e+00] [ 1.79411516e-01 1.20712031e-02 9.83700053e-01 -9.37442224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.163741732000002 meters Centerline goodness [0,1] 0.9818040084518022 Centerline is valid? [True, True] Translation: X:-19.22, Y:3.46, Z:-0.96 [[ 9.79818010e-01 7.34829245e-02 -1.85894937e-01 -1.92227764e+01] [-7.42013097e-02 9.97238466e-01 3.09970454e-03 3.46122434e+00] [ 1.85609357e-01 1.07565015e-02 9.82564738e-01 -9.57086417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.193741732 meters Centerline goodness [0,1] 0.992499341158345 Centerline is valid? [True, True] Translation: X:-19.25, Y:3.46, Z:-0.96 [[ 9.80484054e-01 6.89352109e-02 -1.84116695e-01 -1.92522180e+01] [-6.95596807e-02 9.97573059e-01 3.07278775e-03 3.45844872e+00] [ 1.83881678e-01 9.79427909e-03 9.82899588e-01 -9.57180097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.223741732 meters Centerline goodness [0,1] 0.9976073619631902 Centerline is valid? [True, True] Translation: X:-19.28, Y:3.46, Z:-0.95 [[ 9.81637977e-01 6.54073453e-02 -1.79189178e-01 -1.92834104e+01] [-6.59395653e-02 9.97819136e-01 2.99080203e-03 3.45706486e+00] [ 1.78994011e-01 8.87977166e-03 9.83810090e-01 -9.49681100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.253741732 meters Centerline goodness [0,1] 0.9962970540098199 Centerline is valid? [True, True] Translation: X:-19.31, Y:3.47, Z:-0.96 [[ 9.81088387e-01 6.55473287e-02 -1.82123926e-01 -1.93115162e+01] [-6.60980600e-02 9.97808468e-01 3.05089253e-03 3.46859015e+00] [ 1.81924773e-01 9.04484296e-03 9.83270852e-01 -9.56416279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.283741732 meters Centerline goodness [0,1] 0.9964442627975887 Centerline is valid? [True, True] Translation: X:-19.34, Y:3.47, Z:-0.96 [[ 9.81497951e-01 6.61608503e-02 -1.79678922e-01 -1.93386568e+01] [-6.66982904e-02 9.97768512e-01 3.05532654e-03 3.47418534e+00] [ 1.79480113e-01 8.98548017e-03 9.83720565e-01 -9.61463319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.313741732 meters Centerline goodness [0,1] 0.9960720934514433 Centerline is valid? [True, True] Translation: X:-19.37, Y:3.49, Z:-0.96 [[ 9.82280787e-01 6.87588879e-02 -1.74346410e-01 -1.93672354e+01] [-6.93007101e-02 9.97591348e-01 2.98552511e-03 3.49047753e+00] [ 1.74131752e-01 9.14970610e-03 9.84679854e-01 -9.56411761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.343741732 meters Centerline goodness [0,1] 0.9962090163934426 Centerline is valid? [True, True] Translation: X:-19.40, Y:3.50, Z:-0.96 [[ 9.81916812e-01 7.54421333e-02 -1.73631387e-01 -1.93955718e+01] [-7.60740945e-02 9.97097587e-01 3.02213043e-03 3.50335189e+00] [ 1.73355433e-01 1.02413698e-02 9.84806076e-01 -9.61712407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.373741732 meters Centerline goodness [0,1] 0.9830460063245945 Centerline is valid? [True, True] Translation: X:-19.42, Y:3.52, Z:-0.98 [[ 9.79932841e-01 7.92616343e-02 -1.82891282e-01 -1.94228350e+01] [-8.00298910e-02 9.96787366e-01 3.18810802e-03 3.51746514e+00] [ 1.82556414e-01 1.15126376e-02 9.83127975e-01 -9.79248660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.403741732 meters Centerline goodness [0,1] 0.9706913879032755 Centerline is valid? [True, True] Translation: X:-19.45, Y:3.53, Z:-0.99 [[ 9.78037650e-01 8.24690718e-02 -1.91418930e-01 -1.94508036e+01] [-8.33724941e-02 9.96512843e-01 3.34371825e-03 3.52870332e+00] [ 1.91027175e-01 1.26887912e-02 9.81502732e-01 -9.88182635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.433741732 meters Centerline goodness [0,1] 0.9927508117048865 Centerline is valid? [True, True] Translation: X:-19.48, Y:3.54, Z:-0.97 [[ 9.81321174e-01 8.27480506e-02 -1.73670705e-01 -1.94837134e+01] [-8.34906109e-02 9.96503932e-01 3.03824173e-03 3.53625356e+00] [ 1.73314949e-01 1.15183823e-02 9.84799094e-01 -9.66270946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.463741732 meters Centerline goodness [0,1] 0.9914176276602282 Centerline is valid? [True, True] Translation: X:-19.51, Y:3.54, Z:-0.96 [[ 9.82372127e-01 8.44237453e-02 -1.66786197e-01 -1.95132470e+01] [-8.51302481e-02 9.96365547e-01 2.92187416e-03 3.54302101e+00] [ 1.66426696e-01 1.13281826e-02 9.85988756e-01 -9.62160491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.493741732 meters Centerline goodness [0,1] 0.9811686456930673 Centerline is valid? [True, True] Translation: X:-19.54, Y:3.56, Z:-0.99 [[ 9.79983395e-01 8.53146387e-02 -1.79872059e-01 -1.95403519e+01] [-8.61463068e-02 9.96277367e-01 3.19723573e-03 3.55629340e+00] [ 1.79475233e-01 1.23620757e-02 9.83684817e-01 -9.87526586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.523741732 meters Centerline goodness [0,1] 0.9618624095743591 Centerline is valid? [True, True] Translation: X:-19.57, Y:3.56, Z:-1.00 [[ 9.78503747e-01 8.29421339e-02 -1.88814774e-01 -1.95692934e+01] [-8.38185244e-02 9.96475395e-01 3.35278551e-03 3.56294595e+00] [ 1.88427363e-01 1.25454625e-02 9.82006996e-01 -1.00348816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.553741732 meters Centerline goodness [0,1] 0.9925172717767892 Centerline is valid? [True, True] Translation: X:-19.60, Y:3.56, Z:-1.00 [[ 9.80123533e-01 7.76270640e-02 -1.82570259e-01 -1.96004764e+01] [-7.83539022e-02 9.96920343e-01 3.23982576e-03 3.55595765e+00] [ 1.82259503e-01 1.11296627e-02 9.83187471e-01 -9.95149011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.583741732 meters Centerline goodness [0,1] 0.9957267578564273 Centerline is valid? [True, True] Translation: X:-19.63, Y:3.56, Z:-0.99 [[ 9.81428768e-01 7.39989350e-02 -1.76979466e-01 -1.96310273e+01] [-7.46214292e-02 9.97206974e-01 3.14520575e-03 3.55768431e+00] [ 1.76717900e-01 1.01196653e-02 9.84209518e-01 -9.94979975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.613741732 meters Centerline goodness [0,1] 0.9885840545019333 Centerline is valid? [True, True] Translation: X:-19.66, Y:3.57, Z:-1.01 [[ 9.79698518e-01 7.58100128e-02 -1.85590023e-01 -1.96602230e+01] [-7.65289212e-02 9.97061909e-01 3.29762045e-03 3.56790161e+00] [ 1.85294736e-01 1.09723304e-02 9.82621732e-01 -1.00720281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.643741732000002 meters Centerline goodness [0,1] 0.9941148727623188 Centerline is valid? [True, True] Translation: X:-19.69, Y:3.57, Z:-1.01 [[ 9.80250613e-01 7.57293126e-02 -1.82684994e-01 -1.96890066e+01] [-7.64238058e-02 9.97070141e-01 3.24577281e-03 3.56531121e+00] [ 1.82395553e-01 1.07798117e-02 9.83166140e-01 -1.00595815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.673741732 meters Centerline goodness [0,1] 0.9970457902511078 Centerline is valid? [True, True] Translation: X:-19.72, Y:3.56, Z:-1.00 [[ 9.81591102e-01 7.07832291e-02 -1.77394035e-01 -1.97193665e+01] [-7.13547075e-02 9.97445985e-01 3.16415214e-03 3.56312106e+00] [ 1.77164937e-01 9.55199588e-03 9.84134820e-01 -1.00193406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.703741732 meters Centerline goodness [0,1] 0.9952862914745133 Centerline is valid? [True, True] Translation: X:-19.75, Y:3.57, Z:-1.01 [[ 9.81152131e-01 7.24549490e-02 -1.79138988e-01 -1.97461167e+01] [-7.30650244e-02 9.97322050e-01 3.19871094e-03 3.57399801e+00] [ 1.78891025e-01 9.95037244e-03 9.83818576e-01 -1.01480417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.733741732000002 meters Centerline goodness [0,1] 0.9789465061030557 Centerline is valid? [True, True] Translation: X:-19.77, Y:3.59, Z:-1.03 [[ 9.79314422e-01 7.91168369e-02 -1.86235842e-01 -1.97746171e+01] [-7.98944167e-02 9.96797741e-01 3.33840008e-03 3.58969729e+00] [ 1.85903590e-01 1.16098606e-02 9.82499398e-01 -1.02944478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.763741732 meters Centerline goodness [0,1] 0.9871779115972308 Centerline is valid? [True, True] Translation: X:-19.81, Y:3.59, Z:-1.03 [[ 9.80412017e-01 7.89224083e-02 -1.80453680e-01 -1.98051371e+01] [-7.96475099e-02 9.96817839e-01 3.23567021e-03 3.59231048e+00] [ 1.80134814e-01 1.12003963e-02 9.83578162e-01 -1.02521653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.793741732 meters Centerline goodness [0,1] 0.993814390758454 Centerline is valid? [True, True] Translation: X:-19.84, Y:3.59, Z:-1.03 [[ 9.81333314e-01 7.39421347e-02 -1.77531650e-01 -1.98363592e+01] [-7.45620164e-02 9.97211287e-01 3.18670247e-03 3.59162935e+00] [ 1.77272197e-01 1.01099005e-02 9.84109932e-01 -1.02527240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.823741732000002 meters Centerline goodness [0,1] 0.9917123680117869 Centerline is valid? [True, True] Translation: X:-19.86, Y:3.60, Z:-1.04 [[ 9.79907553e-01 7.41466902e-02 -1.85157922e-01 -1.98647739e+01] [-7.48263777e-02 9.97191037e-01 3.32409356e-03 3.59801294e+00] [ 1.84884291e-01 1.05973922e-02 9.82703157e-01 -1.03580624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.853741732 meters Centerline goodness [0,1] 0.993030216063302 Centerline is valid? [True, True] Translation: X:-19.89, Y:3.60, Z:-1.03 [[ 9.80200562e-01 7.50335314e-02 -1.83239808e-01 -1.98939117e+01] [-7.57120083e-02 9.97124264e-01 3.30060216e-03 3.60221441e+00] [ 1.82960514e-01 1.06382018e-02 9.83062703e-01 -1.03470031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.883741732 meters Centerline goodness [0,1] 0.9886043377037128 Centerline is valid? [True, True] Translation: X:-19.92, Y:3.61, Z:-1.03 [[ 9.80752654e-01 7.68366838e-02 -1.79500293e-01 -1.99232527e+01] [-7.75078197e-02 9.96986342e-01 3.28202516e-03 3.61114057e+00] [ 1.79211520e-01 1.06938214e-02 9.83752445e-01 -1.03489792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.913741732000002 meters Centerline goodness [0,1] 0.9801681086746542 Centerline is valid? [True, True] Translation: X:-19.95, Y:3.61, Z:-1.05 [[ 9.78755629e-01 7.85508486e-02 -1.89386334e-01 -1.99502887e+01] [-7.93236729e-02 9.96842741e-01 3.50791884e-03 3.61457258e+00] [ 1.89063942e-01 1.15894243e-02 9.81896385e-01 -1.05480003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.943741732 meters Centerline goodness [0,1] 0.9572816331560248 Centerline is valid? [True, True] Translation: X:-19.98, Y:3.63, Z:-1.06 [[ 9.79158938e-01 7.88599316e-02 -1.87160051e-01 -1.99806680e+01] [-7.96199476e-02 9.96819270e-01 3.46503483e-03 3.62736071e+00] [ 1.86837998e-01 1.15088536e-02 9.82323322e-01 -1.05935258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.973741732 meters Centerline goodness [0,1] 0.9726511895704386 Centerline is valid? [True, True] Translation: X:-20.01, Y:3.63, Z:-1.05 [[ 9.80748730e-01 7.89855797e-02 -1.78586695e-01 -2.00125470e+01] [-7.96789067e-02 9.96815125e-01 3.29830813e-03 3.62960272e+00] [ 1.78278438e-01 1.09947811e-02 9.83918652e-01 -1.04561314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.003741732 meters Centerline goodness [0,1] 0.971382233992322 Centerline is valid? [True, True] Translation: X:-20.04, Y:3.63, Z:-1.06 [[ 9.79216471e-01 7.54866533e-02 -1.88246828e-01 -2.00419857e+01] [-7.61958409e-02 9.97086809e-01 3.47694447e-03 3.62988874e+00] [ 1.87960892e-01 1.09389441e-02 9.82115595e-01 -1.06372289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.033741732 meters Centerline goodness [0,1] 0.971382233992322 Centerline is valid? [True, True] Translation: X:-20.07, Y:3.63, Z:-1.07 [[ 9.79222081e-01 7.54133416e-02 -1.88247032e-01 -2.00733572e+01] [-7.61233117e-02 9.97092387e-01 3.46587756e-03 3.63056920e+00] [ 1.87961056e-01 1.09361236e-02 9.82115595e-01 -1.06863284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.063741732 meters Centerline goodness [0,1] 0.9827158976879441 Centerline is valid? [True, True] Translation: X:-20.10, Y:3.62, Z:-1.08 [[ 9.78732158e-01 7.12129407e-02 -1.92385237e-01 -2.01026094e+01] [-7.18779346e-02 9.97407191e-01 3.52965286e-03 3.62306352e+00] [ 1.92137776e-01 1.03736687e-02 9.81313132e-01 -1.08058435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.093741732 meters Centerline goodness [0,1] 0.9846918856720159 Centerline is valid? [True, True] Translation: X:-20.13, Y:3.63, Z:-1.08 [[ 9.79977043e-01 6.88281853e-02 -1.86835962e-01 -2.01335288e+01] [-6.94116950e-02 9.97582220e-01 3.42496354e-03 3.62818803e+00] [ 1.86619967e-01 9.61221513e-03 9.82385155e-01 -1.07935695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.123741732 meters Centerline goodness [0,1] 0.9937578283813474 Centerline is valid? [True, True] Translation: X:-20.16, Y:3.63, Z:-1.07 [[ 9.81372534e-01 6.95532005e-02 -1.79081830e-01 -2.01646840e+01] [-7.00995492e-02 9.97534598e-01 3.28314521e-03 3.63440965e+00] [ 1.78868675e-01 9.33156703e-03 9.83828704e-01 -1.06736130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.153741732 meters Centerline goodness [0,1] 0.9913600262688037 Centerline is valid? [True, True] Translation: X:-20.19, Y:3.64, Z:-1.07 [[ 9.81237697e-01 7.35093192e-02 -1.78238496e-01 -2.01933013e+01] [-7.41143975e-02 9.97244384e-01 3.27042139e-03 3.64337808e+00] [ 1.77987745e-01 1.00009780e-02 9.83981881e-01 -1.07246399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.183741732 meters Centerline goodness [0,1] 0.9730767651045303 Centerline is valid? [True, True] Translation: X:-20.22, Y:3.65, Z:-1.09 [[ 9.78848614e-01 7.59642455e-02 -1.89960058e-01 -2.02206692e+01] [-7.66989878e-02 9.97048179e-01 3.49186410e-03 3.65210844e+00] [ 1.89664587e-01 1.11517378e-02 9.81785610e-01 -1.09321737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.213741732 meters Centerline goodness [0,1] 0.961763798951588 Centerline is valid? [True, True] Translation: X:-20.25, Y:3.66, Z:-1.10 [[ 9.77997158e-01 7.92267787e-02 -1.92988799e-01 -2.02514917e+01] [-8.00486447e-02 9.96784644e-01 3.54781945e-03 3.65915837e+00] [ 1.92649354e-01 1.19787345e-02 9.81194546e-01 -1.09531918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.243741732 meters Centerline goodness [0,1] 0.9046602778518807 Centerline is valid? [True, False] Translation: X:-20.26, Y:3.66, Z:-1.09 [[ 9.76386160e-01 9.77812844e-02 -1.92636670e-01 -2.02562723e+01] [-9.89712399e-02 9.95084280e-01 3.45972624e-03 3.66080432e+00] [ 1.92028019e-01 1.56874613e-02 9.81264054e-01 -1.09377283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.273741732 meters Centerline goodness [0,1] 0.8538382804503583 Centerline is valid? [False, False] Translation: X:-20.27, Y:3.65, Z:-1.09 [[ 9.75104152e-01 1.05270629e-01 -1.95166563e-01 -2.02662032e+01] [-1.07294852e-01 9.94227225e-01 2.01211616e-04 3.65381280e+00] [ 1.94061092e-01 2.07441652e-02 9.80770091e-01 -1.09498026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.303741732 meters Centerline goodness [0,1] 0.9197530864197531 Centerline is valid? [False, False] Translation: X:-20.28, Y:3.64, Z:-1.09 [[ 9.77677267e-01 9.60151207e-02 -1.86891033e-01 -2.02802323e+01] [-9.79818310e-02 9.95187364e-01 -1.29259172e-03 3.64436438e+00] [ 1.85867486e-01 1.95756631e-02 9.82379800e-01 -1.09435733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.333741732 meters Centerline goodness [0,1] 0.9741914340140513 Centerline is valid? [False, True] Translation: X:-20.30, Y:3.64, Z:-1.10 [[ 9.79690878e-01 8.23092181e-02 -1.82841398e-01 -2.03049419e+01] [-8.37073797e-02 9.96490376e-01 7.10308542e-05 3.63732138e+00] [ 1.82205540e-01 1.52355861e-02 9.83142420e-01 -1.09769031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.363741732 meters Centerline goodness [0,1] 0.9845677747264008 Centerline is valid? [True, True] Translation: X:-20.33, Y:3.62, Z:-1.11 [[ 9.79693949e-01 7.41875762e-02 -1.86268542e-01 -2.03331810e+01] [-7.50044926e-02 9.97179628e-01 2.66761121e-03 3.62364299e+00] [ 1.85941099e-01 1.13575349e-02 9.82495249e-01 -1.11265064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.393741732000002 meters Centerline goodness [0,1] 0.9887896988645714 Centerline is valid? [True, True] Translation: X:-20.36, Y:3.61, Z:-1.13 [[ 9.77969258e-01 6.58508620e-02 -1.98090371e-01 -2.03605115e+01] [-6.66090674e-02 9.97775106e-01 2.84077739e-03 3.60720239e+00] [ 1.97836709e-01 1.04164219e-02 9.80179644e-01 -1.13186233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.423741732 meters Centerline goodness [0,1] 0.9951636371088387 Centerline is valid? [True, True] Translation: X:-20.39, Y:3.60, Z:-1.12 [[ 9.80047576e-01 6.65148818e-02 -1.87303282e-01 -2.03934510e+01] [-6.72013253e-02 9.97735811e-01 2.68966742e-03 3.60338494e+00] [ 1.87058095e-01 9.95102679e-03 9.82298451e-01 -1.11683861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.453741732 meters Centerline goodness [0,1] 0.987758945386064 Centerline is valid? [True, True] Translation: X:-20.42, Y:3.61, Z:-1.12 [[ 9.79707680e-01 7.63149757e-02 -1.85334526e-01 -2.04242856e+01] [-7.71591113e-02 9.97015232e-01 2.66447527e-03 3.61315837e+00] [ 1.84984685e-01 1.16898404e-02 9.82671875e-01 -1.11576841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.483741732000002 meters Centerline goodness [0,1] 0.9620806603195358 Centerline is valid? [True, True] Translation: X:-20.45, Y:3.62, Z:-1.13 [[ 9.78297194e-01 8.29785521e-02 -1.89866165e-01 -2.04522446e+01] [-8.39895819e-02 9.96462894e-01 2.72969030e-03 3.61921335e+00] [ 1.89421094e-01 1.32763314e-02 9.81806187e-01 -1.13179865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.513741732 meters Centerline goodness [0,1] 0.9514478155586757 Centerline is valid? [True, True] Translation: X:-20.48, Y:3.61, Z:-1.15 [[ 9.77348293e-01 8.03662181e-02 -1.95784536e-01 -2.04810285e+01] [-8.13920288e-02 9.96678193e-01 2.81379044e-03 3.61360037e+00] [ 1.95360312e-01 1.31852473e-02 9.80642900e-01 -1.14974959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.543741732 meters Centerline goodness [0,1] 0.9721949020572084 Centerline is valid? [True, True] Translation: X:-20.51, Y:3.60, Z:-1.15 [[ 9.78355600e-01 7.04079569e-02 -1.94584275e-01 -2.05114322e+01] [-7.12275121e-02 9.97456191e-01 2.79065354e-03 3.59947271e+00] [ 1.94285774e-01 1.11295023e-02 9.80881834e-01 -1.15120442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.573741732000002 meters Centerline goodness [0,1] 0.9958218125960061 Centerline is valid? [True, True] Translation: X:-20.54, Y:3.59, Z:-1.15 [[ 9.79880473e-01 6.54804404e-02 -1.88537984e-01 -2.05425760e+01] [-6.61577237e-02 9.97805510e-01 2.70546395e-03 3.58697160e+00] [ 1.88301394e-01 9.82221255e-03 9.82062172e-01 -1.14527739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.603741732 meters Centerline goodness [0,1] 0.991451609643716 Centerline is valid? [True, True] Translation: X:-20.57, Y:3.59, Z:-1.15 [[ 9.80215959e-01 6.29519041e-02 -1.87653221e-01 -2.05718037e+01] [-6.35759003e-02 9.97973360e-01 2.69758859e-03 3.59265838e+00] [ 1.87442734e-01 9.28600306e-03 9.82231639e-01 -1.14618553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.633741732 meters Centerline goodness [0,1] 0.9953073579002966 Centerline is valid? [True, True] Translation: X:-20.60, Y:3.59, Z:-1.14 [[ 9.80847453e-01 6.18843149e-02 -1.84685152e-01 -2.06014625e+01] [-6.24672573e-02 9.98043453e-01 2.66607841e-03 3.59220100e+00] [ 1.84488795e-01 8.92175869e-03 9.82794122e-01 -1.14111562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.663741732000002 meters Centerline goodness [0,1] 0.9964577489301583 Centerline is valid? [True, True] Translation: X:-20.63, Y:3.59, Z:-1.14 [[ 9.80730250e-01 6.40802238e-02 -1.84558666e-01 -2.06300243e+01] [-6.46986802e-02 9.97901259e-01 2.67548086e-03 3.59264067e+00] [ 1.84342771e-01 9.31677712e-03 9.82817857e-01 -1.14138258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.693741732 meters Centerline goodness [0,1] 0.9793398583070559 Centerline is valid? [True, True] Translation: X:-20.66, Y:3.61, Z:-1.17 [[ 9.78530577e-01 7.11027973e-02 -1.93448447e-01 -2.06564352e+01] [-7.19173380e-02 9.97406616e-01 2.81773346e-03 3.60608128e+00] [ 1.93147110e-01 1.11550590e-02 9.81106395e-01 -1.16710118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.723741732 meters Centerline goodness [0,1] 0.9665486109689438 Centerline is valid? [True, True] Translation: X:-20.69, Y:3.62, Z:-1.17 [[ 9.78680734e-01 7.54450798e-02 -1.91028952e-01 -2.06870878e+01] [-7.63200141e-02 9.97079488e-01 2.78394502e-03 3.61563312e+00] [ 1.90681084e-01 1.18547389e-02 9.81580455e-01 -1.16665850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.753741732 meters Centerline goodness [0,1] 0.9962099483733509 Centerline is valid? [True, True] Translation: X:-20.72, Y:3.60, Z:-1.15 [[ 9.80788178e-01 6.37753009e-02 -1.84356342e-01 -2.07185932e+01] [-6.43836970e-02 9.97921591e-01 2.69033781e-03 3.59771336e+00] [ 1.84144751e-01 9.23089135e-03 9.82855789e-01 -1.15463253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.783741732 meters Centerline goodness [0,1] 0.9966784901482377 Centerline is valid? [True, True] Translation: X:-20.75, Y:3.60, Z:-1.16 [[ 9.81647831e-01 6.06550156e-02 -1.80799627e-01 -2.07480240e+01] [-6.11862678e-02 9.98122867e-01 2.64265443e-03 3.59746209e+00] [ 1.80620532e-01 8.46829838e-03 9.83516401e-01 -1.15506239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.813741732 meters Centerline goodness [0,1] 0.9956453865746446 Centerline is valid? [True, True] Translation: X:-20.78, Y:3.60, Z:-1.16 [[ 9.82248914e-01 6.17310330e-02 -1.77133708e-01 -2.07755481e+01] [-6.22559636e-02 9.98056834e-01 2.59818808e-03 3.60075499e+00] [ 1.76949897e-01 8.47556230e-03 9.84183366e-01 -1.16268144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.843741732 meters Centerline goodness [0,1] 0.9961461194702964 Centerline is valid? [True, True] Translation: X:-20.80, Y:3.61, Z:-1.17 [[ 9.80796911e-01 6.18979230e-02 -1.84948820e-01 -2.08026464e+01] [-6.24657548e-02 9.98043290e-01 2.76069556e-03 3.60631595e+00] [ 1.84757810e-01 8.84528595e-03 9.82744276e-01 -1.17351282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.873741732 meters Centerline goodness [0,1] 0.9880482996550025 Centerline is valid? [True, True] Translation: X:-20.83, Y:3.62, Z:-1.19 [[ 9.79448585e-01 6.46952495e-02 -1.91036631e-01 -2.08306640e+01] [-6.53531212e-02 9.97858097e-01 2.86152689e-03 3.62420655e+00] [ 1.90812576e-01 9.68212164e-03 9.81578737e-01 -1.18929062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.903741732 meters Centerline goodness [0,1] 0.9815455122041041 Centerline is valid? [True, True] Translation: X:-20.86, Y:3.64, Z:-1.19 [[ 9.78953744e-01 6.81561992e-02 -1.92365016e-01 -2.08606659e+01] [-6.88893364e-02 9.97620143e-01 2.88266246e-03 3.63627328e+00] [ 1.92103686e-01 1.04299051e-02 9.81319209e-01 -1.19171287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.933741732 meters Centerline goodness [0,1] 0.9574862128570253 Centerline is valid? [True, True] Translation: X:-20.89, Y:3.66, Z:-1.20 [[ 9.77728324e-01 7.68568642e-02 -1.95295538e-01 -2.08896157e+01] [-7.77838635e-02 9.96965940e-01 2.92986414e-03 3.65529004e+00] [ 1.94928180e-01 1.23262303e-02 9.80740062e-01 -1.19953164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.963741732 meters Centerline goodness [0,1] 0.9381205928910634 Centerline is valid? [True, False] Translation: X:-20.89, Y:3.66, Z:-1.20 [[ 9.77103509e-01 8.43088762e-02 -1.95347758e-01 -2.08945083e+01] [-8.42007211e-02 9.96409307e-01 8.87304230e-03 3.66025507e+00] [ 1.95394400e-01 7.77854132e-03 9.80693898e-01 -1.19538093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.993741732 meters Centerline goodness [0,1] 0.9534521295138105 Centerline is valid? [False, True] Translation: X:-20.90, Y:3.66, Z:-1.19 [[ 9.77524977e-01 8.39341767e-02 -1.93390727e-01 -2.08988806e+01] [-8.39961263e-02 9.96434813e-01 7.89398899e-03 3.66116270e+00] [ 1.93363829e-01 8.52750055e-03 9.81090063e-01 -1.19382460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.023741732 meters Centerline goodness [0,1] 0.9482411026537749 Centerline is valid? [True, False] Translation: X:-20.90, Y:3.66, Z:-1.19 [[ 9.77487178e-01 8.36566666e-02 -1.93701779e-01 -2.09007494e+01] [-8.37839880e-02 9.96455342e-01 7.54953447e-03 3.66146904e+00] [ 1.93646741e-01 8.84953437e-03 9.81031409e-01 -1.19235296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.053741732 meters Centerline goodness [0,1] 0.9536842538819557 Centerline is valid? [False, True] Translation: X:-20.91, Y:3.66, Z:-1.19 [[ 9.76691571e-01 7.52246145e-02 -2.01034408e-01 -2.09131794e+01] [-7.53807599e-02 9.97131022e-01 6.88958656e-03 3.65932180e+00] [ 2.00975912e-01 8.42512536e-03 9.79559952e-01 -1.19247713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.083741732 meters Centerline goodness [0,1] 0.9772815415076238 Centerline is valid? [True, True] Translation: X:-20.94, Y:3.65, Z:-1.19 [[ 9.77871504e-01 6.67466008e-02 -1.98273077e-01 -2.09431357e+01] [-6.77605588e-02 9.97700207e-01 1.67434690e-03 3.64662394e+00] [ 1.97928847e-01 1.17977983e-02 9.80145389e-01 -1.19499583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.113741732 meters Centerline goodness [0,1] 0.9913701213512627 Centerline is valid? [True, True] Translation: X:-20.97, Y:3.63, Z:-1.20 [[ 9.77964857e-01 5.47915706e-02 -2.01451288e-01 -2.09732153e+01] [-5.55879905e-02 9.98452335e-01 1.70597256e-03 3.63249571e+00] [ 2.01232982e-01 9.52989109e-03 9.79497049e-01 -1.20029923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.143741732 meters Centerline goodness [0,1] 0.9894045174537988 Centerline is valid? [True, True] Translation: X:-21.00, Y:3.63, Z:-1.21 [[ 9.76795482e-01 4.96781325e-02 -2.08333074e-01 -2.09998660e+01] [-5.04139625e-02 9.98726822e-01 1.77961498e-03 3.63276697e+00] [ 2.08156237e-01 8.76457590e-03 9.78056319e-01 -1.21317142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.173741732 meters Centerline goodness [0,1] 0.9960418375717801 Centerline is valid? [True, True] Translation: X:-21.03, Y:3.64, Z:-1.21 [[ 9.78035395e-01 5.28490209e-02 -2.01627743e-01 -2.10297062e+01] [-5.35930629e-02 9.98561289e-01 1.77095634e-03 3.64014359e+00] [ 2.01431252e-01 9.07379031e-03 9.79460626e-01 -1.20507601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.203741732 meters Centerline goodness [0,1] 0.9949857620403615 Centerline is valid? [True, True] Translation: X:-21.06, Y:3.66, Z:-1.20 [[ 9.79118140e-01 5.77864306e-02 -1.94906124e-01 -2.10584073e+01] [-5.85721674e-02 9.98281670e-01 1.73449053e-03 3.65670932e+00] [ 1.94671441e-01 9.71780301e-03 9.80820368e-01 -1.20052031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.233741732000002 meters Centerline goodness [0,1] 0.9614050834319285 Centerline is valid? [True, True] Translation: X:-21.08, Y:3.68, Z:-1.23 [[ 9.76264984e-01 6.47620925e-02 -2.06670152e-01 -2.10847384e+01] [-6.57909477e-02 9.97831623e-01 1.89802645e-03 3.68237852e+00] [ 2.06344933e-01 1.17440484e-02 9.78408834e-01 -1.22833834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.263741732 meters Centerline goodness [0,1] 0.966989418637905 Centerline is valid? [True, True] Translation: X:-21.11, Y:3.68, Z:-1.24 [[ 9.76339829e-01 6.13063839e-02 -2.07369393e-01 -2.11133098e+01] [-6.22656914e-02 9.98057793e-01 1.90404055e-03 3.68265778e+00] [ 2.07083369e-01 1.10530080e-02 9.78260860e-01 -1.23858571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.293741732 meters Centerline goodness [0,1] 0.9774465460526316 Centerline is valid? [True, True] Translation: X:-21.14, Y:3.68, Z:-1.24 [[ 9.76757759e-01 5.81457569e-02 -2.06308871e-01 -2.11443669e+01] [-5.90246437e-02 9.98254722e-01 1.89762912e-03 3.68016913e+00] [ 2.06059144e-01 1.03237837e-02 9.78485078e-01 -1.23832492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.323741732000002 meters Centerline goodness [0,1] 0.9868127367666633 Centerline is valid? [True, True] Translation: X:-21.18, Y:3.68, Z:-1.24 [[ 9.78004845e-01 5.42399127e-02 -2.01406445e-01 -2.11754390e+01] [-5.49942374e-02 9.98484953e-01 1.85250372e-03 3.67909236e+00] [ 2.01201784e-01 9.26443620e-03 9.79506004e-01 -1.23758355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.353741732 meters Centerline goodness [0,1] 0.9948870027610185 Centerline is valid? [True, True] Translation: X:-21.21, Y:3.68, Z:-1.24 [[ 9.79042812e-01 5.17867620e-02 -1.96960159e-01 -2.12051974e+01] [-5.24578329e-02 9.98621496e-01 1.81208982e-03 3.67685135e+00] [ 1.96782490e-01 8.55798957e-03 9.80409819e-01 -1.23571941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.383741732 meters Centerline goodness [0,1] 0.9942942758040351 Centerline is valid? [True, True] Translation: X:-21.23, Y:3.69, Z:-1.24 [[ 9.78647656e-01 5.07839096e-02 -1.99172688e-01 -2.12318225e+01] [-5.14472965e-02 9.98674004e-01 1.84660954e-03 3.68539955e+00] [ 1.99002364e-01 8.43971627e-03 9.79962668e-01 -1.24279285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.413741732000002 meters Centerline goodness [0,1] 0.9861159604838875 Centerline is valid? [True, True] Translation: X:-21.26, Y:3.70, Z:-1.26 [[ 9.77568582e-01 5.17316684e-02 -2.04165380e-01 -2.12602999e+01] [-5.24382698e-02 9.98622261e-01 1.95131320e-03 3.69709593e+00] [ 2.03985038e-01 8.79853679e-03 9.78934467e-01 -1.25621891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.443741732 meters Centerline goodness [0,1] 0.9880570154808892 Centerline is valid? [True, True] Translation: X:-21.29, Y:3.71, Z:-1.25 [[ 9.78320465e-01 5.61262512e-02 -1.99346212e-01 -2.12887847e+01] [-5.68862452e-02 9.98378825e-01 1.91768312e-03 3.71156251e+00] [ 1.99130669e-01 9.46394884e-03 9.79927247e-01 -1.25420384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.473741732 meters Centerline goodness [0,1] 0.9670711641299876 Centerline is valid? [True, True] Translation: X:-21.32, Y:3.73, Z:-1.27 [[ 9.75653875e-01 6.52180031e-02 -2.09394672e-01 -2.13176831e+01] [-6.62603344e-02 9.97800282e-01 2.04107313e-03 3.73140516e+00] [ 2.09067177e-01 1.18831801e-02 9.77829078e-01 -1.26710458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.503741732 meters Centerline goodness [0,1] 0.9697290906496524 Centerline is valid? [True, True] Translation: X:-21.35, Y:3.74, Z:-1.28 [[ 9.76883607e-01 6.69332310e-02 -2.03023053e-01 -2.13477046e+01] [-6.79479283e-02 9.97686912e-01 1.97608698e-03 3.74025777e+00] [ 2.02685709e-01 1.18645889e-02 9.79171964e-01 -1.27702971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.533741732 meters Centerline goodness [0,1] 0.9861311936134248 Centerline is valid? [True, True] Translation: X:-21.38, Y:3.74, Z:-1.27 [[ 9.78586526e-01 6.28567952e-02 -1.96003661e-01 -2.13789143e+01] [-6.37206622e-02 9.97965962e-01 1.90180437e-03 3.73602207e+00] [ 1.95724523e-01 1.06284030e-02 9.80601320e-01 -1.26996654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.563741732 meters Centerline goodness [0,1] 0.9934540963359407 Centerline is valid? [True, True] Translation: X:-21.41, Y:3.73, Z:-1.27 [[ 9.78471304e-01 6.10617056e-02 -1.97143031e-01 -2.14074653e+01] [-6.18987773e-02 9.98080587e-01 1.91904110e-03 3.73116709e+00] [ 1.96881812e-01 1.03251859e-02 9.80372859e-01 -1.26939831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.593741732 meters Centerline goodness [0,1] 0.9920362177178722 Centerline is valid? [True, True] Translation: X:-21.44, Y:3.73, Z:-1.28 [[ 9.78609662e-01 6.07495664e-02 -1.96551823e-01 -2.14355163e+01] [-6.15699609e-02 9.98100886e-01 1.93962739e-03 3.73456846e+00] [ 1.96296380e-01 1.02035499e-02 9.80491519e-01 -1.27738195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.623741732 meters Centerline goodness [0,1] 0.9760350826624941 Centerline is valid? [True, True] Translation: X:-21.46, Y:3.74, Z:-1.29 [[ 9.76317996e-01 6.04063617e-02 -2.07735994e-01 -2.14630422e+01] [-6.13075215e-02 9.98116708e-01 2.10345049e-03 3.74376794e+00] [ 2.07471828e-01 1.06821423e-02 9.78182668e-01 -1.29469163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.653741732 meters Centerline goodness [0,1] 0.9612665232093452 Centerline is valid? [True, True] Translation: X:-21.49, Y:3.75, Z:-1.31 [[ 9.75128867e-01 6.16103565e-02 -2.12903399e-01 -2.14915375e+01] [-6.25870912e-02 9.98037178e-01 2.15565855e-03 3.75220086e+00] [ 2.12618318e-01 1.12229596e-02 9.77070876e-01 -1.30877436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.683741732 meters Centerline goodness [0,1] 0.9729724174785218 Centerline is valid? [True, True] Translation: X:-21.52, Y:3.75, Z:-1.31 [[ 9.75684781e-01 6.57961348e-02 -2.09069549e-01 -2.15227644e+01] [-6.68320578e-02 9.97762000e-01 2.11346584e-03 3.75419127e+00] [ 2.08740709e-01 1.19104717e-02 9.77898490e-01 -1.30940757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.713741732 meters Centerline goodness [0,1] 0.9817803763330176 Centerline is valid? [True, True] Translation: X:-21.55, Y:3.75, Z:-1.31 [[ 9.76787581e-01 6.88286439e-02 -2.02851272e-01 -2.15539447e+01] [-6.98683165e-02 9.97554137e-01 2.03989158e-03 3.75328253e+00] [ 2.02495529e-01 1.21803361e-02 9.79207435e-01 -1.30845142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.743741732 meters Centerline goodness [0,1] 0.9730914930412583 Centerline is valid? [True, True] Translation: X:-21.58, Y:3.75, Z:-1.32 [[ 9.76227750e-01 6.82632712e-02 -2.05717052e-01 -2.15839975e+01] [-6.93223800e-02 9.97592176e-01 2.06338881e-03 3.75444437e+00] [ 2.05362575e-01 1.22464582e-02 9.78609338e-01 -1.31978420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.773741732 meters Centerline goodness [0,1] 0.9644175553732568 Centerline is valid? [True, True] Translation: X:-21.62, Y:3.76, Z:-1.33 [[ 9.76117433e-01 6.71449545e-02 -2.06606658e-01 -2.16161697e+01] [-6.81911305e-02 9.97670145e-01 2.06172077e-03 3.75738670e+00] [ 2.06263729e-01 1.20762600e-02 9.78421912e-01 -1.32530252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.803741732 meters Centerline goodness [0,1] 0.9802860772982499 Centerline is valid? [True, True] Translation: X:-21.65, Y:3.75, Z:-1.32 [[ 9.78010146e-01 6.47277224e-02 -1.98258608e-01 -2.16482014e+01] [-6.56417830e-02 9.97841317e-01 1.96544252e-03 3.75335170e+00] [ 1.97957849e-01 1.10918258e-02 9.80147775e-01 -1.31717735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.833741732 meters Centerline goodness [0,1] 0.9855936209128835 Centerline is valid? [True, True] Translation: X:-21.68, Y:3.75, Z:-1.32 [[ 9.77981530e-01 6.36316935e-02 -1.98753955e-01 -2.16776549e+01] [-6.45274517e-02 9.97913980e-01 1.97380028e-03 3.75146739e+00] [ 1.98464947e-01 1.08947460e-02 9.80047432e-01 -1.31896927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.863741732 meters Centerline goodness [0,1] 0.9663318337749841 Centerline is valid? [True, True] Translation: X:-21.71, Y:3.76, Z:-1.34 [[ 9.76021082e-01 6.79396711e-02 -2.06801953e-01 -2.17060551e+01] [-6.90069900e-02 9.97614057e-01 2.05652702e-03 3.76005627e+00] [ 2.06448255e-01 1.22635666e-02 9.78380664e-01 -1.33689573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.893741732 meters Centerline goodness [0,1] 0.8472889217255675 Centerline is valid? [True, False] Translation: X:-21.71, Y:3.76, Z:-1.34 [[ 9.73400412e-01 9.31328633e-02 -2.09327275e-01 -2.17093951e+01] [-9.52144645e-02 9.95456774e-01 1.33478270e-04 3.75730542e+00] [ 2.08388685e-01 1.98010566e-02 9.77845629e-01 -1.34379286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.923741732 meters Centerline goodness [0,1] 0.8382331851426932 Centerline is valid? [False, False] Translation: X:-21.73, Y:3.74, Z:-1.34 [[ 9.72482100e-01 1.04713693e-01 -2.08119213e-01 -2.17335528e+01] [-1.07393929e-01 9.94215278e-01 -1.58908923e-03 3.73976221e+00] [ 2.06748902e-01 2.38961007e-02 9.78102177e-01 -1.34402788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.953741732 meters Centerline goodness [0,1] 0.8382331851426932 Centerline is valid? [False, False] Translation: X:-21.73, Y:3.74, Z:-1.34 [[ 9.72482100e-01 1.04713693e-01 -2.08119213e-01 -2.17335528e+01] [-1.07393929e-01 9.94215278e-01 -1.58908923e-03 3.73976221e+00] [ 2.06748902e-01 2.38961007e-02 9.78102177e-01 -1.34402788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.983741732000002 meters Centerline goodness [0,1] 0.8084554585871893 Centerline is valid? [False, False] Translation: X:-21.76, Y:3.73, Z:-1.34 [[ 9.73541380e-01 1.02178304e-01 -2.04393679e-01 -2.17588178e+01] [-1.05407808e-01 9.94416777e-01 -4.94654673e-03 3.72541822e+00] [ 2.02747074e-01 2.63603575e-02 9.78876272e-01 -1.34334256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.013741732 meters Centerline goodness [0,1] 0.8138134447585105 Centerline is valid? [False, False] Translation: X:-21.77, Y:3.72, Z:-1.34 [[ 9.73819118e-01 9.91594368e-02 -2.04557402e-01 -2.17659007e+01] [-1.02689483e-01 9.94690981e-01 -6.68753165e-03 3.71862245e+00] [ 2.02808271e-01 2.75183400e-02 9.78831725e-01 -1.34007153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.043741732 meters Centerline goodness [0,1] 0.8143712574850299 Centerline is valid? [False, False] Translation: X:-21.78, Y:3.70, Z:-1.34 [[ 9.72378928e-01 9.77864968e-02 -2.11936362e-01 -2.17769403e+01] [-1.00696418e-01 9.94912813e-01 -2.95388975e-03 3.70145489e+00] [ 2.10569352e-01 2.42135327e-02 9.77279005e-01 -1.34010265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.073741732000002 meters Centerline goodness [0,1] 0.8446929211543205 Centerline is valid? [False, False] Translation: X:-21.81, Y:3.67, Z:-1.35 [[ 9.71207299e-01 9.64451363e-02 -2.17841038e-01 -2.18050079e+01] [-9.89531847e-02 9.95091905e-01 -6.07235687e-04 3.67039519e+00] [ 2.16713289e-01 2.21458162e-02 9.75984074e-01 -1.34868930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.103741732 meters Centerline goodness [0,1] 0.8577921546146916 Centerline is valid? [False, False] Translation: X:-21.87, Y:3.65, Z:-1.36 [[ 9.74509585e-01 9.51595035e-02 -2.03164310e-01 -2.18699271e+01] [-9.64830172e-02 9.95328813e-01 3.40301243e-03 3.64664753e+00] [ 2.02539121e-01 1.62856374e-02 9.79138745e-01 -1.35763687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.133741732 meters Centerline goodness [0,1] 0.8562597232457217 Centerline is valid? [False, False] Translation: X:-21.80, Y:3.60, Z:-1.35 [[ 9.73029774e-01 9.34600689e-02 -2.10898731e-01 -2.17975295e+01] [-9.29605617e-02 9.95593767e-01 1.23038564e-02 3.60091361e+00] [ 2.11119382e-01 7.63324594e-03 9.77430478e-01 -1.34942020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.163741732000002 meters Centerline goodness [0,1] 0.9359724894583862 Centerline is valid? [False, False] Translation: X:-21.81, Y:3.58, Z:-1.35 [[ 9.75605345e-01 8.64601920e-02 -2.01789113e-01 -2.18126953e+01] [-8.56679532e-02 9.96243142e-01 1.26729347e-02 3.58372379e+00] [ 2.02126724e-01 4.92307749e-03 9.79347002e-01 -1.34925521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.193741732 meters Centerline goodness [0,1] 0.925306440372238 Centerline is valid? [False, False] Translation: X:-21.82, Y:3.58, Z:-1.35 [[ 9.76080448e-01 8.17531540e-02 -2.01453174e-01 -2.18225637e+01] [-8.17052121e-02 9.96619715e-01 8.56747518e-03 3.57579620e+00] [ 2.01472623e-01 8.09722932e-03 9.79460677e-01 -1.34606588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.223741732 meters Centerline goodness [0,1] 0.8742148658878409 Centerline is valid? [False, False] Translation: X:-21.79, Y:3.55, Z:-1.34 [[ 9.74748453e-01 7.93032018e-02 -2.08749742e-01 -2.17924418e+01] [-7.88478760e-02 9.96831200e-01 1.05152735e-02 3.55417623e+00] [ 2.08922150e-01 6.20972717e-03 9.77912560e-01 -1.34360779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.253741732 meters Centerline goodness [0,1] 0.8763221471059951 Centerline is valid? [False, False] Translation: X:-21.81, Y:3.55, Z:-1.34 [[ 9.75210916e-01 7.95385787e-02 -2.06487974e-01 -2.18129737e+01] [-8.03104547e-02 9.96759030e-01 4.65482027e-03 3.54882530e+00] [ 2.06188990e-01 1.20437115e-02 9.78438066e-01 -1.34263699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.283741732 meters Centerline goodness [0,1] 0.9208674304418986 Centerline is valid? [False, False] Translation: X:-21.86, Y:3.54, Z:-1.35 [[ 9.76586515e-01 8.18471786e-02 -1.98946772e-01 -2.18578724e+01] [-8.33965854e-02 9.96516260e-01 5.93442937e-04 3.53988143e+00] [ 1.98302265e-01 1.60119331e-02 9.80010117e-01 -1.34534608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.313741732 meters Centerline goodness [0,1] 0.8879649444614287 Centerline is valid? [False, False] Translation: X:-21.89, Y:3.53, Z:-1.35 [[ 9.76258248e-01 8.49954865e-02 -1.99237546e-01 -2.18947373e+01] [-8.76251970e-02 9.96143787e-01 -4.40226035e-03 3.53175801e+00] [ 1.98095071e-01 2.17559722e-02 9.79941335e-01 -1.35056484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.343741732 meters Centerline goodness [0,1] 0.8234860582238055 Centerline is valid? [False, False] Translation: X:-21.81, Y:3.52, Z:-1.35 [[ 9.71916417e-01 9.23157592e-02 -2.16463112e-01 -2.18092457e+01] [-9.55518373e-02 9.95414244e-01 -4.50874820e-03 3.52247997e+00] [ 2.15054236e-01 2.50655744e-02 9.76280386e-01 -1.34821517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.373741732 meters Centerline goodness [0,1] 0.7798769055188718 Centerline is valid? [False, False] Translation: X:-21.80, Y:3.52, Z:-1.34 [[ 9.72101848e-01 8.91320308e-02 -2.16964234e-01 -2.18023237e+01] [-9.11895502e-02 9.95833412e-01 5.30612900e-04 3.51510728e+00] [ 2.16107528e-01 1.92690611e-02 9.76179410e-01 -1.34400232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.403741732 meters Centerline goodness [0,1] 0.8289597192180549 Centerline is valid? [False, False] Translation: X:-21.79, Y:3.50, Z:-1.34 [[ 9.73946288e-01 8.22646833e-02 -2.11331849e-01 -2.17931165e+01] [-8.36328316e-02 9.96493573e-01 2.47166873e-03 3.50221396e+00] [ 2.10794161e-01 1.52670084e-02 9.77411244e-01 -1.34210648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.433741732 meters Centerline goodness [0,1] 0.8686639245298463 Centerline is valid? [False, False] Translation: X:-21.79, Y:3.50, Z:-1.34 [[ 9.74566230e-01 7.63810001e-02 -2.10681289e-01 -2.17942896e+01] [-7.84762073e-02 9.96914719e-01 -1.58969140e-03 3.49539882e+00] [ 2.09909856e-01 1.80827280e-02 9.77553511e-01 -1.34239141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.463741732 meters Centerline goodness [0,1] 0.9200652528548124 Centerline is valid? [False, False] Translation: X:-21.81, Y:3.48, Z:-1.34 [[ 9.77190829e-01 6.70522458e-02 -2.01499580e-01 -2.18083670e+01] [-6.83867997e-02 9.97658825e-01 3.39014662e-04 3.48274782e+00] [ 2.01050566e-01 1.34486294e-02 9.79488542e-01 -1.34304666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.493741732 meters Centerline goodness [0,1] 0.9703578621854211 Centerline is valid? [False, True] Translation: X:-21.87, Y:3.47, Z:-1.35 [[ 9.79075693e-01 5.80840742e-02 -1.95030837e-01 -2.18661064e+01] [-5.89061264e-02 9.98262264e-01 1.58735380e-03 3.47344169e+00] [ 1.94784125e-01 9.93437159e-03 9.80795826e-01 -1.35273945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.523741732 meters Centerline goodness [0,1] 0.945265306122449 Centerline is valid? [True, False] Translation: X:-21.91, Y:3.47, Z:-1.36 [[ 9.78359876e-01 5.63521134e-02 -1.99088903e-01 -2.19123434e+01] [-5.75206982e-02 9.98344310e-01 -8.60488311e-05 3.47184992e+00] [ 1.98754425e-01 1.15359194e-02 9.79981429e-01 -1.36214094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.553741732 meters Centerline goodness [0,1] 0.9574833057648716 Centerline is valid? [False, True] Translation: X:-21.87, Y:3.48, Z:-1.36 [[ 9.76979431e-01 5.40504471e-02 -2.06372820e-01 -2.18688225e+01] [-5.59248909e-02 9.98429670e-01 -3.25574835e-03 3.47545745e+00] [ 2.05872772e-01 1.47221766e-02 9.78468016e-01 -1.36496443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.583741732 meters Centerline goodness [0,1] 0.9322437515265001 Centerline is valid? [True, False] Translation: X:-21.91, Y:3.48, Z:-1.37 [[ 9.76025265e-01 5.71214372e-02 -2.10028149e-01 -2.19117886e+01] [-5.96756178e-02 9.98200748e-01 -5.83850005e-03 3.47554319e+00] [ 2.09316752e-01 1.82320831e-02 9.77677906e-01 -1.37009708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.613741732 meters Centerline goodness [0,1] 0.8877692842251563 Centerline is valid? [False, False] Translation: X:-21.96, Y:3.48, Z:-1.38 [[ 9.75468276e-01 6.46678888e-02 -2.10427437e-01 -2.19643644e+01] [-6.73003822e-02 9.97718332e-01 -5.36550629e-03 3.47822371e+00] [ 2.09600336e-01 1.93957281e-02 9.77594755e-01 -1.37645830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.643741732 meters Centerline goodness [0,1] 0.9053962934962506 Centerline is valid? [False, False] Translation: X:-21.96, Y:3.48, Z:-1.38 [[ 9.75504378e-01 5.98304719e-02 -2.11687322e-01 -2.19641396e+01] [-6.32912988e-02 9.97948877e-01 -9.60466976e-03 3.47923775e+00] [ 2.10678473e-01 2.27673630e-02 9.77290248e-01 -1.37591459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.673741732 meters Centerline goodness [0,1] 0.9305828421741977 Centerline is valid? [False, False] Translation: X:-21.94, Y:3.48, Z:-1.38 [[ 9.77279418e-01 5.37182538e-02 -2.05034849e-01 -2.19449551e+01] [-5.66992106e-02 9.98353511e-01 -8.68712912e-03 3.47722293e+00] [ 2.04230604e-01 2.01150666e-02 9.78716120e-01 -1.37709018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.703741732 meters Centerline goodness [0,1] 0.95627990675228 Centerline is valid? [False, True] Translation: X:-21.93, Y:3.47, Z:-1.38 [[ 9.78985290e-01 5.15272096e-02 -1.97313833e-01 -2.19296911e+01] [-5.35958607e-02 9.98549404e-01 -5.15470636e-03 3.47458513e+00] [ 1.96762002e-01 1.56215864e-02 9.80326823e-01 -1.37867373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.733741732000002 meters Centerline goodness [0,1] 0.9636074983208158 Centerline is valid? [True, True] Translation: X:-21.96, Y:3.47, Z:-1.38 [[ 9.80980509e-01 4.97412038e-02 -1.87624767e-01 -2.19601081e+01] [-5.17069065e-02 9.98646635e-01 -5.59404677e-03 3.46874254e+00] [ 1.87092587e-01 1.51891471e-02 9.82224849e-01 -1.37773753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.763741732 meters Centerline goodness [0,1] 0.9601306522404818 Centerline is valid? [True, True] Translation: X:-21.99, Y:3.47, Z:-1.39 [[ 9.79428771e-01 4.26502600e-02 -1.97231433e-01 -2.19877456e+01] [-4.46859078e-02 9.98983781e-01 -5.88012635e-03 3.46893153e+00] [ 1.96780213e-01 1.45726305e-02 9.80339322e-01 -1.39372484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.793741732 meters Centerline goodness [0,1] 0.928287421242583 Centerline is valid? [True, False] Translation: X:-22.03, Y:3.47, Z:-1.40 [[ 9.78767551e-01 3.88810579e-02 -2.01251942e-01 -2.20263679e+01] [-4.05096831e-02 9.99171224e-01 -3.97874011e-03 3.47331565e+00] [ 2.00930452e-01 1.20469141e-02 9.79531432e-01 -1.39781300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.823741732000002 meters Centerline goodness [0,1] 0.9556170853862128 Centerline is valid? [False, True] Translation: X:-22.07, Y:3.48, Z:-1.40 [[ 9.79382382e-01 3.82844298e-02 -1.98354362e-01 -2.20685896e+01] [-3.96369322e-02 9.99210080e-01 -2.85108352e-03 3.48150145e+00] [ 1.98088525e-01 1.06544593e-02 9.80126226e-01 -1.40150180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.853741732 meters Centerline goodness [0,1] 0.9631730357252157 Centerline is valid? [True, True] Translation: X:-22.10, Y:3.48, Z:-1.41 [[ 9.78905389e-01 4.15487778e-02 -2.00044841e-01 -2.20975446e+01] [-4.37499465e-02 9.99020755e-01 -6.59335673e-03 3.48223264e+00] [ 1.99575002e-01 1.52062235e-02 9.79764558e-01 -1.40779212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.883741732 meters Centerline goodness [0,1] 0.9641379872445341 Centerline is valid? [True, True] Translation: X:-22.13, Y:3.48, Z:-1.41 [[ 9.79015127e-01 4.24641460e-02 -1.99314267e-01 -2.21253234e+01] [-4.46652513e-02 9.98980484e-01 -6.55800276e-03 3.48462007e+00] [ 1.98832583e-01 1.53228058e-02 9.79913678e-01 -1.41384197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.913741732000002 meters Centerline goodness [0,1] 0.970566037735849 Centerline is valid? [True, True] Translation: X:-22.16, Y:3.49, Z:-1.41 [[ 9.80100789e-01 4.56759236e-02 -1.93173897e-01 -2.21553775e+01] [-4.77915867e-02 9.98837437e-01 -6.30390204e-03 3.49093071e+00] [ 1.92661383e-01 1.54105464e-02 9.81144284e-01 -1.40811114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.943741732 meters Centerline goodness [0,1] 0.9575343023492529 Centerline is valid? [True, True] Translation: X:-22.19, Y:3.50, Z:-1.41 [[ 9.79645397e-01 4.79935650e-02 -1.94914117e-01 -2.21854537e+01] [-5.01838622e-02 9.98720052e-01 -6.31177449e-03 3.50158809e+00] [ 1.94361713e-01 1.59648440e-02 9.80800004e-01 -1.41289693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.973741732 meters Centerline goodness [0,1] 0.9620284224516921 Centerline is valid? [True, True] Translation: X:-22.21, Y:3.51, Z:-1.43 [[ 9.79676610e-01 4.93022366e-02 -1.94430011e-01 -2.22117101e+01] [-5.15056429e-02 9.98652892e-01 -6.29045107e-03 3.50629116e+00] [ 1.93857960e-01 1.61768505e-02 9.80896223e-01 -1.42562558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.003741732 meters Centerline goodness [0,1] 0.9331606957160044 Centerline is valid? [True, False] Translation: X:-22.24, Y:3.51, Z:-1.43 [[ 9.78268043e-01 4.73784585e-02 -2.01858659e-01 -2.22406916e+01] [-4.95389597e-02 9.98756145e-01 -5.66165736e-03 3.51249730e+00] [ 2.01339335e-01 1.55384864e-02 9.79398299e-01 -1.43086529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.033741732 meters Centerline goodness [0,1] 0.9549738860780154 Centerline is valid? [False, True] Translation: X:-22.25, Y:3.52, Z:-1.43 [[ 9.78879837e-01 4.18962576e-02 -2.00097396e-01 -2.22514349e+01] [-4.37294933e-02 9.99032122e-01 -4.74874805e-03 3.51528785e+00] [ 1.99704772e-01 1.33986115e-02 9.79764503e-01 -1.43289464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.063741732 meters Centerline goodness [0,1] 0.9725633389090612 Centerline is valid? [True, True] Translation: X:-22.28, Y:3.51, Z:-1.43 [[ 9.80088655e-01 3.67537408e-02 -1.95129167e-01 -2.22828362e+01] [-3.88816889e-02 9.99218704e-01 -7.08493233e-03 3.51371260e+00] [ 1.94716315e-01 1.45308134e-02 9.80751963e-01 -1.42951229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.093741732 meters Centerline goodness [0,1] 0.9829108748977923 Centerline is valid? [True, True] Translation: X:-22.31, Y:3.52, Z:-1.42 [[ 9.81604040e-01 3.49857284e-02 -1.87695250e-01 -2.23138279e+01] [-3.69186035e-02 9.99295065e-01 -6.81095897e-03 3.52144670e+00] [ 1.87324651e-01 1.36151114e-02 9.82203698e-01 -1.42424266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.123741732 meters Centerline goodness [0,1] 0.9816248370273793 Centerline is valid? [True, True] Translation: X:-22.34, Y:3.53, Z:-1.42 [[ 9.81844642e-01 3.47325625e-02 -1.86479888e-01 -2.23433918e+01] [-3.66337836e-02 9.99305907e-01 -6.75799023e-03 3.52913852e+00] [ 1.86115731e-01 1.34667603e-02 9.82435535e-01 -1.42460862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.153741732 meters Centerline goodness [0,1] 0.9703801855060646 Centerline is valid? [True, True] Translation: X:-22.37, Y:3.54, Z:-1.44 [[ 9.80985862e-01 3.40094266e-02 -1.91076155e-01 -2.23704444e+01] [-3.59833857e-02 9.99328778e-01 -6.86948077e-03 3.54345088e+00] [ 1.90714273e-01 1.36144305e-02 9.81551177e-01 -1.43926703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.183741732 meters Centerline goodness [0,1] 0.9685111774081491 Centerline is valid? [True, True] Translation: X:-22.40, Y:3.55, Z:-1.46 [[ 9.80520120e-01 3.69479500e-02 -1.92912270e-01 -2.23975621e+01] [-3.90075058e-02 9.99215180e-01 -6.88754370e-03 3.55129269e+00] [ 1.92506388e-01 1.42784017e-02 9.81191835e-01 -1.45662637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.213741732 meters Centerline goodness [0,1] 0.9531949698394847 Centerline is valid? [True, True] Translation: X:-22.43, Y:3.56, Z:-1.47 [[ 9.79797771e-01 3.64453716e-02 -1.96641964e-01 -2.24255309e+01] [-3.85748119e-02 9.99231137e-01 -7.00849712e-03 3.55839474e+00] [ 1.96235346e-01 1.44523366e-02 9.80450314e-01 -1.46664690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.243741732 meters Centerline goodness [0,1] 0.9572438810654385 Centerline is valid? [True, True] Translation: X:-22.45, Y:3.56, Z:-1.48 [[ 9.78611077e-01 3.38954757e-02 -2.02907507e-01 -2.24507333e+01] [-3.61017437e-02 9.99322320e-01 -7.18091201e-03 3.55668758e+00] [ 2.02526600e-01 1.43526349e-02 9.79171577e-01 -1.48191542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.273741732 meters Centerline goodness [0,1] 0.9847306544295316 Centerline is valid? [True, True] Translation: X:-22.48, Y:3.55, Z:-1.46 [[ 9.81187917e-01 3.20344630e-02 -1.90378740e-01 -2.24833597e+01] [-3.39332960e-02 9.99401497e-01 -6.72160010e-03 3.55353788e+00] [ 1.90049475e-01 1.30553309e-02 9.81687708e-01 -1.46364390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.303741732 meters Centerline goodness [0,1] 0.9827740857014718 Centerline is valid? [True, True] Translation: X:-22.51, Y:3.56, Z:-1.46 [[ 9.82278198e-01 3.23734740e-02 -1.84611756e-01 -2.25140548e+01] [-3.41612295e-02 9.99395128e-01 -6.51062989e-03 3.55918588e+00] [ 1.84289317e-01 1.27018144e-02 9.82789963e-01 -1.45754030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.333741732 meters Centerline goodness [0,1] 0.9851936684526974 Centerline is valid? [True, True] Translation: X:-22.54, Y:3.56, Z:-1.47 [[ 9.81212219e-01 3.32992849e-02 -1.90036153e-01 -2.25419106e+01] [-3.52102356e-02 9.99357554e-01 -6.68726155e-03 3.56348102e+00] [ 1.89691383e-01 1.32528404e-02 9.81754318e-01 -1.46961858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.363741732 meters Centerline goodness [0,1] 0.9896327498773106 Centerline is valid? [True, True] Translation: X:-22.57, Y:3.57, Z:-1.48 [[ 9.81100983e-01 3.19894448e-02 -1.90833795e-01 -2.25706581e+01] [-3.38898268e-02 9.99403102e-01 -6.70212556e-03 3.56944792e+00] [ 1.90505489e-01 1.30427862e-02 9.81599483e-01 -1.47512088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.393741732 meters Centerline goodness [0,1] 0.9842847849068879 Centerline is valid? [True, True] Translation: X:-22.60, Y:3.59, Z:-1.48 [[ 9.82430506e-01 3.14965093e-02 -1.83951817e-01 -2.26015554e+01] [-3.32425103e-02 9.99426729e-01 -6.41473945e-03 3.58784067e+00] [ 1.83644321e-01 1.24170559e-02 9.82914330e-01 -1.47682052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.423741732 meters Centerline goodness [0,1] 0.9824650934922838 Centerline is valid? [True, True] Translation: X:-22.63, Y:3.60, Z:-1.49 [[ 9.81106381e-01 2.97241234e-02 -1.91172033e-01 -2.26285262e+01] [-3.15777701e-02 9.99479133e-01 -6.65636446e-03 3.60214626e+00] [ 1.90874603e-01 1.25673882e-02 9.81533976e-01 -1.49274540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.453741732 meters Centerline goodness [0,1] 0.9852080690699292 Centerline is valid? [True, True] Translation: X:-22.66, Y:3.61, Z:-1.50 [[ 9.80434194e-01 2.65074822e-02 -1.95054209e-01 -2.26568083e+01] [-2.83666423e-02 9.99574837e-01 -6.74383737e-03 3.60728997e+00] [ 1.94792517e-01 1.21449217e-02 9.80769278e-01 -1.50389480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.483741732000002 meters Centerline goodness [0,1] 0.9951241406042801 Centerline is valid? [True, True] Translation: X:-22.69, Y:3.61, Z:-1.49 [[ 9.81872560e-01 2.13170853e-02 -1.88339739e-01 -2.26891365e+01] [-2.29523039e-02 9.99715395e-01 -6.50536634e-03 3.61078142e+00] [ 1.88147461e-01 1.07102716e-02 9.82082391e-01 -1.48869749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.513741732 meters Centerline goodness [0,1] 0.9915993868165559 Centerline is valid? [True, True] Translation: X:-22.72, Y:3.62, Z:-1.50 [[ 9.81247654e-01 2.07933914e-02 -1.91626400e-01 -2.27160816e+01] [-2.24761923e-02 9.99725514e-01 -6.61196503e-03 3.61670953e+00] [ 1.91436316e-01 1.07950070e-02 9.81445671e-01 -1.50234586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.543741732 meters Centerline goodness [0,1] 0.9906906477757589 Centerline is valid? [True, True] Translation: X:-22.74, Y:3.62, Z:-1.51 [[ 9.80328332e-01 2.08885357e-02 -1.96265207e-01 -2.27444723e+01] [-2.26477622e-02 9.99720900e-01 -6.72323566e-03 3.61906840e+00] [ 1.96069990e-01 1.10359461e-02 9.80527800e-01 -1.51220159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.573741732000002 meters Centerline goodness [0,1] 0.9864276516158045 Centerline is valid? [True, True] Translation: X:-22.77, Y:3.63, Z:-1.52 [[ 9.80139848e-01 2.29562664e-02 -1.96974335e-01 -2.27731020e+01] [-2.47681408e-02 9.99670504e-01 -6.73965679e-03 3.62512557e+00] [ 1.96754715e-01 1.14844942e-02 9.80385479e-01 -1.52184326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.603741732 meters Centerline goodness [0,1] 0.9755809694355134 Centerline is valid? [True, True] Translation: X:-22.80, Y:3.64, Z:-1.52 [[ 9.80661750e-01 2.67909621e-02 -1.93867937e-01 -2.28040212e+01] [-2.86173328e-02 9.99568481e-01 -6.62575956e-03 3.64166979e+00] [ 1.93606769e-01 1.20456123e-02 9.81005261e-01 -1.52083226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.633741732 meters Centerline goodness [0,1] 0.9854208355453914 Centerline is valid? [True, True] Translation: X:-22.83, Y:3.64, Z:-1.52 [[ 9.81558691e-01 3.19785201e-02 -1.88467264e-01 -2.28335795e+01] [-3.37954001e-02 9.99408063e-01 -6.43389086e-03 3.64412372e+00] [ 1.88149957e-01 1.26845681e-02 9.82058397e-01 -1.51929395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.663741732000002 meters Centerline goodness [0,1] 0.9848754266560386 Centerline is valid? [True, True] Translation: X:-22.86, Y:3.66, Z:-1.52 [[ 9.82244213e-01 3.39215124e-02 -1.84514600e-01 -2.28636201e+01] [-3.56931469e-02 9.99343017e-01 -6.28763505e-03 3.65517852e+00] [ 1.84180090e-01 1.27618999e-02 9.82809660e-01 -1.51883576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.693741732 meters Centerline goodness [0,1] 0.9646390319679503 Centerline is valid? [True, True] Translation: X:-22.89, Y:3.68, Z:-1.53 [[ 9.81197395e-01 3.33073993e-02 -1.90111256e-01 -2.28919793e+01] [-3.51685071e-02 9.99360754e-01 -6.42329027e-03 3.67586607e+00] [ 1.89775785e-01 1.29884447e-02 9.81741540e-01 -1.52658550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.723741732 meters Centerline goodness [0,1] 0.9804612296727153 Centerline is valid? [True, True] Translation: X:-22.92, Y:3.68, Z:-1.53 [[ 9.80912537e-01 3.48174570e-02 -1.91306927e-01 -2.29194385e+01] [-3.67211314e-02 9.99304971e-01 -6.41356962e-03 3.67745451e+00] [ 1.90950659e-01 1.33161576e-02 9.81509310e-01 -1.53432030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.753741732 meters Centerline goodness [0,1] 0.9722307739671202 Centerline is valid? [True, True] Translation: X:-22.95, Y:3.69, Z:-1.55 [[ 9.80353749e-01 3.41833617e-02 -1.94262770e-01 -2.29469220e+01] [-3.61311646e-02 9.99325974e-01 -6.49121553e-03 3.68903364e+00] [ 1.93909940e-01 1.33826276e-02 9.80928051e-01 -1.54502360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.783741732 meters Centerline goodness [0,1] 0.9747516978361511 Centerline is valid? [True, True] Translation: X:-22.98, Y:3.69, Z:-1.56 [[ 9.79831544e-01 3.13152098e-02 -1.97356287e-01 -2.29751772e+01] [-3.32595575e-02 9.99425322e-01 -6.54425552e-03 3.69182398e+00] [ 1.97037936e-01 1.29762508e-02 9.80309986e-01 -1.55513312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.813741732 meters Centerline goodness [0,1] 0.9813072669020264 Centerline is valid? [True, True] Translation: X:-23.01, Y:3.69, Z:-1.56 [[ 9.79848024e-01 2.70813029e-02 -1.97900106e-01 -2.30052269e+01] [-2.89499366e-02 9.99559372e-01 -6.55466092e-03 3.69095812e+00] [ 1.97635397e-01 1.21517671e-02 9.80200278e-01 -1.55990606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.843741732 meters Centerline goodness [0,1] 0.9813072669020264 Centerline is valid? [True, True] Translation: X:-23.03, Y:3.69, Z:-1.56 [[ 9.79839311e-01 2.73913619e-02 -1.97900576e-01 -2.30322613e+01] [-2.92633669e-02 9.99550338e-01 -6.54041678e-03 3.68982217e+00] [ 1.97632437e-01 1.21997947e-02 9.80200278e-01 -1.56451138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.873741732 meters Centerline goodness [0,1] 0.9806313208703646 Centerline is valid? [True, True] Translation: X:-23.06, Y:3.69, Z:-1.57 [[ 9.79903172e-01 2.91924811e-02 -1.97326055e-01 -2.30605635e+01] [-3.10770287e-02 9.99496117e-01 -6.45990430e-03 3.69231693e+00] [ 1.97038045e-01 1.24623882e-02 9.80316631e-01 -1.57104077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.903741732 meters Centerline goodness [0,1] 0.9728726442033124 Centerline is valid? [True, True] Translation: X:-23.09, Y:3.70, Z:-1.57 [[ 9.80707142e-01 3.42210762e-02 -1.92464075e-01 -2.30911099e+01] [-3.60983645e-02 9.99328668e-01 -6.25478512e-03 3.69933585e+00] [ 1.92120822e-01 1.30817508e-02 9.81284086e-01 -1.57064097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.933741732 meters Centerline goodness [0,1] 0.9667123876594264 Centerline is valid? [True, True] Translation: X:-23.12, Y:3.70, Z:-1.56 [[ 9.81451064e-01 4.04664034e-02 -1.87393378e-01 -2.31223624e+01] [-4.23555143e-02 9.99084064e-01 -6.08626563e-03 3.70450356e+00] [ 1.86975449e-01 1.39105148e-02 9.82266094e-01 -1.56430253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.963741732 meters Centerline goodness [0,1] 0.9600293661799494 Centerline is valid? [True, True] Translation: X:-23.15, Y:3.71, Z:-1.57 [[ 9.80365269e-01 4.22218451e-02 -1.92616860e-01 -2.31518319e+01] [-4.42527184e-02 9.99000808e-01 -6.25163766e-03 3.70690853e+00] [ 1.92160443e-01 1.46527081e-02 9.81254127e-01 -1.57084744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.993741732 meters Centerline goodness [0,1] 0.945536537870247 Centerline is valid? [True, False] Translation: X:-23.19, Y:3.71, Z:-1.58 [[ 9.79017139e-01 3.87725106e-02 -2.00055329e-01 -2.31887782e+01] [-4.06640817e-02 9.99158534e-01 -5.35325953e-03 3.70730127e+00] [ 1.99679430e-01 1.33759991e-02 9.79769977e-01 -1.57756372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.023741732 meters Centerline goodness [0,1] 0.9690732185928621 Centerline is valid? [False, True] Translation: X:-23.21, Y:3.71, Z:-1.57 [[ 9.77584282e-01 3.23034340e-02 -2.08051580e-01 -2.32053406e+01] [-3.43628981e-02 9.99389619e-01 -6.29128861e-03 3.70571647e+00] [ 2.07721359e-01 1.32995201e-02 9.78097623e-01 -1.57448681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.053741732 meters Centerline goodness [0,1] 0.9882054222295028 Centerline is valid? [True, True] Translation: X:-23.24, Y:3.70, Z:-1.57 [[ 9.79193922e-01 2.03428420e-02 -2.01904511e-01 -2.32361244e+01] [-2.23765543e-02 9.99719224e-01 -7.79504964e-03 3.69536266e+00] [ 2.01689248e-01 1.21507925e-02 9.79374191e-01 -1.57299961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.083741732 meters Centerline goodness [0,1] 0.9965314122693595 Centerline is valid? [True, True] Translation: X:-23.26, Y:3.68, Z:-1.57 [[ 9.79885388e-01 1.28429587e-02 -1.99147393e-01 -2.32649565e+01] [-1.46671759e-02 9.99862878e-01 -7.68754111e-03 3.68085034e+00] [ 1.99021355e-01 1.04538391e-02 9.79939395e-01 -1.57343605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.113741732 meters Centerline goodness [0,1] 0.9900674358141046 Centerline is valid? [True, True] Translation: X:-23.29, Y:3.68, Z:-1.59 [[ 9.78403767e-01 1.19449046e-02 -2.06357427e-01 -2.32925232e+01] [-1.38869740e-02 9.99871845e-01 -7.96527581e-03 3.68454295e+00] [ 2.06235837e-01 1.06589361e-02 9.78444258e-01 -1.59220566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.143741732 meters Centerline goodness [0,1] 0.986917148756107 Centerline is valid? [True, True] Translation: X:-23.32, Y:3.68, Z:-1.60 [[ 9.76854089e-01 8.90288874e-03 -2.13721379e-01 -2.33196261e+01] [-1.09163830e-02 9.99906440e-01 -8.24277642e-03 3.68145836e+00] [ 2.13627999e-01 1.03850543e-02 9.76859882e-01 -1.60184394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.173741732 meters Centerline goodness [0,1] 0.9924293577230782 Centerline is valid? [True, True] Translation: X:-23.35, Y:3.68, Z:-1.61 [[ 9.76802776e-01 9.74776086e-03 -2.13918952e-01 -2.33467948e+01] [-1.17811821e-02 9.99896708e-01 -8.23273213e-03 3.68251415e+00] [ 2.13816605e-01 1.05619737e-02 9.76816720e-01 -1.60777851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.203741732 meters Centerline goodness [0,1] 0.9927776413781815 Centerline is valid? [True, True] Translation: X:-23.38, Y:3.70, Z:-1.60 [[ 9.79450944e-01 1.34442940e-02 -2.01233943e-01 -2.33804258e+01] [-1.53120550e-02 9.99852900e-01 -7.72777375e-03 3.70000788e+00] [ 2.01100447e-01 1.06502805e-02 9.79512727e-01 -1.59750406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.233741732000002 meters Centerline goodness [0,1] 0.9959030594565949 Centerline is valid? [True, True] Translation: X:-23.41, Y:3.70, Z:-1.59 [[ 9.81026808e-01 1.27358432e-02 -1.93453354e-01 -2.34117646e+01] [-1.44453350e-02 9.99868065e-01 -7.42865357e-03 3.70388164e+00] [ 1.93333221e-01 1.00822068e-02 9.81081350e-01 -1.59072701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.263741732 meters Centerline goodness [0,1] 0.9955958867630792 Centerline is valid? [True, True] Translation: X:-23.44, Y:3.71, Z:-1.60 [[ 9.79980620e-01 1.45989235e-02 -1.98556934e-01 -2.34398258e+01] [-1.64386466e-02 9.99835839e-01 -7.62012259e-03 3.71308941e+00] [ 1.98413093e-01 1.07315797e-02 9.80059732e-01 -1.60279168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.293741732 meters Centerline goodness [0,1] 0.9945169180595189 Centerline is valid? [True, True] Translation: X:-23.47, Y:3.72, Z:-1.61 [[ 9.79564531e-01 1.52808136e-02 -2.00548813e-01 -2.34679562e+01] [-1.71696790e-02 9.99823076e-01 -7.68241139e-03 3.72302339e+00] [ 2.00395938e-01 1.09687765e-02 9.79653589e-01 -1.60915321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.323741732000002 meters Centerline goodness [0,1] 0.9905228825206671 Centerline is valid? [True, True] Translation: X:-23.50, Y:3.75, Z:-1.63 [[ 9.77928062e-01 1.69446887e-02 -2.08253652e-01 -2.34959467e+01] [-1.90109969e-02 9.99787870e-01 -7.92443764e-03 3.74521642e+00] [ 2.08075198e-01 1.17086395e-02 9.78042749e-01 -1.62990254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.353741732 meters Centerline goodness [0,1] 0.9901722932686376 Centerline is valid? [True, True] Translation: X:-23.52, Y:3.74, Z:-1.63 [[ 9.77630440e-01 1.58728129e-02 -2.09730248e-01 -2.35244860e+01] [-1.79428715e-02 9.99807240e-01 -7.97092542e-03 3.74343956e+00] [ 2.09563299e-01 1.15557822e-02 9.77726796e-01 -1.63349389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.383741732 meters Centerline goodness [0,1] 0.9951419648506868 Centerline is valid? [True, True] Translation: X:-23.55, Y:3.74, Z:-1.63 [[ 9.78378646e-01 1.57766507e-02 -2.06219113e-01 -2.35534872e+01] [-1.77637351e-02 9.99811883e-01 -7.78771769e-03 3.74143156e+00] [ 2.06057455e-01 1.12825584e-02 9.78474848e-01 -1.63402587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.413741732000002 meters Centerline goodness [0,1] 0.9948843871495805 Centerline is valid? [True, True] Translation: X:-23.58, Y:3.74, Z:-1.63 [[ 9.79414723e-01 1.70217825e-02 -2.01139402e-01 -2.35831974e+01] [-1.89322963e-02 9.99792046e-01 -7.57846065e-03 3.74369365e+00] [ 2.00968575e-01 1.12304867e-02 9.79533311e-01 -1.63324703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.443741732 meters Centerline goodness [0,1] 0.9955698011514433 Centerline is valid? [True, True] Translation: X:-23.61, Y:3.75, Z:-1.63 [[ 9.80293877e-01 1.71718672e-02 -1.96796954e-01 -2.36135292e+01] [-1.89916941e-02 9.99792525e-01 -7.36361497e-03 3.74595580e+00] [ 1.96629676e-01 1.09560142e-02 9.80416614e-01 -1.62914844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.473741732 meters Centerline goodness [0,1] 0.9939792458645844 Centerline is valid? [True, True] Translation: X:-23.64, Y:3.76, Z:-1.63 [[ 9.80902687e-01 1.98832235e-02 -1.93480170e-01 -2.36433961e+01] [-2.16891174e-02 9.99738694e-01 -7.21978715e-03 3.76035850e+00] [ 1.93286060e-01 1.12783227e-02 9.81077621e-01 -1.62730884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.503741732 meters Centerline goodness [0,1] 0.9888042807161967 Centerline is valid? [True, True] Translation: X:-23.67, Y:3.78, Z:-1.64 [[ 9.78979616e-01 2.45420498e-02 -2.02476167e-01 -2.36714720e+01] [-2.66107142e-02 9.99617733e-01 -7.50053015e-03 3.77585036e+00] [ 2.02214689e-01 1.27309015e-02 9.79258466e-01 -1.64133594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.533741732 meters Centerline goodness [0,1] 0.9876411194965967 Centerline is valid? [True, True] Translation: X:-23.70, Y:3.78, Z:-1.65 [[ 9.78478483e-01 2.67514957e-02 -2.04607465e-01 -2.36999512e+01] [-2.89108272e-02 9.99553323e-01 -7.57096468e-03 3.78071640e+00] [ 2.04313537e-01 1.33233971e-02 9.78814827e-01 -1.64961277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.563741732 meters Centerline goodness [0,1] 0.9910487779725689 Centerline is valid? [True, True] Translation: X:-23.73, Y:3.78, Z:-1.66 [[ 9.78186967e-01 2.41053652e-02 -2.06323020e-01 -2.37276455e+01] [-2.62420245e-02 9.99626537e-01 -7.62514840e-03 3.78157720e+00] [ 2.06062159e-01 1.28731545e-02 9.78454224e-01 -1.66126871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.593741732 meters Centerline goodness [0,1] 0.9944683213720208 Centerline is valid? [True, True] Translation: X:-23.76, Y:3.78, Z:-1.64 [[ 9.81309073e-01 1.77844100e-02 -1.91614767e-01 -2.37615376e+01] [-1.94999709e-02 9.99784853e-01 -7.07103440e-03 3.77820906e+00] [ 1.91447787e-01 1.06753526e-02 9.81444742e-01 -1.64466829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.623741732 meters Centerline goodness [0,1] 0.9944577221031812 Centerline is valid? [True, True] Translation: X:-23.79, Y:3.78, Z:-1.65 [[ 9.80097199e-01 1.93000436e-02 -1.97577806e-01 -2.37891912e+01] [-2.11563932e-02 9.99749609e-01 -7.28882845e-03 3.78232377e+00] [ 1.97387659e-01 1.13237941e-02 9.80260110e-01 -1.65446775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.653741732 meters Centerline goodness [0,1] 0.988068451582272 Centerline is valid? [True, True] Translation: X:-23.82, Y:3.79, Z:-1.67 [[ 9.78203997e-01 2.34692756e-02 -2.06315615e-01 -2.38166054e+01] [-2.55871179e-02 9.99643687e-01 -7.60246797e-03 3.79475207e+00] [ 2.06063678e-01 1.27157865e-02 9.78455962e-01 -1.67298387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.683741732 meters Centerline goodness [0,1] 0.9810570772001739 Centerline is valid? [True, True] Translation: X:-23.85, Y:3.80, Z:-1.68 [[ 9.77754361e-01 2.75183446e-02 -2.07940259e-01 -2.38464264e+01] [-2.97593373e-02 9.99527773e-01 -7.65591112e-03 3.80043910e+00] [ 2.07631386e-01 1.36737648e-02 9.78111566e-01 -1.68171645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.713741732 meters Centerline goodness [0,1] 0.9268287648612946 Centerline is valid? [True, False] Translation: X:-23.86, Y:3.81, Z:-1.68 [[ 9.77872247e-01 3.83496086e-02 -2.05657911e-01 -2.38619312e+01] [-4.15068641e-02 9.99077023e-01 -1.10581579e-02 3.80601130e+00] [ 2.05044018e-01 1.93496807e-02 9.78561465e-01 -1.68092937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.743741732 meters Centerline goodness [0,1] 0.9009021969214328 Centerline is valid? [False, False] Translation: X:-23.87, Y:3.81, Z:-1.68 [[ 9.77777963e-01 4.26597169e-02 -2.05256919e-01 -2.38654592e+01] [-4.51583972e-02 9.98951668e-01 -7.50225794e-03 3.80571434e+00] [ 2.04721697e-01 1.66046160e-02 9.78679372e-01 -1.67840261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.773741732 meters Centerline goodness [0,1] 0.9605696189431416 Centerline is valid? [False, True] Translation: X:-23.86, Y:3.80, Z:-1.68 [[ 9.77974641e-01 3.49825371e-02 -2.05771289e-01 -2.38647185e+01] [-3.86329739e-02 9.99158888e-01 -1.37480593e-02 3.80235150e+00] [ 2.05117270e-01 2.13948102e-02 9.78503535e-01 -1.67832612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.803741732 meters Centerline goodness [0,1] 0.9601766259491581 Centerline is valid? [True, True] Translation: X:-23.89, Y:3.80, Z:-1.68 [[ 9.79737919e-01 2.86533845e-02 -1.98223596e-01 -2.38946790e+01] [-3.09255022e-02 9.99486601e-01 -8.37545756e-03 3.79576043e+00] [ 1.97881843e-01 1.43359176e-02 9.80121042e-01 -1.68305679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.833741732 meters Centerline goodness [0,1] 0.9812473012152242 Centerline is valid? [True, True] Translation: X:-23.92, Y:3.78, Z:-1.69 [[ 9.80209674e-01 2.21616590e-02 -1.96717704e-01 -2.39245293e+01] [-2.42697631e-02 9.99670892e-01 -8.31186572e-03 3.78338641e+00] [ 1.96468757e-01 1.29216633e-02 9.80424937e-01 -1.68500734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.863741732 meters Centerline goodness [0,1] 0.9893824975822548 Centerline is valid? [True, True] Translation: X:-23.95, Y:3.77, Z:-1.69 [[ 9.79529721e-01 1.95159377e-02 -2.00351328e-01 -2.39523097e+01] [-2.16488734e-02 9.99729838e-01 -8.46038624e-03 3.77265923e+00] [ 2.00132088e-01 1.26245803e-02 9.79687587e-01 -1.68673643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.893741732 meters Centerline goodness [0,1] 0.9370769924935395 Centerline is valid? [True, False] Translation: X:-23.98, Y:3.77, Z:-1.69 [[ 9.78204428e-01 3.03698668e-02 -2.05411220e-01 -2.39791456e+01] [-3.46227888e-02 9.99253444e-01 -1.71410855e-02 3.77141726e+00] [ 2.04737296e-01 2.38793950e-02 9.78525633e-01 -1.68716076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.923741732 meters Centerline goodness [0,1] 0.9022625732672049 Centerline is valid? [False, False] Translation: X:-24.00, Y:3.77, Z:-1.68 [[ 9.76895113e-01 3.50619985e-02 -2.10823609e-01 -2.40008388e+01] [-4.07205664e-02 9.98915901e-01 -2.25578839e-02 3.77189512e+00] [ 2.09804131e-01 3.06215433e-02 9.77263807e-01 -1.68258043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.953741732 meters Centerline goodness [0,1] 0.8248220111204579 Centerline is valid? [False, False] Translation: X:-24.04, Y:3.77, Z:-1.68 [[ 0.97575254 0.04155262 -0.21489616 -24.04083855] [ -0.0490726 0.9983513 -0.02977532 3.77174245] [ 0.21330462 0.03959886 0.97618291 -1.68335348] [ 0. 0. 0. 1. ]] SLAMing on 24.983741732000002 meters Centerline goodness [0,1] 0.8703549272856708 Centerline is valid? [False, False] Translation: X:-24.07, Y:3.77, Z:-1.68 [[ 0.97596441 0.04217687 -0.21380967 -24.07062124] [ -0.05067984 0.99812087 -0.03444238 3.76687043] [ 0.21195522 0.04445038 0.97626797 -1.68281603] [ 0. 0. 0. 1. ]] SLAMing on 25.013741732 meters Centerline goodness [0,1] 0.803483552161395 Centerline is valid? [False, False] Translation: X:-24.08, Y:3.77, Z:-1.68 [[ 0.9758297 0.0454141 -0.21376144 -24.07699073] [ -0.0534633 0.99805622 -0.03202286 3.76682189] [ 0.21189164 0.04267725 0.97636089 -1.68020525] [ 0. 0. 0. 1. ]] SLAMing on 25.043741732 meters Centerline goodness [0,1] 0.7594054520784508 Centerline is valid? [False, False] Translation: X:-24.08, Y:3.77, Z:-1.68 [[ 0.97557415 0.0476533 -0.21443934 -24.07651489] [ -0.05555358 0.99797548 -0.03096357 3.76694487] [ 0.21252969 0.04212013 0.9762464 -1.68059614] [ 0. 0. 0. 1. ]] SLAMing on 25.073741732000002 meters Centerline goodness [0,1] 0.7836910572426328 Centerline is valid? [False, False] Translation: X:-24.08, Y:3.76, Z:-1.68 [[ 0.9756395 0.04228182 -0.21526686 -24.07625814] [ -0.05085786 0.99811139 -0.03445478 3.76207529] [ 0.21340349 0.04456346 0.97594726 -1.68048041] [ 0. 0. 0. 1. ]] SLAMing on 25.103741732 meters Centerline goodness [0,1] 0.8513364168474479 Centerline is valid? [False, False] Translation: X:-24.09, Y:3.76, Z:-1.68 [[ 0.97573952 0.03366276 -0.21633123 -24.08870771] [ -0.04286765 0.99835791 -0.03799809 3.76129912] [ 0.21469687 0.04634985 0.97558031 -1.67784941] [ 0. 0. 0. 1. ]] SLAMing on 25.133741732 meters Centerline goodness [0,1] 0.9320023801218786 Centerline is valid? [False, False] Translation: X:-24.14, Y:3.77, Z:-1.69 [[ 9.76895099e-01 2.13560256e-02 -2.12649677e-01 -2.41371193e+01] [-2.81335860e-02 9.99186405e-01 -2.88968783e-02 3.76813274e+00] [ 2.11859543e-01 3.42118168e-02 9.76701124e-01 -1.68577934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.163741732000002 meters Centerline goodness [0,1] 0.9806654861425689 Centerline is valid? [False, True] Translation: X:-24.16, Y:3.77, Z:-1.70 [[ 9.76229495e-01 1.11743277e-02 -2.16451169e-01 -2.41643261e+01] [-1.59511908e-02 9.99665978e-01 -2.03345068e-02 3.77366369e+00] [ 2.16151645e-01 2.33037992e-02 9.76081656e-01 -1.69693854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.193741732 meters Centerline goodness [0,1] 0.9919762992223182 Centerline is valid? [True, True] Translation: X:-24.19, Y:3.77, Z:-1.71 [[ 9.76464304e-01 5.93386417e-03 -2.15597432e-01 -2.41918847e+01] [-8.67514606e-03 9.99893090e-01 -1.17707371e-02 3.76786661e+00] [ 2.15504536e-01 1.33640438e-02 9.76411387e-01 -1.70819176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.223741732 meters Centerline goodness [0,1] 0.9973718791064389 Centerline is valid? [True, True] Translation: X:-24.22, Y:3.74, Z:-1.71 [[ 9.77529296e-01 -8.37356544e-03 -2.10633235e-01 -2.42219758e+01] [ 6.08819715e-03 9.99915383e-01 -1.14961242e-02 3.74264334e+00] [ 2.10711675e-01 9.95542151e-03 9.77497560e-01 -1.70679754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.253741732 meters Centerline goodness [0,1] 0.9977618529393647 Centerline is valid? [True, True] Translation: X:-24.25, Y:3.74, Z:-1.71 [[ 9.78209156e-01 -5.17374083e-03 -2.07557415e-01 -2.42516725e+01] [ 2.88643917e-03 9.99931745e-01 -1.13214287e-02 3.74006887e+00] [ 2.07601822e-01 1.04756233e-02 9.78157321e-01 -1.70580774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.283741732 meters Centerline goodness [0,1] 0.9976245571642127 Centerline is valid? [True, True] Translation: X:-24.28, Y:3.73, Z:-1.72 [[ 9.77289217e-01 -3.47077302e-03 -2.11881427e-01 -2.42787677e+01] [ 1.05672976e-03 9.99933251e-01 -1.15055424e-02 3.73212324e+00] [ 2.11907217e-01 1.10203411e-02 9.77227652e-01 -1.71549055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.313741732 meters Centerline goodness [0,1] 0.995012417643316 Centerline is valid? [True, True] Translation: X:-24.31, Y:3.73, Z:-1.73 [[ 9.76345175e-01 -2.50593179e-03 -2.16203191e-01 -2.43066340e+01] [-3.13324662e-05 9.99931185e-01 -1.17313284e-02 3.73397631e+00] [ 2.16217711e-01 1.14606001e-02 9.76277909e-01 -1.72946924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.343741732 meters Centerline goodness [0,1] 0.9907441612280917 Centerline is valid? [True, True] Translation: X:-24.34, Y:3.73, Z:-1.74 [[ 9.76220499e-01 6.34217011e-03 -2.16687133e-01 -2.43353883e+01] [-9.10470813e-03 9.99889479e-01 -1.17530447e-02 3.73102354e+00] [ 2.16588644e-01 1.34464362e-02 9.76170350e-01 -1.73851844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.373741732 meters Centerline goodness [0,1] 0.97092713330873 Centerline is valid? [True, True] Translation: X:-24.36, Y:3.73, Z:-1.75 [[ 9.74742779e-01 1.43935059e-02 -2.22866199e-01 -2.43642536e+01] [-1.75262368e-02 9.99773367e-01 -1.20849591e-02 3.73499337e+00] [ 2.22641745e-01 1.56857324e-02 9.74774133e-01 -1.74941834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.403741732 meters Centerline goodness [0,1] 0.9587414723551573 Centerline is valid? [True, True] Translation: X:-24.39, Y:3.73, Z:-1.75 [[ 9.75672768e-01 1.92020297e-02 -2.18389404e-01 -2.43944195e+01] [-2.23246231e-02 9.99680667e-01 -1.18395347e-02 3.73336029e+00] [ 2.18092322e-01 1.64269727e-02 9.75789882e-01 -1.75209699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.433741732 meters Centerline goodness [0,1] 0.9821017225563143 Centerline is valid? [True, True] Translation: X:-24.42, Y:3.71, Z:-1.74 [[ 9.77639152e-01 1.36873496e-02 -2.09843622e-01 -2.44249088e+01] [-1.64385720e-02 9.99800204e-01 -1.13721668e-02 3.71337808e+00] [ 2.09646041e-01 1.45674049e-02 9.77668823e-01 -1.74244711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.463741732 meters Centerline goodness [0,1] 0.9917582978028927 Centerline is valid? [True, True] Translation: X:-24.45, Y:3.70, Z:-1.75 [[ 9.78276222e-01 1.00949191e-02 -2.07059714e-01 -2.44541400e+01] [-1.26918835e-02 9.99856531e-01 -1.12175226e-02 3.70351605e+00] [ 2.06916767e-01 1.36018134e-02 9.78263994e-01 -1.74836502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.493741732 meters Centerline goodness [0,1] 0.9943987361250743 Centerline is valid? [True, True] Translation: X:-24.48, Y:3.69, Z:-1.76 [[ 9.76954510e-01 4.59074066e-03 -2.13398246e-01 -2.44829549e+01] [-7.22363634e-03 9.99907090e-01 -1.15598418e-02 3.69312888e+00] [ 2.13325351e-01 1.28349509e-02 9.76896903e-01 -1.75509401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.523741732 meters Centerline goodness [0,1] 0.9928564118309282 Centerline is valid? [True, True] Translation: X:-24.51, Y:3.67, Z:-1.78 [[ 9.74966418e-01 -5.47959713e-03 -2.22284631e-01 -2.45083910e+01] [ 2.87569957e-03 9.99923427e-01 -1.20362213e-02 3.67411915e+00] [ 2.22333564e-01 1.10956878e-02 9.74907520e-01 -1.77681663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.553741732 meters Centerline goodness [0,1] 0.9973417850935488 Centerline is valid? [True, True] Translation: X:-24.54, Y:3.66, Z:-1.77 [[ 9.76960291e-01 -6.34592548e-03 -2.13326789e-01 -2.45389013e+01] [ 3.97395385e-03 9.99925447e-01 -1.15459351e-02 3.66119147e+00] [ 2.13384154e-01 1.04321693e-02 9.76912674e-01 -1.76862005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.583741732 meters Centerline goodness [0,1] 0.9939243924392439 Centerline is valid? [True, True] Translation: X:-24.57, Y:3.65, Z:-1.77 [[ 9.76983151e-01 4.85252297e-03 -2.13261286e-01 -2.45671357e+01] [-7.48580219e-03 9.99905369e-01 -1.15418925e-02 3.65326806e+00] [ 2.13185098e-01 1.28726663e-02 9.76927023e-01 -1.77336169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.613741732 meters Centerline goodness [0,1] 0.9887385546108568 Centerline is valid? [True, True] Translation: X:-24.60, Y:3.66, Z:-1.78 [[ 9.76046235e-01 1.03668863e-02 -2.17316071e-01 -2.45963420e+01] [-1.32374965e-02 9.99843250e-01 -1.17577469e-02 3.65585786e+00] [ 2.17160115e-01 1.43528253e-02 9.76030471e-01 -1.78199619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.643741732 meters Centerline goodness [0,1] 0.9350810722724681 Centerline is valid? [True, False] Translation: X:-24.61, Y:3.65, Z:-1.78 [[ 9.75325255e-01 2.18226222e-02 -2.19691649e-01 -2.46060906e+01] [-2.50551607e-02 9.99614785e-01 -1.19381653e-02 3.64976632e+00] [ 2.19346499e-01 1.71480037e-02 9.75496314e-01 -1.78353245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.673741732 meters Centerline goodness [0,1] 0.895127875410773 Centerline is valid? [False, False] Translation: X:-24.61, Y:3.65, Z:-1.78 [[ 9.75191661e-01 2.71297625e-02 -2.19693423e-01 -2.46077349e+01] [-2.95116966e-02 9.99535793e-01 -7.56687062e-03 3.64836560e+00] [ 2.19386152e-01 1.38626748e-02 9.75539616e-01 -1.78310777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.703741732 meters Centerline goodness [0,1] 0.8178749693151133 Centerline is valid? [False, False] Translation: X:-24.63, Y:3.63, Z:-1.78 [[ 9.74006408e-01 3.75112845e-02 -2.23392972e-01 -2.46294773e+01] [-4.15781325e-02 9.99043675e-01 -1.35275341e-02 3.63473126e+00] [ 2.22671900e-01 2.24641675e-02 9.74634591e-01 -1.78434525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.733741732 meters Centerline goodness [0,1] 0.7777550435814544 Centerline is valid? [False, False] Translation: X:-24.65, Y:3.62, Z:-1.78 [[ 9.74355001e-01 3.69992509e-02 -2.21953571e-01 -2.46529438e+01] [-4.13801400e-02 9.99029085e-01 -1.51185608e-02 3.62431641e+00] [ 2.21178698e-01 2.39153151e-02 9.74940019e-01 -1.78440396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.763741732 meters Centerline goodness [0,1] 0.7777550435814544 Centerline is valid? [False, False] Translation: X:-24.65, Y:3.62, Z:-1.78 [[ 9.74355001e-01 3.69992509e-02 -2.21953571e-01 -2.46529438e+01] [-4.13801400e-02 9.99029085e-01 -1.51185608e-02 3.62431641e+00] [ 2.21178698e-01 2.39153151e-02 9.74940019e-01 -1.78440396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.793741732 meters Centerline goodness [0,1] 0.9227194913181707 Centerline is valid? [False, False] Translation: X:-24.69, Y:3.61, Z:-1.79 [[ 9.77432563e-01 2.62333968e-02 -2.09612484e-01 -2.46889428e+01] [-2.89074212e-02 9.99534999e-01 -9.70293647e-03 3.60993865e+00] [ 2.09260473e-01 1.55433224e-02 9.77736396e-01 -1.78648820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.823741732000002 meters Centerline goodness [0,1] 0.9702748405761669 Centerline is valid? [False, True] Translation: X:-24.71, Y:3.60, Z:-1.79 [[ 9.77638077e-01 1.51300687e-02 -2.09749545e-01 -2.47080833e+01] [-1.78858811e-02 9.99776766e-01 -1.12478301e-02 3.60135894e+00] [ 2.09532541e-01 1.47478624e-02 9.77690449e-01 -1.78643199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.853741732 meters Centerline goodness [0,1] 0.9791454107660287 Centerline is valid? [True, True] Translation: X:-24.73, Y:3.58, Z:-1.81 [[ 9.75939381e-01 4.89335512e-03 -2.17987111e-01 -2.47338423e+01] [-7.95612422e-03 9.99881556e-01 -1.31747212e-02 3.58218546e+00] [ 2.17896823e-01 1.45920618e-02 9.75862719e-01 -1.80542320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.883741732 meters Centerline goodness [0,1] 0.9726605504587156 Centerline is valid? [True, True] Translation: X:-24.76, Y:3.57, Z:-1.80 [[ 9.76984539e-01 1.26494632e-02 -2.12934736e-01 -2.47639924e+01] [-1.57486658e-02 9.99793217e-01 -1.28647657e-02 3.57370344e+00] [ 2.12727973e-01 1.59221152e-02 9.76981728e-01 -1.79971521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.913741732000002 meters Centerline goodness [0,1] 0.9450099759762205 Centerline is valid? [True, False] Translation: X:-24.80, Y:3.56, Z:-1.80 [[ 9.75150186e-01 2.16492834e-02 -2.20484520e-01 -2.47996038e+01] [-2.56228055e-02 9.99556459e-01 -1.51774937e-02 3.55725939e+00] [ 2.20058144e-01 2.04497678e-02 9.75272383e-01 -1.80458439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.943741732 meters Centerline goodness [0,1] 0.8437620506991943 Centerline is valid? [False, False] Translation: X:-24.82, Y:3.55, Z:-1.81 [[ 9.74542440e-01 2.36395714e-02 -2.22953364e-01 -2.48213976e+01] [-2.78574547e-02 9.99487160e-01 -1.57917501e-02 3.54960169e+00] [ 2.22465715e-01 2.16006440e-02 9.74701194e-01 -1.80713764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.973741732 meters Centerline goodness [0,1] 0.9414545676848777 Centerline is valid? [False, False] Translation: X:-24.83, Y:3.55, Z:-1.80 [[ 9.74686968e-01 2.35695211e-02 -2.22328119e-01 -2.48286112e+01] [-2.76826748e-02 9.99498101e-01 -1.54017887e-02 3.54755350e+00] [ 2.21853520e-01 2.11665598e-02 9.74850241e-01 -1.80436158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.003741732 meters Centerline goodness [0,1] 0.958779649992886 Centerline is valid? [False, True] Translation: X:-24.87, Y:3.54, Z:-1.81 [[ 9.76386791e-01 2.40676280e-02 -2.14684846e-01 -2.48699750e+01] [-2.78200768e-02 9.99508151e-01 -1.44740774e-02 3.53763378e+00] [ 2.14230897e-01 2.01048469e-02 9.76576120e-01 -1.80625850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.033741732 meters Centerline goodness [0,1] 0.9357958826284388 Centerline is valid? [True, False] Translation: X:-24.92, Y:3.53, Z:-1.82 [[ 9.75389554e-01 2.38912035e-02 -2.19190394e-01 -2.49223183e+01] [-2.69352602e-02 9.99577648e-01 -1.09095037e-02 3.52627172e+00] [ 2.18837177e-01 1.65449662e-02 9.75621112e-01 -1.81960205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.063741732 meters Centerline goodness [0,1] 0.8947946766513369 Centerline is valid? [False, False] Translation: X:-24.94, Y:3.51, Z:-1.82 [[ 9.73422697e-01 2.83709887e-02 -2.27251712e-01 -2.49379368e+01] [-3.16116913e-02 9.99443667e-01 -1.06328476e-02 3.51252613e+00] [ 2.26823620e-01 1.75340662e-02 9.73778004e-01 -1.82425605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.093741732 meters Centerline goodness [0,1] 0.8309702022353395 Centerline is valid? [False, False] Translation: X:-24.94, Y:3.51, Z:-1.83 [[ 9.73222718e-01 3.96315761e-02 -2.26421907e-01 -2.49382709e+01] [-4.10077604e-02 9.99157881e-01 -1.37567273e-03 3.50989128e+00] [ 2.26176713e-01 1.06238913e-02 9.74028350e-01 -1.82520956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.123741732 meters Centerline goodness [0,1] 0.8180463407165459 Centerline is valid? [False, False] Translation: X:-24.96, Y:3.50, Z:-1.82 [[ 9.72288992e-01 4.19272928e-02 -2.29991780e-01 -2.49622510e+01] [-4.45060090e-02 9.98990895e-01 -6.03377557e-03 3.50059546e+00] [ 2.29506715e-01 1.61025898e-02 9.73173867e-01 -1.82216882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.153741732 meters Centerline goodness [0,1] 0.9500317031764538 Centerline is valid? [False, True] Translation: X:-24.99, Y:3.49, Z:-1.83 [[ 9.73269046e-01 2.32670493e-02 -2.28486341e-01 -2.49926825e+01] [-2.40210544e-02 9.99711318e-01 -5.19139400e-04 3.48893450e+00] [ 2.28408303e-01 5.99374515e-03 9.73546980e-01 -1.83092069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.183741732 meters Centerline goodness [0,1] 0.9842178145236835 Centerline is valid? [True, True] Translation: X:-25.02, Y:3.47, Z:-1.83 [[ 9.74516167e-01 8.99236558e-03 -2.24136964e-01 -2.50216818e+01] [-1.27790361e-02 9.99798983e-01 -1.54495682e-02 3.46641501e+00] [ 2.23952980e-01 1.79201083e-02 9.74435186e-01 -1.82964124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.213741732 meters Centerline goodness [0,1] 0.9788262043484439 Centerline is valid? [True, True] Translation: X:-25.05, Y:3.46, Z:-1.83 [[ 9.75257886e-01 1.58993026e-03 -2.21064533e-01 -2.50524668e+01] [-5.08323746e-03 9.99871032e-01 -1.52342040e-02 3.46476296e+00] [ 2.21011802e-01 1.59810012e-02 9.75140191e-01 -1.83270058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.243741732 meters Centerline goodness [0,1] 0.9930062821477219 Centerline is valid? [True, True] Translation: X:-25.08, Y:3.44, Z:-1.84 [[ 9.75350723e-01 -5.48109265e-03 -2.20592212e-01 -2.50793989e+01] [ 2.18121185e-03 9.99882094e-01 -1.51999919e-02 3.44272196e+00] [ 2.20649516e-01 1.43441648e-02 9.75247679e-01 -1.83815496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.273741732 meters Centerline goodness [0,1] 0.9724961715160796 Centerline is valid? [True, True] Translation: X:-25.11, Y:3.45, Z:-1.86 [[ 9.72290005e-01 2.68986637e-03 -2.33762509e-01 -2.51062442e+01] [-6.63855338e-03 9.99848241e-01 -1.61066929e-02 3.44787123e+00] [ 2.33683709e-01 1.72122214e-02 9.72160308e-01 -1.86161080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.303741732 meters Centerline goodness [0,1] 0.896977966032664 Centerline is valid? [True, False] Translation: X:-25.15, Y:3.45, Z:-1.86 [[ 9.72804145e-01 2.48115678e-02 -2.30296510e-01 -2.51494020e+01] [-3.01942181e-02 9.99346384e-01 -1.98774613e-02 3.44566909e+00] [ 2.29652793e-01 2.62904998e-02 9.72917470e-01 -1.86416285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.333741732 meters Centerline goodness [0,1] 0.932168927024664 Centerline is valid? [False, False] Translation: X:-25.18, Y:3.44, Z:-1.87 [[ 9.76942051e-01 2.90932327e-02 -2.11513148e-01 -2.51839881e+01] [-3.36634655e-02 9.99270437e-01 -1.80378747e-02 3.44394435e+00] [ 2.10834056e-01 2.47422239e-02 9.77208690e-01 -1.86648281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.363741732 meters Centerline goodness [0,1] 0.9386232414410018 Centerline is valid? [False, False] Translation: X:-25.22, Y:3.44, Z:-1.87 [[ 9.78272632e-01 2.78748305e-02 -2.05440143e-01 -2.52201440e+01] [-3.18543388e-02 9.99363033e-01 -1.60881539e-02 3.44289990e+00] [ 2.04860829e-01 2.22827606e-02 9.78537439e-01 -1.87332814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.393741732 meters Centerline goodness [0,1] 0.9318491687185853 Centerline is valid? [False, False] Translation: X:-25.25, Y:3.44, Z:-1.88 [[ 9.75128431e-01 2.42881666e-02 -2.20305761e-01 -2.52525437e+01] [-2.79784315e-02 9.99515387e-01 -1.36454339e-02 3.44286271e+00] [ 2.19867576e-01 1.94698602e-02 9.75335416e-01 -1.88245055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.423741732 meters Centerline goodness [0,1] 0.8955802796774522 Centerline is valid? [False, False] Translation: X:-25.27, Y:3.44, Z:-1.89 [[ 9.73473465e-01 2.30318504e-02 -2.27637752e-01 -2.52650947e+01] [-2.72684727e-02 9.99508226e-01 -1.54834189e-02 3.44161687e+00] [ 2.27169194e-01 2.12800312e-02 9.73622780e-01 -1.88853102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.453741732 meters Centerline goodness [0,1] 0.9463246959280804 Centerline is valid? [False, False] Translation: X:-25.20, Y:3.45, Z:-1.87 [[ 9.74508854e-01 1.73872269e-02 -2.23674266e-01 -2.51955481e+01] [-2.07724916e-02 9.99702408e-01 -1.27905833e-02 3.44969541e+00] [ 2.23385309e-01 1.71108085e-02 9.74580024e-01 -1.87369469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.483741732 meters Centerline goodness [0,1] 0.972853715075847 Centerline is valid? [False, True] Translation: X:-25.15, Y:3.46, Z:-1.86 [[ 9.77619311e-01 1.59171750e-02 -2.09778755e-01 -2.51456932e+01] [-1.93655131e-02 9.99708852e-01 -1.43940164e-02 3.45777269e+00] [ 2.09488567e-01 1.81343416e-02 9.77642924e-01 -1.85846411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.513741732 meters Centerline goodness [0,1] 0.9243112322131396 Centerline is valid? [True, False] Translation: X:-25.17, Y:3.46, Z:-1.86 [[ 9.76391529e-01 1.71613231e-02 -2.15325500e-01 -2.51665497e+01] [-2.09220171e-02 9.99665591e-01 -1.51979029e-02 3.45768820e+00] [ 2.14992677e-01 1.93441474e-02 9.76424064e-01 -1.86167215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.543741732 meters Centerline goodness [0,1] 0.926784303397419 Centerline is valid? [False, False] Translation: X:-25.21, Y:3.46, Z:-1.87 [[ 9.73229924e-01 1.98479527e-02 -2.28975051e-01 -2.52071092e+01] [-2.41598634e-02 9.99579370e-01 -1.60432236e-02 3.45865066e+00] [ 2.28560312e-01 2.11457513e-02 9.73300078e-01 -1.87221456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.573741732000002 meters Centerline goodness [0,1] 0.8852154759233954 Centerline is valid? [False, False] Translation: X:-25.23, Y:3.46, Z:-1.87 [[ 9.71922719e-01 1.93991319e-02 -2.34499257e-01 -2.52341473e+01] [-2.42578259e-02 9.99546320e-01 -1.78525138e-02 3.46084882e+00] [ 2.34046546e-01 2.30397059e-02 9.71952358e-01 -1.87490856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.603741732 meters Centerline goodness [0,1] 0.942404637018593 Centerline is valid? [False, False] Translation: X:-25.26, Y:3.46, Z:-1.88 [[ 9.73462490e-01 1.82219043e-02 -2.28120017e-01 -2.52609145e+01] [-2.33816180e-02 9.99527814e-01 -1.99361195e-02 3.46433598e+00] [ 2.27649028e-01 2.47408796e-02 9.73428893e-01 -1.87811573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.633741732 meters Centerline goodness [0,1] 0.9474813966800228 Centerline is valid? [False, False] Translation: X:-25.28, Y:3.47, Z:-1.88 [[ 9.73829773e-01 1.61173503e-02 -2.26706428e-01 -2.52782583e+01] [-2.06911720e-02 9.99627215e-01 -1.78130692e-02 3.46899903e+00] [ 2.26334816e-01 2.20377188e-02 9.73800231e-01 -1.87792420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.663741732000002 meters Centerline goodness [0,1] 0.9025056118425044 Centerline is valid? [False, False] Translation: X:-25.30, Y:3.47, Z:-1.88 [[ 9.72196082e-01 1.65569685e-02 -2.33582201e-01 -2.52996428e+01] [-2.16089955e-02 9.99584306e-01 -1.90857648e-02 3.47192938e+00] [ 2.33169100e-01 2.36025825e-02 9.72149725e-01 -1.88000983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.693741732 meters Centerline goodness [0,1] 0.892277913610432 Centerline is valid? [False, False] Translation: X:-25.31, Y:3.48, Z:-1.87 [[ 9.72403158e-01 1.74649855e-02 -2.32652258e-01 -2.53123069e+01] [-2.23209788e-02 9.99584162e-01 -1.82558611e-02 3.47530700e+00] [ 2.32236674e-01 2.29450831e-02 9.72388631e-01 -1.87323922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.723741732 meters Centerline goodness [0,1] 0.9468519534345097 Centerline is valid? [False, False] Translation: X:-25.31, Y:3.48, Z:-1.88 [[ 9.75170158e-01 1.63491107e-02 -2.20852598e-01 -2.53128569e+01] [-2.12364046e-02 9.99578936e-01 -1.97728318e-02 3.47724996e+00] [ 2.20436337e-01 2.39719906e-02 9.75106745e-01 -1.87593852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.753741732 meters Centerline goodness [0,1] 0.9137671427990071 Centerline is valid? [False, False] Translation: X:-25.32, Y:3.48, Z:-1.88 [[ 9.72584334e-01 1.28401897e-02 -2.32195700e-01 -2.53170590e+01] [-1.85072104e-02 9.99581251e-01 -2.22442106e-02 3.48226181e+00] [ 2.31812849e-01 2.59316655e-02 9.72414702e-01 -1.88081181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.783741732 meters Centerline goodness [0,1] 0.9182551319648093 Centerline is valid? [False, False] Translation: X:-25.35, Y:3.49, Z:-1.88 [[ 9.75140217e-01 1.58500678e-02 -2.21021113e-01 -2.53470657e+01] [-2.18682404e-02 9.99453010e-01 -2.48085020e-02 3.48646312e+00] [ 2.20507000e-01 2.90251108e-02 9.74953438e-01 -1.88064404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.813741732 meters Centerline goodness [0,1] 0.9130390499276854 Centerline is valid? [False, False] Translation: X:-25.40, Y:3.49, Z:-1.89 [[ 9.77282323e-01 2.08548289e-02 -2.10913106e-01 -2.54020030e+01] [-2.64446622e-02 9.99368892e-01 -2.37170359e-02 3.48798254e+00] [ 2.10285382e-01 2.87557658e-02 9.77217051e-01 -1.88523227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.843741732 meters Centerline goodness [0,1] 0.8803387484222955 Centerline is valid? [False, False] Translation: X:-25.45, Y:3.49, Z:-1.90 [[ 9.74334770e-01 1.71752072e-02 -2.24447697e-01 -2.54461590e+01] [-2.21549901e-02 9.99560692e-01 -1.96870594e-02 3.48908955e+00] [ 2.24010966e-01 2.41544230e-02 9.74287253e-01 -1.89654746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.873741732 meters Centerline goodness [0,1] 0.8865966771990623 Centerline is valid? [False, False] Translation: X:-25.37, Y:3.50, Z:-1.89 [[ 9.72096168e-01 1.11274563e-02 -2.34318628e-01 -2.53702483e+01] [-1.64881213e-02 9.99644954e-01 -2.09310459e-02 3.50191089e+00] [ 2.34002525e-01 2.42104635e-02 9.71934500e-01 -1.88636533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.903741732 meters Centerline goodness [0,1] 0.8970208439247586 Centerline is valid? [False, False] Translation: X:-25.43, Y:3.51, Z:-1.89 [[ 9.73468966e-01 1.18600753e-02 -2.28511513e-01 -2.54305573e+01] [-1.74876324e-02 9.99591224e-01 -2.26178549e-02 3.50730267e+00] [ 2.28149853e-01 2.60139052e-02 9.73278440e-01 -1.89385834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.933741732 meters Centerline goodness [0,1] 0.8855137334689726 Centerline is valid? [False, False] Translation: X:-25.46, Y:3.51, Z:-1.89 [[ 9.74350463e-01 1.33650422e-02 -2.24638710e-01 -2.54631290e+01] [-1.88830655e-02 9.99569992e-01 -2.24334821e-02 3.50965280e+00] [ 2.24242289e-01 2.60999411e-02 9.74183858e-01 -1.89384708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.963741732 meters Centerline goodness [0,1] 0.9102334662002766 Centerline is valid? [False, False] Translation: X:-25.51, Y:3.51, Z:-1.90 [[ 9.73509191e-01 1.20256559e-02 -2.28331422e-01 -2.55054009e+01] [-1.67027996e-02 9.99688175e-01 -1.85625913e-02 3.51135815e+00] [ 2.28036995e-01 2.18846272e-02 9.73406488e-01 -1.90052806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.993741732 meters Centerline goodness [0,1] 0.911993832670616 Centerline is valid? [False, False] Translation: X:-25.54, Y:3.51, Z:-1.91 [[ 9.71986718e-01 9.68096478e-03 -2.34836324e-01 -2.55411239e+01] [-1.42625346e-02 9.99739498e-01 -1.78190123e-02 3.51376586e+00] [ 2.34602644e-01 2.06692044e-02 9.71871588e-01 -1.90745369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.023741732 meters Centerline goodness [0,1] 0.8818059464089074 Centerline is valid? [False, False] Translation: X:-25.56, Y:3.52, Z:-1.91 [[ 9.70925935e-01 8.62852002e-03 -2.39224534e-01 -2.55596610e+01] [-1.52511976e-02 9.99549575e-01 -2.58466375e-02 3.51580459e+00] [ 2.38893763e-01 2.87436313e-02 9.70620200e-01 -1.90583708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.053741732 meters Centerline goodness [0,1] 0.9335984500866727 Centerline is valid? [False, False] Translation: X:-25.58, Y:3.52, Z:-1.90 [[ 9.71389194e-01 6.63460763e-03 -2.37400539e-01 -2.55778139e+01] [-1.26575890e-02 9.99635289e-01 -2.38552837e-02 3.52300933e+00] [ 2.37155686e-01 2.61776833e-02 9.71118896e-01 -1.90414051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.083741732 meters Centerline goodness [0,1] 0.8972764227642276 Centerline is valid? [False, False] Translation: X:-25.58, Y:3.53, Z:-1.90 [[ 9.71443116e-01 5.16628352e-03 -2.37216321e-01 -2.55794924e+01] [-1.14044001e-02 9.99624086e-01 -2.49324521e-02 3.52518914e+00] [ 2.36998339e-01 2.69257688e-02 9.71136854e-01 -1.90377121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.113741732 meters Centerline goodness [0,1] 0.9281735382613645 Centerline is valid? [False, False] Translation: X:-25.57, Y:3.53, Z:-1.91 [[ 9.69214634e-01 -2.03905629e-03 -2.46208925e-01 -2.55739810e+01] [-4.25752702e-03 9.99677406e-01 -2.50391248e-02 3.52650377e+00] [ 2.46180555e-01 2.53165274e-02 9.68893290e-01 -1.90844138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.143741732 meters Centerline goodness [0,1] 0.9546758345708648 Centerline is valid? [False, True] Translation: X:-25.57, Y:3.53, Z:-1.90 [[ 9.69865193e-01 -7.06396930e-03 -2.43539747e-01 -2.55739136e+01] [ 2.46765428e-03 9.99813138e-01 -1.91728758e-02 3.52892600e+00] [ 2.43629675e-01 1.79941330e-02 9.69701393e-01 -1.90402580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.173741732 meters Centerline goodness [0,1] 0.9854715637399531 Centerline is valid? [True, True] Translation: X:-25.61, Y:3.52, Z:-1.89 [[ 9.72155283e-01 -9.50806483e-03 -2.34144620e-01 -2.56061630e+01] [ 5.02958646e-03 9.99792956e-01 -1.97166913e-02 3.52216786e+00] [ 2.34283609e-01 1.79900350e-02 9.72001826e-01 -1.89105917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.203741732 meters Centerline goodness [0,1] 0.9757231300111641 Centerline is valid? [True, True] Translation: X:-25.64, Y:3.53, Z:-1.89 [[ 9.74513059e-01 -4.21806905e-03 -2.24291120e-01 -2.56370381e+01] [-2.05239337e-05 9.99821529e-01 -1.88920412e-02 3.53279140e+00] [ 2.24330779e-01 1.84151442e-02 9.74339050e-01 -1.88982647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.233741732 meters Centerline goodness [0,1] 0.9458837895593772 Centerline is valid? [True, False] Translation: X:-25.55, Y:3.55, Z:-1.88 [[ 9.71325154e-01 1.03195570e-03 -2.37752771e-01 -2.55514663e+01] [-6.93950657e-03 9.99687588e-01 -2.40118505e-02 3.55109921e+00] [ 2.37653715e-01 2.49732013e-02 9.71028862e-01 -1.87742325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.263741732 meters Centerline goodness [0,1] 0.9649054912823856 Centerline is valid? [False, True] Translation: X:-25.48, Y:3.57, Z:-1.86 [[ 9.71111522e-01 2.89910040e-03 -2.38608481e-01 -2.54784779e+01] [-8.78190437e-03 9.99683021e-01 -2.35952513e-02 3.56552442e+00] [ 2.38464442e-01 2.50090573e-02 9.70829159e-01 -1.85991160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.293741732 meters Centerline goodness [0,1] 0.920774109346004 Centerline is valid? [True, False] Translation: X:-25.52, Y:3.57, Z:-1.86 [[ 9.73068221e-01 2.92160492e-03 -2.30498812e-01 -2.55233458e+01] [-7.69318191e-03 9.99774262e-01 -1.98050714e-02 3.56750420e+00] [ 2.30388917e-01 2.10449549e-02 9.72871038e-01 -1.86461709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.323741732000002 meters Centerline goodness [0,1] 0.9347000449217953 Centerline is valid? [False, False] Translation: X:-25.45, Y:3.58, Z:-1.85 [[ 9.72696850e-01 -6.52016655e-04 -2.32078464e-01 -2.54474817e+01] [-4.86882130e-03 9.99718638e-01 -2.32150810e-02 3.58274752e+00] [ 2.32028302e-01 2.37111847e-02 9.72419995e-01 -1.84897312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.353741732 meters Centerline goodness [0,1] 0.9026330280842733 Centerline is valid? [False, False] Translation: X:-25.36, Y:3.60, Z:-1.84 [[ 9.69497463e-01 -5.94051965e-03 -2.45029346e-01 -2.53598769e+01] [-3.48067414e-04 9.99671864e-01 -2.56133436e-02 3.59867925e+00] [ 2.45101099e-01 2.49173584e-02 9.69177268e-01 -1.83545050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.383741732 meters Centerline goodness [0,1] 0.9673480222989116 Centerline is valid? [False, True] Translation: X:-25.38, Y:3.60, Z:-1.83 [[ 9.69882318e-01 -8.22584638e-03 -2.43435051e-01 -2.53796503e+01] [ 2.49163997e-03 9.99712350e-01 -2.38539300e-02 3.60064811e+00] [ 2.43561245e-01 2.25289524e-02 9.69623827e-01 -1.83202307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.413741732000002 meters Centerline goodness [0,1] 0.9781195884689824 Centerline is valid? [True, True] Translation: X:-25.41, Y:3.60, Z:-1.83 [[ 9.71544595e-01 -1.45781827e-02 -2.36407648e-01 -2.54119405e+01] [ 9.76741522e-03 9.99720965e-01 -2.15079141e-02 3.59544572e+00] [ 2.36655229e-01 1.85868060e-02 9.71415891e-01 -1.82564427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.443741732 meters Centerline goodness [0,1] 0.9742818561257058 Centerline is valid? [True, True] Translation: X:-25.44, Y:3.60, Z:-1.85 [[ 9.68994405e-01 -1.73435115e-02 -2.46473214e-01 -2.54364372e+01] [ 1.21917042e-02 9.99674460e-01 -2.24128709e-02 3.59500209e+00] [ 2.46781695e-01 1.87130180e-02 9.68890405e-01 -1.84652810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.473741732 meters Centerline goodness [0,1] 0.9455718618331331 Centerline is valid? [True, False] Translation: X:-25.42, Y:3.60, Z:-1.85 [[ 9.68798567e-01 -1.57430552e-02 -2.47348929e-01 -2.54210475e+01] [ 1.05031635e-02 9.99691905e-01 -2.24895055e-02 3.60426232e+00] [ 2.47626776e-01 1.91898545e-02 9.68665437e-01 -1.85373563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.503741732 meters Centerline goodness [0,1] 0.9683241327330875 Centerline is valid? [False, True] Translation: X:-25.42, Y:3.61, Z:-1.85 [[ 9.74076823e-01 -1.45141872e-02 -2.25751371e-01 -2.54206833e+01] [ 9.86898733e-03 9.99715998e-01 -2.16916217e-02 3.60926584e+00] [ 2.26002093e-01 1.89013686e-02 9.73943423e-01 -1.85240897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.533741732 meters Centerline goodness [0,1] 0.9747539580658965 Centerline is valid? [True, True] Translation: X:-25.45, Y:3.61, Z:-1.86 [[ 9.74762473e-01 -1.49500006e-02 -2.22743392e-01 -2.54480088e+01] [ 1.07057220e-02 9.99737629e-01 -2.02499476e-02 3.60860763e+00] [ 2.22987687e-01 1.73542602e-02 9.74666774e-01 -1.85866885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.563741732 meters Centerline goodness [0,1] 0.9890100860705409 Centerline is valid? [True, True] Translation: X:-25.48, Y:3.61, Z:-1.87 [[ 9.72835646e-01 -1.55385189e-02 -2.30974805e-01 -2.54758112e+01] [ 1.09868466e-02 9.99719533e-01 -2.09796254e-02 3.61046743e+00] [ 2.31236017e-01 1.78720427e-02 9.72733517e-01 -1.86958549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.593741732 meters Centerline goodness [0,1] 0.9498513056585326 Centerline is valid? [True, False] Translation: X:-25.41, Y:3.63, Z:-1.86 [[ 9.73924383e-01 -1.20463078e-02 -2.26552825e-01 -2.54065061e+01] [ 7.05824158e-03 9.99714800e-01 -2.28144523e-02 3.63001247e+00] [ 2.26763042e-01 2.06204868e-02 9.73731646e-01 -1.85592050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.623741732 meters Centerline goodness [0,1] 0.9055617691916624 Centerline is valid? [False, False] Translation: X:-25.35, Y:3.65, Z:-1.84 [[ 9.75354108e-01 -1.06307938e-02 -2.20389090e-01 -2.53452553e+01] [ 5.48048289e-03 9.99697717e-01 -2.39674693e-02 3.64844969e+00] [ 2.20577264e-01 2.21689310e-02 9.75117536e-01 -1.84144952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.653741732 meters Centerline goodness [0,1] 0.9055617691916624 Centerline is valid? [False, False] Translation: X:-25.35, Y:3.65, Z:-1.84 [[ 9.75354108e-01 -1.06307938e-02 -2.20389090e-01 -2.53452553e+01] [ 5.48048289e-03 9.99697717e-01 -2.39674693e-02 3.64844969e+00] [ 2.20577264e-01 2.21689310e-02 9.75117536e-01 -1.84144952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.683741732 meters Centerline goodness [0,1] 0.9349610051110795 Centerline is valid? [False, False] Translation: X:-25.39, Y:3.65, Z:-1.85 [[ 9.73675649e-01 -1.33330350e-02 -2.27547709e-01 -2.53932682e+01] [ 9.39457366e-03 9.99786888e-01 -1.83826325e-02 3.65198907e+00] [ 2.27744312e-01 1.57610079e-02 9.73593405e-01 -1.85310810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.713741732 meters Centerline goodness [0,1] 0.9731049338393681 Centerline is valid? [False, True] Translation: X:-25.44, Y:3.66, Z:-1.87 [[ 9.70325842e-01 -2.15998554e-02 -2.40834395e-01 -2.54411996e+01] [ 1.74929160e-02 9.99663042e-01 -1.91781107e-02 3.65531364e+00] [ 2.41167489e-01 1.43961205e-02 9.70376728e-01 -1.86696849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.743741732 meters Centerline goodness [0,1] 0.9829009553558752 Centerline is valid? [True, True] Translation: X:-25.47, Y:3.65, Z:-1.86 [[ 9.72408368e-01 -2.70061019e-02 -2.31716714e-01 -2.54739490e+01] [ 2.23692464e-02 9.99493950e-01 -2.26155163e-02 3.64996533e+00] [ 2.32210210e-01 1.68081890e-02 9.72520387e-01 -1.85903065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.773741732 meters Centerline goodness [0,1] 0.9946689631133255 Centerline is valid? [True, True] Translation: X:-25.50, Y:3.64, Z:-1.85 [[ 9.73548174e-01 -3.04264376e-02 -2.26446871e-01 -2.55043462e+01] [ 2.60950438e-02 9.99415208e-01 -2.20972901e-02 3.63780833e+00] [ 2.26986788e-01 1.56036354e-02 9.73772830e-01 -1.85060518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.803741732 meters Centerline goodness [0,1] 0.9778914709568719 Centerline is valid? [True, True] Translation: X:-25.53, Y:3.65, Z:-1.87 [[ 9.71089274e-01 -2.43115165e-02 -2.37475415e-01 -2.55312894e+01] [ 1.93585456e-02 9.99544168e-01 -2.31668549e-02 3.65100480e+00] [ 2.37930387e-01 1.78999056e-02 9.71117256e-01 -1.87416924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.833741732 meters Centerline goodness [0,1] 0.9067252242083444 Centerline is valid? [True, False] Translation: X:-25.51, Y:3.66, Z:-1.88 [[ 9.71173288e-01 -1.11735754e-02 -2.38112571e-01 -2.55115523e+01] [ 7.47977456e-03 9.99837357e-01 -1.64107291e-02 3.65832020e+00] [ 2.38257210e-01 1.41566334e-02 9.71098909e-01 -1.87918167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.863741732 meters Centerline goodness [0,1] 0.8491190559404618 Centerline is valid? [False, False] Translation: X:-25.50, Y:3.66, Z:-1.88 [[ 9.71381014e-01 -1.53670630e-06 -2.37526683e-01 -2.55022888e+01] [-2.04792523e-03 9.99962777e-01 -8.38159447e-03 3.66181742e+00] [ 2.37517855e-01 8.62815862e-03 9.71344853e-01 -1.88404446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.893741732 meters Centerline goodness [0,1] 0.7687813021702838 Centerline is valid? [False, False] Translation: X:-25.51, Y:3.66, Z:-1.88 [[ 9.73174259e-01 1.37991775e-02 -2.29655057e-01 -2.55101627e+01] [-1.63470521e-02 9.99824093e-01 -9.19544386e-03 3.66235342e+00] [ 2.29487769e-01 1.27029524e-02 9.73228647e-01 -1.88430823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.923741732 meters Centerline goodness [0,1] 0.7879885256240717 Centerline is valid? [False, False] Translation: X:-25.53, Y:3.66, Z:-1.88 [[ 9.74990595e-01 1.54173405e-02 -2.21710724e-01 -2.55317737e+01] [-1.93957463e-02 9.99687381e-01 -1.57779897e-02 3.65789230e+00] [ 2.21398159e-01 1.96836366e-02 9.74984825e-01 -1.88271394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.953741732 meters Centerline goodness [0,1] 0.7650214592274678 Centerline is valid? [False, False] Translation: X:-25.45, Y:3.66, Z:-1.87 [[ 9.75011432e-01 7.16152955e-03 -2.22039230e-01 -2.54517093e+01] [-1.15371695e-02 9.99763848e-01 -1.84158171e-02 3.66459109e+00] [ 2.21854910e-01 2.05173365e-02 9.74863805e-01 -1.87282377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.983741732 meters Centerline goodness [0,1] 0.7068070289751787 Centerline is valid? [False, False] Translation: X:-25.50, Y:3.66, Z:-1.88 [[ 9.72442696e-01 3.45612914e-03 -2.33116404e-01 -2.55046802e+01] [-6.87998075e-03 9.99880057e-01 -1.38757821e-02 3.65833670e+00] [ 2.33040487e-01 1.50972393e-02 9.72349837e-01 -1.88361497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.013741732 meters Centerline goodness [0,1] 0.7279555446995603 Centerline is valid? [False, False] Translation: X:-25.55, Y:3.65, Z:-1.89 [[ 9.72404144e-01 -5.23453826e-04 -2.33302180e-01 -2.55471840e+01] [-2.97493595e-03 9.99888360e-01 -1.46429641e-02 3.65163965e+00] [ 2.33283799e-01 1.49329380e-02 9.72294028e-01 -1.88895902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.043741732 meters Centerline goodness [0,1] 0.7115665584415585 Centerline is valid? [False, False] Translation: X:-25.56, Y:3.65, Z:-1.89 [[ 9.72286415e-01 -2.76405570e-03 -2.33776575e-01 -2.55556682e+01] [-1.11624548e-03 9.99863830e-01 -1.64643940e-02 3.64642284e+00] [ 2.33790250e-01 1.62690586e-02 9.72150933e-01 -1.88549127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.073741732000002 meters Centerline goodness [0,1] 0.7409301193084976 Centerline is valid? [False, False] Translation: X:-25.56, Y:3.63, Z:-1.88 [[ 9.71984479e-01 -7.27755648e-03 -2.34932352e-01 -2.55592913e+01] [ 2.99339183e-03 9.99822762e-01 -1.85872068e-02 3.63470576e+00] [ 2.35025983e-01 1.73632320e-02 9.71833991e-01 -1.88354847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.103741732 meters Centerline goodness [0,1] 0.8574528493206246 Centerline is valid? [False, False] Translation: X:-25.57, Y:3.62, Z:-1.88 [[ 9.72357424e-01 -1.80018946e-02 -2.32802431e-01 -2.55680111e+01] [ 1.27100368e-02 9.99626062e-01 -2.42113640e-02 3.61768783e+00] [ 2.33151228e-01 2.05831720e-02 9.72222628e-01 -1.88168005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.133741732 meters Centerline goodness [0,1] 0.970090362677352 Centerline is valid? [False, True] Translation: X:-25.60, Y:3.61, Z:-1.89 [[ 9.72035138e-01 -2.83476659e-02 -2.33118212e-01 -2.55994741e+01] [ 2.55297498e-02 9.99560060e-01 -1.50969789e-02 3.60509743e+00] [ 2.33443618e-01 8.72334439e-03 9.72331209e-01 -1.89029362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.163741732000002 meters Centerline goodness [0,1] 0.9556009394465435 Centerline is valid? [True, True] Translation: X:-25.63, Y:3.60, Z:-1.89 [[ 9.72613967e-01 -3.25057793e-02 -2.30142230e-01 -2.56296222e+01] [ 2.73398482e-02 9.99298317e-01 -2.56009176e-02 3.59913795e+00] [ 2.30812921e-01 1.86077564e-02 9.72820203e-01 -1.89261994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.193741732 meters Centerline goodness [0,1] 0.9636542239685658 Centerline is valid? [True, True] Translation: X:-25.66, Y:3.59, Z:-1.90 [[ 9.71913383e-01 -3.29468816e-02 -2.33021198e-01 -2.56559614e+01] [ 2.76606150e-02 9.99281311e-01 -2.59181619e-02 3.58891069e+00] [ 2.33707651e-01 1.87446988e-02 9.72126211e-01 -1.89786104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.223741732 meters Centerline goodness [0,1] 0.9714677247811503 Centerline is valid? [True, True] Translation: X:-25.68, Y:3.58, Z:-1.89 [[ 9.72888874e-01 -3.15776407e-02 -2.29107160e-01 -2.56844347e+01] [ 2.64403535e-02 9.99326147e-01 -2.54589873e-02 3.58104699e+00] [ 2.29756710e-01 1.87110912e-02 9.73068214e-01 -1.89479859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.253741732 meters Centerline goodness [0,1] 0.953173501061918 Centerline is valid? [True, True] Translation: X:-25.72, Y:3.59, Z:-1.90 [[ 9.74117255e-01 -2.62823363e-02 -2.24510160e-01 -2.57157625e+01] [ 2.12211192e-02 9.99464008e-01 -2.49271159e-02 3.58587543e+00] [ 2.25044967e-01 1.95175768e-02 9.74152877e-01 -1.89574800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.283741732 meters Centerline goodness [0,1] 0.813998160825585 Centerline is valid? [True, False] Translation: X:-25.64, Y:3.60, Z:-1.89 [[ 9.71763262e-01 -1.66009484e-02 -2.35373257e-01 -2.56433586e+01] [ 1.01690521e-02 9.99541667e-01 -2.85139803e-02 3.60294087e+00] [ 2.35738737e-01 2.53153156e-02 9.71486687e-01 -1.88607509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.313741732 meters Centerline goodness [0,1] 0.8063276287575353 Centerline is valid? [False, False] Translation: X:-25.68, Y:3.60, Z:-1.88 [[ 9.71747197e-01 -7.81420263e-03 -2.35894731e-01 -2.56800969e+01] [ 1.63385640e-03 9.99650554e-01 -2.63837034e-02 3.60369236e+00] [ 2.36018466e-01 2.52528717e-02 9.71420391e-01 -1.88410865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.343741732 meters Centerline goodness [0,1] 0.6648054864356376 Centerline is valid? [False, False] Translation: X:-25.69, Y:3.60, Z:-1.88 [[ 9.71698573e-01 -5.69917036e-03 -2.36155463e-01 -2.56876001e+01] [-9.55123540e-05 9.99699363e-01 -2.45188746e-02 3.60361814e+00] [ 2.36224203e-01 2.38475112e-02 9.71405900e-01 -1.88133879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.373741732 meters Centerline goodness [0,1] 0.8232787758362865 Centerline is valid? [False, False] Translation: X:-25.69, Y:3.60, Z:-1.88 [[ 9.71208560e-01 -3.42176773e-03 -2.38206264e-01 -2.56932621e+01] [-4.30247545e-03 9.99481830e-01 -3.18992269e-02 3.59865273e+00] [ 2.38191984e-01 3.20056788e-02 9.70690587e-01 -1.88497483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.403741732 meters Centerline goodness [0,1] 0.737089012011162 Centerline is valid? [False, False] Translation: X:-25.70, Y:3.59, Z:-1.88 [[ 9.71726287e-01 1.39575222e-03 -2.36106066e-01 -2.56975597e+01] [-8.17939285e-03 9.99581310e-01 -2.77543195e-02 3.59485198e+00] [ 2.35968473e-01 2.89008062e-02 9.71330852e-01 -1.88383862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.433741732 meters Centerline goodness [0,1] 0.6927471636952998 Centerline is valid? [False, False] Translation: X:-25.70, Y:3.59, Z:-1.88 [[ 9.71819368e-01 3.66224614e-03 -2.35698331e-01 -2.57017016e+01] [-9.93066815e-03 9.99627697e-01 -2.54135571e-02 3.59062842e+00] [ 2.35517509e-01 2.70380289e-02 9.71493926e-01 -1.88165223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.463741732 meters Centerline goodness [0,1] 0.7285134562193374 Centerline is valid? [False, False] Translation: X:-25.71, Y:3.58, Z:-1.88 [[ 9.69382182e-01 1.50633416e-03 -2.45552267e-01 -2.57121287e+01] [-7.42850493e-03 9.99703400e-01 -2.31933226e-02 3.58431272e+00] [ 2.45444499e-01 2.43072799e-02 9.69105853e-01 -1.87958119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.493741732 meters Centerline goodness [0,1] 0.7703442010699506 Centerline is valid? [False, False] Translation: X:-25.72, Y:3.58, Z:-1.88 [[ 9.69527038e-01 -3.32783749e-03 -2.44961728e-01 -2.57226138e+01] [-3.23126853e-03 9.99647048e-01 -2.63692830e-02 3.58060685e+00] [ 2.44963021e-01 2.63572699e-02 9.69174088e-01 -1.87682575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.523741732 meters Centerline goodness [0,1] 0.8340642529321775 Centerline is valid? [False, False] Translation: X:-25.76, Y:3.57, Z:-1.89 [[ 9.69747893e-01 -1.24249019e-02 -2.43792218e-01 -2.57631201e+01] [ 7.59328696e-03 9.99755893e-01 -2.07483851e-02 3.56970823e+00] [ 2.43990503e-01 1.82695185e-02 9.69605517e-01 -1.89083014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.553741732 meters Centerline goodness [0,1] 0.8933722840971334 Centerline is valid? [False, False] Translation: X:-25.81, Y:3.56, Z:-1.90 [[ 9.68391114e-01 -2.60480998e-02 -2.48072864e-01 -2.58065492e+01] [ 2.43004719e-02 9.99653630e-01 -1.01047590e-02 3.55948918e+00] [ 2.48250149e-01 3.75707121e-03 9.68688674e-01 -1.89991529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.583741732 meters Centerline goodness [0,1] 0.9562342313013754 Centerline is valid? [False, True] Translation: X:-25.84, Y:3.55, Z:-1.90 [[ 9.68622982e-01 -3.45149762e-02 -2.46126462e-01 -2.58360556e+01] [ 3.11388246e-02 9.99360153e-01 -1.75970955e-02 3.55178624e+00] [ 2.46576342e-01 9.38086236e-03 9.69077967e-01 -1.90085976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.613741732 meters Centerline goodness [0,1] 0.9719122896481387 Centerline is valid? [True, True] Translation: X:-25.87, Y:3.54, Z:-1.90 [[ 9.68974516e-01 -4.03843559e-02 -2.43839068e-01 -2.58654330e+01] [ 3.42823693e-02 9.98984983e-01 -2.92185454e-02 3.54227047e+00] [ 2.44771539e-01 1.99526449e-02 9.69375462e-01 -1.90164361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.643741732 meters Centerline goodness [0,1] 0.9578794925141761 Centerline is valid? [True, True] Translation: X:-25.89, Y:3.55, Z:-1.91 [[ 9.68617975e-01 -4.00109736e-02 -2.45312742e-01 -2.58933431e+01] [ 3.38237834e-02 9.98995738e-01 -2.93848066e-02 3.54504109e+00] [ 2.46242099e-01 2.01652468e-02 9.68998551e-01 -1.90906138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.673741732 meters Centerline goodness [0,1] 0.9614303178484107 Centerline is valid? [True, True] Translation: X:-25.92, Y:3.54, Z:-1.92 [[ 9.67131377e-01 -3.87015697e-02 -2.51314720e-01 -2.59194629e+01] [ 3.21731098e-02 9.99030901e-01 -3.00358055e-02 3.54086511e+00] [ 2.52233604e-01 2.09629939e-02 9.67439281e-01 -1.92401603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.703741732 meters Centerline goodness [0,1] 0.9287551545339485 Centerline is valid? [True, False] Translation: X:-25.91, Y:3.54, Z:-1.93 [[ 9.67185788e-01 -3.50245859e-02 -2.51644450e-01 -2.59103517e+01] [ 2.90925885e-02 9.99205052e-01 -2.72559360e-02 3.54123819e+00] [ 2.52399034e-01 1.90405655e-02 9.67435881e-01 -1.92896462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.733741732 meters Centerline goodness [0,1] 0.9156501162743258 Centerline is valid? [False, False] Translation: X:-25.90, Y:3.54, Z:-1.93 [[ 9.70586603e-01 -3.12282010e-02 -2.38718339e-01 -2.59035136e+01] [ 2.59301194e-02 9.99343480e-01 -2.53029265e-02 3.54212416e+00] [ 2.39351780e-01 1.83686865e-02 9.70759145e-01 -1.93403998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.763741732 meters Centerline goodness [0,1] 0.9110909274397013 Centerline is valid? [False, False] Translation: X:-25.91, Y:3.54, Z:-1.93 [[ 9.71074915e-01 -2.68861039e-02 -2.37256502e-01 -2.59094516e+01] [ 2.23154783e-02 9.99510436e-01 -2.19296003e-02 3.54383844e+00] [ 2.37729951e-01 1.60007924e-02 9.71199488e-01 -1.93240186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.793741732 meters Centerline goodness [0,1] 0.9023351118865512 Centerline is valid? [False, False] Translation: X:-25.95, Y:3.54, Z:-1.93 [[ 9.71502182e-01 -2.20504054e-02 -2.36002732e-01 -2.59543081e+01] [ 1.63344935e-02 9.99524628e-01 -2.61476936e-02 3.54114889e+00] [ 2.36467110e-01 2.15475563e-02 9.71400540e-01 -1.93237225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.823741732 meters Centerline goodness [0,1] 0.8194680592664562 Centerline is valid? [False, False] Translation: X:-26.00, Y:3.54, Z:-1.94 [[ 9.71002418e-01 -2.18613749e-02 -2.38068025e-01 -2.59963381e+01] [ 1.78269872e-02 9.99658895e-01 -1.90864364e-02 3.54350402e+00] [ 2.38404074e-01 1.42889402e-02 9.71060927e-01 -1.94233488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.853741732 meters Centerline goodness [0,1] 0.9189974204293868 Centerline is valid? [False, False] Translation: X:-25.99, Y:3.55, Z:-1.95 [[ 9.70502164e-01 -2.34192310e-02 -2.39952266e-01 -2.59857119e+01] [ 1.84086320e-02 9.99563613e-01 -2.31020700e-02 3.55416768e+00] [ 2.40388587e-01 1.80034160e-02 9.70509765e-01 -1.95259830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.883741732 meters Centerline goodness [0,1] 0.9116413534753044 Centerline is valid? [False, False] Translation: X:-26.02, Y:3.56, Z:-1.96 [[ 9.69396829e-01 -3.08590199e-02 -2.43551860e-01 -2.60247878e+01] [ 2.64641632e-02 9.99422875e-01 -2.12970436e-02 3.56072030e+00] [ 2.44068507e-01 1.41998904e-02 9.69654024e-01 -1.96477753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.913741732000002 meters Centerline goodness [0,1] 0.9598840414021191 Centerline is valid? [False, True] Translation: X:-26.03, Y:3.56, Z:-1.96 [[ 9.68904440e-01 -4.18047069e-02 -2.43878150e-01 -2.60331786e+01] [ 3.56460101e-02 9.98925608e-01 -2.96140298e-02 3.56344654e+00] [ 2.44854135e-01 1.99998819e-02 9.69353629e-01 -1.96056733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.943741732 meters Centerline goodness [0,1] 0.9781331592689295 Centerline is valid? [True, True] Translation: X:-26.06, Y:3.56, Z:-1.96 [[ 9.70244352e-01 -4.41475904e-02 -2.38069080e-01 -2.60631826e+01] [ 3.84113628e-02 9.98850279e-01 -2.86825370e-02 3.56040575e+00] [ 2.39061632e-01 1.86845118e-02 9.70824611e-01 -1.95863836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.973741732 meters Centerline goodness [0,1] 0.9665939265392695 Centerline is valid? [True, True] Translation: X:-26.09, Y:3.57, Z:-1.96 [[ 9.71304730e-01 -3.88741923e-02 -2.34639976e-01 -2.60940758e+01] [ 3.31544468e-02 9.99050232e-01 -2.82739539e-02 3.56539969e+00] [ 2.35516250e-01 1.96832665e-02 9.71671068e-01 -1.95745832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.003741732 meters Centerline goodness [0,1] 0.8023407818946853 Centerline is valid? [True, False] Translation: X:-26.11, Y:3.57, Z:-1.96 [[ 9.70938437e-01 -2.78442607e-02 -2.37704122e-01 -2.61083338e+01] [ 2.15365913e-02 9.99344698e-01 -2.90920911e-02 3.57012180e+00] [ 2.38358402e-01 2.31272929e-02 9.70901849e-01 -1.95685726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.033741732 meters Centerline goodness [0,1] 0.8020015021415667 Centerline is valid? [False, False] Translation: X:-26.14, Y:3.58, Z:-1.96 [[ 9.70294602e-01 -1.62015547e-02 -2.41383295e-01 -2.61439890e+01] [ 8.02213502e-03 9.99361056e-01 -3.48299516e-02 3.57683994e+00] [ 2.41793364e-01 3.18589046e-02 9.69804609e-01 -1.95589842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.063741732 meters Centerline goodness [0,1] 0.8040989772889007 Centerline is valid? [False, False] Translation: X:-26.18, Y:3.58, Z:-1.97 [[ 9.68648404e-01 -1.67748690e-02 -2.47868660e-01 -2.61822266e+01] [ 9.99147393e-03 9.99541011e-01 -2.85995991e-02 3.58451406e+00] [ 2.48234645e-01 2.52263827e-02 9.68371411e-01 -1.96910701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.093741732 meters Centerline goodness [0,1] 0.8333299366172784 Centerline is valid? [False, False] Translation: X:-26.20, Y:3.59, Z:-1.97 [[ 9.68857690e-01 -2.29558931e-02 -2.46551829e-01 -2.62003370e+01] [ 1.70979584e-02 9.99518974e-01 -2.58743253e-02 3.58957220e+00] [ 2.47027199e-01 2.08530061e-02 9.68784143e-01 -1.97371914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.123741732 meters Centerline goodness [0,1] 0.9104550944786783 Centerline is valid? [False, False] Translation: X:-26.23, Y:3.59, Z:-1.98 [[ 9.72817856e-01 -3.30574716e-02 -2.29199961e-01 -2.62339641e+01] [ 2.92213882e-02 9.99370619e-01 -2.01115987e-02 3.59196013e+00] [ 2.29720546e-01 1.28673813e-02 9.73171568e-01 -1.98248025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.153741732 meters Centerline goodness [0,1] 0.9518573977969683 Centerline is valid? [False, True] Translation: X:-26.27, Y:3.60, Z:-2.00 [[ 9.71905970e-01 -3.84784294e-02 -2.32202921e-01 -2.62728408e+01] [ 3.55514478e-02 9.99226989e-01 -1.67785175e-02 3.59717300e+00] [ 2.32669037e-01 8.05199132e-03 9.72522640e-01 -1.99598538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.183741732 meters Centerline goodness [0,1] 0.9676377401966836 Centerline is valid? [True, True] Translation: X:-26.30, Y:3.60, Z:-2.01 [[ 9.69461636e-01 -4.05107821e-02 -2.41873959e-01 -2.63016674e+01] [ 3.44408539e-02 9.98977948e-01 -2.92726485e-02 3.60327930e+00] [ 2.42812609e-01 2.00483640e-02 9.69866022e-01 -2.00580365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.213741732 meters Centerline goodness [0,1] 0.893575413244406 Centerline is valid? [True, False] Translation: X:-26.33, Y:3.62, Z:-2.01 [[ 9.69268415e-01 -3.63021072e-02 -2.43312344e-01 -2.63293824e+01] [ 2.95479923e-02 9.99071535e-01 -3.13525659e-02 3.61708780e+00] [ 2.44224601e-01 2.31996606e-02 9.69441138e-01 -2.00692337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.243741732 meters Centerline goodness [0,1] 0.8988103740282001 Centerline is valid? [False, False] Translation: X:-26.34, Y:3.63, Z:-2.00 [[ 9.69857473e-01 -3.33474643e-02 -2.41380256e-01 -2.63436561e+01] [ 2.76082936e-02 9.99250848e-01 -2.71205781e-02 3.62639651e+00] [ 2.42103828e-01 1.96389984e-02 9.70051569e-01 -2.00479683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.273741732 meters Centerline goodness [0,1] 0.8711225469174375 Centerline is valid? [False, False] Translation: X:-26.36, Y:3.64, Z:-2.00 [[ 9.70376973e-01 -3.02440262e-02 -2.39695284e-01 -2.63581235e+01] [ 2.55449678e-02 9.99416192e-01 -2.26876427e-02 3.63575537e+00] [ 2.40241514e-01 1.58925578e-02 9.70583042e-01 -2.00252426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.303741732 meters Centerline goodness [0,1] 0.9242564387165731 Centerline is valid? [False, False] Translation: X:-26.39, Y:3.65, Z:-2.01 [[ 9.69903496e-01 -3.05435192e-02 -2.41566352e-01 -2.63893258e+01] [ 2.54667153e-02 9.99384857e-01 -2.41112818e-02 3.64999135e+00] [ 2.42154198e-01 1.72337150e-02 9.70084710e-01 -2.01042452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.333741732 meters Centerline goodness [0,1] 0.8561638180166791 Centerline is valid? [False, False] Translation: X:-26.42, Y:3.66, Z:-2.02 [[ 9.69815631e-01 -3.40566349e-02 -2.41449346e-01 -2.64216824e+01] [ 2.89410672e-02 9.99275831e-01 -2.47027915e-02 3.65908645e+00] [ 2.42115790e-01 1.69693516e-02 9.70098957e-01 -2.02224130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.363741732 meters Centerline goodness [0,1] 0.8829656360206676 Centerline is valid? [False, False] Translation: X:-26.44, Y:3.67, Z:-2.03 [[ 9.68398572e-01 -3.69870219e-02 -2.46649884e-01 -2.64406783e+01] [ 3.33485608e-02 9.99264797e-01 -1.89139772e-02 3.66517295e+00] [ 2.47168118e-01 1.00908498e-02 9.68920067e-01 -2.02562727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.393741732 meters Centerline goodness [0,1] 0.9058959251781962 Centerline is valid? [False, False] Translation: X:-26.48, Y:3.67, Z:-2.03 [[ 9.67951369e-01 -3.79350414e-02 -2.48256078e-01 -2.64780898e+01] [ 3.52968582e-02 9.99263228e-01 -1.50709288e-02 3.66604449e+00] [ 2.48644886e-01 5.82526663e-03 9.68577197e-01 -2.03431299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.423741732 meters Centerline goodness [0,1] 0.9536401881748285 Centerline is valid? [False, True] Translation: X:-26.50, Y:3.67, Z:-2.04 [[ 9.69099909e-01 -3.84980236e-02 -2.43645785e-01 -2.65006617e+01] [ 3.44298086e-02 9.99187818e-01 -2.09354406e-02 3.66609112e+00] [ 2.44253874e-01 1.18998558e-02 9.69638303e-01 -2.03542575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.453741732 meters Centerline goodness [0,1] 0.9085709566186946 Centerline is valid? [True, False] Translation: X:-26.53, Y:3.67, Z:-2.04 [[ 9.69213936e-01 -3.71459777e-02 -2.43401977e-01 -2.65317166e+01] [ 3.27408104e-02 9.99219061e-01 -2.21202777e-02 3.67481828e+00] [ 2.44033574e-01 1.34701034e-02 9.69673229e-01 -2.04153157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.483741732 meters Centerline goodness [0,1] 0.9278898241520127 Centerline is valid? [False, False] Translation: X:-26.57, Y:3.69, Z:-2.05 [[ 9.68031528e-01 -3.57124244e-02 -2.48273204e-01 -2.65669650e+01] [ 3.15698314e-02 9.99288244e-01 -2.06482764e-02 3.68609100e+00] [ 2.48833894e-01 1.21502393e-02 9.68469961e-01 -2.04908529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.513741732 meters Centerline goodness [0,1] 0.9008719119784098 Centerline is valid? [False, False] Translation: X:-26.59, Y:3.69, Z:-2.05 [[ 9.68513738e-01 -3.29735181e-02 -2.46766866e-01 -2.65921158e+01] [ 2.76871909e-02 9.99307396e-01 -2.48625590e-02 3.69253109e+00] [ 2.47415760e-01 1.72474486e-02 9.68755886e-01 -2.04920212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.543741732 meters Centerline goodness [0,1] 0.7899025170958824 Centerline is valid? [False, False] Translation: X:-26.63, Y:3.71, Z:-2.06 [[ 9.70604933e-01 -3.12844065e-02 -2.38636440e-01 -2.66335349e+01] [ 2.65708483e-02 9.99383587e-01 -2.29442158e-02 3.70674676e+00] [ 2.39207138e-01 1.59289964e-02 9.70837892e-01 -2.05919722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.573741732 meters Centerline goodness [0,1] 0.7899025170958824 Centerline is valid? [False, False] Translation: X:-26.63, Y:3.71, Z:-2.06 [[ 9.70604933e-01 -3.12844065e-02 -2.38636440e-01 -2.66335349e+01] [ 2.65708483e-02 9.99383587e-01 -2.29442158e-02 3.70674676e+00] [ 2.39207138e-01 1.59289964e-02 9.70837892e-01 -2.05919722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.603741732 meters Centerline goodness [0,1] 0.8217637979224897 Centerline is valid? [False, False] Translation: X:-26.67, Y:3.72, Z:-2.07 [[ 9.68498108e-01 -2.46437792e-02 -2.47798504e-01 -2.66703861e+01] [ 1.86540041e-02 9.99474985e-01 -2.64911732e-02 3.71635039e+00] [ 2.48321249e-01 2.10342168e-02 9.68449337e-01 -2.07150969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.633741732 meters Centerline goodness [0,1] 0.7821520121709772 Centerline is valid? [False, False] Translation: X:-26.69, Y:3.72, Z:-2.07 [[ 9.67852272e-01 -1.53110658e-02 -2.51052885e-01 -2.66879137e+01] [ 8.58863674e-03 9.99575193e-01 -2.78508250e-02 3.71796894e+00] [ 2.51372662e-01 2.47992822e-02 9.67572623e-01 -2.06911617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.663741732000002 meters Centerline goodness [0,1] 0.7417683436403142 Centerline is valid? [False, False] Translation: X:-26.70, Y:3.72, Z:-2.07 [[ 9.68526041e-01 5.04061683e-03 -2.48861207e-01 -2.67030788e+01] [-1.13593173e-02 9.99648358e-01 -2.39609473e-02 3.72000893e+00] [ 2.48652919e-01 2.60336948e-02 9.68242724e-01 -2.06632861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.693741732 meters Centerline goodness [0,1] 0.7282356628016295 Centerline is valid? [False, False] Translation: X:-26.71, Y:3.71, Z:-2.07 [[ 9.66610365e-01 1.39334757e-02 -2.55871571e-01 -2.67070813e+01] [-2.15665427e-02 9.99401414e-01 -2.70499315e-02 3.71195192e+00] [ 2.55341510e-01 3.16650093e-02 9.66332262e-01 -2.06723242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.723741732 meters Centerline goodness [0,1] 0.7306313815378204 Centerline is valid? [False, False] Translation: X:-26.71, Y:3.70, Z:-2.07 [[ 9.66871610e-01 7.24701549e-03 -2.55160286e-01 -2.67146848e+01] [-1.55295279e-02 9.99415328e-01 -3.04603878e-02 3.69721873e+00] [ 2.54790354e-01 3.34138029e-02 9.66418850e-01 -2.06558329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.753741732 meters Centerline goodness [0,1] 0.7680455015511892 Centerline is valid? [False, False] Translation: X:-26.75, Y:3.67, Z:-2.08 [[ 9.69846498e-01 -8.00244185e-03 -2.43585164e-01 -2.67459462e+01] [ 3.54383735e-03 9.99818170e-01 -1.87368084e-02 3.66713310e+00] [ 2.43690813e-01 1.73086018e-02 9.69698510e-01 -2.07954029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.783741732 meters Centerline goodness [0,1] 0.807650906682123 Centerline is valid? [False, False] Translation: X:-26.80, Y:3.64, Z:-2.09 [[ 9.67755311e-01 -1.78525145e-02 -2.51258721e-01 -2.68033926e+01] [ 1.42985010e-02 9.99770334e-01 -1.59634817e-02 3.63786655e+00] [ 2.51486004e-01 1.18561211e-02 9.67788315e-01 -2.09411793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.813741732 meters Centerline goodness [0,1] 0.7517598808382133 Centerline is valid? [False, False] Translation: X:-26.82, Y:3.62, Z:-2.10 [[ 9.65657069e-01 -1.52223818e-02 -2.59373676e-01 -2.68241621e+01] [ 1.09826810e-02 9.99781473e-01 -1.77872783e-02 3.62208024e+00] [ 2.59587760e-01 1.43277927e-02 9.65613230e-01 -2.09640375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.843741732 meters Centerline goodness [0,1] 0.7610174685871898 Centerline is valid? [False, False] Translation: X:-26.85, Y:3.59, Z:-2.10 [[ 9.67012164e-01 -1.07925552e-02 -2.54501464e-01 -2.68452521e+01] [ 7.43266140e-03 9.99872119e-01 -1.41598441e-02 3.58857911e+00] [ 2.54621739e-01 1.18011183e-02 9.66968719e-01 -2.09885892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.873741732 meters Centerline goodness [0,1] 0.8225576468671066 Centerline is valid? [False, False] Translation: X:-26.78, Y:3.57, Z:-2.08 [[ 9.65816024e-01 -1.94837486e-02 -2.58495244e-01 -2.67821863e+01] [ 1.78337570e-02 9.99802883e-01 -8.72658116e-03 3.57011389e+00] [ 2.58614317e-01 3.81833055e-03 9.65973113e-01 -2.08291428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.903741732 meters Centerline goodness [0,1] 0.851707041799347 Centerline is valid? [False, False] Translation: X:-26.81, Y:3.56, Z:-2.08 [[ 9.66992095e-01 -2.11147350e-02 -2.53930023e-01 -2.68106349e+01] [ 1.86186058e-02 9.99751862e-01 -1.22295542e-02 3.56093042e+00] [ 2.54125237e-01 7.09805920e-03 9.67145274e-01 -2.08432507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.933741732 meters Centerline goodness [0,1] 0.8624648260674523 Centerline is valid? [False, False] Translation: X:-26.84, Y:3.55, Z:-2.08 [[ 9.67187623e-01 -2.31901019e-02 -2.53002611e-01 -2.68424145e+01] [ 1.93334245e-02 9.99656060e-01 -1.77194892e-02 3.55475374e+00] [ 2.53326510e-01 1.22466638e-02 9.67303313e-01 -2.08464733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.963741732 meters Centerline goodness [0,1] 0.8587281263337602 Centerline is valid? [False, False] Translation: X:-26.86, Y:3.55, Z:-2.08 [[ 9.67046834e-01 -2.41642137e-02 -2.53449228e-01 -2.68582386e+01] [ 1.79731304e-02 9.99481511e-01 -2.67147234e-02 3.55020170e+00] [ 2.53963358e-01 2.12791126e-02 9.66979737e-01 -2.08389955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.993741732 meters Centerline goodness [0,1] 0.842741362149865 Centerline is valid? [False, False] Translation: X:-26.89, Y:3.55, Z:-2.10 [[ 9.65743084e-01 -2.58354586e-02 -2.58210816e-01 -2.68910917e+01] [ 2.07692433e-02 9.99534910e-01 -2.23293888e-02 3.54699246e+00] [ 2.58667615e-01 1.62016095e-02 9.65830509e-01 -2.09791521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.023741732 meters Centerline goodness [0,1] 0.906628230291135 Centerline is valid? [False, False] Translation: X:-26.94, Y:3.53, Z:-2.11 [[ 9.65405232e-01 -3.11073856e-02 -2.58892002e-01 -2.69406582e+01] [ 2.84270020e-02 9.99496542e-01 -1.40913889e-02 3.53072873e+00] [ 2.59200007e-01 6.24437713e-03 9.65803481e-01 -2.10779204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.053741732 meters Centerline goodness [0,1] 0.865359477124183 Centerline is valid? [False, False] Translation: X:-26.94, Y:3.52, Z:-2.11 [[ 9.64235352e-01 -2.82196223e-02 -2.63540962e-01 -2.69439323e+01] [ 2.35712744e-02 9.99506089e-01 -2.07839731e-02 3.52481545e+00] [ 2.63997312e-01 1.38286453e-02 9.64424278e-01 -2.11003326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.083741732 meters Centerline goodness [0,1] 0.8321277939648322 Centerline is valid? [False, False] Translation: X:-26.94, Y:3.52, Z:-2.11 [[ 9.64139034e-01 -2.61763764e-02 -2.64103618e-01 -2.69407415e+01] [ 2.18587394e-02 9.99575260e-01 -1.92742319e-02 3.52443088e+00] [ 2.64495972e-01 1.28100671e-02 9.64301707e-01 -2.11166714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.113741732 meters Centerline goodness [0,1] 0.8126843957922152 Centerline is valid? [False, False] Translation: X:-26.94, Y:3.52, Z:-2.11 [[ 9.64230701e-01 -2.10912628e-02 -2.64223983e-01 -2.69400117e+01] [ 1.76678814e-02 9.99726438e-01 -1.53263124e-02 3.52465268e+00] [ 2.64474953e-01 1.01098230e-02 9.64339562e-01 -2.11227870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.143741732 meters Centerline goodness [0,1] 0.7355129328794765 Centerline is valid? [False, False] Translation: X:-26.98, Y:3.51, Z:-2.11 [[ 9.68552915e-01 -1.73137791e-03 -2.48801636e-01 -2.69840300e+01] [-4.03752303e-03 9.99734746e-01 -2.26745831e-02 3.51499157e+00] [ 2.48774898e-01 2.29660759e-02 9.68289011e-01 -2.11465680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.173741732 meters Centerline goodness [0,1] 0.7495046875957434 Centerline is valid? [False, False] Translation: X:-27.02, Y:3.51, Z:-2.12 [[ 9.68346858e-01 -2.91980932e-03 -2.49591342e-01 -2.70204005e+01] [-2.71961198e-03 9.99748811e-01 -2.22467798e-02 3.51296818e+00] [ 2.49593603e-01 2.22213909e-02 9.68095679e-01 -2.12033803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.203741732 meters Centerline goodness [0,1] 0.7761239368165249 Centerline is valid? [False, False] Translation: X:-27.06, Y:3.51, Z:-2.14 [[ 9.68011059e-01 -1.12710057e-02 -2.50654253e-01 -2.70557645e+01] [ 6.58120532e-03 9.99787404e-01 -1.95405819e-02 3.51042315e+00] [ 2.50821207e-01 1.72658923e-02 9.67879440e-01 -2.13723330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.233741732 meters Centerline goodness [0,1] 0.9003843166114722 Centerline is valid? [False, False] Translation: X:-27.00, Y:3.52, Z:-2.13 [[ 9.67992726e-01 -2.76338695e-02 -2.49452302e-01 -2.69995759e+01] [ 2.38265481e-02 9.99549150e-01 -1.82699680e-02 3.52028385e+00] [ 2.49844707e-01 1.17416088e-02 9.68214727e-01 -2.12608572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.263741732 meters Centerline goodness [0,1] 0.7730998433908922 Centerline is valid? [False, False] Translation: X:-27.04, Y:3.52, Z:-2.13 [[ 9.67468476e-01 -2.68133894e-02 -2.51566670e-01 -2.70408043e+01] [ 2.35654732e-02 9.99595608e-01 -1.59150410e-02 3.51820055e+00] [ 2.51891675e-01 9.46901290e-03 9.67709110e-01 -2.12876578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.293741732 meters Centerline goodness [0,1] 0.6527561953054715 Centerline is valid? [False, False] Translation: X:-27.06, Y:3.52, Z:-2.13 [[ 9.64520280e-01 4.13132642e-03 -2.63976442e-01 -2.70610396e+01] [-1.03605702e-02 9.99699644e-01 -2.22099156e-02 3.51786301e+00] [ 2.63805399e-01 2.41568605e-02 9.64273383e-01 -2.13215294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.323741732 meters Centerline goodness [0,1] 0.6523110319264402 Centerline is valid? [False, False] Translation: X:-27.06, Y:3.52, Z:-2.13 [[ 9.64730523e-01 9.38188056e-03 -2.63072232e-01 -2.70627832e+01] [-1.46342155e-02 9.99730649e-01 -1.80130026e-02 3.51758676e+00] [ 2.62832378e-01 2.12275491e-02 9.64607968e-01 -2.13172895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.353741732 meters Centerline goodness [0,1] 0.670932884113647 Centerline is valid? [False, False] Translation: X:-27.07, Y:3.52, Z:-2.13 [[ 9.65057635e-01 1.29740291e-02 -2.61716328e-01 -2.70682561e+01] [-1.74744892e-02 9.99736640e-01 -1.48759423e-02 3.51597814e+00] [ 2.61454401e-01 1.89295008e-02 9.65030191e-01 -2.12958310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.383741732 meters Centerline goodness [0,1] 0.7133934767522554 Centerline is valid? [False, False] Translation: X:-27.09, Y:3.51, Z:-2.13 [[ 9.66878668e-01 1.21748077e-02 -2.54945908e-01 -2.70928227e+01] [-1.84130654e-02 9.99586265e-01 -2.20965680e-02 3.50810323e+00] [ 2.54571406e-01 2.60590359e-02 9.66702812e-01 -2.12673818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.413741732000002 meters Centerline goodness [0,1] 0.7070080696494938 Centerline is valid? [False, False] Translation: X:-27.13, Y:3.50, Z:-2.14 [[ 9.65314171e-01 1.58150018e-03 -2.61086288e-01 -2.71343102e+01] [-6.64163322e-03 9.99806803e-01 -1.84998916e-02 3.49921067e+00] [ 2.61006589e-01 1.95922469e-02 9.65138179e-01 -2.14393788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.443741732 meters Centerline goodness [0,1] 0.6939557639384364 Centerline is valid? [False, False] Translation: X:-27.14, Y:3.49, Z:-2.14 [[ 9.62718244e-01 -7.93267312e-03 -2.70389821e-01 -2.71426592e+01] [ 1.92965223e-03 9.99745881e-01 -2.24599648e-02 3.49090894e+00] [ 2.70499277e-01 2.11008596e-02 9.62488906e-01 -2.14330716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.473741732 meters Centerline goodness [0,1] 0.7712986108265377 Centerline is valid? [False, False] Translation: X:-27.17, Y:3.47, Z:-2.14 [[ 9.63158061e-01 -1.69545367e-02 -2.68400992e-01 -2.71679251e+01] [ 9.18699249e-03 9.99502570e-01 -3.01696990e-02 3.47387039e+00] [ 2.68778995e-01 2.65923909e-02 9.62834719e-01 -2.14339916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.503741732 meters Centerline goodness [0,1] 0.7856032083810771 Centerline is valid? [False, False] Translation: X:-27.20, Y:3.45, Z:-2.14 [[ 9.63796580e-01 -1.45215238e-02 -2.66242893e-01 -2.71984918e+01] [ 7.05114966e-03 9.99554744e-01 -2.89930147e-02 3.45496176e+00] [ 2.66545369e-01 2.60660499e-02 9.63469837e-01 -2.14009838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.533741732 meters Centerline goodness [0,1] 0.6809666311388046 Centerline is valid? [False, False] Translation: X:-27.22, Y:3.44, Z:-2.14 [[ 9.61916380e-01 -9.41742469e-03 -2.73181605e-01 -2.72222393e+01] [ 1.34128522e-03 9.99556918e-01 -2.97349735e-02 3.43812362e+00] [ 2.73340590e-01 2.82361436e-02 9.61502804e-01 -2.14072493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.563741732 meters Centerline goodness [0,1] 0.7210894024940087 Centerline is valid? [False, False] Translation: X:-27.24, Y:3.43, Z:-2.14 [[ 9.59955815e-01 -7.99229470e-03 -2.80037419e-01 -2.72387259e+01] [-1.63879851e-03 9.99415677e-01 -3.41411474e-02 3.42932757e+00] [ 2.80146653e-01 3.32329179e-02 9.59381794e-01 -2.14209428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.593741732 meters Centerline goodness [0,1] 0.6476122594440485 Centerline is valid? [False, False] Translation: X:-27.27, Y:3.42, Z:-2.15 [[ 9.60070676e-01 -9.50247613e-03 -2.79596138e-01 -2.72726162e+01] [ 1.58798968e-03 9.99591967e-01 -2.85197662e-02 3.41887042e+00] [ 2.79753062e-01 2.69369954e-02 9.59694026e-01 -2.15365291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.623741732 meters Centerline goodness [0,1] 0.8029025180652564 Centerline is valid? [False, False] Translation: X:-27.32, Y:3.41, Z:-2.17 [[ 9.62359957e-01 -1.43931731e-02 -2.71396663e-01 -2.73213178e+01] [ 8.14507278e-03 9.99675540e-01 -2.41344574e-02 3.41342592e+00] [ 2.71655978e-01 2.10154898e-02 9.62164944e-01 -2.16558152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.653741732 meters Centerline goodness [0,1] 0.8406049088188913 Centerline is valid? [False, False] Translation: X:-27.36, Y:3.41, Z:-2.18 [[ 9.63743943e-01 -1.92240470e-02 -2.66135394e-01 -2.73631391e+01] [ 1.44246416e-02 9.99696381e-01 -1.99768590e-02 3.41279466e+00] [ 2.66438626e-01 1.54136692e-02 9.63728633e-01 -2.17919794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.683741732 meters Centerline goodness [0,1] 0.8620340561663529 Centerline is valid? [False, False] Translation: X:-27.42, Y:3.41, Z:-2.20 [[ 9.64041190e-01 -2.22595653e-02 -2.64818986e-01 -2.74164822e+01] [ 1.76311119e-02 9.99647652e-01 -1.98422483e-02 3.40932094e+00] [ 2.65167358e-01 1.44596915e-02 9.64093974e-01 -2.19500904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.713741732 meters Centerline goodness [0,1] 0.798349487002717 Centerline is valid? [False, False] Translation: X:-27.44, Y:3.41, Z:-2.20 [[ 9.57991686e-01 -2.39688321e-02 -2.85792625e-01 -2.74403571e+01] [ 1.85387674e-02 9.99592827e-01 -2.16908592e-02 3.40560578e+00] [ 2.86196163e-01 1.54814198e-02 9.58045971e-01 -2.19951628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.743741732 meters Centerline goodness [0,1] 0.8164264782626149 Centerline is valid? [False, False] Translation: X:-27.46, Y:3.40, Z:-2.20 [[ 9.61811552e-01 -2.04776889e-02 -2.72945421e-01 -2.74614660e+01] [ 1.48623989e-02 9.99633545e-01 -2.26248817e-02 3.40446117e+00] [ 2.73308704e-01 1.77042488e-02 9.61763439e-01 -2.19741220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.773741732 meters Centerline goodness [0,1] 0.8226198186528497 Centerline is valid? [False, False] Translation: X:-27.49, Y:3.41, Z:-2.20 [[ 9.65052409e-01 -1.74614055e-02 -2.61474564e-01 -2.74857545e+01] [ 1.04348602e-02 9.99546785e-01 -2.82371815e-02 3.40530761e+00] [ 2.61849121e-01 2.45219095e-02 9.64797240e-01 -2.19695579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.803741732 meters Centerline goodness [0,1] 0.7980660071359066 Centerline is valid? [False, False] Translation: X:-27.51, Y:3.41, Z:-2.20 [[ 9.63088833e-01 -1.65288375e-02 -2.68675824e-01 -2.75107734e+01] [ 8.81910466e-03 9.99514676e-01 -2.98770254e-02 3.41086142e+00] [ 2.69039261e-01 2.64047493e-02 9.62767192e-01 -2.20308612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.833741732 meters Centerline goodness [0,1] 0.7406412213740459 Centerline is valid? [False, False] Translation: X:-27.53, Y:3.41, Z:-2.21 [[ 9.58886837e-01 -1.80460760e-02 -2.83214358e-01 -2.75284739e+01] [ 9.13169458e-03 9.99421383e-01 -3.27644848e-02 3.41418568e+00] [ 2.83641756e-01 2.88312062e-02 9.58496800e-01 -2.20968662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.863741732 meters Centerline goodness [0,1] 0.795696305318717 Centerline is valid? [False, False] Translation: X:-27.53, Y:3.42, Z:-2.21 [[ 9.58919163e-01 -1.61688300e-02 -2.83218303e-01 -2.75334064e+01] [ 7.69460527e-03 9.99489514e-01 -3.10081356e-02 3.41504379e+00] [ 2.83575090e-01 2.75550424e-02 9.58554061e-01 -2.20713544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.893741732 meters Centerline goodness [0,1] 0.7489571251246363 Centerline is valid? [False, False] Translation: X:-27.56, Y:3.42, Z:-2.20 [[ 9.57880286e-01 -1.35522585e-02 -2.86847859e-01 -2.75575932e+01] [ 3.09597892e-03 9.99315105e-01 -3.68745980e-02 3.41907439e+00] [ 2.87151132e-01 3.44333755e-02 9.57266196e-01 -2.20443589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.923741732 meters Centerline goodness [0,1] 0.7788222340035071 Centerline is valid? [False, False] Translation: X:-27.62, Y:3.43, Z:-2.22 [[ 9.59724447e-01 -1.11272509e-02 -2.80722587e-01 -2.76197447e+01] [ 1.33428713e-03 9.99384603e-01 -3.50518831e-02 3.42597664e+00] [ 2.80939862e-01 3.32655846e-02 9.59148682e-01 -2.22020955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.953741732 meters Centerline goodness [0,1] 0.7713076563104031 Centerline is valid? [False, False] Translation: X:-27.66, Y:3.43, Z:-2.23 [[ 9.60804726e-01 -1.04232179e-02 -2.77030025e-01 -2.76630117e+01] [ 2.60443615e-03 9.99588213e-01 -2.85765818e-02 3.42988760e+00] [ 2.77213807e-01 2.67350078e-02 9.60436226e-01 -2.23144034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.983741732 meters Centerline goodness [0,1] 0.7688552050988724 Centerline is valid? [False, False] Translation: X:-27.72, Y:3.43, Z:-2.25 [[ 9.59689278e-01 -7.54889269e-03 -2.80961748e-01 -2.77162530e+01] [-1.85839789e-05 9.99637543e-01 -2.69217837e-02 3.43392777e+00] [ 2.81063141e-01 2.58417685e-02 9.59341292e-01 -2.24742132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.013741732 meters Centerline goodness [0,1] 0.6541416370397614 Centerline is valid? [False, False] Translation: X:-27.74, Y:3.44, Z:-2.25 [[ 9.57366150e-01 2.11603776e-03 -2.88869482e-01 -2.77373220e+01] [-1.34068235e-02 9.99221133e-01 -3.71131255e-02 3.43788851e+00] [ 2.88565958e-01 3.94036722e-02 9.56648858e-01 -2.25125789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.043741732 meters Centerline goodness [0,1] 0.6079841609762011 Centerline is valid? [False, False] Translation: X:-27.73, Y:3.44, Z:-2.25 [[ 9.56903169e-01 1.93485389e-02 -2.89761899e-01 -2.77315674e+01] [-3.12591261e-02 9.98843444e-01 -3.65327381e-02 3.43991629e+00] [ 2.88719919e-01 4.40159967e-02 9.56401276e-01 -2.25347536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.073741732 meters Centerline goodness [0,1] 0.6747179665027847 Centerline is valid? [False, False] Translation: X:-27.73, Y:3.43, Z:-2.25 [[ 9.59325740e-01 2.28742133e-02 -2.81373230e-01 -2.77290265e+01] [-3.51374675e-02 9.98636186e-01 -3.86151163e-02 3.43392521e+00] [ 2.80106198e-01 4.69312178e-02 9.58821140e-01 -2.25231884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.103741732 meters Centerline goodness [0,1] 0.6820916905444125 Centerline is valid? [False, False] Translation: X:-27.75, Y:3.41, Z:-2.25 [[ 9.59764836e-01 1.35023081e-02 -2.80480207e-01 -2.77490834e+01] [-2.71016257e-02 9.98634390e-01 -4.46638220e-02 3.41396705e+00] [ 2.79494116e-01 5.04682354e-02 9.58820106e-01 -2.24840377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.133741732 meters Centerline goodness [0,1] 0.6426512968299711 Centerline is valid? [False, False] Translation: X:-27.78, Y:3.40, Z:-2.26 [[ 9.59331925e-01 6.85550868e-03 -2.82197200e-01 -2.77789323e+01] [-1.71506004e-02 9.99273714e-01 -3.40279382e-02 3.40173051e+00] [ 2.81758965e-01 3.74839389e-02 9.58752752e-01 -2.26091454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.163741732000002 meters Centerline goodness [0,1] 0.6986455060993024 Centerline is valid? [False, False] Translation: X:-27.81, Y:3.38, Z:-2.27 [[ 9.59706036e-01 7.04187006e-03 -2.80917668e-01 -2.78149527e+01] [-1.63780297e-02 9.99388269e-01 -3.09006253e-02 3.38010664e+00] [ 2.80528224e-01 3.42563945e-02 9.59234286e-01 -2.26865046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.193741732 meters Centerline goodness [0,1] 0.6443131522312908 Centerline is valid? [False, False] Translation: X:-27.83, Y:3.36, Z:-2.27 [[ 9.59816891e-01 7.95546699e-03 -2.80514254e-01 -2.78310013e+01] [-1.87889682e-02 9.99176875e-01 -3.59520067e-02 3.36481754e+00] [ 2.79997341e-01 3.97779167e-02 9.59176317e-01 -2.27009670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.223741732 meters Centerline goodness [0,1] 0.671583328233062 Centerline is valid? [False, False] Translation: X:-27.76, Y:3.36, Z:-2.26 [[ 9.59988842e-01 1.39617721e-03 -2.80034774e-01 -2.77586317e+01] [-1.12235660e-02 9.99375932e-01 -3.34929555e-02 3.35809162e+00] [ 2.79813251e-01 3.52958524e-02 9.59405413e-01 -2.25879180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.253741732 meters Centerline goodness [0,1] 0.6553109072375127 Centerline is valid? [False, False] Translation: X:-27.80, Y:3.34, Z:-2.27 [[ 9.59772293e-01 -7.16377630e-04 -2.80778619e-01 -2.78003771e+01] [-6.65038747e-03 9.99658207e-01 -2.52832300e-02 3.33824644e+00] [ 2.80700764e-01 2.61334302e-02 9.59439485e-01 -2.27263565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.283741732 meters Centerline goodness [0,1] 0.6546257274734095 Centerline is valid? [False, False] Translation: X:-27.82, Y:3.31, Z:-2.28 [[ 9.58535849e-01 -9.43305366e-03 -2.84815808e-01 -2.78216149e+01] [ 3.87876847e-03 9.99791272e-01 -2.00590905e-02 3.30966959e+00] [ 2.84945578e-01 1.81226228e-02 9.58372364e-01 -2.27526658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.313741732 meters Centerline goodness [0,1] 0.6671532846715329 Centerline is valid? [False, False] Translation: X:-27.84, Y:3.30, Z:-2.28 [[ 9.56856094e-01 -1.19213385e-02 -2.90317578e-01 -2.78375222e+01] [ 3.77179223e-03 9.99583403e-01 -2.86145599e-02 3.29901760e+00] [ 2.90537757e-01 2.62849984e-02 9.56502436e-01 -2.27521795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.343741732 meters Centerline goodness [0,1] 0.7296592700375895 Centerline is valid? [False, False] Translation: X:-27.86, Y:3.29, Z:-2.28 [[ 9.57718302e-01 -1.02157530e-02 -2.87526159e-01 -2.78585009e+01] [ 8.04373105e-04 9.99460581e-01 -3.28313766e-02 3.29284516e+00] [ 2.87706459e-01 3.12119319e-02 9.57209908e-01 -2.27621675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.373741732 meters Centerline goodness [0,1] 0.7436843599205223 Centerline is valid? [False, False] Translation: X:-27.88, Y:3.29, Z:-2.28 [[ 9.58649348e-01 -7.25323245e-03 -2.84497483e-01 -2.78819671e+01] [-3.20466066e-03 9.99336654e-01 -3.62764788e-02 3.28765292e+00] [ 2.84571884e-01 3.56881406e-02 9.57990188e-01 -2.27641217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.403741732 meters Centerline goodness [0,1] 0.6760912396157048 Centerline is valid? [False, False] Translation: X:-27.92, Y:3.28, Z:-2.29 [[ 9.56132245e-01 -3.47482670e-03 -2.92914757e-01 -2.79232772e+01] [-7.37390534e-03 9.99327289e-01 -3.59248469e-02 3.27821054e+00] [ 2.92842543e-01 3.65088302e-02 9.55463422e-01 -2.28783252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.433741732 meters Centerline goodness [0,1] 0.6776273110606552 Centerline is valid? [False, False] Translation: X:-27.94, Y:3.27, Z:-2.29 [[ 9.53930247e-01 -3.72955418e-03 -3.00005292e-01 -2.79395452e+01] [-6.02451130e-03 9.99483026e-01 -3.15814085e-02 3.26943377e+00] [ 2.99967981e-01 3.19338460e-02 9.53414621e-01 -2.28538399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.463741732 meters Centerline goodness [0,1] 0.6776273110606552 Centerline is valid? [False, False] Translation: X:-27.94, Y:3.27, Z:-2.29 [[ 9.53930247e-01 -3.72955418e-03 -3.00005292e-01 -2.79395452e+01] [-6.02451130e-03 9.99483026e-01 -3.15814085e-02 3.26943377e+00] [ 2.99967981e-01 3.19338460e-02 9.53414621e-01 -2.28538399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.493741732 meters Centerline goodness [0,1] 0.7114870340356564 Centerline is valid? [False, False] Translation: X:-27.96, Y:3.26, Z:-2.29 [[ 9.57921884e-01 -7.14848086e-03 -2.86940000e-01 -2.79608182e+01] [-1.30141286e-03 9.99571374e-01 -2.92467718e-02 3.25957678e+00] [ 2.87026080e-01 2.83895501e-02 9.57501991e-01 -2.28806759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.523741732 meters Centerline goodness [0,1] 0.6740225715437324 Centerline is valid? [False, False] Translation: X:-27.99, Y:3.26, Z:-2.30 [[ 9.55769986e-01 -1.17957253e-02 -2.93878537e-01 -2.79934898e+01] [ 2.95631923e-03 9.99530257e-01 -3.05045182e-02 3.25763643e+00] [ 2.94100313e-01 2.82865041e-02 9.55355892e-01 -2.29889691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.553741732 meters Centerline goodness [0,1] 0.6391906627357538 Centerline is valid? [False, False] Translation: X:-28.03, Y:3.25, Z:-2.31 [[ 9.52886079e-01 -1.71870736e-02 -3.02841089e-01 -2.80345815e+01] [ 9.18214791e-03 9.99570306e-01 -2.78368684e-02 3.25432310e+00] [ 3.03189395e-01 2.37446327e-02 9.52634444e-01 -2.31096750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.583741732 meters Centerline goodness [0,1] 0.712314850559766 Centerline is valid? [False, False] Translation: X:-28.06, Y:3.25, Z:-2.31 [[ 9.55022922e-01 -1.60837342e-02 -2.96095478e-01 -2.80598681e+01] [ 6.73880318e-03 9.99447256e-01 -3.25541360e-02 3.25128760e+00] [ 2.96455405e-01 2.90946169e-02 9.54603423e-01 -2.30980672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.613741732 meters Centerline goodness [0,1] 0.714823941510702 Centerline is valid? [False, False] Translation: X:-28.11, Y:3.25, Z:-2.31 [[ 9.57130496e-01 -9.69493014e-03 -2.89494770e-01 -2.81053990e+01] [-1.59098300e-03 9.99248674e-01 -3.87241001e-02 3.25346160e+00] [ 2.89652692e-01 3.75245984e-02 9.56395955e-01 -2.31414635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.643741732 meters Centerline goodness [0,1] 0.6435189899195601 Centerline is valid? [False, False] Translation: X:-28.13, Y:3.26, Z:-2.31 [[ 9.55208401e-01 -7.08222839e-03 -2.95849205e-01 -2.81275751e+01] [-5.93370875e-03 9.99054256e-01 -4.30741697e-02 3.25898916e+00] [ 2.95874469e-01 4.29002917e-02 9.54262995e-01 -2.31455059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.673741732 meters Centerline goodness [0,1] 0.6372235246152278 Centerline is valid? [False, False] Translation: X:-28.16, Y:3.27, Z:-2.33 [[ 9.51606771e-01 -4.38210250e-03 -3.07287081e-01 -2.81641589e+01] [-1.01424419e-02 9.98905817e-01 -4.56541290e-02 3.26753756e+00] [ 3.07150914e-01 4.65614197e-02 9.50521094e-01 -2.32629515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.703741732 meters Centerline goodness [0,1] 0.6660255501791752 Centerline is valid? [False, False] Translation: X:-28.20, Y:3.27, Z:-2.33 [[ 9.54664006e-01 -6.47597048e-04 -2.97684759e-01 -2.81955833e+01] [-1.44086130e-02 9.98725044e-01 -4.83805611e-02 3.27209599e+00] [ 2.97336555e-01 5.04764047e-02 9.53437521e-01 -2.32730186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.733741732 meters Centerline goodness [0,1] 0.6772724512720869 Centerline is valid? [False, False] Translation: X:-28.21, Y:3.28, Z:-2.33 [[ 9.55328613e-01 -3.00816076e-03 -2.95530357e-01 -2.82116056e+01] [-1.16233489e-02 9.98792161e-01 -4.77400875e-02 3.27612161e+00] [ 2.95317014e-01 4.90425240e-02 9.54139765e-01 -2.32611617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.763741732 meters Centerline goodness [0,1] 0.6401019367991845 Centerline is valid? [False, False] Translation: X:-28.25, Y:3.28, Z:-2.34 [[ 9.51695141e-01 -9.88404684e-03 -3.06885425e-01 -2.82458918e+01] [-3.83147877e-03 9.99021625e-01 -4.40580593e-02 3.27735293e+00] [ 3.07020648e-01 4.31056660e-02 9.50726156e-01 -2.34313447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.793741732 meters Centerline goodness [0,1] 0.6780980003676546 Centerline is valid? [False, False] Translation: X:-28.29, Y:3.28, Z:-2.36 [[ 9.53385832e-01 -1.43620889e-02 -3.01411988e-01 -2.82906190e+01] [ 2.87868920e-03 9.99254132e-01 -3.85083394e-02 3.27816160e+00] [ 3.01740235e-01 3.58456338e-02 9.52716076e-01 -2.35657669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.823741732 meters Centerline goodness [0,1] 0.708206500643527 Centerline is valid? [False, False] Translation: X:-28.30, Y:3.28, Z:-2.35 [[ 9.53432267e-01 -1.92715358e-02 -3.00990896e-01 -2.83024729e+01] [ 7.02932821e-03 9.99105313e-01 -4.17032727e-02 3.27840506e+00] [ 3.01525290e-01 3.76454820e-02 9.52714709e-01 -2.35150900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.853741732 meters Centerline goodness [0,1] 0.7126824021269256 Centerline is valid? [False, False] Translation: X:-28.31, Y:3.28, Z:-2.36 [[ 9.50564754e-01 -3.03568544e-02 -3.09039010e-01 -2.83116303e+01] [ 1.85373285e-02 9.98982591e-01 -4.11114375e-02 3.27976059e+00] [ 3.09972605e-01 3.33503258e-02 9.50160376e-01 -2.35816551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.883741732 meters Centerline goodness [0,1] 0.7524484352411785 Centerline is valid? [False, False] Translation: X:-28.32, Y:3.28, Z:-2.36 [[ 9.50409178e-01 -3.64044521e-02 -3.08864227e-01 -2.83223471e+01] [ 2.37754911e-02 9.98723959e-01 -4.45553494e-02 3.28396676e+00] [ 3.10092117e-01 3.50024143e-02 9.50061951e-01 -2.35585431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.913741732000002 meters Centerline goodness [0,1] 0.7413624111737319 Centerline is valid? [False, False] Translation: X:-28.34, Y:3.29, Z:-2.36 [[ 9.52542170e-01 -2.91707023e-02 -3.03005749e-01 -2.83416387e+01] [ 1.51000021e-02 9.98700426e-01 -4.86769775e-02 3.29151179e+00] [ 3.04031912e-01 4.17914864e-02 9.51744750e-01 -2.35686379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.943741732 meters Centerline goodness [0,1] 0.7355966867777892 Centerline is valid? [False, False] Translation: X:-28.38, Y:3.31, Z:-2.37 [[ 9.54025508e-01 -2.15985789e-02 -2.98946201e-01 -2.83810738e+01] [ 6.49872390e-03 9.98656351e-01 -5.14126273e-02 3.30647951e+00] [ 2.99654962e-01 4.71061891e-02 9.52883997e-01 -2.36816485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.973741732 meters Centerline goodness [0,1] 0.7294879078071741 Centerline is valid? [False, False] Translation: X:-28.41, Y:3.32, Z:-2.38 [[ 9.53815816e-01 -2.29554290e-02 -2.99513669e-01 -2.84089445e+01] [ 1.18853362e-02 9.99179026e-01 -3.87299902e-02 3.31956279e+00] [ 3.00156840e-01 3.33814566e-02 9.53305591e-01 -2.37886689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.003741732 meters Centerline goodness [0,1] 0.7672754044049981 Centerline is valid? [False, False] Translation: X:-28.45, Y:3.33, Z:-2.39 [[ 9.51112167e-01 -3.24550387e-02 -3.07135663e-01 -2.84476454e+01] [ 2.14058891e-02 9.98999079e-01 -3.92762991e-02 3.33457001e+00] [ 3.08102959e-01 3.07816540e-02 9.50854908e-01 -2.39049892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.033741731999996 meters Centerline goodness [0,1] 0.7534226863462566 Centerline is valid? [False, False] Translation: X:-28.47, Y:3.35, Z:-2.39 [[ 9.51353775e-01 -3.41719802e-02 -3.06199722e-01 -2.84722624e+01] [ 2.08248411e-02 9.98689436e-01 -4.67518532e-02 3.35306974e+00] [ 3.07396032e-01 3.81009915e-02 9.50818592e-01 -2.39447497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.063741732 meters Centerline goodness [0,1] 0.7633762986946454 Centerline is valid? [False, False] Translation: X:-28.52, Y:3.37, Z:-2.40 [[ 9.55883494e-01 -2.73953840e-02 -2.92465790e-01 -2.85160272e+01] [ 1.54464988e-02 9.98951888e-01 -4.30874917e-02 3.36773175e+00] [ 2.93339651e-01 3.66690497e-02 9.55304784e-01 -2.39812925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.093741732 meters Centerline goodness [0,1] 0.7231559194110491 Centerline is valid? [False, False] Translation: X:-28.57, Y:3.38, Z:-2.41 [[ 9.52167891e-01 -2.88608114e-02 -3.04209402e-01 -2.85669020e+01] [ 1.57585773e-02 9.98842868e-01 -4.54377944e-02 3.38280740e+00] [ 3.05168763e-01 3.84705015e-02 9.51520912e-01 -2.41205579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.123741732 meters Centerline goodness [0,1] 0.7596243162349056 Centerline is valid? [False, False] Translation: X:-28.59, Y:3.40, Z:-2.43 [[ 9.51566213e-01 -3.20388575e-02 -3.05769937e-01 -2.85924631e+01] [ 1.90018544e-02 9.98782735e-01 -4.55189783e-02 3.39596059e+00] [ 3.06856110e-01 3.75041260e-02 9.51016702e-01 -2.42865507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.15374173199999 meters Centerline goodness [0,1] 0.7310430463576159 Centerline is valid? [False, False] Translation: X:-28.61, Y:3.41, Z:-2.43 [[ 9.52529813e-01 -2.95316414e-02 -3.03009632e-01 -2.86077028e+01] [ 1.75152105e-02 9.98951469e-01 -4.22987094e-02 3.40860009e+00] [ 3.03941068e-01 3.49835043e-02 9.52048309e-01 -2.42946923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.183741731999994 meters Centerline goodness [0,1] 0.7191192266380236 Centerline is valid? [False, False] Translation: X:-28.61, Y:3.41, Z:-2.43 [[ 9.52190258e-01 -2.50931072e-02 -3.04473396e-01 -2.86137758e+01] [ 1.39884432e-02 9.99156875e-01 -3.85987457e-02 3.41060396e+00] [ 3.05185249e-01 3.24942408e-02 9.51738456e-01 -2.42540149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.213741731999995 meters Centerline goodness [0,1] 0.7224819995034346 Centerline is valid? [False, False] Translation: X:-28.63, Y:3.41, Z:-2.42 [[ 9.52368793e-01 -2.19979230e-02 -3.04154194e-01 -2.86257895e+01] [ 1.17286420e-02 9.99299092e-01 -3.55494419e-02 3.41180183e+00] [ 3.04723024e-01 3.02888634e-02 9.51959276e-01 -2.42087792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.243741732 meters Centerline goodness [0,1] 0.7220448608980472 Centerline is valid? [False, False] Translation: X:-28.65, Y:3.42, Z:-2.43 [[ 9.52204414e-01 -2.01076044e-02 -3.04799013e-01 -2.86515528e+01] [ 8.32923092e-03 9.99169186e-01 -3.98943820e-02 3.41780318e+00] [ 3.05347963e-01 3.54488652e-02 9.51580790e-01 -2.42669829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.273741732 meters Centerline goodness [0,1] 0.7171118115461181 Centerline is valid? [False, False] Translation: X:-28.68, Y:3.42, Z:-2.44 [[ 9.50539199e-01 -1.92666755e-02 -3.10006493e-01 -2.86838931e+01] [ 7.75946046e-03 9.99235784e-01 -3.83097792e-02 3.42044637e+00] [ 3.10507683e-01 3.40094638e-02 9.49962281e-01 -2.43652400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.303741732 meters Centerline goodness [0,1] 0.7385955067855436 Centerline is valid? [False, False] Translation: X:-28.74, Y:3.42, Z:-2.45 [[ 9.51067704e-01 -2.10283176e-02 -3.08266170e-01 -2.87424725e+01] [ 1.10549939e-02 9.99358510e-01 -3.40640052e-02 3.41971894e+00] [ 3.08784729e-01 2.89892946e-02 9.50690071e-01 -2.45013653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.333741732 meters Centerline goodness [0,1] 0.7605756832078532 Centerline is valid? [False, False] Translation: X:-28.78, Y:3.42, Z:-2.46 [[ 9.49064297e-01 -3.20991208e-02 -3.13443147e-01 -2.87766273e+01] [ 2.47145355e-02 9.99316079e-01 -2.75057356e-02 3.42239181e+00] [ 3.14111687e-01 1.83581098e-02 9.49208527e-01 -2.46261635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.363741731999994 meters Centerline goodness [0,1] 0.7187869730369263 Centerline is valid? [False, False] Translation: X:-28.78, Y:3.42, Z:-2.47 [[ 9.47836370e-01 -3.98288955e-02 -3.16259189e-01 -2.87775502e+01] [ 3.24028845e-02 9.99062535e-01 -2.87072288e-02 3.42326230e+00] [ 3.17106085e-01 1.69620455e-02 9.48238377e-01 -2.46880323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.393741731999995 meters Centerline goodness [0,1] 0.7359863606121091 Centerline is valid? [False, False] Translation: X:-28.78, Y:3.42, Z:-2.47 [[ 9.47620682e-01 -4.72906499e-02 -3.15877568e-01 -2.87833422e+01] [ 3.86115856e-02 9.98686471e-01 -3.36820219e-02 3.41968021e+00] [ 3.17055498e-01 1.97212468e-02 9.48201921e-01 -2.46684495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.423741731999996 meters Centerline goodness [0,1] 0.7733859248494914 Centerline is valid? [False, False] Translation: X:-28.84, Y:3.41, Z:-2.47 [[ 9.52398348e-01 -4.47991366e-02 -3.01546719e-01 -2.88416869e+01] [ 3.93457577e-02 9.98934081e-01 -2.41373863e-02 3.41477679e+00] [ 3.02306629e-01 1.11238227e-02 9.53145824e-01 -2.47337411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.453741732 meters Centerline goodness [0,1] 0.8059856377900461 Centerline is valid? [False, False] Translation: X:-28.89, Y:3.42, Z:-2.49 [[ 9.53586907e-01 -4.12806618e-02 -2.98274904e-01 -2.88920593e+01] [ 3.51739335e-02 9.99047738e-01 -2.58149422e-02 3.41668397e+00] [ 2.99056526e-01 1.41252892e-02 9.54130846e-01 -2.48894825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.483741732 meters Centerline goodness [0,1] 0.747541051929649 Centerline is valid? [False, False] Translation: X:-28.82, Y:3.45, Z:-2.48 [[ 9.51294055e-01 -3.48426566e-02 -3.06309665e-01 -2.88215030e+01] [ 2.53358878e-02 9.99067545e-01 -3.49590272e-02 3.44687242e+00] [ 3.07242110e-01 2.54956875e-02 9.51289785e-01 -2.47791813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.513741732 meters Centerline goodness [0,1] 0.7421062503907797 Centerline is valid? [False, False] Translation: X:-28.85, Y:3.45, Z:-2.48 [[ 9.49481219e-01 -3.17550249e-02 -3.12213122e-01 -2.88457181e+01] [ 2.10052889e-02 9.99067000e-01 -3.77347053e-02 3.44657632e+00] [ 3.13120093e-01 2.92702672e-02 9.49262376e-01 -2.47856131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.543741731999994 meters Centerline goodness [0,1] 0.7295567223814405 Centerline is valid? [False, False] Translation: X:-28.86, Y:3.44, Z:-2.47 [[ 9.49314097e-01 -3.10935452e-02 -3.12787366e-01 -2.88584364e+01] [ 2.09193438e-02 9.99138860e-01 -3.58318223e-02 3.44391801e+00] [ 3.13632151e-01 2.74723476e-02 9.49147061e-01 -2.47339214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.573741731999995 meters Centerline goodness [0,1] 0.7523600209314495 Centerline is valid? [False, False] Translation: X:-28.86, Y:3.45, Z:-2.47 [[ 9.49680371e-01 -3.27840005e-02 -3.11500246e-01 -2.88613839e+01] [ 2.23298655e-02 9.99063188e-01 -3.70691621e-02 3.44694847e+00] [ 3.12423704e-01 2.82480970e-02 9.49522761e-01 -2.47476493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.603741731999996 meters Centerline goodness [0,1] 0.7375668672684721 Centerline is valid? [False, False] Translation: X:-28.87, Y:3.45, Z:-2.47 [[ 9.49916055e-01 -3.47281106e-02 -3.10569553e-01 -2.88661926e+01] [ 2.39930220e-02 9.98977407e-01 -3.83206951e-02 3.44774949e+00] [ 3.11582772e-01 2.89499413e-02 9.49777909e-01 -2.47399704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.633741732 meters Centerline goodness [0,1] 0.7437307199966424 Centerline is valid? [False, False] Translation: X:-28.88, Y:3.45, Z:-2.47 [[ 9.49591451e-01 -3.69251690e-02 -3.11307899e-01 -2.88803291e+01] [ 2.63671627e-02 9.98927632e-01 -3.80573038e-02 3.44506717e+00] [ 3.12379335e-01 2.79305843e-02 9.49546752e-01 -2.46902350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.663741732 meters Centerline goodness [0,1] 0.7666603777540196 Centerline is valid? [False, False] Translation: X:-28.89, Y:3.45, Z:-2.47 [[ 9.49091663e-01 -3.75539704e-02 -3.12753440e-01 -2.88869198e+01] [ 2.74841784e-02 9.98953982e-01 -3.65453492e-02 3.44888250e+00] [ 3.13798717e-01 2.60891150e-02 9.49131036e-01 -2.46952128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.693741732 meters Centerline goodness [0,1] 0.7371794871794872 Centerline is valid? [False, False] Translation: X:-28.90, Y:3.46, Z:-2.47 [[ 9.49338765e-01 -4.26462755e-02 -3.11347403e-01 -2.88967390e+01] [ 3.25946454e-02 9.98767937e-01 -3.74192046e-02 3.45510279e+00] [ 3.12559593e-01 2.53752433e-02 9.49559160e-01 -2.47372668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72374173199999 meters Centerline goodness [0,1] 0.7656054410414754 Centerline is valid? [False, False] Translation: X:-28.94, Y:3.46, Z:-2.49 [[ 9.50362028e-01 -4.80401871e-02 -3.07415282e-01 -2.89388564e+01] [ 3.91826273e-02 9.98621555e-01 -3.49243705e-02 3.45950554e+00] [ 3.08669300e-01 2.11454571e-02 9.50934347e-01 -2.49023091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.753741731999995 meters Centerline goodness [0,1] 0.7952953586497891 Centerline is valid? [False, False] Translation: X:-28.98, Y:3.46, Z:-2.50 [[ 9.50610951e-01 -5.13226526e-02 -3.06112405e-01 -2.89774436e+01] [ 4.33113605e-02 9.98519406e-01 -3.29108223e-02 3.46131170e+00] [ 3.07348248e-01 1.80272433e-02 9.51426336e-01 -2.50170167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.783741731999996 meters Centerline goodness [0,1] 0.788323940986513 Centerline is valid? [False, False] Translation: X:-29.02, Y:3.47, Z:-2.51 [[ 9.50705154e-01 -5.28336329e-02 -3.05562297e-01 -2.90235971e+01] [ 4.58035755e-02 9.98495792e-01 -3.01361291e-02 3.46809232e+00] [ 3.06694868e-01 1.46547275e-02 9.51695065e-01 -2.51485516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.813741732 meters Centerline goodness [0,1] 0.7991869230117727 Centerline is valid? [False, False] Translation: X:-29.06, Y:3.47, Z:-2.53 [[ 9.52229402e-01 -5.32946287e-02 -3.00697270e-01 -2.90603520e+01] [ 4.67251020e-02 9.98486666e-01 -2.90024587e-02 3.47315378e+00] [ 3.01787890e-01 1.35668833e-02 9.53278558e-01 -2.52728562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.843741732 meters Centerline goodness [0,1] 0.7997220116249684 Centerline is valid? [False, False] Translation: X:-29.10, Y:3.48, Z:-2.54 [[ 9.51008498e-01 -5.56049159e-02 -3.04123217e-01 -2.91019259e+01] [ 4.99188449e-02 9.98403081e-01 -2.64461023e-02 3.48080491e+00] [ 3.05108090e-01 9.96898832e-03 9.52265547e-01 -2.54182738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.873741732 meters Centerline goodness [0,1] 0.7511851350207399 Centerline is valid? [False, False] Translation: X:-29.12, Y:3.48, Z:-2.54 [[ 9.49451051e-01 -5.13946512e-02 -3.09679336e-01 -2.91203734e+01] [ 4.36944470e-02 9.98540140e-01 -3.17550528e-02 3.48413742e+00] [ 3.10859287e-01 1.66186010e-02 9.50310647e-01 -2.53876747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90374173199999 meters Centerline goodness [0,1] 0.7531574604920772 Centerline is valid? [False, False] Translation: X:-29.12, Y:3.49, Z:-2.54 [[ 9.49761779e-01 -4.44246646e-02 -3.09804798e-01 -2.91198051e+01] [ 3.79058947e-02 9.98915595e-01 -2.70328943e-02 3.48910762e+00] [ 3.10669772e-01 1.39313817e-02 9.50415809e-01 -2.53902291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.933741731999994 meters Centerline goodness [0,1] 0.7652651909077404 Centerline is valid? [False, False] Translation: X:-29.13, Y:3.49, Z:-2.54 [[ 9.50744950e-01 -3.87817722e-02 -3.07538637e-01 -2.91313034e+01] [ 3.01171726e-02 9.99005694e-01 -3.28721671e-02 3.49058163e+00] [ 3.08507691e-01 2.19908527e-02 9.50967616e-01 -2.54138710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.963741731999995 meters Centerline goodness [0,1] 0.7626431044370341 Centerline is valid? [False, False] Translation: X:-29.17, Y:3.49, Z:-2.56 [[ 9.51179170e-01 -3.76767782e-02 -3.06330942e-01 -2.91718106e+01] [ 3.06432889e-02 9.99145403e-01 -2.77390250e-02 3.49095464e+00] [ 3.07114270e-01 1.69977952e-02 9.51520836e-01 -2.55862705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.993741732 meters Centerline goodness [0,1] 0.7730021002609415 Centerline is valid? [False, False] Translation: X:-29.19, Y:3.49, Z:-2.57 [[ 9.49460485e-01 -4.34429923e-02 -3.10865715e-01 -2.91938981e+01] [ 3.90253637e-02 9.99029557e-01 -2.04197255e-02 3.49158904e+00] [ 3.11451132e-01 7.25607489e-03 9.50234467e-01 -2.56957006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.023741732 meters Centerline goodness [0,1] 0.7423250276384046 Centerline is valid? [False, False] Translation: X:-29.21, Y:3.49, Z:-2.57 [[ 9.47709778e-01 -5.08644856e-02 -3.15053932e-01 -2.92136306e+01] [ 4.23306402e-02 9.98529212e-01 -3.38751940e-02 3.48700667e+00] [ 3.16313599e-01 1.87674180e-02 9.48469025e-01 -2.56577675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.053741732 meters Centerline goodness [0,1] 0.7571618569106378 Centerline is valid? [False, False] Translation: X:-29.26, Y:3.49, Z:-2.58 [[ 9.50857861e-01 -4.55548832e-02 -3.06258193e-01 -2.92615640e+01] [ 3.94002506e-02 9.98878609e-01 -2.62515764e-02 3.49266250e+00] [ 3.07110645e-01 1.28948682e-02 9.51586451e-01 -2.57984286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.083741732 meters Centerline goodness [0,1] 0.7781169940222032 Centerline is valid? [False, False] Translation: X:-29.32, Y:3.49, Z:-2.59 [[ 9.51479005e-01 -4.26850886e-02 -3.04738719e-01 -2.93220335e+01] [ 3.52434494e-02 9.98931923e-01 -2.98816493e-02 3.49221391e+00] [ 3.05688735e-01 1.76917183e-02 9.51967121e-01 -2.59199844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.113741731999994 meters Centerline goodness [0,1] 0.7272280401795255 Centerline is valid? [False, False] Translation: X:-29.38, Y:3.49, Z:-2.61 [[ 9.49572281e-01 -3.67253806e-02 -3.11389997e-01 -2.93838151e+01] [ 2.91047850e-02 9.99153091e-01 -2.90862923e-02 3.49415871e+00] [ 3.12194484e-01 1.85565980e-02 9.49836963e-01 -2.60818539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.143741731999995 meters Centerline goodness [0,1] 0.7169549137396584 Centerline is valid? [False, False] Translation: X:-29.39, Y:3.49, Z:-2.61 [[ 9.48040891e-01 -2.04643871e-02 -3.17489651e-01 -2.93904426e+01] [ 9.05988245e-03 9.99260953e-01 -3.73559386e-02 3.49017579e+00] [ 3.18019478e-01 3.25385384e-02 9.47525649e-01 -2.61192583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.173741731999996 meters Centerline goodness [0,1] 0.709460469287102 Centerline is valid? [False, False] Translation: X:-29.39, Y:3.49, Z:-2.62 [[ 9.48447113e-01 -7.49829226e-03 -3.16846728e-01 -2.93862204e+01] [-1.25036566e-03 9.99623787e-01 -2.73992951e-02 3.48817643e+00] [ 3.16932974e-01 2.63829566e-02 9.48080919e-01 -2.61513666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.203741732 meters Centerline goodness [0,1] 0.6943315962990535 Centerline is valid? [False, False] Translation: X:-29.39, Y:3.48, Z:-2.61 [[ 9.48697086e-01 -2.76069632e-03 -3.16174346e-01 -2.93943235e+01] [-4.79405713e-03 9.99721343e-01 -2.31139406e-02 3.48041371e+00] [ 3.16150052e-01 2.34438860e-02 9.48419490e-01 -2.61286064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.233741732 meters Centerline goodness [0,1] 0.7249351863657614 Centerline is valid? [False, False] Translation: X:-29.42, Y:3.47, Z:-2.61 [[ 9.49092283e-01 -6.01709878e-03 -3.14940681e-01 -2.94171537e+01] [-1.70694599e-03 9.99704618e-01 -2.42438375e-02 3.46836978e+00] [ 3.14993531e-01 2.35472259e-02 9.48801667e-01 -2.60979848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.263741732 meters Centerline goodness [0,1] 0.7286646959998299 Centerline is valid? [False, False] Translation: X:-29.45, Y:3.45, Z:-2.62 [[ 9.47522150e-01 -1.64335049e-02 -3.19267468e-01 -2.94504371e+01] [ 1.09322198e-02 9.99759420e-01 -1.90155010e-02 3.45340768e+00] [ 3.19503150e-01 1.45273063e-02 9.47473849e-01 -2.62419702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.293741731999994 meters Centerline goodness [0,1] 0.6956282882920954 Centerline is valid? [False, False] Translation: X:-29.46, Y:3.44, Z:-2.63 [[ 9.45157785e-01 -2.64673538e-02 -3.25539922e-01 -2.94590515e+01] [ 2.09146215e-02 9.99570139e-01 -2.05454346e-02 3.44407332e+00] [ 3.25943769e-01 1.26101332e-02 9.45305053e-01 -2.63042748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.323741731999995 meters Centerline goodness [0,1] 0.7321906689435624 Centerline is valid? [False, False] Translation: X:-29.49, Y:3.42, Z:-2.64 [[ 9.43414545e-01 -3.61474827e-02 -3.29639737e-01 -2.94899788e+01] [ 3.25556732e-02 9.99335171e-01 -1.64117201e-02 3.42283951e+00] [ 3.30013825e-01 4.75141192e-03 9.43964141e-01 -2.64019133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.353741731999996 meters Centerline goodness [0,1] 0.740437734575971 Centerline is valid? [False, False] Translation: X:-29.52, Y:3.40, Z:-2.64 [[ 9.44813263e-01 -3.29378247e-02 -3.25949378e-01 -2.95187394e+01] [ 2.90772126e-02 9.99437480e-01 -1.67104487e-02 3.40134514e+00] [ 3.26316431e-01 6.31055417e-03 9.45239527e-01 -2.63843976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.383741732 meters Centerline goodness [0,1] 0.740437734575971 Centerline is valid? [False, False] Translation: X:-29.52, Y:3.40, Z:-2.64 [[ 9.44813263e-01 -3.29378247e-02 -3.25949378e-01 -2.95187394e+01] [ 2.90772126e-02 9.99437480e-01 -1.67104487e-02 3.40134514e+00] [ 3.26316431e-01 6.31055417e-03 9.45239527e-01 -2.63843976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.413741732 meters Centerline goodness [0,1] 0.7049716803020768 Centerline is valid? [False, False] Translation: X:-29.54, Y:3.38, Z:-2.64 [[ 9.42636659e-01 -2.38129742e-02 -3.32970075e-01 -2.95436690e+01] [ 1.61006288e-02 9.99534799e-01 -2.59027886e-02 3.38011385e+00] [ 3.33432000e-01 1.90558905e-02 9.42581548e-01 -2.64347880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.443741732 meters Centerline goodness [0,1] 0.712857411784392 Centerline is valid? [False, False] Translation: X:-29.59, Y:3.37, Z:-2.66 [[ 9.44458525e-01 -2.32462057e-02 -3.27807427e-01 -2.95910156e+01] [ 1.69348203e-02 9.99612433e-01 -2.20951702e-02 3.36750743e+00] [ 3.28194008e-01 1.53166120e-02 9.44486154e-01 -2.65603794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.47374173199999 meters Centerline goodness [0,1] 0.7213911586004609 Centerline is valid? [False, False] Translation: X:-29.63, Y:3.36, Z:-2.66 [[ 9.46371770e-01 -2.39025459e-02 -3.22194261e-01 -2.96284890e+01] [ 1.73059457e-02 9.99578177e-01 -2.33232113e-02 3.35949271e+00] [ 3.22615836e-01 1.64965523e-02 9.46386225e-01 -2.66094333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.503741731999995 meters Centerline goodness [0,1] 0.7134459955914769 Centerline is valid? [False, False] Translation: X:-29.66, Y:3.35, Z:-2.67 [[ 9.45819738e-01 -2.64967498e-02 -3.23609249e-01 -2.96646213e+01] [ 1.92471679e-02 9.99487403e-01 -2.55827557e-02 3.35239387e+00] [ 3.24121228e-01 1.79681137e-02 9.45844901e-01 -2.66986264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.533741731999996 meters Centerline goodness [0,1] 0.7106894450398201 Centerline is valid? [False, False] Translation: X:-29.69, Y:3.34, Z:-2.69 [[ 9.42212417e-01 -3.17961582e-02 -3.33503771e-01 -2.96913664e+01] [ 2.43641208e-02 9.99353324e-01 -2.64447360e-02 3.34171622e+00] [ 3.34128943e-01 1.67910325e-02 9.42377796e-01 -2.68688499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.563741732 meters Centerline goodness [0,1] 0.7313464118041583 Centerline is valid? [False, False] Translation: X:-29.71, Y:3.32, Z:-2.69 [[ 9.42342911e-01 -3.65024955e-02 -3.32652079e-01 -2.97084588e+01] [ 2.87764419e-02 9.99190138e-01 -2.81244521e-02 3.32479578e+00] [ 3.33409290e-01 1.69303348e-02 9.42630155e-01 -2.68580509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.593741732 meters Centerline goodness [0,1] 0.7387826521684789 Centerline is valid? [False, False] Translation: X:-29.76, Y:3.31, Z:-2.70 [[ 9.44341622e-01 -3.82075566e-02 -3.26740086e-01 -2.97644846e+01] [ 3.33297649e-02 9.99233804e-01 -2.05166066e-02 3.31061200e+00] [ 3.27273629e-01 8.48451532e-03 9.44891520e-01 -2.69729678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.623741732 meters Centerline goodness [0,1] 0.7262271855987998 Centerline is valid? [False, False] Translation: X:-29.79, Y:3.31, Z:-2.70 [[ 9.43195646e-01 -3.98829631e-02 -3.29835296e-01 -2.97894520e+01] [ 3.26050368e-02 9.99087979e-01 -2.75703066e-02 3.31043448e+00] [ 3.30634065e-01 1.52499012e-02 9.43635817e-01 -2.70043252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.65374173199999 meters Centerline goodness [0,1] 0.7270136618891962 Centerline is valid? [False, False] Translation: X:-29.80, Y:3.31, Z:-2.70 [[ 9.42841834e-01 -4.08831368e-02 -3.30723214e-01 -2.98013424e+01] [ 3.01853756e-02 9.98843606e-01 -3.74204904e-02 3.30856571e+00] [ 3.31870635e-01 2.52985994e-02 9.42985611e-01 -2.70144624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.683741731999994 meters Centerline goodness [0,1] 0.7493502138006205 Centerline is valid? [False, False] Translation: X:-29.82, Y:3.31, Z:-2.71 [[ 9.41550677e-01 -4.17716449e-02 -3.34271524e-01 -2.98227085e+01] [ 3.00562439e-02 9.98741676e-01 -4.01458242e-02 3.31225322e+00] [ 3.35527859e-01 2.77523815e-02 9.41621400e-01 -2.71126137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.713741731999995 meters Centerline goodness [0,1] 0.7403098337630757 Centerline is valid? [False, False] Translation: X:-29.85, Y:3.32, Z:-2.71 [[ 9.41010529e-01 -3.59982499e-02 -3.36456995e-01 -2.98487393e+01] [ 2.32057659e-02 9.98849486e-01 -4.19666213e-02 3.32044247e+00] [ 3.37580621e-01 3.16832903e-02 9.40763250e-01 -2.71279458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.743741732 meters Centerline goodness [0,1] 0.6651345196930083 Centerline is valid? [False, False] Translation: X:-29.85, Y:3.32, Z:-2.71 [[ 9.39825048e-01 -2.36129281e-02 -3.40839124e-01 -2.98461631e+01] [ 8.96047158e-03 9.98969202e-01 -4.44999158e-02 3.32397835e+00] [ 3.41538561e-01 3.87680562e-02 9.39067862e-01 -2.71386520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.773741732 meters Centerline goodness [0,1] 0.6753279675518093 Centerline is valid? [False, False] Translation: X:-29.85, Y:3.33, Z:-2.72 [[ 9.38716433e-01 -6.52719753e-03 -3.44628575e-01 -2.98533283e+01] [-8.40500483e-03 9.99089952e-01 -4.18165372e-02 3.32588205e+00] [ 3.44587891e-01 4.21504754e-02 9.37807295e-01 -2.71563083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.803741732 meters Centerline goodness [0,1] 0.7194782755278352 Centerline is valid? [False, False] Translation: X:-29.88, Y:3.32, Z:-2.72 [[ 9.43987558e-01 -1.07561866e-02 -3.29805692e-01 -2.98824860e+01] [-2.38640671e-03 9.99219929e-01 -3.94187687e-02 3.31742469e+00] [ 3.29972416e-01 3.79978777e-02 9.43225512e-01 -2.71613042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.833741732 meters Centerline goodness [0,1] 0.7195633921074727 Centerline is valid? [False, False] Translation: X:-29.92, Y:3.31, Z:-2.73 [[ 9.47147259e-01 -2.16952013e-02 -3.20064663e-01 -2.99181815e+01] [ 1.20818231e-02 9.99415126e-01 -3.19911816e-02 3.30609270e+00] [ 3.20571520e-01 2.64333953e-02 9.46855415e-01 -2.72602950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.863741731999994 meters Centerline goodness [0,1] 0.7246389035318925 Centerline is valid? [False, False] Translation: X:-29.95, Y:3.29, Z:-2.74 [[ 9.40604113e-01 -3.48399716e-02 -3.37713013e-01 -2.99526140e+01] [ 2.46781666e-02 9.99105541e-01 -3.43381014e-02 3.29068216e+00] [ 3.38607282e-01 2.39644214e-02 9.40622568e-01 -2.74306083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.893741731999995 meters Centerline goodness [0,1] 0.7265362951711917 Centerline is valid? [False, False] Translation: X:-30.00, Y:3.28, Z:-2.77 [[ 9.39156942e-01 -3.55032407e-02 -3.41648588e-01 -3.00044952e+01] [ 2.33181586e-02 9.98939208e-01 -3.97079604e-02 3.28354308e+00] [ 3.42695932e-01 2.93253907e-02 9.38988562e-01 -2.76527589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.923741731999996 meters Centerline goodness [0,1] 0.715632116049591 Centerline is valid? [False, False] Translation: X:-30.08, Y:3.27, Z:-2.78 [[ 9.43116108e-01 -3.71396848e-02 -3.30382583e-01 -3.00750529e+01] [ 2.76371876e-02 9.99059376e-01 -3.34148167e-02 3.27114241e+00] [ 3.31312833e-01 2.23832064e-02 9.43255426e-01 -2.77539133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.953741732 meters Centerline goodness [0,1] 0.72656382079459 Centerline is valid? [False, False] Translation: X:-30.08, Y:3.27, Z:-2.78 [[ 9.40036084e-01 -3.70448697e-02 -3.39057280e-01 -3.00756042e+01] [ 2.46557103e-02 9.98864046e-01 -4.07763876e-02 3.26624027e+00] [ 3.40182682e-01 2.99715777e-02 9.39881614e-01 -2.77834919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.983741732 meters Centerline goodness [0,1] 0.7135457409247552 Centerline is valid? [False, False] Translation: X:-30.08, Y:3.26, Z:-2.78 [[ 9.39872822e-01 -2.93639934e-02 -3.40259951e-01 -3.00783279e+01] [ 1.50038158e-02 9.98885153e-01 -4.47586567e-02 3.26409249e+00] [ 3.41194906e-01 3.69622473e-02 9.39265579e-01 -2.78104908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.013741732 meters Centerline goodness [0,1] 0.7136266480435105 Centerline is valid? [False, False] Translation: X:-30.08, Y:3.27, Z:-2.78 [[ 9.40141827e-01 -2.82100690e-02 -3.39613807e-01 -3.00806691e+01] [ 1.40064063e-02 9.98924409e-01 -4.42023197e-02 3.26577442e+00] [ 3.40495472e-01 3.67996806e-02 9.39525740e-01 -2.78060726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.043741731999994 meters Centerline goodness [0,1] 0.7266041085467918 Centerline is valid? [False, False] Translation: X:-30.09, Y:3.27, Z:-2.78 [[ 9.41222720e-01 -2.64514086e-02 -3.36749335e-01 -3.00909139e+01] [ 1.24345540e-02 9.98966735e-01 -4.37132045e-02 3.26921185e+00] [ 3.37557660e-01 3.69565335e-02 9.40579099e-01 -2.77859803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.073741731999995 meters Centerline goodness [0,1] 0.7317393422139393 Centerline is valid? [False, False] Translation: X:-30.13, Y:3.27, Z:-2.79 [[ 9.40846781e-01 -3.16191940e-02 -3.37353761e-01 -3.01343374e+01] [ 1.75879947e-02 9.98851507e-01 -4.45682635e-02 3.27271009e+00] [ 3.38375525e-01 3.59985311e-02 9.40322343e-01 -2.79179169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.103741731999996 meters Centerline goodness [0,1] 0.7198456777038199 Centerline is valid? [False, False] Translation: X:-30.18, Y:3.28, Z:-2.81 [[ 9.39190673e-01 -3.95410331e-02 -3.41111985e-01 -3.01828629e+01] [ 2.52490422e-02 9.98611286e-01 -4.62383547e-02 3.27764809e+00] [ 3.42466591e-01 3.48138806e-02 9.38884779e-01 -2.80754575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.133741732 meters Centerline goodness [0,1] 0.7466143069412015 Centerline is valid? [False, False] Translation: X:-30.22, Y:3.28, Z:-2.82 [[ 9.42675028e-01 -4.97184924e-02 -3.29987671e-01 -3.02158901e+01] [ 3.79828168e-02 9.98398684e-01 -4.19210344e-02 3.27953490e+00] [ 3.31543507e-01 2.69840511e-02 9.43053956e-01 -2.81875236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.163741732 meters Centerline goodness [0,1] 0.7499894072285073 Centerline is valid? [False, False] Translation: X:-30.24, Y:3.28, Z:-2.83 [[ 9.38454383e-01 -5.76902571e-02 -3.40551324e-01 -3.02428286e+01] [ 4.86178933e-02 9.98199764e-01 -3.51216544e-02 3.28486714e+00] [ 3.41964429e-01 1.64031826e-02 9.39569723e-01 -2.82990686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.193741732 meters Centerline goodness [0,1] 0.7278729287689438 Centerline is valid? [False, False] Translation: X:-30.32, Y:3.30, Z:-2.84 [[ 9.44407966e-01 -4.25533923e-02 -3.26010434e-01 -3.03230270e+01] [ 2.79963986e-02 9.98395681e-01 -4.92165267e-02 3.30189984e+00] [ 3.27581739e-01 3.73533618e-02 9.44084176e-01 -2.84331196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22374173199999 meters Centerline goodness [0,1] 0.7191341991341991 Centerline is valid? [False, False] Translation: X:-30.37, Y:3.31, Z:-2.85 [[ 9.46413319e-01 -3.55534492e-02 -3.20994986e-01 -3.03708940e+01] [ 2.29508920e-02 9.98813106e-01 -4.29608615e-02 3.31093768e+00] [ 3.22141406e-01 3.32916102e-02 9.46106010e-01 -2.85379538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.253741731999995 meters Centerline goodness [0,1] 0.7192368205287301 Centerline is valid? [False, False] Translation: X:-30.42, Y:3.32, Z:-2.87 [[ 9.44115762e-01 -2.97887631e-02 -3.28265225e-01 -3.04169904e+01] [ 1.64213184e-02 9.98921974e-01 -4.34192337e-02 3.31732058e+00] [ 3.29204752e-01 3.56022351e-02 9.43587151e-01 -2.87107140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.283741731999996 meters Centerline goodness [0,1] 0.7126421344793625 Centerline is valid? [False, False] Translation: X:-30.44, Y:3.32, Z:-2.88 [[ 9.42681191e-01 -2.92636617e-02 -3.32409101e-01 -3.04350905e+01] [ 1.45559351e-02 9.98805208e-01 -4.66506224e-02 3.32084303e+00] [ 3.33377109e-01 3.91381390e-02 9.41980843e-01 -2.87879760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.313741732 meters Centerline goodness [0,1] 0.6973770122706293 Centerline is valid? [False, False] Translation: X:-30.45, Y:3.33, Z:-2.89 [[ 9.39909424e-01 -3.54919774e-02 -3.39574136e-01 -3.04451677e+01] [ 2.13728707e-02 9.98747935e-01 -4.52301130e-02 3.32576434e+00] [ 3.40754273e-01 3.52545354e-02 9.39491162e-01 -2.88656543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.343741732 meters Centerline goodness [0,1] 0.6972981359576214 Centerline is valid? [False, False] Translation: X:-30.44, Y:3.32, Z:-2.88 [[ 9.38751082e-01 -3.14848002e-02 -3.43154648e-01 -3.04355358e+01] [ 1.76188870e-02 9.98900187e-01 -4.34510318e-02 3.31997063e+00] [ 3.44145289e-01 3.47437002e-02 9.38273359e-01 -2.88460145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.373741732 meters Centerline goodness [0,1] 0.7117109138011204 Centerline is valid? [False, False] Translation: X:-30.44, Y:3.32, Z:-2.89 [[ 9.40351046e-01 -1.99131010e-02 -3.39622406e-01 -3.04380403e+01] [ 8.24080166e-03 9.99325846e-01 -3.57762911e-02 3.31718045e+00] [ 3.40105865e-01 3.08435119e-02 9.39881204e-01 -2.88683276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40374173199999 meters Centerline goodness [0,1] 0.7123147563815202 Centerline is valid? [False, False] Translation: X:-30.44, Y:3.31, Z:-2.89 [[ 9.40533578e-01 -1.34814104e-02 -3.39433115e-01 -3.04381955e+01] [ 3.36709496e-03 9.99533084e-01 -3.03690163e-02 3.31045705e+00] [ 3.39684045e-01 2.74201761e-02 9.40139821e-01 -2.88704314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.433741731999994 meters Centerline goodness [0,1] 0.6855074662447714 Centerline is valid? [False, False] Translation: X:-30.44, Y:3.29, Z:-2.88 [[ 9.39109693e-01 -2.17319285e-02 -3.42929595e-01 -3.04429446e+01] [ 9.53318570e-03 9.99261694e-01 -3.72180670e-02 3.29438951e+00] [ 3.43485229e-01 3.16826360e-02 9.38623518e-01 -2.88246634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.463741731999995 meters Centerline goodness [0,1] 0.7059646554878705 Centerline is valid? [False, False] Translation: X:-30.49, Y:3.27, Z:-2.90 [[ 9.38567824e-01 -2.96946794e-02 -3.43814872e-01 -3.04862867e+01] [ 1.83873971e-02 9.99178930e-01 -3.61022159e-02 3.26980973e+00] [ 3.44604619e-01 2.75625176e-02 9.38343202e-01 -2.90220944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.493741732 meters Centerline goodness [0,1] 0.733917627394677 Centerline is valid? [False, False] Translation: X:-30.54, Y:3.25, Z:-2.92 [[ 9.45096700e-01 -3.09487641e-02 -3.25321997e-01 -3.05410973e+01] [ 2.05574014e-02 9.99164184e-01 -3.53316544e-02 3.25485340e+00] [ 3.26143559e-01 2.67040551e-02 9.44943000e-01 -2.92365111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.523741732 meters Centerline goodness [0,1] 0.7414958732325279 Centerline is valid? [False, False] Translation: X:-30.49, Y:3.26, Z:-2.90 [[ 9.47325182e-01 -3.32532662e-02 -3.18542336e-01 -3.04942186e+01] [ 2.39728498e-02 9.99167432e-01 -3.30112990e-02 3.26431942e+00] [ 3.19374861e-01 2.36360673e-02 9.47333645e-01 -2.90402262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.553741732 meters Centerline goodness [0,1] 0.7262320941336972 Centerline is valid? [False, False] Translation: X:-30.48, Y:3.26, Z:-2.90 [[ 9.43633590e-01 -4.55391491e-02 -3.27844221e-01 -3.04772821e+01] [ 3.68286742e-02 9.98785388e-01 -3.27322003e-02 3.26093004e+00] [ 3.28936614e-01 1.88131357e-02 9.44164588e-01 -2.90006292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.583741732 meters Centerline goodness [0,1] 0.7542133629908461 Centerline is valid? [False, False] Translation: X:-30.50, Y:3.25, Z:-2.90 [[ 9.47240336e-01 -4.23789756e-02 -3.17710196e-01 -3.04999132e+01] [ 3.29385149e-02 9.98843321e-01 -3.50296183e-02 3.25154570e+00] [ 3.18827227e-01 2.27165653e-02 9.47540583e-01 -2.89898179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.613741731999994 meters Centerline goodness [0,1] 0.7334614153057957 Centerline is valid? [False, False] Translation: X:-30.51, Y:3.24, Z:-2.90 [[ 9.47793169e-01 -4.17360603e-02 -3.16142704e-01 -3.05115267e+01] [ 2.97878509e-02 9.98650832e-01 -4.25346831e-02 3.24375710e+00] [ 3.17491405e-01 3.08968703e-02 9.47757665e-01 -2.90014046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.643741731999995 meters Centerline goodness [0,1] 0.7451143717562632 Centerline is valid? [False, False] Translation: X:-30.51, Y:3.24, Z:-2.90 [[ 9.45849159e-01 -4.48309898e-02 -3.21495802e-01 -3.05052850e+01] [ 3.26403955e-02 9.98532609e-01 -4.32114961e-02 3.24222138e+00] [ 3.22961256e-01 3.03778072e-02 9.45924530e-01 -2.90374372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.673741731999996 meters Centerline goodness [0,1] 0.7244466284932911 Centerline is valid? [False, False] Translation: X:-30.50, Y:3.24, Z:-2.91 [[ 0.94555562 -0.04698359 -0.32205142 -30.50058008] [ 0.03434849 0.99840497 -0.04480727 3.24155583] [ 0.32364294 0.03130578 0.94566125 -2.90576064] [ 0. 0. 0. 1. ]] SLAMing on 34.703741732 meters Centerline goodness [0,1] 0.7427190694093999 Centerline is valid? [False, False] Translation: X:-30.50, Y:3.24, Z:-2.91 [[ 0.9458116 -0.04502705 -0.3215789 -30.49949205] [ 0.03262509 0.99850509 -0.0438541 3.24384214] [ 0.32307279 0.03098618 0.94586671 -2.90730577] [ 0. 0. 0. 1. ]] SLAMing on 34.733741732 meters Centerline goodness [0,1] 0.7226948232377206 Centerline is valid? [False, False] Translation: X:-30.51, Y:3.24, Z:-2.91 [[ 9.47098071e-01 -3.79257081e-02 -3.18695599e-01 -3.05149603e+01] [ 2.37560324e-02 9.98553581e-01 -4.82327311e-02 3.24338391e+00] [ 3.20063893e-01 3.81101836e-02 9.46629135e-01 -2.90799104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.763741732 meters Centerline goodness [0,1] 0.7320736952474697 Centerline is valid? [False, False] Translation: X:-30.58, Y:3.24, Z:-2.92 [[ 9.50025068e-01 -3.38644848e-02 -3.10331384e-01 -3.05754550e+01] [ 2.19085536e-02 9.98880224e-01 -4.19322370e-02 3.24112770e+00] [ 3.11403896e-01 3.30377645e-02 9.49703175e-01 -2.91652230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.793741731999994 meters Centerline goodness [0,1] 0.7560053285204762 Centerline is valid? [False, False] Translation: X:-30.53, Y:3.27, Z:-2.89 [[ 9.52272330e-01 -3.76482471e-02 -3.02919162e-01 -3.05282478e+01] [ 2.58345340e-02 9.98744695e-01 -4.29140074e-02 3.26765665e+00] [ 3.04154543e-01 3.30400464e-02 9.52049562e-01 -2.89086189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.823741731999995 meters Centerline goodness [0,1] 0.7419647094352646 Centerline is valid? [False, False] Translation: X:-30.58, Y:3.27, Z:-2.91 [[ 0.9485088 -0.04353586 -0.31374461 -30.57983013] [ 0.03122747 0.99853663 -0.04415252 3.27011437] [ 0.3152077 0.0320816 0.9484803 -2.90739064] [ 0. 0. 0. 1. ]] SLAMing on 34.853741731999996 meters Centerline goodness [0,1] 0.7382219768083931 Centerline is valid? [False, False] Translation: X:-30.62, Y:3.28, Z:-2.92 [[ 9.43168140e-01 -5.88124017e-02 -3.27070269e-01 -3.06181830e+01] [ 4.65788308e-02 9.97895149e-01 -4.51185648e-02 3.27916095e+00] [ 3.29035366e-01 2.73198421e-02 9.43922324e-01 -2.92236390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.883741732 meters Centerline goodness [0,1] 0.7420596301866761 Centerline is valid? [False, False] Translation: X:-30.59, Y:3.29, Z:-2.93 [[ 9.42400440e-01 -7.11679804e-02 -3.26827982e-01 -3.05925281e+01] [ 5.94034601e-02 9.97180471e-01 -4.58512553e-02 3.28849320e+00] [ 3.29169623e-01 2.37955302e-02 9.43970938e-01 -2.92573884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.913741732 meters Centerline goodness [0,1] 0.7452874593746498 Centerline is valid? [False, False] Translation: X:-30.60, Y:3.29, Z:-2.92 [[ 9.43743252e-01 -6.24263600e-02 -3.24733159e-01 -3.05964907e+01] [ 5.22239019e-02 9.97832042e-01 -4.00484735e-02 3.29425129e+00] [ 3.26529231e-01 2.08366440e-02 9.44957404e-01 -2.92423816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.943741732 meters Centerline goodness [0,1] 0.7472026617442629 Centerline is valid? [False, False] Translation: X:-30.60, Y:3.30, Z:-2.92 [[ 9.44563275e-01 -5.95887153e-02 -3.22876765e-01 -3.06049224e+01] [ 5.01256747e-02 9.98036683e-01 -3.75525701e-02 3.29991917e+00] [ 3.24480565e-01 1.92863629e-02 9.45695722e-01 -2.92438669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.97374173199999 meters Centerline goodness [0,1] 0.7457423454650491 Centerline is valid? [False, False] Translation: X:-30.62, Y:3.30, Z:-2.93 [[ 9.44550626e-01 -5.22915073e-02 -3.24175436e-01 -3.06243875e+01] [ 4.18296295e-02 9.98356957e-01 -3.91620894e-02 3.30445316e+00] [ 3.25690647e-01 2.34304376e-02 9.45186023e-01 -2.92942155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.003741731999995 meters Centerline goodness [0,1] 0.7120205089251804 Centerline is valid? [False, False] Translation: X:-30.66, Y:3.30, Z:-2.93 [[ 9.44011305e-01 -5.26988470e-02 -3.25676967e-01 -3.06562840e+01] [ 4.55427475e-02 9.98524833e-01 -2.95637697e-02 3.30416953e+00] [ 3.26754516e-01 1.30763089e-02 9.45018781e-01 -2.93393310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.033741731999996 meters Centerline goodness [0,1] 0.7596992626150658 Centerline is valid? [False, False] Translation: X:-30.67, Y:3.31, Z:-2.94 [[ 9.43679738e-01 -6.03752748e-02 -3.25305053e-01 -3.06724017e+01] [ 5.32777011e-02 9.98107983e-01 -3.06910595e-02 3.30731909e+00] [ 3.26542551e-01 1.16310256e-02 9.45110936e-01 -2.93697735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.063741732 meters Centerline goodness [0,1] 0.7476466954910439 Centerline is valid? [False, False] Translation: X:-30.68, Y:3.32, Z:-2.95 [[ 9.43687489e-01 -7.18516181e-02 -3.22941587e-01 -3.06842269e+01] [ 6.52336077e-02 9.97379483e-01 -3.12848846e-02 3.31526472e+00] [ 3.24343182e-01 8.45650938e-03 9.45901680e-01 -2.95058912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.093741732 meters Centerline goodness [0,1] 0.7126439743358499 Centerline is valid? [False, False] Translation: X:-30.70, Y:3.32, Z:-2.95 [[ 9.44443941e-01 -6.79422948e-02 -3.21573454e-01 -3.06968652e+01] [ 6.29368780e-02 9.97680123e-01 -2.59484228e-02 3.31917870e+00] [ 3.22590438e-01 4.26800145e-03 9.46529024e-01 -2.94983757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.123741732 meters Centerline goodness [0,1] 0.7136633769865813 Centerline is valid? [False, False] Translation: X:-30.72, Y:3.32, Z:-2.95 [[ 9.43697667e-01 -6.10089059e-02 -3.25134783e-01 -3.07154641e+01] [ 5.48752418e-02 9.98100240e-01 -2.80110478e-02 3.32438249e+00] [ 3.26226028e-01 8.59211062e-03 9.45252746e-01 -2.95150475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.15374173199999 meters Centerline goodness [0,1] 0.6515487028076219 Centerline is valid? [False, False] Translation: X:-30.75, Y:3.33, Z:-2.97 [[ 9.43371544e-01 -6.04980927e-02 -3.26174969e-01 -3.07525586e+01] [ 5.44488259e-02 9.98133578e-01 -2.76529643e-02 3.33352352e+00] [ 3.27239140e-01 8.32717554e-03 9.44904865e-01 -2.96715712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.183741731999994 meters Centerline goodness [0,1] 0.6959666123545722 Centerline is valid? [False, False] Translation: X:-30.79, Y:3.33, Z:-2.98 [[ 9.45990353e-01 -5.46751379e-02 -3.19551063e-01 -3.07909043e+01] [ 4.97943964e-02 9.98484615e-01 -2.34305759e-02 3.33332464e+00] [ 3.20347890e-01 6.25324642e-03 9.47279329e-01 -2.97525308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.213741731999995 meters Centerline goodness [0,1] 0.6794476274423388 Centerline is valid? [False, False] Translation: X:-30.83, Y:3.33, Z:-2.98 [[ 9.44538358e-01 -6.00012484e-02 -3.22873257e-01 -3.08349674e+01] [ 5.34965423e-02 9.98147094e-01 -2.89913618e-02 3.33447050e+00] [ 3.24014521e-01 1.01108503e-02 9.45998076e-01 -2.97909473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.243741732 meters Centerline goodness [0,1] 0.6469481912486409 Centerline is valid? [False, False] Translation: X:-30.86, Y:3.33, Z:-2.98 [[ 9.43271947e-01 -7.23095623e-02 -3.24051480e-01 -3.08642932e+01] [ 6.22862868e-02 9.97207108e-01 -4.12116697e-02 3.33200029e+00] [ 3.26126437e-01 1.86898484e-02 9.45141384e-01 -2.98426604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.273741732 meters Centerline goodness [0,1] 0.6469481912486409 Centerline is valid? [False, False] Translation: X:-30.86, Y:3.33, Z:-2.98 [[ 9.43271947e-01 -7.23095623e-02 -3.24051480e-01 -3.08642932e+01] [ 6.22862868e-02 9.97207108e-01 -4.12116697e-02 3.33200029e+00] [ 3.26126437e-01 1.86898484e-02 9.45141384e-01 -2.98426604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.303741732 meters Centerline goodness [0,1] 0.704352792641135 Centerline is valid? [False, False] Translation: X:-30.89, Y:3.33, Z:-2.99 [[ 9.42837949e-01 -7.29691955e-02 -3.25164724e-01 -3.08885562e+01] [ 6.08698641e-02 9.97027047e-01 -4.72432666e-02 3.33005324e+00] [ 3.27645328e-01 2.47500120e-02 9.44476562e-01 -2.98748358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.33374173199999 meters Centerline goodness [0,1] 0.7259247982950221 Centerline is valid? [False, False] Translation: X:-30.91, Y:3.33, Z:-2.99 [[ 0.9456049 -0.05963844 -0.31980404 -30.9135079 ] [ 0.04418433 0.99748777 -0.05537045 3.32565338] [ 0.32230282 0.03822824 0.94586442 -2.99005458] [ 0. 0. 0. 1. ]] SLAMing on 35.363741731999994 meters Centerline goodness [0,1] 0.6335985312117502 Centerline is valid? [False, False] Translation: X:-30.94, Y:3.32, Z:-3.00 [[ 9.47815582e-01 -4.80005422e-02 -3.15184979e-01 -3.09429059e+01] [ 3.00366750e-02 9.97648261e-01 -6.16096265e-02 3.31946904e+00] [ 3.17401042e-01 4.89274552e-02 9.47028343e-01 -2.99560028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.393741731999995 meters Centerline goodness [0,1] 0.6032041151498249 Centerline is valid? [False, False] Translation: X:-30.97, Y:3.32, Z:-3.00 [[ 9.47597752e-01 -4.33053329e-02 -3.16517216e-01 -3.09693416e+01] [ 2.40260601e-02 9.97624339e-01 -6.45633554e-02 3.31756446e+00] [ 3.18561216e-01 5.35754288e-02 9.46387038e-01 -2.99615374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.423741731999996 meters Centerline goodness [0,1] 0.6307127484491708 Centerline is valid? [False, False] Translation: X:-31.00, Y:3.32, Z:-3.01 [[ 9.46380548e-01 -4.26173102e-02 -3.20230579e-01 -3.09965265e+01] [ 2.31420498e-02 9.97657120e-01 -6.43794768e-02 3.31574945e+00] [ 3.22223997e-01 5.35166926e-02 9.45149543e-01 -3.00691740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.453741732 meters Centerline goodness [0,1] 0.6551647795559492 Centerline is valid? [False, False] Translation: X:-31.04, Y:3.31, Z:-3.02 [[ 0.94687016 -0.05477633 -0.31691712 -31.03859749] [ 0.03501723 0.99708998 -0.06771537 3.31043397] [ 0.31970409 0.0530201 0.94603286 -3.02147132] [ 0. 0. 0. 1. ]] SLAMing on 35.483741732 meters Centerline goodness [0,1] 0.6399276810353031 Centerline is valid? [False, False] Translation: X:-31.05, Y:3.31, Z:-3.02 [[ 0.94762632 -0.05487725 -0.31463128 -31.04921892] [ 0.03584542 0.99717795 -0.06596396 3.31094394] [ 0.31736329 0.05123109 0.94691917 -3.0215179 ] [ 0. 0. 0. 1. ]] SLAMing on 35.513741732 meters Centerline goodness [0,1] 0.7062338243282104 Centerline is valid? [False, False] Translation: X:-31.06, Y:3.31, Z:-3.02 [[ 9.47314019e-01 -4.80556294e-02 -3.16680922e-01 -3.10639910e+01] [ 2.73627164e-02 9.97208578e-01 -6.94718234e-02 3.30899735e+00] [ 3.19135444e-01 5.71463819e-02 9.45984598e-01 -3.02045348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.543741731999994 meters Centerline goodness [0,1] 0.6008249463784854 Centerline is valid? [False, False] Translation: X:-31.11, Y:3.32, Z:-3.04 [[ 9.45671208e-01 -3.58495051e-02 -3.23142043e-01 -3.11077125e+01] [ 1.90923146e-02 9.98310433e-01 -5.48795282e-02 3.31743649e+00] [ 3.24563477e-01 4.57284602e-02 9.44757883e-01 -3.04313011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.573741731999995 meters Centerline goodness [0,1] 0.5890128586853385 Centerline is valid? [False, False] Translation: X:-31.12, Y:3.31, Z:-3.04 [[ 9.47059795e-01 -3.21575702e-02 -3.19442695e-01 -3.11195350e+01] [ 1.33521101e-02 9.98055379e-01 -6.08866305e-02 3.31174878e+00] [ 3.20779466e-01 5.33980458e-02 9.45647494e-01 -3.04433150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.603741731999996 meters Centerline goodness [0,1] 0.6693137649108698 Centerline is valid? [False, False] Translation: X:-31.13, Y:3.31, Z:-3.05 [[ 9.49235185e-01 -2.91373555e-02 -3.13214908e-01 -3.11349892e+01] [ 8.60481928e-03 9.97733434e-01 -6.67379362e-02 3.30619073e+00] [ 3.14449553e-01 6.06548395e-02 9.47334402e-01 -3.04502220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.633741732 meters Centerline goodness [0,1] 0.6427782796346482 Centerline is valid? [False, False] Translation: X:-31.16, Y:3.30, Z:-3.05 [[ 9.50722461e-01 -2.89123443e-02 -3.08692206e-01 -3.11623596e+01] [ 7.34184962e-03 9.97462703e-01 -7.08113886e-02 3.30485430e+00] [ 3.09956286e-01 6.50556059e-02 9.48522466e-01 -3.04997479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.663741732 meters Centerline goodness [0,1] 0.42962664517861937 Centerline is valid? [False, False] Translation: X:-31.19, Y:3.31, Z:-3.07 [[ 9.49550567e-01 -3.11039169e-02 -3.12067729e-01 -3.11948912e+01] [ 1.42168978e-02 9.98315840e-01 -5.62437827e-02 3.31115555e+00] [ 3.13291559e-01 4.89696807e-02 9.48393573e-01 -3.07091115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.693741732 meters Centerline goodness [0,1] 0.6659755973218231 Centerline is valid? [False, False] Translation: X:-31.20, Y:3.30, Z:-3.07 [[ 9.49216425e-01 -3.33816023e-02 -3.12847962e-01 -3.11965692e+01] [ 1.20717089e-02 9.97487452e-01 -6.98072794e-02 3.30264307e+00] [ 3.14392196e-01 6.24856067e-02 9.47234446e-01 -3.06848316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72374173199999 meters Centerline goodness [0,1] 0.671005355569114 Centerline is valid? [False, False] Translation: X:-31.19, Y:3.30, Z:-3.07 [[ 9.49273454e-01 -3.30986439e-02 -3.12704956e-01 -3.11948349e+01] [ 1.20049144e-02 9.97534583e-01 -6.91421576e-02 3.30194135e+00] [ 3.14222519e-01 6.18808186e-02 9.47330445e-01 -3.07033625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.753741731999995 meters Centerline goodness [0,1] 0.6202231991883667 Centerline is valid? [False, False] Translation: X:-31.20, Y:3.30, Z:-3.07 [[ 9.49737158e-01 -2.78748563e-02 -3.11804943e-01 -3.11959182e+01] [ 7.91599232e-03 9.97847713e-01 -6.50943804e-02 3.30267039e+00] [ 3.12948346e-01 5.93543063e-02 9.47913709e-01 -3.07050721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.783741731999996 meters Centerline goodness [0,1] 0.6663363630151029 Centerline is valid? [False, False] Translation: X:-31.19, Y:3.30, Z:-3.07 [[ 9.49297003e-01 -2.70997021e-02 -3.13210481e-01 -3.11947003e+01] [ 7.06684216e-03 9.97865511e-01 -6.49190472e-02 3.30325411e+00] [ 3.14301224e-01 5.94140479e-02 9.47462248e-01 -3.06875624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.813741732 meters Centerline goodness [0,1] 0.8054333219151011 Centerline is valid? [False, False] Translation: X:-31.37, Y:2.47, Z:-2.94 [[ 0.90710393 -0.26085822 -0.33032629 -31.37105162] [ 0.1730525 0.94653435 -0.27226008 2.46675021] [ 0.38368646 0.1898044 0.90374719 -2.94027001] [ 0. 0. 0. 1. ]] SLAMing on 35.843741732 meters Centerline goodness [0,1] 0.8211183131169145 Centerline is valid? [False, False] Translation: X:-31.34, Y:2.46, Z:-2.94 [[ 0.91004421 -0.24916581 -0.33126415 -31.33623791] [ 0.17254942 0.95435088 -0.24380545 2.46008583] [ 0.37689022 0.1647143 0.91149491 -2.93821681] [ 0. 0. 0. 1. ]] SLAMing on 35.873741732 meters Centerline goodness [0,1] 0.9028405240569234 Centerline is valid? [False, False] Translation: X:-31.28, Y:2.44, Z:-2.94 [[ 0.914025 -0.21799215 -0.34210777 -31.27865236] [ 0.14640065 0.96376898 -0.2229713 2.44457157] [ 0.37831885 0.15371654 0.91282314 -2.9351445 ] [ 0. 0. 0. 1. ]] SLAMing on 35.90374173199999 meters Centerline goodness [0,1] 0.9535479046221992 Centerline is valid? [False, True] Translation: X:-31.31, Y:2.44, Z:-2.96 [[ 0.91998545 -0.18668402 -0.34463871 -31.30986919] [ 0.12266119 0.97224896 -0.19921393 2.4389495 ] [ 0.37226469 0.14100012 0.91735379 -2.95994483] [ 0. 0. 0. 1. ]] SLAMing on 35.933741731999994 meters Centerline goodness [0,1] 0.9617830661469476 Centerline is valid? [True, True] Translation: X:-31.34, Y:2.53, Z:-3.00 [[ 9.27077372e-01 -8.63143779e-02 -3.64797717e-01 -3.13386714e+01] [ 7.33172295e-02 9.96086507e-01 -4.93584303e-02 2.53034505e+00] [ 3.67630426e-01 1.90131259e-02 9.29777592e-01 -3.00039950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.963741731999995 meters Centerline goodness [0,1] 0.8464164818489552 Centerline is valid? [True, False] Translation: X:-31.35, Y:2.50, Z:-3.01 [[ 9.31185658e-01 -2.30816248e-02 -3.63813837e-01 -3.13512908e+01] [ 8.87447932e-03 9.99133052e-01 -4.06741713e-02 2.50427566e+00] [ 3.64437256e-01 3.46465466e-02 9.30583206e-01 -3.00547345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.993741732 meters Centerline goodness [0,1] 0.8266868486930197 Centerline is valid? [False, False] Translation: X:-31.36, Y:2.50, Z:-3.01 [[ 9.33175972e-01 1.91886282e-02 -3.58907232e-01 -3.13583579e+01] [-3.26180891e-02 9.98974544e-01 -3.13993839e-02 2.49502766e+00] [ 3.57936677e-01 4.10080187e-02 9.32844938e-01 -3.01453231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.023741732 meters Centerline goodness [0,1] 0.801513269991625 Centerline is valid? [False, False] Translation: X:-31.38, Y:2.48, Z:-3.02 [[ 9.32844814e-01 5.42959570e-02 -3.56163588e-01 -3.13753440e+01] [-6.72600724e-02 9.97444202e-01 -2.41069623e-02 2.48386481e+00] [ 3.53944396e-01 4.64436436e-02 9.34112602e-01 -3.02164017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.053741732 meters Centerline goodness [0,1] 0.787906591292509 Centerline is valid? [False, False] Translation: X:-31.42, Y:2.46, Z:-3.04 [[ 9.30929370e-01 4.80605917e-02 -3.62023048e-01 -3.14235588e+01] [-5.82114672e-02 9.98156474e-01 -1.71778392e-02 2.45950989e+00] [ 3.60530072e-01 3.70652478e-02 9.32010855e-01 -3.04273640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08374173199999 meters Centerline goodness [0,1] 0.7950900752375528 Centerline is valid? [False, False] Translation: X:-31.47, Y:2.45, Z:-3.07 [[ 9.30205848e-01 3.71196502e-02 -3.65156421e-01 -3.14656835e+01] [-4.50438579e-02 9.98897752e-01 -1.32034508e-02 2.44676276e+00] [ 3.64263821e-01 2.87299811e-02 9.30852543e-01 -3.06867198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.113741731999994 meters Centerline goodness [0,1] 0.7176723528246909 Centerline is valid? [False, False] Translation: X:-31.53, Y:2.45, Z:-3.09 [[ 9.25236269e-01 7.73557650e-02 -3.71421501e-01 -3.15335761e+01] [-6.52156893e-02 9.96848938e-01 4.51564896e-02 2.45112908e+00] [ 3.73744244e-01 -1.75579127e-02 9.27365602e-01 -3.08617549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.143741731999995 meters Centerline goodness [0,1] 0.5488364150851344 Centerline is valid? [False, False] Translation: X:-31.58, Y:2.48, Z:-3.11 [[ 0.90898552 0.16324072 -0.3835333 -31.57755053] [ -0.12755405 0.98491875 0.11689746 2.47725535] [ 0.39683156 -0.05733687 0.9160989 -3.106176 ] [ 0. 0. 0. 1. ]] SLAMing on 36.173741731999996 meters Centerline goodness [0,1] 0.3821387504791107 Centerline is valid? [False, False] Translation: X:-31.61, Y:2.48, Z:-3.13 [[ 0.90035851 0.19905055 -0.38695404 -31.60683307] [ -0.16479462 0.97898242 0.12015058 2.4774767 ] [ 0.40273724 -0.04441065 0.91423761 -3.12838269] [ 0. 0. 0. 1. ]] SLAMing on 36.203741732 meters Centerline goodness [0,1] 0.37830687830687826 Centerline is valid? [False, False] Translation: X:-31.61, Y:2.47, Z:-3.14 [[ 8.87349110e-01 2.47677981e-01 -3.88930810e-01 -3.16125352e+01] [-2.30338952e-01 9.68805528e-01 9.14320289e-02 2.47467918e+00] [ 3.99444019e-01 8.45378552e-03 9.16718610e-01 -3.13686166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.233741732 meters Centerline goodness [0,1] 0.3626915855202829 Centerline is valid? [False, False] Translation: X:-31.66, Y:2.48, Z:-3.18 [[ 0.89003614 0.27334643 -0.36485257 -31.66142797] [ -0.2770731 0.95987574 0.04323262 2.47874726] [ 0.36203062 0.06261224 0.93006104 -3.18179701] [ 0. 0. 0. 1. ]] SLAMing on 36.263741732 meters Centerline goodness [0,1] 0.38676591509066516 Centerline is valid? [False, False] Translation: X:-31.72, Y:2.48, Z:-3.21 [[ 9.07668789e-01 2.63691432e-01 -3.26502983e-01 -3.17207570e+01] [-2.75763397e-01 9.61177056e-01 9.65481577e-03 2.47591983e+00] [ 3.16373068e-01 8.12741966e-02 9.45146860e-01 -3.21462314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.293741731999994 meters Centerline goodness [0,1] 0.36438203212230524 Centerline is valid? [False, False] Translation: X:-31.78, Y:2.46, Z:-3.23 [[ 9.16738726e-01 2.37821209e-01 -3.20984705e-01 -3.17787353e+01] [-2.47290945e-01 9.68872067e-01 1.15804303e-02 2.46135059e+00] [ 3.13747186e-01 6.87603819e-02 9.47013576e-01 -3.22646670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.323741731999995 meters Centerline goodness [0,1] 0.3602934903165259 Centerline is valid? [False, False] Translation: X:-31.83, Y:2.44, Z:-3.24 [[ 9.26268320e-01 1.91391187e-01 -3.24648138e-01 -3.18310375e+01] [-2.00322690e-01 9.79711455e-01 6.02368388e-03 2.44383979e+00] [ 3.19214380e-01 5.94548406e-02 9.45815681e-01 -3.24160001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.353741731999996 meters Centerline goodness [0,1] 0.30988105745387295 Centerline is valid? [False, False] Translation: X:-31.81, Y:2.44, Z:-3.24 [[ 9.39026286e-01 1.15105985e-01 -3.24006553e-01 -3.18098399e+01] [-1.14975120e-01 9.93174676e-01 1.96159277e-02 2.43763940e+00] [ 3.24053014e-01 1.88328205e-02 9.45851452e-01 -3.24189462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.383741732 meters Centerline goodness [0,1] 0.3196124901251507 Centerline is valid? [False, False] Translation: X:-31.85, Y:2.43, Z:-3.26 [[ 9.40428137e-01 9.42235029e-02 -3.26675452e-01 -3.18456209e+01] [-9.10896882e-02 9.95530970e-01 2.49149712e-02 2.43025720e+00] [ 3.27563106e-01 6.32602513e-03 9.44808125e-01 -3.26077499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.413741732 meters Centerline goodness [0,1] 0.3097091015023513 Centerline is valid? [False, False] Translation: X:-31.88, Y:2.41, Z:-3.28 [[ 9.43330768e-01 9.57211141e-02 -3.17749164e-01 -3.18753824e+01] [-9.27074637e-02 9.95388732e-01 2.46292245e-02 2.41402681e+00] [ 3.18641474e-01 6.22421390e-03 9.47854878e-01 -3.27660345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.443741732 meters Centerline goodness [0,1] 0.3084160894600684 Centerline is valid? [False, False] Translation: X:-31.90, Y:2.39, Z:-3.28 [[ 9.41093775e-01 1.28494427e-01 -3.12780576e-01 -3.19033343e+01] [-1.27758550e-01 9.91540013e-01 2.29380932e-02 2.39029104e+00] [ 3.13081873e-01 1.83734961e-02 9.49548395e-01 -3.28442534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.47374173199999 meters Centerline goodness [0,1] 0.27782284062311513 Centerline is valid? [False, False] Translation: X:-31.93, Y:2.38, Z:-3.29 [[ 9.35607709e-01 1.61816940e-01 -3.13772996e-01 -3.19266797e+01] [-1.67239401e-01 9.85868092e-01 9.75126803e-03 2.38173258e+00] [ 3.10916705e-01 4.33518464e-02 9.49447955e-01 -3.29132110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.503741731999995 meters Centerline goodness [0,1] 0.339048417522532 Centerline is valid? [False, False] Translation: X:-31.95, Y:2.38, Z:-3.30 [[ 9.33137539e-01 1.83195456e-01 -3.09344077e-01 -3.19457888e+01] [-1.91611905e-01 9.81465452e-01 3.23183391e-03 2.38098365e+00] [ 3.04202582e-01 5.62582625e-02 9.50944687e-01 -3.29504194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.533741731999996 meters Centerline goodness [0,1] 0.3643583757191695 Centerline is valid? [False, False] Translation: X:-31.98, Y:2.37, Z:-3.30 [[ 9.30480506e-01 1.98892838e-01 -3.07648609e-01 -3.19847247e+01] [-2.09426049e-01 9.77823689e-01 -1.25054216e-03 2.36918082e+00] [ 3.00577374e-01 6.55932379e-02 9.51499222e-01 -3.30227256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.563741732 meters Centerline goodness [0,1] 0.34345323442013176 Centerline is valid? [False, False] Translation: X:-32.02, Y:2.36, Z:-3.31 [[ 9.30883556e-01 1.88188046e-01 -3.13115097e-01 -3.20154493e+01] [-1.95544092e-01 9.80661885e-01 8.04836235e-03 2.36068774e+00] [ 3.08574647e-01 5.37357192e-02 9.49681083e-01 -3.31496081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.593741732 meters Centerline goodness [0,1] 0.3248913563304431 Centerline is valid? [False, False] Translation: X:-32.06, Y:2.35, Z:-3.33 [[ 9.36049001e-01 1.61270107e-01 -3.12736663e-01 -3.20636630e+01] [-1.66638050e-01 9.85970651e-01 9.67655168e-03 2.35135957e+00] [ 3.09909710e-01 4.30561012e-02 9.49790579e-01 -3.33209605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.623741732 meters Centerline goodness [0,1] 0.31033263298038316 Centerline is valid? [False, False] Translation: X:-32.07, Y:2.37, Z:-3.34 [[ 9.50114125e-01 1.09734177e-01 -2.91961573e-01 -3.20693340e+01] [-1.17678140e-01 9.93004107e-01 -9.73132821e-03 2.36751534e+00] [ 2.88851182e-01 4.36033671e-02 9.56380542e-01 -3.34444613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.65374173199999 meters Centerline goodness [0,1] 0.3101392897477726 Centerline is valid? [False, False] Translation: X:-32.10, Y:2.37, Z:-3.36 [[ 9.51158987e-01 9.52206583e-02 -2.93648782e-01 -3.20985799e+01] [-1.02980221e-01 9.94622131e-01 -1.10403627e-02 2.37302312e+00] [ 2.91018306e-01 4.07411567e-02 9.55849624e-01 -3.35604907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.683741731999994 meters Centerline goodness [0,1] 0.3585885873405096 Centerline is valid? [False, False] Translation: X:-32.13, Y:2.38, Z:-3.37 [[ 9.48894142e-01 8.89885185e-02 -3.02788624e-01 -3.21302153e+01] [-9.65100824e-02 9.95282391e-01 -9.93810925e-03 2.38015363e+00] [ 3.00475809e-01 3.86523688e-02 9.53005920e-01 -3.37002957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.713741731999995 meters Centerline goodness [0,1] 0.41194711588828126 Centerline is valid? [False, False] Translation: X:-32.19, Y:2.37, Z:-3.39 [[ 9.49224593e-01 9.23101893e-02 -3.00751561e-01 -3.21858480e+01] [-9.46998926e-02 9.95483615e-01 6.65603845e-03 2.37268696e+00] [ 3.00007671e-01 2.21630652e-02 9.53679294e-01 -3.38510306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.743741732 meters Centerline goodness [0,1] 0.45771154647769907 Centerline is valid? [False, False] Translation: X:-32.22, Y:2.36, Z:-3.40 [[ 9.48395242e-01 8.70680163e-02 -3.04902650e-01 -3.22183139e+01] [-8.53854554e-02 9.96169174e-01 1.88759081e-02 2.36367872e+00] [ 3.05378109e-01 8.13243021e-03 9.52196447e-01 -3.39828325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.773741732 meters Centerline goodness [0,1] 0.46496270025681785 Centerline is valid? [False, False] Translation: X:-32.26, Y:2.36, Z:-3.41 [[ 9.44414385e-01 1.21327358e-01 -3.05550556e-01 -3.22554647e+01] [-1.19900673e-01 9.92507570e-01 2.35064267e-02 2.35987756e+00] [ 3.06113212e-01 1.44359096e-02 9.51885658e-01 -3.40858342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.803741732 meters Centerline goodness [0,1] 0.49992840925361537 Centerline is valid? [False, False] Translation: X:-32.24, Y:2.38, Z:-3.42 [[ 9.42768100e-01 1.64825461e-01 -2.89863550e-01 -3.22422603e+01] [-1.71916907e-01 9.85110933e-01 1.01284813e-03 2.37951872e+00] [ 2.85714695e-01 4.88775641e-02 9.57067446e-01 -3.41707123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.83374173199999 meters Centerline goodness [0,1] 0.5218655310785357 Centerline is valid? [False, False] Translation: X:-32.24, Y:2.38, Z:-3.42 [[ 9.35240355e-01 2.13169191e-01 -2.82638241e-01 -3.22418926e+01] [-2.26097412e-01 9.74010617e-01 -1.35380423e-02 2.38008505e+00] [ 2.72406754e-01 7.65650982e-02 9.59131037e-01 -3.41620408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.863741731999994 meters Centerline goodness [0,1] 0.4996814697601776 Centerline is valid? [False, False] Translation: X:-32.25, Y:2.38, Z:-3.42 [[ 9.26420704e-01 2.51065811e-01 -2.80554163e-01 -3.22456525e+01] [-2.68885275e-01 9.62813787e-01 -2.62739330e-02 2.38359494e+00] [ 2.63524930e-01 9.97775987e-02 9.59478526e-01 -3.41606222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.893741731999995 meters Centerline goodness [0,1] 0.4889470322833186 Centerline is valid? [False, False] Translation: X:-32.27, Y:2.40, Z:-3.43 [[ 0.92976223 0.24686133 -0.27313308 -32.2701005 ] [ -0.26730543 0.96279205 -0.03974019 2.39690765] [ 0.25316004 0.10995888 0.96115505 -3.42670414] [ 0. 0. 0. 1. ]] SLAMing on 36.923741731999996 meters Centerline goodness [0,1] 0.4991310392770246 Centerline is valid? [False, False] Translation: X:-32.30, Y:2.40, Z:-3.43 [[ 0.93710893 0.22795094 -0.26432031 -32.30165991] [ -0.24653381 0.9683516 -0.03893904 2.4008282 ] [ 0.2470788 0.10165402 0.96364855 -3.43498617] [ 0. 0. 0. 1. ]] SLAMing on 36.953741732 meters Centerline goodness [0,1] 0.5062092104993965 Centerline is valid? [False, False] Translation: X:-32.35, Y:2.40, Z:-3.45 [[ 0.9472673 0.17935845 -0.26554699 -32.34795673] [ -0.19511886 0.98019067 -0.03398355 2.39837249] [ 0.25419145 0.08400473 0.96349879 -3.446269 ] [ 0. 0. 0. 1. ]] SLAMing on 36.983741732 meters Centerline goodness [0,1] 0.49665155784229653 Centerline is valid? [False, False] Translation: X:-32.38, Y:2.40, Z:-3.46 [[ 9.51770754e-01 1.53993393e-01 -2.65364780e-01 -3.23784232e+01] [-1.67450983e-01 9.85462096e-01 -2.87163094e-02 2.40080445e+00] [ 2.57084811e-01 7.17669368e-02 9.63720347e-01 -3.46080885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.013741732 meters Centerline goodness [0,1] 0.545607691675569 Centerline is valid? [False, False] Translation: X:-32.39, Y:2.43, Z:-3.48 [[ 9.61715514e-01 1.08830922e-01 -2.51513621e-01 -3.23861262e+01] [-1.20164877e-01 9.92297384e-01 -3.01048786e-02 2.43105091e+00] [ 2.46299966e-01 5.91754320e-02 9.67385443e-01 -3.47789935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.043741731999994 meters Centerline goodness [0,1] 0.5526850806037581 Centerline is valid? [False, False] Translation: X:-32.37, Y:2.46, Z:-3.49 [[ 0.96648952 0.09305712 -0.23924545 -32.37325653] [ -0.10415187 0.99397566 -0.03412889 2.45907394] [ 0.23462822 0.05790307 0.97035913 -3.48901601] [ 0. 0. 0. 1. ]] SLAMing on 37.073741731999995 meters Centerline goodness [0,1] 0.5570251339101772 Centerline is valid? [False, False] Translation: X:-32.34, Y:2.48, Z:-3.49 [[ 0.96524735 0.13466262 -0.22397217 -32.34346947] [ -0.14791528 0.98804704 -0.0434064 2.48240579] [ 0.21544982 0.07502682 0.97362845 -3.49339999] [ 0. 0. 0. 1. ]] SLAMing on 37.103741731999996 meters Centerline goodness [0,1] 0.5323698479350972 Centerline is valid? [False, False] Translation: X:-32.33, Y:2.50, Z:-3.50 [[ 0.96240752 0.16758531 -0.21374503 -32.33027078] [ -0.18042746 0.98269471 -0.04191696 2.50108524] [ 0.20302144 0.07890667 0.97598977 -3.49873878] [ 0. 0. 0. 1. ]] SLAMing on 37.133741732 meters Centerline goodness [0,1] 0.591806800809817 Centerline is valid? [False, False] Translation: X:-32.35, Y:2.51, Z:-3.50 [[ 0.96017668 0.18858005 -0.20615119 -32.35268154] [ -0.20207041 0.97827712 -0.04627548 2.50940917] [ 0.19294636 0.08608969 0.97742533 -3.50348975] [ 0. 0. 0. 1. ]] SLAMing on 37.163741732 meters Centerline goodness [0,1] 0.5693969138711859 Centerline is valid? [False, False] Translation: X:-32.38, Y:2.52, Z:-3.51 [[ 0.96475904 0.1662316 -0.20397808 -32.37612952] [ -0.17847802 0.98300143 -0.04305552 2.52115012] [ 0.19335356 0.0779438 0.9780282 -3.51151907] [ 0. 0. 0. 1. ]] SLAMing on 37.193741732 meters Centerline goodness [0,1] 0.5693969138711859 Centerline is valid? [False, False] Translation: X:-32.38, Y:2.52, Z:-3.51 [[ 0.9647611 0.16621642 -0.20398067 -32.37614383] [ -0.17846281 0.98300418 -0.04305576 2.52115465] [ 0.19335728 0.07794148 0.97802765 -3.51151977] [ 0. 0. 0. 1. ]] SLAMing on 37.22374173199999 meters Centerline goodness [0,1] 0.5790522448471263 Centerline is valid? [False, False] Translation: X:-32.41, Y:2.54, Z:-3.52 [[ 0.97025216 0.12982293 -0.20434468 -32.41462577] [ -0.14120934 0.98908419 -0.04209973 2.5362107 ] [ 0.19664859 0.06970273 0.97799328 -3.51746446] [ 0. 0. 0. 1. ]] SLAMing on 37.253741731999995 meters Centerline goodness [0,1] 0.5611916765212339 Centerline is valid? [False, False] Translation: X:-32.45, Y:2.56, Z:-3.52 [[ 0.97022572 0.1283737 -0.20538316 -32.446176 ] [ -0.13993399 0.98923855 -0.04272668 2.56429842] [ 0.19768796 0.07019461 0.97774853 -3.52148349] [ 0. 0. 0. 1. ]] SLAMing on 37.283741731999996 meters Centerline goodness [0,1] 0.5418106570098293 Centerline is valid? [False, False] Translation: X:-32.46, Y:2.59, Z:-3.52 [[ 0.96650966 0.159557 -0.2009991 -32.4589941 ] [ -0.17172477 0.98413873 -0.04451476 2.58843079] [ 0.19070835 0.07754047 0.97857948 -3.52161399] [ 0. 0. 0. 1. ]] SLAMing on 37.313741732 meters Centerline goodness [0,1] 0.5719696177104476 Centerline is valid? [False, False] Translation: X:-32.47, Y:2.62, Z:-3.52 [[ 0.96080591 0.20128152 -0.19062466 -32.46547673] [ -0.21528957 0.97496296 -0.05565632 2.6244964 ] [ 0.17464939 0.09451442 0.98008398 -3.51728704] [ 0. 0. 0. 1. ]] SLAMing on 37.343741732 meters Centerline goodness [0,1] 0.700198488111829 Centerline is valid? [False, False] Translation: X:-32.47, Y:2.65, Z:-3.52 [[ 0.96002553 0.21117006 -0.18373402 -32.47426078] [ -0.22584294 0.97214113 -0.06274225 2.65329759] [ 0.16536611 0.10172919 0.98097157 -3.51971076] [ 0. 0. 0. 1. ]] SLAMing on 37.373741732 meters Centerline goodness [0,1] 0.72360347353447 Centerline is valid? [False, False] Translation: X:-32.49, Y:2.66, Z:-3.52 [[ 0.95681121 0.22903148 -0.17904437 -32.49095413] [ -0.24349984 0.96783884 -0.06321235 2.66041751] [ 0.15880848 0.10407956 0.98180818 -3.52237846] [ 0. 0. 0. 1. ]] SLAMing on 37.40374173199999 meters Centerline goodness [0,1] 0.7609142270159219 Centerline is valid? [False, False] Translation: X:-32.52, Y:2.66, Z:-3.54 [[ 0.94883068 0.26867587 -0.16593255 -32.51537332] [ -0.28220573 0.95723267 -0.06376165 2.66303707] [ 0.14170484 0.10732612 0.9840736 -3.53510015] [ 0. 0. 0. 1. ]] SLAMing on 37.433741731999994 meters Centerline goodness [0,1] 0.7544081414033208 Centerline is valid? [False, False] Translation: X:-32.54, Y:2.64, Z:-3.56 [[ 0.94700682 0.27641738 -0.16362003 -32.53811586] [ -0.28908484 0.95548385 -0.05899627 2.63797919] [ 0.1400287 0.10316994 0.9847578 -3.55542895] [ 0. 0. 0. 1. ]] SLAMing on 37.463741731999995 meters Centerline goodness [0,1] 0.7572669491525423 Centerline is valid? [False, False] Translation: X:-32.57, Y:2.58, Z:-3.57 [[ 0.95832142 0.23575296 -0.16137102 -32.56965735] [ -0.24619601 0.96803968 -0.04781955 2.57588267] [ 0.14493995 0.0855554 0.98573459 -3.57340039] [ 0. 0. 0. 1. ]] SLAMing on 37.493741732 meters Centerline goodness [0,1] 0.710564490696941 Centerline is valid? [False, False] Translation: X:-32.59, Y:2.53, Z:-3.58 [[ 0.96840716 0.18943389 -0.16218005 -32.58674174] [ -0.19733626 0.97974818 -0.03393968 2.52957046] [ 0.15246629 0.06487143 0.98617733 -3.58478541] [ 0. 0. 0. 1. ]] SLAMing on 37.523741732 meters Centerline goodness [0,1] 0.6633381181218665 Centerline is valid? [False, False] Translation: X:-32.62, Y:2.47, Z:-3.60 [[ 9.78668628e-01 1.23773315e-01 -1.63975250e-01 -3.26157345e+01] [-1.28865453e-01 9.91445016e-01 -2.07478905e-02 2.46601319e+00] [ 1.60004409e-01 4.14360545e-02 9.86246238e-01 -3.59690400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.553741732 meters Centerline goodness [0,1] 0.6415176443772146 Centerline is valid? [False, False] Translation: X:-32.65, Y:2.44, Z:-3.61 [[ 9.82563829e-01 9.40524227e-02 -1.60382245e-01 -3.26467350e+01] [-9.67857524e-02 9.95261798e-01 -9.29900993e-03 2.43634932e+00] [ 1.58747727e-01 2.46595871e-02 9.87011177e-01 -3.60697559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58374173199999 meters Centerline goodness [0,1] 0.6680813880913743 Centerline is valid? [False, False] Translation: X:-32.69, Y:2.41, Z:-3.61 [[ 9.84291572e-01 8.85677519e-02 -1.52728042e-01 -3.26875124e+01] [-9.01159865e-02 9.95926036e-01 -3.23107596e-03 2.41190146e+00] [ 1.51819665e-01 1.69435590e-02 9.88262974e-01 -3.61262145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.613741731999994 meters Centerline goodness [0,1] 0.6938204008275689 Centerline is valid? [False, False] Translation: X:-32.68, Y:2.41, Z:-3.61 [[ 9.84576122e-01 9.50429774e-02 -1.46890071e-01 -3.26788271e+01] [-9.69501494e-02 9.95271971e-01 -5.86282411e-03 2.41377693e+00] [ 1.45638351e-01 2.00134110e-02 9.89135448e-01 -3.61440325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.643741731999995 meters Centerline goodness [0,1] 0.6718055205973655 Centerline is valid? [False, False] Translation: X:-32.70, Y:2.39, Z:-3.62 [[ 9.78979599e-01 1.28358783e-01 -1.58502266e-01 -3.26954973e+01] [-1.30128989e-01 9.91496753e-01 -7.96891584e-04 2.38853179e+00] [ 1.57052194e-01 2.14058803e-02 9.87358292e-01 -3.62104647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.673741731999996 meters Centerline goodness [0,1] 0.5797110513478017 Centerline is valid? [False, False] Translation: X:-32.69, Y:2.36, Z:-3.62 [[ 9.79902041e-01 1.12741181e-01 -1.64564325e-01 -3.26931240e+01] [-1.13938087e-01 9.93485463e-01 2.17884624e-03 2.36032876e+00] [ 1.63737911e-01 1.66150885e-02 9.86363947e-01 -3.62268176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.703741732 meters Centerline goodness [0,1] 0.6414335154067464 Centerline is valid? [False, False] Translation: X:-32.73, Y:2.32, Z:-3.63 [[ 9.85373218e-01 7.61065633e-02 -1.52471023e-01 -3.27255436e+01] [-7.44077399e-02 9.97085951e-01 1.68254327e-02 2.32223444e+00] [ 1.53307241e-01 -5.23430650e-03 9.88164709e-01 -3.62565956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.733741732 meters Centerline goodness [0,1] 0.6213672561795429 Centerline is valid? [False, False] Translation: X:-32.73, Y:2.33, Z:-3.63 [[ 9.89751369e-01 1.21133540e-02 -1.42286664e-01 -3.27254447e+01] [-1.03570524e-02 9.99860845e-01 1.30775544e-02 2.33421840e+00] [ 1.42425277e-01 -1.14698569e-02 9.89739098e-01 -3.63062729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.763741732 meters Centerline goodness [0,1] 0.6433759442184777 Centerline is valid? [False, False] Translation: X:-32.78, Y:2.33, Z:-3.63 [[ 9.89632157e-01 9.46040674e-03 -1.43313277e-01 -3.27771564e+01] [-8.71669566e-03 9.99945093e-01 5.81638347e-03 2.32600713e+00] [ 1.43360433e-01 -4.50686189e-03 9.89660282e-01 -3.63343717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.793741731999994 meters Centerline goodness [0,1] 0.6185983827493262 Centerline is valid? [False, False] Translation: X:-32.75, Y:2.35, Z:-3.62 [[ 9.90330991e-01 6.17875100e-05 -1.38724637e-01 -3.27494716e+01] [-1.82857502e-03 9.99918838e-01 -1.26085175e-02 2.35333073e+00] [ 1.38712598e-01 1.27402741e-02 9.90250726e-01 -3.62049931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.823741731999995 meters Centerline goodness [0,1] 0.615731692102965 Centerline is valid? [False, False] Translation: X:-32.72, Y:2.39, Z:-3.61 [[ 9.90160895e-01 -9.28043548e-03 -1.39625485e-01 -3.27179561e+01] [ 5.22929182e-03 9.99555420e-01 -2.93533041e-02 2.39114345e+00] [ 1.39835822e-01 2.83343514e-02 9.89769219e-01 -3.60722620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.853741731999996 meters Centerline goodness [0,1] 0.6518979412870087 Centerline is valid? [False, False] Translation: X:-32.76, Y:2.40, Z:-3.62 [[ 9.85669697e-01 -5.47090573e-02 -1.59568690e-01 -3.27572273e+01] [ 5.13621381e-02 9.98366447e-01 -2.50273662e-02 2.39876023e+00] [ 1.60677250e-01 1.64729274e-02 9.86869527e-01 -3.61792126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.883741732 meters Centerline goodness [0,1] 0.7744769172711644 Centerline is valid? [False, False] Translation: X:-32.76, Y:2.40, Z:-3.61 [[ 9.84173733e-01 -8.59874987e-02 -1.54945837e-01 -3.27560128e+01] [ 8.33413630e-02 9.96243792e-01 -2.35058359e-02 2.39954760e+00] [ 1.56385037e-01 1.02204290e-02 9.87643287e-01 -3.61439757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.913741732 meters Centerline goodness [0,1] 0.8155821418149986 Centerline is valid? [False, False] Translation: X:-32.75, Y:2.41, Z:-3.61 [[ 9.85012212e-01 -1.01376075e-01 -1.39548677e-01 -3.27476453e+01] [ 1.00053152e-01 9.94845580e-01 -1.64814380e-02 2.41435758e+00] [ 1.40500208e-01 2.27213263e-03 9.90078042e-01 -3.61108855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.943741732 meters Centerline goodness [0,1] 0.7669381748844536 Centerline is valid? [False, False] Translation: X:-32.75, Y:2.43, Z:-3.61 [[ 9.86683313e-01 -8.49239610e-02 -1.38722601e-01 -3.27486331e+01] [ 8.33213168e-02 9.96372028e-01 -1.73303144e-02 2.43305176e+00] [ 1.39691078e-01 5.54098227e-03 9.90179630e-01 -3.61321337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.97374173199999 meters Centerline goodness [0,1] 0.6622702929749029 Centerline is valid? [False, False] Translation: X:-32.77, Y:2.46, Z:-3.61 [[ 9.89883462e-01 -3.30245309e-02 -1.37985915e-01 -3.27674450e+01] [ 2.80274547e-02 9.98884522e-01 -3.80022760e-02 2.45659440e+00] [ 1.39087002e-01 3.37504306e-02 9.89704862e-01 -3.60601631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.003741731999995 meters Centerline goodness [0,1] 0.6687073677074948 Centerline is valid? [False, False] Translation: X:-32.80, Y:2.48, Z:-3.60 [[ 9.90998944e-01 6.12989916e-03 -1.33729271e-01 -3.27988098e+01] [-1.23334160e-02 9.98883198e-01 -4.56096776e-02 2.47560107e+00] [ 1.33300340e-01 4.68484811e-02 9.89967797e-01 -3.60490221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.033741731999996 meters Centerline goodness [0,1] 0.6766698322253878 Centerline is valid? [False, False] Translation: X:-32.81, Y:2.53, Z:-3.61 [[ 9.93114061e-01 7.70589987e-03 -1.16897734e-01 -3.28078331e+01] [-1.40972674e-02 9.98444284e-01 -5.39470064e-02 2.53299466e+00] [ 1.16300165e-01 5.52234693e-02 9.91677690e-01 -3.60970581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.063741732 meters Centerline goodness [0,1] 0.676134299331068 Centerline is valid? [False, False] Translation: X:-32.86, Y:2.55, Z:-3.61 [[ 9.92817873e-01 2.03362633e-02 -1.17894476e-01 -3.28563936e+01] [-2.64846614e-02 9.98356505e-01 -5.08217579e-02 2.54600518e+00] [ 1.16667192e-01 5.35791449e-02 9.91724781e-01 -3.61444716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.093741732 meters Centerline goodness [0,1] 0.6851745723858227 Centerline is valid? [False, False] Translation: X:-32.81, Y:2.60, Z:-3.60 [[ 9.92097118e-01 -9.18128879e-03 -1.25135977e-01 -3.28118982e+01] [ 2.56069532e-03 9.98593050e-01 -5.29656851e-02 2.60136578e+00] [ 1.25446210e-01 5.22266684e-02 9.90724797e-01 -3.60448573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.123741732 meters Centerline goodness [0,1] 0.6809809068676942 Centerline is valid? [False, False] Translation: X:-32.85, Y:2.61, Z:-3.61 [[ 9.91222382e-01 -3.06334535e-02 -1.28607082e-01 -3.28455176e+01] [ 2.58328615e-02 9.98911796e-01 -3.88315126e-02 2.61086471e+00] [ 1.29656675e-01 3.51683755e-02 9.90935080e-01 -3.61452350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.15374173199999 meters Centerline goodness [0,1] 0.725209715064821 Centerline is valid? [False, False] Translation: X:-32.88, Y:2.62, Z:-3.63 [[ 9.88993248e-01 -7.08653372e-02 -1.29886332e-01 -3.28845729e+01] [ 6.84501370e-02 9.97390043e-01 -2.29713037e-02 2.62234721e+00] [ 1.31175203e-01 1.38277270e-02 9.91262760e-01 -3.62802753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.183741731999994 meters Centerline goodness [0,1] 0.7401655830487862 Centerline is valid? [False, False] Translation: X:-32.89, Y:2.63, Z:-3.64 [[ 9.84863373e-01 -9.98887744e-02 -1.41655814e-01 -3.28947869e+01] [ 9.89704816e-02 9.94998368e-01 -1.35311436e-02 2.63016077e+00] [ 1.42298913e-01 -6.93416466e-04 9.89823489e-01 -3.63722501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.213741731999995 meters Centerline goodness [0,1] 0.8266521948866377 Centerline is valid? [False, False] Translation: X:-32.90, Y:2.65, Z:-3.65 [[ 9.81539450e-01 -1.24155139e-01 -1.45484736e-01 -3.28979365e+01] [ 1.25333077e-01 9.92114136e-01 -1.07715478e-03 2.64573220e+00] [ 1.44471198e-01 -1.71767797e-02 9.89359910e-01 -3.64633432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.243741732 meters Centerline goodness [0,1] 0.863145409579569 Centerline is valid? [False, False] Translation: X:-32.90, Y:2.66, Z:-3.65 [[ 9.82282586e-01 -1.22127918e-01 -1.42146731e-01 -3.29038981e+01] [ 1.23622022e-01 9.92327932e-01 1.69413301e-03 2.65632656e+00] [ 1.40849271e-01 -1.92365838e-02 9.89844148e-01 -3.64815843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.273741732 meters Centerline goodness [0,1] 0.7816435725065167 Centerline is valid? [False, False] Translation: X:-32.93, Y:2.69, Z:-3.66 [[ 9.85027766e-01 -1.06891717e-01 -1.35257020e-01 -3.29262779e+01] [ 1.11050744e-01 9.93535308e-01 2.35652944e-02 2.68639792e+00] [ 1.31863690e-01 -3.82328619e-02 9.90530270e-01 -3.66129212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.303741732 meters Centerline goodness [0,1] 0.7142564822122833 Centerline is valid? [False, False] Translation: X:-32.96, Y:2.70, Z:-3.67 [[ 9.87588946e-01 -7.78177855e-02 -1.36427514e-01 -3.29585014e+01] [ 8.28189451e-02 9.96070912e-01 3.13649496e-02 2.70199239e+00] [ 1.33450727e-01 -4.22744603e-02 9.90153409e-01 -3.66834654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.33374173199999 meters Centerline goodness [0,1] 0.5986200333095408 Centerline is valid? [False, False] Translation: X:-33.00, Y:2.70, Z:-3.66 [[ 9.88298668e-01 -6.01520655e-02 -1.40169437e-01 -3.29992093e+01] [ 6.30392648e-02 9.97878815e-01 1.62456934e-02 2.70154238e+00] [ 1.38894900e-01 -2.48917754e-02 9.89994246e-01 -3.66272468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.363741731999994 meters Centerline goodness [0,1] 0.6343034206209368 Centerline is valid? [False, False] Translation: X:-33.02, Y:2.70, Z:-3.66 [[ 9.88583022e-01 -5.59097302e-02 -1.39920373e-01 -3.30163323e+01] [ 5.77509659e-02 9.98289267e-01 9.13048430e-03 2.69848290e+00] [ 1.39170524e-01 -1.71067785e-02 9.90120661e-01 -3.65926829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.393741731999995 meters Centerline goodness [0,1] 0.627582035384848 Centerline is valid? [False, False] Translation: X:-33.03, Y:2.68, Z:-3.66 [[ 9.89906294e-01 -4.70556328e-02 -1.33683566e-01 -3.30338968e+01] [ 4.70769100e-02 9.98886752e-01 -3.00350085e-03 2.68455726e+00] [ 1.33676075e-01 -3.32022482e-03 9.91019517e-01 -3.65583208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.423741731999996 meters Centerline goodness [0,1] 0.5909419417007951 Centerline is valid? [False, False] Translation: X:-33.05, Y:2.68, Z:-3.65 [[ 9.89920187e-01 -3.91963618e-02 -1.36094334e-01 -3.30459638e+01] [ 3.83328212e-02 9.99224847e-01 -8.96102751e-03 2.67523172e+00] [ 1.36340080e-01 3.65382224e-03 9.90655355e-01 -3.64932659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.453741732 meters Centerline goodness [0,1] 0.6009649749821301 Centerline is valid? [False, False] Translation: X:-33.06, Y:2.66, Z:-3.64 [[ 9.89552110e-01 -3.73171092e-02 -1.39262539e-01 -3.30605185e+01] [ 3.50365854e-02 9.99209329e-01 -1.87923953e-02 2.66495220e+00] [ 1.39853706e-01 1.37167705e-02 9.90077164e-01 -3.64418088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.483741732 meters Centerline goodness [0,1] 0.5919919206320917 Centerline is valid? [False, False] Translation: X:-33.08, Y:2.66, Z:-3.64 [[ 9.90356229e-01 -3.44164929e-02 -1.34201505e-01 -3.30753706e+01] [ 3.15344578e-02 9.99225356e-01 -2.35428482e-02 2.65502738e+00] [ 1.34907809e-01 1.90838347e-02 9.90674361e-01 -3.64373985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.513741732 meters Centerline goodness [0,1] 0.6305822665329479 Centerline is valid? [False, False] Translation: X:-33.12, Y:2.64, Z:-3.64 [[ 9.90562007e-01 -3.42146013e-02 -1.32726301e-01 -3.31157039e+01] [ 3.09118940e-02 9.99161000e-01 -2.68654169e-02 2.64405444e+00] [ 1.33534133e-01 2.25090400e-02 9.90788564e-01 -3.63858987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.543741731999994 meters Centerline goodness [0,1] 0.6291377015234433 Centerline is valid? [False, False] Translation: X:-33.14, Y:2.64, Z:-3.64 [[ 9.90378024e-01 -2.98833823e-02 -1.35123474e-01 -3.31449687e+01] [ 2.68244920e-02 9.99342268e-01 -2.44024191e-02 2.64052110e+00] [ 1.35763826e-01 2.05430011e-02 9.90528227e-01 -3.64193674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.573741731999995 meters Centerline goodness [0,1] 0.6053466650700514 Centerline is valid? [False, False] Translation: X:-33.19, Y:2.63, Z:-3.65 [[ 9.90822081e-01 -2.21252860e-02 -1.33349446e-01 -3.31871480e+01] [ 1.91723215e-02 9.99542602e-01 -2.33882216e-02 2.63195384e+00] [ 1.33805923e-01 2.06169479e-02 9.90793074e-01 -3.64957050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.603741731999996 meters Centerline goodness [0,1] 0.6070597362296354 Centerline is valid? [False, False] Translation: X:-33.22, Y:2.62, Z:-3.65 [[ 9.91129014e-01 -1.79587591e-02 -1.31684324e-01 -3.32222140e+01] [ 1.39286016e-02 9.99407885e-01 -3.14622437e-02 2.62189552e+00] [ 1.32171375e-01 2.93489641e-02 9.90792292e-01 -3.64803734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.633741732 meters Centerline goodness [0,1] 0.5646542781778845 Centerline is valid? [False, False] Translation: X:-33.24, Y:2.62, Z:-3.64 [[ 9.90797286e-01 -1.26993044e-02 -1.34757064e-01 -3.32374307e+01] [ 7.84078252e-03 9.99302030e-01 -3.65236115e-02 2.61592520e+00] [ 1.35126832e-01 3.51308943e-02 9.90205312e-01 -3.64460619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.663741732 meters Centerline goodness [0,1] 0.6350148367952522 Centerline is valid? [False, False] Translation: X:-33.26, Y:2.61, Z:-3.64 [[ 9.90478050e-01 -6.10418316e-03 -1.37535345e-01 -3.32578934e+01] [ 6.86166755e-04 9.99223021e-01 -3.94066503e-02 2.61104459e+00] [ 1.37669028e-01 3.89370500e-02 9.89712658e-01 -3.64167478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.693741732 meters Centerline goodness [0,1] 0.520853052531945 Centerline is valid? [False, False] Translation: X:-33.27, Y:2.61, Z:-3.64 [[ 9.90299675e-01 9.34424756e-03 -1.38633471e-01 -3.32715838e+01] [-1.46516046e-02 9.99196236e-01 -3.73123626e-02 2.60760535e+00] [ 1.38173386e-01 3.89816233e-02 9.89640616e-01 -3.64033930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72374173199999 meters Centerline goodness [0,1] 0.5443078818456484 Centerline is valid? [False, False] Translation: X:-33.29, Y:2.59, Z:-3.64 [[ 9.88986246e-01 2.90566109e-02 -1.45127248e-01 -3.32857710e+01] [-3.62646110e-02 9.98223621e-01 -4.72702833e-02 2.59465378e+00] [ 1.43495933e-01 5.20126432e-02 9.88283159e-01 -3.63522719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.753741731999995 meters Centerline goodness [0,1] 0.5136293402524708 Centerline is valid? [False, False] Translation: X:-33.30, Y:2.59, Z:-3.63 [[ 0.98820025 0.04139147 -0.14746866 -33.29722824] [ -0.04914736 0.99757198 -0.04934247 2.5856991 ] [ 0.14506825 0.05600794 0.98783517 -3.63125198] [ 0. 0. 0. 1. ]] SLAMing on 38.783741731999996 meters Centerline goodness [0,1] 0.5486895190549443 Centerline is valid? [False, False] Translation: X:-33.33, Y:2.57, Z:-3.63 [[ 0.98799619 0.05555538 -0.14414276 -33.3294417 ] [ -0.06351187 0.99666715 -0.05119416 2.56827082] [ 0.14081824 0.05973441 0.98823177 -3.62848746] [ 0. 0. 0. 1. ]] SLAMing on 38.813741732 meters Centerline goodness [0,1] 0.5367875940913465 Centerline is valid? [False, False] Translation: X:-33.37, Y:2.55, Z:-3.63 [[ 0.98821146 0.05268245 -0.14374516 -33.37312157] [ -0.06222401 0.99609028 -0.06270824 2.55370977] [ 0.13987953 0.0709134 0.98762594 -3.62570846] [ 0. 0. 0. 1. ]] SLAMing on 38.843741732 meters Centerline goodness [0,1] 0.555718840981561 Centerline is valid? [False, False] Translation: X:-33.40, Y:2.54, Z:-3.62 [[ 0.98795274 0.0500677 -0.14643294 -33.40234592] [ -0.06107657 0.99555631 -0.07167484 2.5427082 ] [ 0.14219365 0.07975497 0.98662055 -3.62369436] [ 0. 0. 0. 1. ]] SLAMing on 38.873741732 meters Centerline goodness [0,1] 0.5889785603652075 Centerline is valid? [False, False] Translation: X:-33.44, Y:2.53, Z:-3.62 [[ 0.9873008 0.04886016 -0.15116155 -33.44199663] [ -0.06086332 0.99526193 -0.07582449 2.52754468] [ 0.14674054 0.08406178 0.98559669 -3.62344436] [ 0. 0. 0. 1. ]] SLAMing on 38.90374173199999 meters Centerline goodness [0,1] 0.5289833887043189 Centerline is valid? [False, False] Translation: X:-33.47, Y:2.51, Z:-3.62 [[ 0.98660663 0.05316311 -0.15421101 -33.46748037] [ -0.06613016 0.99458184 -0.08021082 2.51155132] [ 0.14911121 0.08933452 0.98477672 -3.61865897] [ 0. 0. 0. 1. ]] SLAMing on 38.933741731999994 meters Centerline goodness [0,1] 0.5652998156179396 Centerline is valid? [False, False] Translation: X:-33.49, Y:2.50, Z:-3.62 [[ 0.98603888 0.05486086 -0.15721837 -33.48877322] [ -0.06919055 0.99378785 -0.08716864 2.49874666] [ 0.15145956 0.0968297 0.98370931 -3.61536829] [ 0. 0. 0. 1. ]] SLAMing on 38.963741731999995 meters Centerline goodness [0,1] 0.6184441461903778 Centerline is valid? [False, False] Translation: X:-33.50, Y:2.49, Z:-3.61 [[ 0.98629042 0.05336274 -0.15615254 -33.50156998] [ -0.06721013 0.99413003 -0.08478377 2.4922192 ] [ 0.15071164 0.09411646 0.98408744 -3.61448658] [ 0. 0. 0. 1. ]] SLAMing on 38.993741732 meters Centerline goodness [0,1] 0.6427847913629963 Centerline is valid? [False, False] Translation: X:-33.53, Y:2.48, Z:-3.61 [[ 0.98681468 0.05267209 -0.15304393 -33.52594531] [ -0.06662968 0.99392943 -0.08754871 2.47574074] [ 0.14750349 0.09659162 0.98433367 -3.61138706] [ 0. 0. 0. 1. ]] SLAMing on 39.023741732 meters Centerline goodness [0,1] 0.6839678155398102 Centerline is valid? [False, False] Translation: X:-33.55, Y:2.46, Z:-3.61 [[ 0.9866047 0.05262158 -0.15440898 -33.54523027] [ -0.06800599 0.99304536 -0.09610462 2.46079005] [ 0.14827795 0.10531801 0.9833218 -3.60927494] [ 0. 0. 0. 1. ]] SLAMing on 39.053741732 meters Centerline goodness [0,1] 0.6978779109824997 Centerline is valid? [False, False] Translation: X:-33.58, Y:2.44, Z:-3.62 [[ 0.98681303 0.04891027 -0.15429786 -33.58270425] [ -0.06389168 0.99355034 -0.09367806 2.44137459] [ 0.14872087 0.10230108 0.98357338 -3.61739155] [ 0. 0. 0. 1. ]] SLAMing on 39.08374173199999 meters Centerline goodness [0,1] 0.6978779109824997 Centerline is valid? [False, False] Translation: X:-33.58, Y:2.44, Z:-3.62 [[ 0.98681303 0.04891027 -0.15429786 -33.58270425] [ -0.06389168 0.99355034 -0.09367806 2.44137459] [ 0.14872087 0.10230108 0.98357338 -3.61739155] [ 0. 0. 0. 1. ]] SLAMing on 39.113741731999994 meters Centerline goodness [0,1] 0.6864156972165343 Centerline is valid? [False, False] Translation: X:-33.61, Y:2.43, Z:-3.63 [[ 0.98661586 0.04412096 -0.15697923 -33.61095275] [ -0.0579094 0.99474996 -0.08437425 2.43033924] [ 0.15243241 0.09233555 0.98399111 -3.62553996] [ 0. 0. 0. 1. ]] SLAMing on 39.143741731999995 meters Centerline goodness [0,1] 0.69109970610168 Centerline is valid? [False, False] Translation: X:-33.65, Y:2.41, Z:-3.64 [[ 0.98650222 0.03428218 -0.16011903 -33.65117438] [ -0.04725485 0.99583857 -0.0779264 2.41215252] [ 0.15678122 0.08444097 0.98401696 -3.63528317] [ 0. 0. 0. 1. ]] SLAMing on 39.173741731999996 meters Centerline goodness [0,1] 0.6966467377177021 Centerline is valid? [False, False] Translation: X:-33.69, Y:2.40, Z:-3.64 [[ 9.86768949e-01 1.91105754e-02 -1.61002569e-01 -3.36927847e+01] [-3.11564227e-02 9.96872292e-01 -7.26285761e-02 2.39721593e+00] [ 1.59111026e-01 7.66838878e-02 9.84278041e-01 -3.64455542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.203741732 meters Centerline goodness [0,1] 0.6657819209771045 Centerline is valid? [False, False] Translation: X:-33.74, Y:2.38, Z:-3.65 [[ 9.86375941e-01 1.03085128e-02 -1.64183547e-01 -3.37387003e+01] [-2.11087423e-02 9.97715498e-01 -6.41732544e-02 2.38198648e+00] [ 1.63146939e-01 6.67646624e-02 9.84340163e-01 -3.65411138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.233741732 meters Centerline goodness [0,1] 0.7105251783012752 Centerline is valid? [False, False] Translation: X:-33.77, Y:2.38, Z:-3.66 [[ 9.85502275e-01 6.05616617e-03 -1.69554088e-01 -3.37664691e+01] [-1.50238038e-02 9.98551889e-01 -5.16566532e-02 2.37658798e+00] [ 1.68995713e-01 5.34550966e-02 9.84166145e-01 -3.66420368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.263741732 meters Centerline goodness [0,1] 0.6700882599265574 Centerline is valid? [False, False] Translation: X:-33.80, Y:2.36, Z:-3.68 [[ 9.84728556e-01 6.78764206e-03 -1.73964361e-01 -3.38029293e+01] [-1.43045370e-02 9.99015538e-01 -4.19920843e-02 2.36425543e+00] [ 1.73508073e-01 4.38392842e-02 9.83856222e-01 -3.67619137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.293741731999994 meters Centerline goodness [0,1] 0.7010225473837334 Centerline is valid? [False, False] Translation: X:-33.84, Y:2.35, Z:-3.69 [[ 9.84953879e-01 7.02393193e-03 -1.72674612e-01 -3.38398022e+01] [-1.27402961e-02 9.99406062e-01 -3.20188582e-02 2.35260028e+00] [ 1.72347156e-01 3.37370243e-02 9.84458364e-01 -3.68695745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.323741731999995 meters Centerline goodness [0,1] 0.7123681276267262 Centerline is valid? [False, False] Translation: X:-33.88, Y:2.34, Z:-3.69 [[ 9.86027192e-01 8.33388278e-03 -1.66375847e-01 -3.38846725e+01] [-1.28208964e-02 9.99581974e-01 -2.59133373e-02 2.34165079e+00] [ 1.66090339e-01 2.76843427e-02 9.85721855e-01 -3.69442615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.353741731999996 meters Centerline goodness [0,1] 0.7228410459315328 Centerline is valid? [False, False] Translation: X:-33.92, Y:2.33, Z:-3.69 [[ 9.86218685e-01 1.05493121e-02 -1.65110317e-01 -3.39158860e+01] [-1.57514601e-02 9.99418865e-01 -3.02295026e-02 2.33241224e+00] [ 1.64695465e-01 3.24136289e-02 9.85811727e-01 -3.69234962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.383741732 meters Centerline goodness [0,1] 0.7003500783917871 Centerline is valid? [False, False] Translation: X:-33.95, Y:2.34, Z:-3.70 [[ 9.86910517e-01 -1.71492947e-02 -1.60354399e-01 -3.39463423e+01] [ 1.19625606e-02 9.99375302e-01 -3.32551192e-02 2.34056532e+00] [ 1.60824528e-01 3.09015777e-02 9.86499145e-01 -3.70220819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.413741732 meters Centerline goodness [0,1] 0.6748159944905953 Centerline is valid? [False, False] Translation: X:-33.99, Y:2.33, Z:-3.71 [[ 9.86180879e-01 -8.69518121e-03 -1.65443853e-01 -3.39923502e+01] [ 4.12735031e-03 9.99601267e-01 -2.79333448e-02 2.32633830e+00] [ 1.65620771e-01 2.68644858e-02 9.85823544e-01 -3.71030217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.443741732 meters Centerline goodness [0,1] 0.6875589268878032 Centerline is valid? [False, False] Translation: X:-34.01, Y:2.32, Z:-3.71 [[ 9.86125359e-01 -2.98924746e-03 -1.65975420e-01 -3.40138441e+01] [-2.22266177e-03 9.99510469e-01 -3.12070744e-02 2.31664948e+00] [ 1.65987455e-01 3.11429947e-02 9.85635977e-01 -3.70789926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.47374173199999 meters Centerline goodness [0,1] 0.6881323372465316 Centerline is valid? [False, False] Translation: X:-34.05, Y:2.30, Z:-3.72 [[ 9.86614880e-01 4.58279323e-03 -1.63003302e-01 -3.40522711e+01] [-9.08693481e-03 9.99596898e-01 -2.68973643e-02 2.30482846e+00] [ 1.62814331e-01 2.80185402e-02 9.86258818e-01 -3.71815596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.503741731999995 meters Centerline goodness [0,1] 0.6922569104305976 Centerline is valid? [False, False] Translation: X:-34.09, Y:2.29, Z:-3.72 [[ 9.85841746e-01 9.53709421e-03 -1.67406979e-01 -3.40865076e+01] [-1.41594935e-02 9.99550120e-01 -2.64398540e-02 2.29266831e+00] [ 1.67079507e-01 2.84359098e-02 9.85533276e-01 -3.72025203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.533741731999996 meters Centerline goodness [0,1] 0.697922491289948 Centerline is valid? [False, False] Translation: X:-34.10, Y:2.28, Z:-3.72 [[ 9.85821032e-01 1.15314778e-02 -1.67403458e-01 -3.41048128e+01] [-1.74974210e-02 9.99261590e-01 -3.42069565e-02 2.28188618e+00] [ 1.66885389e-01 3.66510660e-02 9.85294863e-01 -3.71682746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.563741732 meters Centerline goodness [0,1] 0.6764358053626336 Centerline is valid? [False, False] Translation: X:-34.14, Y:2.27, Z:-3.72 [[ 9.84869461e-01 1.47858616e-02 -1.72665931e-01 -3.41352741e+01] [-2.10154843e-02 9.99190368e-01 -3.43068149e-02 2.27043167e+00] [ 1.72018880e-01 3.74163924e-02 9.84382811e-01 -3.72076561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.593741732 meters Centerline goodness [0,1] 0.6732114212383702 Centerline is valid? [False, False] Translation: X:-34.16, Y:2.26, Z:-3.72 [[ 9.84622027e-01 2.18644104e-02 -1.73324587e-01 -3.41617406e+01] [-2.86790796e-02 9.98906956e-01 -3.69107577e-02 2.25816679e+00] [ 1.72328103e-01 4.13139347e-02 9.84172842e-01 -3.71762427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.623741732 meters Centerline goodness [0,1] 0.6213492301754084 Centerline is valid? [False, False] Translation: X:-34.19, Y:2.24, Z:-3.72 [[ 9.84541959e-01 3.27062569e-02 -1.72068103e-01 -3.41884796e+01] [-4.08322752e-02 9.98201172e-01 -4.38992710e-02 2.24351360e+00] [ 1.70322801e-01 5.02466064e-02 9.84106408e-01 -3.71692654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.65374173199999 meters Centerline goodness [0,1] 0.6125974164620476 Centerline is valid? [False, False] Translation: X:-34.20, Y:2.23, Z:-3.72 [[ 0.9841688 0.03837231 -0.1730299 -34.20199092] [ -0.04745196 0.99768829 -0.04864552 2.23472614] [ 0.17076326 0.05608601 0.98371453 -3.71550648] [ 0. 0. 0. 1. ]] SLAMing on 39.683741731999994 meters Centerline goodness [0,1] 0.681669271781256 Centerline is valid? [False, False] Translation: X:-34.21, Y:2.22, Z:-3.72 [[ 0.98408175 0.04684226 -0.17143194 -34.2141315 ] [ -0.05643275 0.99707717 -0.05150201 2.2227498 ] [ 0.16851841 0.06035657 0.98384889 -3.71593499] [ 0. 0. 0. 1. ]] SLAMing on 39.713741731999995 meters Centerline goodness [0,1] 0.6441390495294594 Centerline is valid? [False, False] Translation: X:-34.23, Y:2.21, Z:-3.72 [[ 0.98410502 0.05395989 -0.16919115 -34.22823028] [ -0.0642747 0.99635472 -0.05608957 2.2110966 ] [ 0.16554782 0.06607273 0.98398593 -3.71690345] [ 0. 0. 0. 1. ]] SLAMing on 39.743741732 meters Centerline goodness [0,1] 0.621161064664733 Centerline is valid? [False, False] Translation: X:-34.24, Y:2.20, Z:-3.71 [[ 0.98418437 0.05231762 -0.16924535 -34.23779316] [ -0.06268164 0.99643407 -0.0564815 2.20249258] [ 0.16568686 0.06619679 0.98395419 -3.71285711] [ 0. 0. 0. 1. ]] SLAMing on 39.773741732 meters Centerline goodness [0,1] 0.6706506455324044 Centerline is valid? [False, False] Translation: X:-34.27, Y:2.19, Z:-3.72 [[ 0.98537742 0.04013611 -0.16559118 -34.26873186] [ -0.04922917 0.99747549 -0.05117742 2.188985 ] [ 0.16311908 0.05858099 0.98486569 -3.72104129] [ 0. 0. 0. 1. ]] SLAMing on 39.803741732 meters Centerline goodness [0,1] 0.6462162450635074 Centerline is valid? [False, False] Translation: X:-34.31, Y:2.18, Z:-3.73 [[ 9.87205703e-01 2.13959960e-02 -1.58009847e-01 -3.43103722e+01] [-2.96948909e-02 9.98290161e-01 -5.03484656e-02 2.18255011e+00] [ 1.56662420e-01 5.43963775e-02 9.86153092e-01 -3.73057023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.83374173199999 meters Centerline goodness [0,1] 0.6550287387021645 Centerline is valid? [False, False] Translation: X:-34.35, Y:2.18, Z:-3.74 [[ 9.86799655e-01 1.62513071e-02 -1.61128323e-01 -3.43496309e+01] [-2.42838140e-02 9.98551703e-01 -4.80082509e-02 2.17812712e+00] [ 1.60114764e-01 5.12873356e-02 9.85765120e-01 -3.73939954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.863741731999994 meters Centerline goodness [0,1] 0.638440028176831 Centerline is valid? [False, False] Translation: X:-34.39, Y:2.17, Z:-3.75 [[ 9.85791786e-01 1.36922166e-02 -1.67412897e-01 -3.43903619e+01] [-2.14968638e-02 9.98760343e-01 -4.48961154e-02 2.17148875e+00] [ 1.66590635e-01 4.78570740e-02 9.84864082e-01 -3.74789211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.893741731999995 meters Centerline goodness [0,1] 0.6888458179804477 Centerline is valid? [False, False] Translation: X:-34.40, Y:2.16, Z:-3.75 [[ 9.86766174e-01 2.41221503e-02 -1.60345376e-01 -3.44035275e+01] [-3.17432562e-02 9.98476272e-01 -4.51386683e-02 2.16479434e+00] [ 1.59012212e-01 4.96311954e-02 9.86028327e-01 -3.75024279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.923741731999996 meters Centerline goodness [0,1] 0.6817242334491062 Centerline is valid? [False, False] Translation: X:-34.42, Y:2.16, Z:-3.75 [[ 0.9871643 0.03639101 -0.15550671 -34.4169059 ] [ -0.0440104 0.99797896 -0.04583747 2.16095744] [ 0.15352435 0.05209303 0.98677079 -3.75072233] [ 0. 0. 0. 1. ]] SLAMing on 39.953741732 meters Centerline goodness [0,1] 0.6694494009686465 Centerline is valid? [False, False] Translation: X:-34.44, Y:2.16, Z:-3.75 [[ 0.98820874 0.05134336 -0.1442475 -34.44034922] [ -0.05946875 0.99684381 -0.05259174 2.15787748] [ 0.14109199 0.06054984 0.98814309 -3.75310911] [ 0. 0. 0. 1. ]] SLAMing on 39.983741732 meters Centerline goodness [0,1] 0.6683517843049422 Centerline is valid? [False, False] Translation: X:-34.46, Y:2.15, Z:-3.75 [[ 0.98809764 0.05540092 -0.14350534 -34.46260702] [ -0.06457798 0.99610134 -0.06009825 2.14532708] [ 0.13961637 0.06865023 0.98782307 -3.75298064] [ 0. 0. 0. 1. ]] SLAMing on 40.013741732 meters Centerline goodness [0,1] 0.6452724256730892 Centerline is valid? [False, False] Translation: X:-34.49, Y:2.13, Z:-3.76 [[ 0.98814395 0.03823948 -0.14869188 -34.49195497] [ -0.04691797 0.99736674 -0.05530176 2.13226265] [ 0.14618563 0.06162242 0.98733603 -3.76358952] [ 0. 0. 0. 1. ]] SLAMing on 40.043741731999994 meters Centerline goodness [0,1] 0.633473177588006 Centerline is valid? [False, False] Translation: X:-34.51, Y:2.12, Z:-3.76 [[ 9.88446537e-01 2.95775393e-02 -1.48656023e-01 -3.45068351e+01] [-3.84987419e-02 9.97603087e-01 -5.74971894e-02 2.12209595e+00] [ 1.46599083e-01 6.25559676e-02 9.87216015e-01 -3.76017718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.073741731999995 meters Centerline goodness [0,1] 0.6683395712827492 Centerline is valid? [False, False] Translation: X:-34.55, Y:2.11, Z:-3.77 [[ 9.89818238e-01 2.21924202e-02 -1.40596414e-01 -3.45526649e+01] [-2.97200526e-02 9.98221931e-01 -5.16690957e-02 2.11494063e+00] [ 1.39199762e-01 5.53215461e-02 9.88717833e-01 -3.76977904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.103741731999996 meters Centerline goodness [0,1] 0.6654309940772934 Centerline is valid? [False, False] Translation: X:-34.59, Y:2.14, Z:-3.78 [[ 9.93427936e-01 -1.04045031e-02 -1.13985445e-01 -3.45889786e+01] [ 3.99621219e-03 9.98405610e-01 -5.63051310e-02 2.13984473e+00] [ 1.14389535e-01 5.54795801e-02 9.91885604e-01 -3.78344456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.133741732 meters Centerline goodness [0,1] 0.653348123813384 Centerline is valid? [False, False] Translation: X:-34.63, Y:2.17, Z:-3.80 [[ 9.96014332e-01 -3.66818661e-02 -8.13012381e-02 -3.46335636e+01] [ 3.22025742e-02 9.97925988e-01 -5.57379220e-02 2.16850567e+00] [ 8.31771894e-02 5.28976600e-02 9.95129837e-01 -3.79850768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.163741732 meters Centerline goodness [0,1] 0.6599000021458767 Centerline is valid? [False, False] Translation: X:-34.68, Y:2.16, Z:-3.81 [[ 9.96265673e-01 -2.53890423e-02 -8.25233678e-02 -3.46809789e+01] [ 2.13717315e-02 9.98560023e-01 -4.92049749e-02 2.16453513e+00] [ 8.36538033e-02 4.72575601e-02 9.95373681e-01 -3.80507132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.193741732 meters Centerline goodness [0,1] 0.6239015817223199 Centerline is valid? [False, False] Translation: X:-34.73, Y:2.15, Z:-3.81 [[ 9.95077412e-01 -1.17783954e-02 -9.83982390e-02 -3.47281156e+01] [ 7.28100590e-03 9.98917635e-01 -4.59406834e-02 2.15454459e+00] [ 9.88328437e-02 4.49980982e-02 9.94086133e-01 -3.80843645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22374173199999 meters Centerline goodness [0,1] 0.6053954207654968 Centerline is valid? [False, False] Translation: X:-34.74, Y:2.15, Z:-3.81 [[ 9.94935910e-01 -1.35809857e-03 -1.00502195e-01 -3.47385384e+01] [-3.36828068e-03 9.98896586e-01 -4.68429909e-02 2.14859243e+00] [ 1.00454917e-01 4.69442934e-02 9.93833509e-01 -3.80811175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.253741731999995 meters Centerline goodness [0,1] 0.6183820687878397 Centerline is valid? [False, False] Translation: X:-34.74, Y:2.14, Z:-3.82 [[ 9.95335272e-01 1.11380266e-02 -9.58313094e-02 -3.47411501e+01] [-1.57160900e-02 9.98764142e-01 -4.71507397e-02 2.14297153e+00] [ 9.51877093e-02 4.84368878e-02 9.94280226e-01 -3.81631909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.283741731999996 meters Centerline goodness [0,1] 0.6461406333870102 Centerline is valid? [False, False] Translation: X:-34.74, Y:2.13, Z:-3.82 [[ 9.95298381e-01 1.72473202e-02 -9.53082559e-02 -3.47408117e+01] [-2.11968750e-02 9.98951269e-01 -4.05839241e-02 2.13332159e+00] [ 9.45083393e-02 4.24133511e-02 9.94620169e-01 -3.81848221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.313741732 meters Centerline goodness [0,1] 0.625320841889117 Centerline is valid? [False, False] Translation: X:-34.75, Y:2.12, Z:-3.82 [[ 9.95287052e-01 2.01067197e-02 -9.48651862e-02 -3.47465678e+01] [-2.32659223e-02 9.99206928e-01 -3.23142527e-02 2.11532941e+00] [ 9.41402177e-02 3.43690834e-02 9.94965520e-01 -3.81561056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.343741732 meters Centerline goodness [0,1] 0.6085191831154405 Centerline is valid? [False, False] Translation: X:-34.76, Y:2.10, Z:-3.81 [[ 9.95302438e-01 1.37134510e-02 -9.58383997e-02 -3.47562924e+01] [-1.72131133e-02 9.99211244e-01 -3.57854385e-02 2.10319020e+00] [ 9.52720648e-02 3.72670114e-02 9.94753439e-01 -3.81045132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.373741732 meters Centerline goodness [0,1] 0.6253187340632969 Centerline is valid? [False, False] Translation: X:-34.80, Y:2.09, Z:-3.82 [[ 9.94761757e-01 2.19363108e-03 -1.02197038e-01 -3.47956569e+01] [-5.67072100e-03 9.99414377e-01 -3.37453025e-02 2.08828483e+00] [ 1.02063164e-01 3.41480673e-02 9.94191642e-01 -3.81959167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40374173199999 meters Centerline goodness [0,1] 0.6473829791796213 Centerline is valid? [False, False] Translation: X:-34.83, Y:2.08, Z:-3.83 [[ 9.94799127e-01 3.81861071e-04 -1.01855543e-01 -3.48316755e+01] [-3.54037308e-03 9.99518349e-01 -3.08307511e-02 2.08325607e+00] [ 1.01794711e-01 3.10310109e-02 9.94321333e-01 -3.82761686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.433741731999994 meters Centerline goodness [0,1] 0.6168758355975331 Centerline is valid? [False, False] Translation: X:-34.88, Y:2.08, Z:-3.83 [[ 9.94741407e-01 7.31825885e-03 -1.02156626e-01 -3.48788543e+01] [-1.07984476e-02 9.99378506e-01 -3.35558498e-02 2.07610940e+00] [ 1.01847566e-01 3.44825262e-02 9.94202207e-01 -3.82884518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.463741731999995 meters Centerline goodness [0,1] 0.6272729233623089 Centerline is valid? [False, False] Translation: X:-34.92, Y:2.07, Z:-3.83 [[ 9.94786689e-01 9.22991320e-03 -1.01559103e-01 -3.49188043e+01] [-1.23484462e-02 9.99469984e-01 -3.01208716e-02 2.07201467e+00] [ 1.01227262e-01 3.12179392e-02 9.94373412e-01 -3.83129510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.493741732 meters Centerline goodness [0,1] 0.6226223413453225 Centerline is valid? [False, False] Translation: X:-34.96, Y:2.07, Z:-3.83 [[ 9.95106998e-01 7.99465720e-03 -9.84791791e-02 -3.49552063e+01] [-1.10276604e-02 9.99480236e-01 -3.02926997e-02 2.06874835e+00] [ 9.81858135e-02 3.12304724e-02 9.94677940e-01 -3.83277711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.523741732 meters Centerline goodness [0,1] 0.6244252067096997 Centerline is valid? [False, False] Translation: X:-34.96, Y:2.07, Z:-3.83 [[ 9.94809699e-01 3.34597598e-03 -1.01697923e-01 -3.49627718e+01] [-6.88042006e-03 9.99383652e-01 -3.44234653e-02 2.06846693e+00] [ 1.01520061e-01 3.49445216e-02 9.94219572e-01 -3.82745672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.553741732 meters Centerline goodness [0,1] 0.6247393117831074 Centerline is valid? [False, False] Translation: X:-34.97, Y:2.07, Z:-3.83 [[ 9.94797275e-01 2.98342776e-03 -1.01830652e-01 -3.49655618e+01] [-6.59158677e-03 9.99361545e-01 -3.51148647e-02 2.07077714e+00] [ 1.01660875e-01 3.56033973e-02 9.94181807e-01 -3.82553454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58374173199999 meters Centerline goodness [0,1] 0.5909337617507219 Centerline is valid? [False, False] Translation: X:-34.98, Y:2.08, Z:-3.82 [[ 9.95186040e-01 2.34238213e-03 -9.79758128e-02 -3.49797619e+01] [-5.85337241e-03 9.99350287e-01 -3.55632085e-02 2.07789014e+00] [ 9.78288540e-02 3.59654975e-02 9.94553165e-01 -3.82320059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.613741731999994 meters Centerline goodness [0,1] 0.6456440640772438 Centerline is valid? [False, False] Translation: X:-35.03, Y:2.08, Z:-3.82 [[ 9.96319589e-01 -2.87562288e-03 -8.56680115e-02 -3.50325913e+01] [-6.14627967e-05 9.99412878e-01 -3.42621601e-02 2.08069620e+00] [ 8.57162390e-02 3.41413266e-02 9.95734451e-01 -3.82433829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.643741731999995 meters Centerline goodness [0,1] 0.6087262491203378 Centerline is valid? [False, False] Translation: X:-35.07, Y:2.09, Z:-3.83 [[ 9.96156411e-01 -1.14415177e-02 -8.68417923e-02 -3.50730046e+01] [ 9.30287113e-03 9.99644370e-01 -2.49918152e-02 2.08852410e+00] [ 8.70968531e-02 2.40878789e-02 9.95908586e-01 -3.82786466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.673741731999996 meters Centerline goodness [0,1] 0.5112218221279534 Centerline is valid? [False, False] Translation: X:-35.01, Y:2.17, Z:-3.83 [[ 9.94629627e-01 -1.91484960e-02 -1.01711557e-01 -3.50113467e+01] [ 1.89237143e-02 9.99815891e-01 -3.17450358e-03 2.16518571e+00] [ 1.01753618e-01 1.23269485e-03 9.94808867e-01 -3.83397709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.703741732 meters Centerline goodness [0,1] 0.4411286089238845 Centerline is valid? [False, False] Translation: X:-35.04, Y:2.17, Z:-3.84 [[ 9.93698012e-01 -3.56007220e-02 -1.06286639e-01 -3.50414577e+01] [ 3.57032059e-02 9.99361996e-01 -9.39007284e-04 2.17034740e+00] [ 1.06252257e-01 -2.86168409e-03 9.94335089e-01 -3.84174677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.733741732 meters Centerline goodness [0,1] 0.4528425636854947 Centerline is valid? [False, False] Translation: X:-35.04, Y:2.17, Z:-3.84 [[ 9.93871851e-01 -4.01651054e-02 -1.02983052e-01 -3.50427715e+01] [ 3.99411685e-02 9.99193052e-01 -4.23653433e-03 2.17189127e+00] [ 1.03070111e-01 9.73087886e-05 9.94674089e-01 -3.84489822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.763741732 meters Centerline goodness [0,1] 0.6201300253358191 Centerline is valid? [False, False] Translation: X:-35.12, Y:2.09, Z:-3.82 [[ 9.95169964e-01 -1.64648664e-02 -9.67762969e-02 -3.51208378e+01] [ 1.31925007e-02 9.99322552e-01 -3.43568830e-02 2.08964497e+00] [ 9.72764174e-02 3.29142166e-02 9.94713000e-01 -3.82132411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.793741731999994 meters Centerline goodness [0,1] 0.6180507576804385 Centerline is valid? [False, False] Translation: X:-35.13, Y:2.07, Z:-3.82 [[ 9.94972700e-01 3.70989931e-03 -1.00077788e-01 -3.51252417e+01] [-8.10390943e-03 9.99019024e-01 -4.35352215e-02 2.07118525e+00] [ 9.98181025e-02 4.41273782e-02 9.94026720e-01 -3.82127400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.823741731999995 meters Centerline goodness [0,1] 0.6057138762152736 Centerline is valid? [False, False] Translation: X:-35.18, Y:2.06, Z:-3.83 [[ 9.95664089e-01 1.04357256e-02 -9.24343930e-02 -3.51825416e+01] [-1.39085722e-02 9.99218220e-01 -3.70067742e-02 2.06367018e+00] [ 9.19759371e-02 3.81319466e-02 9.95030845e-01 -3.83140053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.853741731999996 meters Centerline goodness [0,1] 0.4514372000215715 Centerline is valid? [False, False] Translation: X:-35.17, Y:2.12, Z:-3.84 [[ 9.96077524e-01 8.02246451e-03 -8.81204099e-02 -3.51662158e+01] [-9.20118090e-03 9.99873445e-01 -1.29781540e-02 2.12197112e+00] [ 8.80051411e-02 1.37380594e-02 9.96025281e-01 -3.83999330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.883741732 meters Centerline goodness [0,1] 0.34535691532930857 Centerline is valid? [False, False] Translation: X:-35.16, Y:2.19, Z:-3.86 [[ 9.95304917e-01 -1.72947206e-02 -9.52313804e-02 -3.51616019e+01] [ 1.79753954e-02 9.99818617e-01 6.29430994e-03 2.18577087e+00] [ 9.51052487e-02 -7.97657935e-03 9.95435265e-01 -3.86029247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.913741732 meters Centerline goodness [0,1] 0.36472534745201857 Centerline is valid? [False, False] Translation: X:-35.15, Y:2.23, Z:-3.89 [[ 9.94756066e-01 -4.90644496e-02 -8.97387773e-02 -3.51505026e+01] [ 5.23515433e-02 9.98027440e-01 3.46488806e-02 2.23137637e+00] [ 8.78617339e-02 -3.91651476e-02 9.95362450e-01 -3.89491577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.943741732 meters Centerline goodness [0,1] 0.4812441224617743 Centerline is valid? [False, False] Translation: X:-35.21, Y:2.23, Z:-3.92 [[ 0.98931499 -0.10786601 -0.09808555 -35.21171319] [ 0.11390145 0.99178853 0.0581547 2.23415738] [ 0.09100721 -0.0687054 0.99347736 -3.91578669] [ 0. 0. 0. 1. ]] SLAMing on 40.97374173199999 meters Centerline goodness [0,1] 0.7947893873085339 Centerline is valid? [False, False] Translation: X:-35.26, Y:2.18, Z:-3.93 [[ 0.98852656 -0.12099801 -0.09041422 -35.26314002] [ 0.12722242 0.98963803 0.06656599 2.182971 ] [ 0.081423 -0.07730496 0.99367713 -3.93252204] [ 0. 0. 0. 1. ]] SLAMing on 41.003741731999995 meters Centerline goodness [0,1] 0.7947893873085339 Centerline is valid? [False, False] Translation: X:-35.27, Y:2.14, Z:-3.94 [[ 0.99452924 -0.07207143 -0.07561279 -35.27014976] [ 0.07747884 0.99444836 0.07120033 2.14256297] [ 0.07006151 -0.0766692 0.99459199 -3.94200369] [ 0. 0. 0. 1. ]] SLAMing on 41.033741731999996 meters Centerline goodness [0,1] 0.8813422818791946 Centerline is valid? [False, False] Translation: X:-35.30, Y:2.14, Z:-3.94 [[ 0.9912385 -0.10983404 -0.07336696 -35.29705808] [ 0.1145943 0.99133795 0.0641656 2.1363356 ] [ 0.06568388 -0.07201085 0.9952387 -3.94093505] [ 0. 0. 0. 1. ]] SLAMing on 41.063741732 meters Centerline goodness [0,1] 0.8832104668924753 Centerline is valid? [False, False] Translation: X:-35.33, Y:2.08, Z:-3.95 [[ 0.99433217 -0.09012339 -0.05640317 -35.33042906] [ 0.09368334 0.99354146 0.06402191 2.08376142] [ 0.05026902 -0.06894308 0.99635329 -3.95216335] [ 0. 0. 0. 1. ]] SLAMing on 41.093741732 meters Centerline goodness [0,1] 0.7992688923395446 Centerline is valid? [False, False] Translation: X:-35.34, Y:2.06, Z:-3.95 [[ 0.9940742 -0.09664197 -0.04976756 -35.34268121] [ 0.09944744 0.99338753 0.05737089 2.06486187] [ 0.04389404 -0.06198018 0.99711171 -3.94734272] [ 0. 0. 0. 1. ]] SLAMing on 41.123741732 meters Centerline goodness [0,1] 0.8552229891160075 Centerline is valid? [False, False] Translation: X:-35.37, Y:2.02, Z:-3.95 [[ 9.98461989e-01 -4.48136785e-02 -3.26403138e-02 -3.53703866e+01] [ 4.67500577e-02 9.97030121e-01 6.11994232e-02 2.01880380e+00] [ 2.98008048e-02 -6.26312344e-02 9.97591720e-01 -3.94943044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.15374173199999 meters Centerline goodness [0,1] 0.8643717144310666 Centerline is valid? [False, False] Translation: X:-35.37, Y:2.03, Z:-3.94 [[ 9.99228953e-01 -2.58327992e-02 -2.95663080e-02 -3.53704383e+01] [ 2.73835530e-02 9.98202676e-01 5.33062735e-02 2.02797107e+00] [ 2.81361175e-02 -5.40748024e-02 9.98140408e-01 -3.93732522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.183741731999994 meters Centerline goodness [0,1] 0.9110467375560816 Centerline is valid? [False, False] Translation: X:-35.37, Y:2.04, Z:-3.93 [[ 9.99525335e-01 -7.95698431e-03 -2.97622519e-02 -3.53721433e+01] [ 9.35992445e-03 9.98836878e-01 4.72999238e-02 2.03596215e+00] [ 2.93512700e-02 -4.75560446e-02 9.98437242e-01 -3.92776000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.213741731999995 meters Centerline goodness [0,1] 0.9018443611533752 Centerline is valid? [False, False] Translation: X:-35.38, Y:2.06, Z:-3.92 [[ 9.99405051e-01 1.68131999e-02 -3.01141359e-02 -3.53761442e+01] [-1.53369369e-02 9.98700576e-01 4.85997741e-02 2.05525284e+00] [ 3.08921225e-02 -4.81090011e-02 9.98364263e-01 -3.92064194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.243741732 meters Centerline goodness [0,1] 0.8762714437528465 Centerline is valid? [False, False] Translation: X:-35.38, Y:2.08, Z:-3.92 [[ 9.98858741e-01 3.75392727e-02 -2.95299542e-02 -3.53808102e+01] [-3.60589074e-02 9.98139803e-01 4.91598260e-02 2.07514198e+00] [ 3.13204467e-02 -4.80389040e-02 9.98354292e-01 -3.91770286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.273741732 meters Centerline goodness [0,1] 0.8799763033175355 Centerline is valid? [False, False] Translation: X:-35.38, Y:2.09, Z:-3.92 [[ 9.98663648e-01 4.38715878e-02 -2.73167066e-02 -3.53839068e+01] [-4.23413288e-02 9.97627611e-01 5.42803901e-02 2.09179679e+00] [ 2.96332677e-02 -5.30512267e-02 9.98152011e-01 -3.92041557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.303741732 meters Centerline goodness [0,1] 0.8749656175095288 Centerline is valid? [False, False] Translation: X:-35.39, Y:2.10, Z:-3.92 [[ 9.98806706e-01 4.19805251e-02 -2.49559542e-02 -3.53876657e+01] [-4.06214550e-02 9.97785151e-01 5.26753210e-02 2.10057590e+00] [ 2.71120182e-02 -5.15987167e-02 9.98299810e-01 -3.92424202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.33374173199999 meters Centerline goodness [0,1] 0.8620314624198874 Centerline is valid? [False, False] Translation: X:-35.39, Y:2.10, Z:-3.93 [[ 9.98794746e-01 4.54102034e-02 -1.86271227e-02 -3.53941740e+01] [-4.46547930e-02 9.98235378e-01 3.91417914e-02 2.10346023e+00] [ 2.03716896e-02 -3.82628253e-02 9.99060033e-01 -3.92884649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.363741731999994 meters Centerline goodness [0,1] 0.84472049689441 Centerline is valid? [False, False] Translation: X:-35.41, Y:2.10, Z:-3.93 [[ 9.98945296e-01 4.17948299e-02 -1.90128377e-02 -3.54113700e+01] [-4.13226199e-02 9.98843316e-01 2.45860038e-02 2.10458616e+00] [ 2.00184137e-02 -2.37744126e-02 9.99516904e-01 -3.92875775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.393741731999995 meters Centerline goodness [0,1] 0.8553831941183263 Centerline is valid? [False, False] Translation: X:-35.41, Y:2.10, Z:-3.93 [[ 9.98982287e-01 4.08511464e-02 -1.91199703e-02 -3.54132721e+01] [-4.03858170e-02 9.98892952e-01 2.41217122e-02 2.10482564e+00] [ 2.00842032e-02 -2.33249876e-02 9.99526173e-01 -3.92814554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.423741731999996 meters Centerline goodness [0,1] 0.8649580098241166 Centerline is valid? [False, False] Translation: X:-35.42, Y:2.10, Z:-3.92 [[ 9.98775457e-01 4.49942218e-02 -2.05695376e-02 -3.54167754e+01] [-4.44507483e-02 9.98669104e-01 2.61562865e-02 2.10141361e+00] [ 2.17190435e-02 -2.52099256e-02 9.99446218e-01 -3.91817518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.453741732 meters Centerline goodness [0,1] 0.8607535506083963 Centerline is valid? [False, False] Translation: X:-35.42, Y:2.11, Z:-3.92 [[ 9.98822894e-01 4.37535947e-02 -2.09391910e-02 -3.54175366e+01] [-4.33464381e-02 9.98869408e-01 1.95190221e-02 2.10610058e+00] [ 2.17695447e-02 -1.85884068e-02 9.99590195e-01 -3.91966553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.483741732 meters Centerline goodness [0,1] 0.8505419061210321 Centerline is valid? [False, False] Translation: X:-35.42, Y:2.11, Z:-3.92 [[ 9.98775095e-01 4.45150188e-02 -2.16037814e-02 -3.54175197e+01] [-4.40945946e-02 9.98835820e-01 1.95619641e-02 2.10598511e+00] [ 2.24494319e-02 -1.85853926e-02 9.99575213e-01 -3.91756635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.513741732 meters Centerline goodness [0,1] 0.860026601987325 Centerline is valid? [False, False] Translation: X:-35.42, Y:2.11, Z:-3.91 [[ 9.98813342e-01 4.37828228e-02 -2.13300909e-02 -3.54201445e+01] [-4.34014176e-02 9.98895051e-01 1.80275838e-02 2.10514205e+00] [ 2.20958208e-02 -1.70804351e-02 9.99609941e-01 -3.91385251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.543741731999994 meters Centerline goodness [0,1] 0.8612139303482587 Centerline is valid? [False, False] Translation: X:-35.42, Y:2.11, Z:-3.91 [[ 9.98509884e-01 4.87693202e-02 -2.44860204e-02 -3.54202922e+01] [-4.82207312e-02 9.98582887e-01 2.25161864e-02 2.10598140e+00] [ 2.55494200e-02 -2.13019009e-02 9.99446575e-01 -3.90973183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.573741731999995 meters Centerline goodness [0,1] 0.29229404486775457 Centerline is valid? [False, False] Translation: X:-35.64, Y:1.36, Z:-3.63 [[ 0.98222826 -0.07635285 -0.17145809 -35.64325563] [ 0.04391684 0.98165134 -0.18555852 1.36379907] [ 0.18247999 0.17473093 0.96755886 -3.63324773] [ 0. 0. 0. 1. ]] SLAMing on 41.603741731999996 meters Centerline goodness [0,1] 0.23999447971294507 Centerline is valid? [False, False] Translation: X:-35.67, Y:1.38, Z:-3.65 [[ 0.98321876 -0.07230027 -0.16749193 -35.67158053] [ 0.04353215 0.98457493 -0.16946136 1.37931312] [ 0.17716046 0.1593263 0.97119993 -3.64942389] [ 0. 0. 0. 1. ]] SLAMing on 41.633741732 meters Centerline goodness [0,1] 0.26189239834736866 Centerline is valid? [False, False] Translation: X:-35.71, Y:1.39, Z:-3.67 [[ 9.85370513e-01 -5.75447774e-02 -1.60416802e-01 -3.57136020e+01] [ 3.36802463e-02 9.88458975e-01 -1.47697310e-01 1.38838737e+00] [ 1.67064637e-01 1.40133697e-01 9.75936450e-01 -3.67252711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.663741732 meters Centerline goodness [0,1] 0.24986045680859137 Centerline is valid? [False, False] Translation: X:-35.76, Y:1.38, Z:-3.70 [[ 0.98704416 -0.05292011 -0.15147044 -35.75750425] [ 0.03687546 0.99359205 -0.10684123 1.38389899] [ 0.15615387 0.09987147 0.98267068 -3.69572472] [ 0. 0. 0. 1. ]] SLAMing on 41.693741732 meters Centerline goodness [0,1] 0.26613651424784623 Centerline is valid? [False, False] Translation: X:-35.79, Y:1.37, Z:-3.72 [[ 9.87510356e-01 -4.64049997e-02 -1.50565180e-01 -3.57940560e+01] [ 3.36396129e-02 9.95705437e-01 -8.62499840e-02 1.37125988e+00] [ 1.53920999e-01 8.01077980e-02 9.84830476e-01 -3.71632329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72374173199999 meters Centerline goodness [0,1] 0.31390251312991013 Centerline is valid? [False, False] Translation: X:-35.82, Y:1.39, Z:-3.74 [[ 9.89951409e-01 -1.85612174e-02 -1.40184484e-01 -3.58218856e+01] [ 9.72943734e-03 9.97939138e-01 -6.34256722e-02 1.38759198e+00] [ 1.41072841e-01 6.14244174e-02 9.88091845e-01 -3.73737030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.753741731999995 meters Centerline goodness [0,1] 0.3313665532538008 Centerline is valid? [False, False] Translation: X:-35.83, Y:1.41, Z:-3.75 [[ 9.91042530e-01 1.02434892e-02 -1.33153197e-01 -3.58307027e+01] [-1.50361588e-02 9.99272859e-01 -3.50380780e-02 1.41008911e+00] [ 1.32697464e-01 3.67263381e-02 9.90475926e-01 -3.74572249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.783741731999996 meters Centerline goodness [0,1] 0.43501458040825147 Centerline is valid? [False, False] Translation: X:-35.85, Y:1.43, Z:-3.74 [[ 9.89610260e-01 4.57131283e-02 -1.36315233e-01 -3.58454554e+01] [-4.81850256e-02 9.98727468e-01 -1.48878362e-02 1.43450469e+00] [ 1.35461198e-01 2.13015085e-02 9.90553638e-01 -3.74092406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.813741732 meters Centerline goodness [0,1] 0.4338214858364511 Centerline is valid? [False, False] Translation: X:-35.86, Y:1.46, Z:-3.75 [[ 9.89600648e-01 6.25024279e-02 -1.29553091e-01 -3.58605623e+01] [-6.39683297e-02 9.97926094e-01 -7.18081547e-03 1.46318036e+00] [ 1.28835592e-01 1.53934345e-02 9.91546485e-01 -3.75253344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.843741732 meters Centerline goodness [0,1] 0.4545610058589573 Centerline is valid? [False, False] Translation: X:-35.87, Y:1.48, Z:-3.76 [[ 9.90241794e-01 6.61537258e-02 -1.22657547e-01 -3.58674335e+01] [-6.69584929e-02 9.97752763e-01 -2.44612208e-03 1.48093934e+00] [ 1.22220086e-01 1.06352168e-02 9.92446040e-01 -3.76096253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.873741732 meters Centerline goodness [0,1] 0.4492560419712738 Centerline is valid? [False, False] Translation: X:-35.87, Y:1.50, Z:-3.76 [[ 9.90553519e-01 5.72449526e-02 -1.24606346e-01 -3.58667807e+01] [-5.78537372e-02 9.98324263e-01 -1.26958090e-03 1.49944119e+00] [ 1.24324862e-01 8.46653064e-03 9.92205446e-01 -3.75744899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90374173199999 meters Centerline goodness [0,1] 0.4640683142973909 Centerline is valid? [False, False] Translation: X:-35.86, Y:1.52, Z:-3.76 [[ 9.92008897e-01 4.18793593e-02 -1.19014566e-01 -3.58556059e+01] [-4.26069570e-02 9.99085517e-01 -3.57451318e-03 1.52289849e+00] [ 1.18756031e-01 8.61679740e-03 9.92886074e-01 -3.75582335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.933741731999994 meters Centerline goodness [0,1] 0.573161518703188 Centerline is valid? [False, False] Translation: X:-35.84, Y:1.54, Z:-3.76 [[ 9.92735712e-01 4.00268526e-02 -1.13462140e-01 -3.58388652e+01] [-4.13674161e-02 9.99098985e-01 -9.48442805e-03 1.53994865e+00] [ 1.12980278e-01 1.41091660e-02 9.93497050e-01 -3.76093568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.963741731999995 meters Centerline goodness [0,1] 0.6494975420890068 Centerline is valid? [False, False] Translation: X:-35.86, Y:1.53, Z:-3.76 [[ 9.90991538e-01 6.77337213e-02 -1.15533173e-01 -3.58620691e+01] [-6.87194503e-02 9.97625576e-01 -4.56579691e-03 1.53295152e+00] [ 1.14949589e-01 1.24640422e-02 9.93293129e-01 -3.76134168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.993741732 meters Centerline goodness [0,1] 0.6388328684831581 Centerline is valid? [False, False] Translation: X:-35.84, Y:1.52, Z:-3.76 [[ 9.93163582e-01 2.51539349e-02 -1.13988502e-01 -3.58424102e+01] [-2.54103291e-02 9.99676788e-01 -7.96646724e-04 1.52412892e+00] [ 1.13931621e-01 3.68768587e-03 9.93481750e-01 -3.76465863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.023741732 meters Centerline goodness [0,1] 0.4343960370887845 Centerline is valid? [False, False] Translation: X:-35.87, Y:1.50, Z:-3.77 [[ 9.93587798e-01 -9.29217850e-03 -1.12680716e-01 -3.58734876e+01] [ 1.10018005e-02 9.99833471e-01 1.45599325e-02 1.50032314e+00] [ 1.12526657e-01 -1.57062620e-02 9.93524567e-01 -3.77197095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.053741732 meters Centerline goodness [0,1] 0.35680493368252086 Centerline is valid? [False, False] Translation: X:-35.92, Y:1.48, Z:-3.79 [[ 9.93360100e-01 -4.69201395e-02 -1.05043856e-01 -3.59171336e+01] [ 5.02060506e-02 9.98321896e-01 2.88573259e-02 1.48291124e+00] [ 1.03513592e-01 -3.39395533e-02 9.94048813e-01 -3.78649236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08374173199999 meters Centerline goodness [0,1] 0.3729434050614052 Centerline is valid? [False, False] Translation: X:-35.96, Y:1.48, Z:-3.80 [[ 9.93675234e-01 -5.61387832e-02 -9.72520776e-02 -3.59557937e+01] [ 5.92554017e-02 9.97808097e-01 2.94584220e-02 1.48072399e+00] [ 9.53851505e-02 -3.50348153e-02 9.94823720e-01 -3.79697865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.113741731999994 meters Centerline goodness [0,1] 0.3514838927876892 Centerline is valid? [False, False] Translation: X:-35.89, Y:1.48, Z:-3.79 [[ 9.93016878e-01 -2.68878092e-02 -1.14867425e-01 -3.58868599e+01] [ 2.91874938e-02 9.99404859e-01 1.83852548e-02 1.47554982e+00] [ 1.14304724e-01 -2.16095606e-02 9.93210681e-01 -3.79400492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.143741731999995 meters Centerline goodness [0,1] 0.5672003777472527 Centerline is valid? [False, False] Translation: X:-35.90, Y:1.49, Z:-3.78 [[ 9.90213342e-01 3.94108435e-02 -1.33881752e-01 -3.59047155e+01] [-3.92398957e-02 9.99222144e-01 3.91628651e-03 1.49125397e+00] [ 1.33931955e-01 1.37554682e-03 9.90989576e-01 -3.78055602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.173741731999996 meters Centerline goodness [0,1] 0.8722727866567958 Centerline is valid? [False, False] Translation: X:-35.90, Y:1.51, Z:-3.77 [[ 9.80733747e-01 1.36468978e-01 -1.39776731e-01 -3.58979697e+01] [-1.39538497e-01 9.90139582e-01 -1.23538148e-02 1.51135126e+00] [ 1.36712562e-01 3.16200380e-02 9.90105978e-01 -3.76670994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.203741732 meters Centerline goodness [0,1] 0.9590843508409242 Centerline is valid? [False, True] Translation: X:-35.89, Y:1.51, Z:-3.76 [[ 9.73873643e-01 1.72460670e-01 -1.47741139e-01 -3.58902913e+01] [-1.76633347e-01 9.84154603e-01 -1.55041327e-02 1.51315627e+00] [ 1.42726269e-01 4.11950781e-02 9.88904534e-01 -3.75988723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.233741732 meters Centerline goodness [0,1] 0.9733924127995809 Centerline is valid? [True, True] Translation: X:-35.91, Y:1.54, Z:-3.77 [[ 9.75978875e-01 1.74930620e-01 -1.29863445e-01 -3.59140359e+01] [-1.72568386e-01 9.84561245e-01 2.93139435e-02 1.53806236e+00] [ 1.32986421e-01 -6.19946448e-03 9.91098471e-01 -3.77255889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26374173199999 meters Centerline goodness [0,1] 0.9202881204709159 Centerline is valid? [True, False] Translation: X:-35.95, Y:1.54, Z:-3.78 [[ 9.78296829e-01 1.58451620e-01 -1.33523024e-01 -3.59478088e+01] [-1.56049582e-01 9.87342752e-01 2.83340442e-02 1.54149813e+00] [ 1.36322565e-01 -6.88289355e-03 9.90640593e-01 -3.77769502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.293741731999994 meters Centerline goodness [0,1] 0.8536367984000696 Centerline is valid? [False, False] Translation: X:-35.98, Y:1.54, Z:-3.78 [[ 9.79587619e-01 1.36387237e-01 -1.47670640e-01 -3.59825699e+01] [-1.32764994e-01 9.90558663e-01 3.41612586e-02 1.54294535e+00] [ 1.50935592e-01 -1.38584543e-02 9.88446453e-01 -3.77860988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.323741731999995 meters Centerline goodness [0,1] 0.9090118680172151 Centerline is valid? [False, False] Translation: X:-36.00, Y:1.54, Z:-3.77 [[ 9.75797022e-01 1.51646345e-01 -1.57554935e-01 -3.60007385e+01] [-1.48514842e-01 9.88407343e-01 3.15319845e-02 1.53957167e+00] [ 1.60510165e-01 -7.36957033e-03 9.87006675e-01 -3.76680629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.353741731999996 meters Centerline goodness [0,1] 0.983653301989465 Centerline is valid? [False, True] Translation: X:-36.01, Y:1.54, Z:-3.75 [[ 9.69385082e-01 1.84587757e-01 -1.61925670e-01 -3.60129973e+01] [-1.84866414e-01 9.82671241e-01 1.34773960e-02 1.54453329e+00] [ 1.61607461e-01 1.68698313e-02 9.86710919e-01 -3.75400941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.383741732 meters Centerline goodness [0,1] 0.9878817150007684 Centerline is valid? [True, True] Translation: X:-36.04, Y:1.58, Z:-3.76 [[ 9.71564259e-01 1.86832555e-01 -1.45452697e-01 -3.60369721e+01] [-1.84257266e-01 9.82385831e-01 3.11020711e-02 1.57666517e+00] [ 1.48701548e-01 -3.41694440e-03 9.88876218e-01 -3.75606677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.413741732 meters Centerline goodness [0,1] 0.995939403404654 Centerline is valid? [True, True] Translation: X:-36.06, Y:1.59, Z:-3.74 [[ 9.75278281e-01 1.74639681e-01 -1.35400359e-01 -3.60647656e+01] [-1.72293446e-01 9.84620194e-01 2.89489730e-02 1.59347058e+00] [ 1.38373567e-01 -4.90471020e-03 9.90367962e-01 -3.74404348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.443741732 meters Centerline goodness [0,1] 0.9924100808540348 Centerline is valid? [True, True] Translation: X:-36.09, Y:1.60, Z:-3.75 [[ 9.78109417e-01 1.62847025e-01 -1.29548504e-01 -3.60949072e+01] [-1.60597966e-01 9.86631333e-01 2.76930667e-02 1.60011775e+00] [ 1.32326347e-01 -6.28162308e-03 9.91186299e-01 -3.75051692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.47374173199999 meters Centerline goodness [0,1] 0.9589643833078597 Centerline is valid? [True, True] Translation: X:-36.12, Y:1.61, Z:-3.77 [[ 9.79816588e-01 1.47065944e-01 -1.35392252e-01 -3.61232216e+01] [-1.44458820e-01 9.89087587e-01 2.89377859e-02 1.60852364e+00] [ 1.38170558e-01 -8.79511777e-03 9.90369397e-01 -3.76500432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.503741731999995 meters Centerline goodness [0,1] 0.9785273159144893 Centerline is valid? [True, True] Translation: X:-36.15, Y:1.64, Z:-3.78 [[ 9.76125693e-01 1.62791538e-01 -1.43796891e-01 -3.61476688e+01] [-1.60017191e-01 9.86635743e-01 3.07312531e-02 1.63749173e+00] [ 1.46877940e-01 -6.98759117e-03 9.89129943e-01 -3.77801389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.533741731999996 meters Centerline goodness [0,1] 0.9986961536532771 Centerline is valid? [True, True] Translation: X:-36.16, Y:1.70, Z:-3.78 [[ 9.68330967e-01 2.01269522e-01 -1.47735294e-01 -3.61646131e+01] [-1.98781830e-01 9.79535161e-01 3.15697906e-02 1.70294666e+00] [ 1.51065952e-01 -1.20291372e-03 9.88522954e-01 -3.78075832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.563741732 meters Centerline goodness [0,1] 0.9984762905556285 Centerline is valid? [True, True] Translation: X:-36.19, Y:1.75, Z:-3.78 [[ 9.62898738e-01 2.28334010e-01 -1.43838801e-01 -3.61864675e+01] [-2.26276569e-01 9.73578354e-01 3.07262499e-02 1.75004467e+00] [ 1.47054191e-01 2.96108306e-03 9.89124005e-01 -3.77584542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.593741732 meters Centerline goodness [0,1] 0.9861213915618061 Centerline is valid? [True, True] Translation: X:-36.21, Y:1.80, Z:-3.78 [[ 9.53468048e-01 2.64948615e-01 -1.43878118e-01 -3.62073102e+01] [-2.63301795e-01 9.64224251e-01 3.07206637e-02 1.79770257e+00] [ 1.46870167e-01 8.59219545e-03 9.89118460e-01 -3.78265264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.623741732 meters Centerline goodness [0,1] 0.983750515039143 Centerline is valid? [True, True] Translation: X:-36.24, Y:1.80, Z:-3.79 [[ 9.52911430e-01 2.67583854e-01 -1.42683869e-01 -3.62392570e+01] [-2.65996657e-01 9.63493078e-01 3.04444814e-02 1.79976804e+00] [ 1.45621372e-01 8.94253802e-03 9.89299978e-01 -3.79113909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.65374173199999 meters Centerline goodness [0,1] 0.9970203608674061 Centerline is valid? [True, True] Translation: X:-36.28, Y:1.74, Z:-3.79 [[ 9.61945424e-01 2.34087894e-01 -1.40939201e-01 -3.62834125e+01] [-2.32183313e-01 9.72207923e-01 3.00443705e-02 1.73900131e+00] [ 1.44055231e-01 3.82268592e-03 9.89562266e-01 -3.79272920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.683741731999994 meters Centerline goodness [0,1] 0.9971635676016388 Centerline is valid? [True, True] Translation: X:-36.32, Y:1.71, Z:-3.80 [[ 9.66369365e-01 2.14340701e-01 -1.42085591e-01 -3.63207755e+01] [-2.12192744e-01 9.76758557e-01 3.02813705e-02 1.70649794e+00] [ 1.45273847e-01 8.86542708e-04 9.89391087e-01 -3.80497046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.713741731999995 meters Centerline goodness [0,1] 0.9977558935029849 Centerline is valid? [True, True] Translation: X:-36.36, Y:1.68, Z:-3.80 [[ 9.66199466e-01 2.12972202e-01 -1.45263321e-01 -3.63591031e+01] [-2.10711878e-01 9.77058007e-01 3.09540698e-02 1.67650748e+00] [ 1.48523048e-01 7.00901529e-04 9.88908698e-01 -3.79623994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.743741732 meters Centerline goodness [0,1] 0.9977939268102777 Centerline is valid? [True, True] Translation: X:-36.40, Y:1.65, Z:-3.79 [[ 9.65928564e-01 2.15459068e-01 -1.43385494e-01 -3.63972704e+01] [-2.13287234e-01 9.76512266e-01 3.05344059e-02 1.65192307e+00] [ 1.46596608e-01 1.08824065e-03 9.89195759e-01 -3.78909488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.773741732 meters Centerline goodness [0,1] 0.9973320136841879 Centerline is valid? [True, True] Translation: X:-36.43, Y:1.62, Z:-3.80 [[ 9.68544333e-01 2.02828773e-01 -1.44160895e-01 -3.64349837e+01] [-2.00500270e-01 9.79213904e-01 3.06557073e-02 1.62484397e+00] [ 1.47382212e-01 -7.87113259e-04 9.89079301e-01 -3.79852650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.803741732 meters Centerline goodness [0,1] 0.9956863415050824 Centerline is valid? [True, True] Translation: X:-36.47, Y:1.58, Z:-3.81 [[ 9.71003529e-01 1.85144669e-01 -1.51240202e-01 -3.64741435e+01] [-1.82370364e-01 9.82704599e-01 3.21359704e-02 1.57918414e+00] [ 1.54574246e-01 -3.62240993e-03 9.87974534e-01 -3.80606680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.83374173199999 meters Centerline goodness [0,1] 0.9961837757168746 Centerline is valid? [True, True] Translation: X:-36.51, Y:1.55, Z:-3.80 [[ 9.72705163e-01 1.80252900e-01 -1.46128568e-01 -3.65132915e+01] [-1.77609514e-01 9.83611129e-01 3.10484636e-02 1.54764296e+00] [ 1.49330262e-01 -4.24717685e-03 9.88778253e-01 -3.80395776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.863741731999994 meters Centerline goodness [0,1] 0.9712257735464128 Centerline is valid? [True, True] Translation: X:-36.55, Y:1.51, Z:-3.80 [[ 9.79463041e-01 1.47004381e-01 -1.37992261e-01 -3.65540145e+01] [-1.44320026e-01 9.89096703e-01 2.93162563e-02 1.50584924e+00] [ 1.40797308e-01 -8.79914287e-03 9.89999340e-01 -3.79988786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.893741731999995 meters Centerline goodness [0,1] 0.9712257735464128 Centerline is valid? [True, True] Translation: X:-36.59, Y:1.51, Z:-3.80 [[ 9.79480781e-01 1.46884702e-01 -1.37993784e-01 -3.65858357e+01] [-1.44200176e-01 9.89114395e-01 2.93090849e-02 1.51275530e+00] [ 1.40796694e-01 -8.80895733e-03 9.89999340e-01 -3.80257038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.923741731999996 meters Centerline goodness [0,1] 0.7579205617359672 Centerline is valid? [True, False] Translation: X:-36.63, Y:1.50, Z:-3.81 [[ 9.87245811e-01 8.25089347e-02 -1.36154267e-01 -3.66266560e+01] [-7.81606536e-02 9.96254376e-01 3.69882602e-02 1.50414953e+00] [ 1.38696147e-01 -2.58745984e-02 9.89996911e-01 -3.80982608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.953741732 meters Centerline goodness [0,1] 0.789176500444106 Centerline is valid? [False, False] Translation: X:-36.65, Y:1.51, Z:-3.80 [[ 9.83774567e-01 9.71901974e-02 -1.50803403e-01 -3.66549271e+01] [-9.47098341e-02 9.95226066e-01 2.35610848e-02 1.51214441e+00] [ 1.52373384e-01 -8.89623070e-03 9.88282960e-01 -3.79766901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.983741732 meters Centerline goodness [0,1] 0.9956157072054899 Centerline is valid? [False, True] Translation: X:-36.67, Y:1.53, Z:-3.79 [[ 9.75272122e-01 1.55421669e-01 -1.57125405e-01 -3.66659468e+01] [-1.57382728e-01 9.87537683e-01 -3.96616795e-05 1.52983910e+00] [ 1.55161094e-01 2.47675058e-02 9.87578658e-01 -3.79060522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.01374173199999 meters Centerline goodness [0,1] 0.9970295337009019 Centerline is valid? [True, True] Translation: X:-36.67, Y:1.64, Z:-3.80 [[ 9.66026158e-01 2.16960938e-01 -1.40432949e-01 -3.66741238e+01] [-2.15135876e-01 9.76175870e-01 2.82351735e-02 1.63756142e+00] [ 1.43213186e-01 2.93624939e-03 9.89687507e-01 -3.80173405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.043741731999994 meters Centerline goodness [0,1] 0.9974415282604524 Centerline is valid? [True, True] Translation: X:-36.71, Y:1.61, Z:-3.80 [[ 9.74038831e-01 1.77965612e-01 -1.39916388e-01 -3.67122807e+01] [-1.75753370e-01 9.84032747e-01 2.81123852e-02 1.60907336e+00] [ 1.42685346e-01 -2.79177813e-03 9.89764163e-01 -3.80154890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.073741731999995 meters Centerline goodness [0,1] 0.9776837899300759 Centerline is valid? [True, True] Translation: X:-36.75, Y:1.57, Z:-3.82 [[ 9.79155036e-01 1.37223494e-01 -1.49750218e-01 -3.67492819e+01] [-1.34215676e-01 9.90496134e-01 3.00592919e-02 1.57264659e+00] [ 1.52451854e-01 -9.33388032e-03 9.88266822e-01 -3.81627167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.103741731999996 meters Centerline goodness [0,1] 0.9957128910395178 Centerline is valid? [True, True] Translation: X:-36.78, Y:1.60, Z:-3.82 [[ 9.76772950e-01 1.53563163e-01 -1.49442158e-01 -3.67750796e+01] [-1.50757034e-01 9.88115639e-01 2.99966859e-02 1.60109027e+00] [ 1.52272519e-01 -6.77049483e-03 9.88315355e-01 -3.81587929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.133741732 meters Centerline goodness [0,1] 0.9967031798362225 Centerline is valid? [True, True] Translation: X:-36.79, Y:1.67, Z:-3.81 [[ 9.66926877e-01 2.12645072e-01 -1.40834970e-01 -3.67924553e+01] [-2.10770981e-01 9.77126678e-01 2.82674521e-02 1.67492088e+00] [ 1.43624540e-01 2.35136553e-03 9.89629457e-01 -3.81140733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.163741732 meters Centerline goodness [0,1] 0.9964786478007555 Centerline is valid? [True, True] Translation: X:-36.82, Y:1.68, Z:-3.82 [[ 9.65277396e-01 2.17567449e-01 -1.44581995e-01 -3.68221167e+01] [-2.15647063e-01 9.76040143e-01 2.90169537e-02 1.67910549e+00] [ 1.47430976e-01 3.16927297e-03 9.89067269e-01 -3.82126284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.193741732 meters Centerline goodness [0,1] 0.9960562305196871 Centerline is valid? [True, True] Translation: X:-36.86, Y:1.64, Z:-3.83 [[ 9.71505459e-01 1.86666934e-01 -1.46056832e-01 -3.68621038e+01] [-1.84358821e-01 9.82422046e-01 2.93044179e-02 1.63934411e+00] [ 1.48959617e-01 -1.54253669e-03 9.88842077e-01 -3.82923893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22374173199999 meters Centerline goodness [0,1] 0.9968175839097042 Centerline is valid? [True, True] Translation: X:-36.90, Y:1.59, Z:-3.82 [[ 9.77771359e-01 1.54412190e-01 -1.41845145e-01 -3.69043719e+01] [-1.51898176e-01 9.87986611e-01 2.84499749e-02 1.59213221e+00] [ 1.44534127e-01 -6.27155184e-03 9.89479941e-01 -3.81686716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.253741731999995 meters Centerline goodness [0,1] 0.9965150171080979 Centerline is valid? [True, True] Translation: X:-36.94, Y:1.58, Z:-3.81 [[ 9.80610511e-01 1.42659907e-01 -1.34354666e-01 -3.69379259e+01] [-1.40296528e-01 9.89742785e-01 2.69463171e-02 1.58018587e+00] [ 1.36820721e-01 -7.57434857e-03 9.90566868e-01 -3.81362691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.283741731999996 meters Centerline goodness [0,1] 0.9793775383514657 Centerline is valid? [True, True] Translation: X:-36.97, Y:1.57, Z:-3.82 [[ 9.82534031e-01 1.27846901e-01 -1.35211123e-01 -3.69706591e+01] [-1.25314054e-01 9.91746493e-01 2.71160614e-02 1.56721997e+00] [ 1.37561862e-01 -9.69859916e-03 9.90445693e-01 -3.82162075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.313741732 meters Centerline goodness [0,1] 0.8989954414992403 Centerline is valid? [True, False] Translation: X:-37.00, Y:1.57, Z:-3.82 [[ 9.83233835e-01 1.10703818e-01 -1.44899589e-01 -3.69955666e+01] [-1.08743200e-01 9.93839359e-01 2.14066708e-02 1.57055518e+00] [ 1.46376714e-01 -5.29091804e-03 9.89214771e-01 -3.81534364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.343741732 meters Centerline goodness [0,1] 0.9947163750105672 Centerline is valid? [False, True] Translation: X:-37.02, Y:1.58, Z:-3.81 [[ 9.79902809e-01 1.33930769e-01 -1.47827717e-01 -3.70165955e+01] [-1.35242173e-01 9.90811858e-01 1.19063757e-03 1.58478575e+00] [ 1.46628918e-01 1.88258326e-02 9.89012411e-01 -3.80584563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.373741732 meters Centerline goodness [0,1] 0.9968777876895629 Centerline is valid? [True, True] Translation: X:-37.04, Y:1.64, Z:-3.82 [[ 9.75448870e-01 1.68093438e-01 -1.42281754e-01 -3.70351537e+01] [-1.65830679e-01 9.85765114e-01 2.77006592e-02 1.64312578e+00] [ 1.44912689e-01 -3.42589676e-03 9.89438515e-01 -3.82172274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40374173199999 meters Centerline goodness [0,1] 0.9955350561277142 Centerline is valid? [True, True] Translation: X:-37.06, Y:1.67, Z:-3.83 [[ 9.74383748e-01 1.80365529e-01 -1.34330142e-01 -3.70618276e+01] [-1.78465951e-01 9.83598496e-01 2.61515512e-02 1.66589104e+00] [ 1.36843764e-01 -1.50828988e-03 9.90591495e-01 -3.82615546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.433741731999994 meters Centerline goodness [0,1] 0.9972134850435921 Centerline is valid? [True, True] Translation: X:-37.10, Y:1.65, Z:-3.83 [[ 9.77886179e-01 1.61751324e-01 -1.32571225e-01 -3.70953144e+01] [-1.59730817e-01 9.86823192e-01 2.58080074e-02 1.65275662e+00] [ 1.34998839e-01 -4.06158367e-03 9.90837432e-01 -3.82670787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.463741731999995 meters Centerline goodness [0,1] 0.9849250481003023 Centerline is valid? [True, True] Translation: X:-37.13, Y:1.63, Z:-3.84 [[ 9.81676298e-01 1.32084467e-01 -1.37351155e-01 -3.71285453e+01] [-1.29625252e-01 9.91202504e-01 2.67374311e-02 1.63303792e+00] [ 1.39674408e-01 -8.44332438e-03 9.90161487e-01 -3.83534535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.493741732 meters Centerline goodness [0,1] 0.9884035317477081 Centerline is valid? [True, True] Translation: X:-37.16, Y:1.65, Z:-3.85 [[ 9.80195639e-01 1.39611765e-01 -1.40445950e-01 -3.71553316e+01] [-1.37116462e-01 9.90177620e-01 2.73378298e-02 1.65030440e+00] [ 1.42883119e-01 -7.53896978e-03 9.89710856e-01 -3.84563478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.523741732 meters Centerline goodness [0,1] 0.9956463567438996 Centerline is valid? [True, True] Translation: X:-37.18, Y:1.70, Z:-3.83 [[ 9.75005970e-01 1.75300443e-01 -1.36503164e-01 -3.71774718e+01] [-1.73290146e-01 9.84512416e-01 2.65674064e-02 1.69929512e+00] [ 1.39046338e-01 -2.24872657e-03 9.90283323e-01 -3.83482367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.553741732 meters Centerline goodness [0,1] 0.9966780945891272 Centerline is valid? [True, True] Translation: X:-37.20, Y:1.72, Z:-3.83 [[ 9.72381719e-01 1.92434027e-01 -1.32071715e-01 -3.72037560e+01] [-1.90709691e-01 9.81309894e-01 2.57041987e-02 1.72312955e+00] [ 1.34549643e-01 1.93063083e-04 9.90906835e-01 -3.83071705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58374173199999 meters Centerline goodness [0,1] 0.9964927197364226 Centerline is valid? [True, True] Translation: X:-37.24, Y:1.72, Z:-3.84 [[ 9.73258028e-01 1.87272327e-01 -1.33033404e-01 -3.72355062e+01] [-1.85476504e-01 9.82307902e-01 2.58776426e-02 1.72382400e+00] [ 1.35525930e-01 -5.11052868e-04 9.90773668e-01 -3.84493187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.613741731999994 meters Centerline goodness [0,1] 0.996256661872938 Centerline is valid? [True, True] Translation: X:-37.27, Y:1.69, Z:-3.85 [[ 9.79305523e-01 1.51386871e-01 -1.34323146e-01 -3.72740274e+01] [-1.49221785e-01 9.88459192e-01 2.61014269e-02 1.68627016e+00] [ 1.36724362e-01 -5.51733193e-03 9.90593765e-01 -3.84760924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.643741731999995 meters Centerline goodness [0,1] 0.9774123829300335 Centerline is valid? [True, True] Translation: X:-37.31, Y:1.66, Z:-3.84 [[ 9.83411860e-01 1.23156903e-01 -1.33167154e-01 -3.73085996e+01] [-1.20771440e-01 9.92343032e-01 2.58759609e-02 1.66456958e+00] [ 1.35334300e-01 -9.36393784e-03 9.90755744e-01 -3.84488864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.673741731999996 meters Centerline goodness [0,1] 0.8860989964855824 Centerline is valid? [True, False] Translation: X:-37.35, Y:1.67, Z:-3.85 [[ 9.86496113e-01 9.30836688e-02 -1.34762196e-01 -3.73465134e+01] [-9.14585187e-02 9.95642299e-01 1.82140460e-02 1.67348629e+00] [ 1.35870373e-01 -5.64293476e-03 9.90710553e-01 -3.84850853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.703741732 meters Centerline goodness [0,1] 0.9028174678774793 Centerline is valid? [False, False] Translation: X:-37.37, Y:1.68, Z:-3.84 [[ 9.84641396e-01 1.01915416e-01 -1.41755314e-01 -3.73680088e+01] [-1.01439520e-01 9.94785250e-01 1.05985543e-02 1.68269103e+00] [ 1.42096252e-01 3.94381572e-03 9.89844989e-01 -3.83817000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.733741732 meters Centerline goodness [0,1] 0.995769737681221 Centerline is valid? [False, True] Translation: X:-37.38, Y:1.69, Z:-3.83 [[ 9.80821603e-01 1.28484169e-01 -1.46563305e-01 -3.73823711e+01] [-1.30207134e-01 9.91484411e-01 -2.18280356e-03 1.68896310e+00] [ 1.45034776e-01 2.12245288e-02 9.89198885e-01 -3.82672209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76374173199999 meters Centerline goodness [0,1] 0.9967950087603094 Centerline is valid? [True, True] Translation: X:-37.40, Y:1.76, Z:-3.84 [[ 9.74228583e-01 1.78583889e-01 -1.37791371e-01 -3.73980698e+01] [-1.76785190e-01 9.83924652e-01 2.52839158e-02 1.76189429e+00] [ 1.40091626e-01 -2.72839787e-04 9.90138506e-01 -3.83741497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.793741731999994 meters Centerline goodness [0,1] 0.9955554605867647 Centerline is valid? [True, True] Translation: X:-37.43, Y:1.79, Z:-3.85 [[ 9.71639692e-01 1.92980474e-01 -1.36655940e-01 -3.74252805e+01] [-1.91355557e-01 9.81200937e-01 2.50553820e-02 1.78588806e+00] [ 1.38922136e-01 1.80506998e-03 9.90301662e-01 -3.84986554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.823741731999995 meters Centerline goodness [0,1] 0.9960494456480183 Centerline is valid? [True, True] Translation: X:-37.46, Y:1.77, Z:-3.86 [[ 9.74236481e-01 1.79593734e-01 -1.36416161e-01 -3.74585035e+01] [-1.77847948e-01 9.83740863e-01 2.49804364e-02 1.77203391e+00] [ 1.38684482e-01 -7.55180796e-05 9.90336614e-01 -3.85588849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.853741731999996 meters Centerline goodness [0,1] 0.996563646776828 Centerline is valid? [True, True] Translation: X:-37.50, Y:1.74, Z:-3.86 [[ 9.79760870e-01 1.47446957e-01 -1.35381067e-01 -3.74968836e+01] [-1.45421519e-01 9.89059284e-01 2.47853503e-02 1.73525159e+00] [ 1.37554426e-01 -4.59639593e-03 9.90483545e-01 -3.85839508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.883741732 meters Centerline goodness [0,1] 0.9958872906736407 Centerline is valid? [True, True] Translation: X:-37.53, Y:1.72, Z:-3.86 [[ 9.81924954e-01 1.32436771e-01 -1.35217925e-01 -3.75301981e+01] [-1.30275182e-01 9.91168892e-01 2.47508288e-02 1.72018909e+00] [ 1.37301721e-01 -6.68791663e-03 9.90506693e-01 -3.86227491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.913741732 meters Centerline goodness [0,1] 0.9936417405999155 Centerline is valid? [True, True] Translation: X:-37.56, Y:1.71, Z:-3.86 [[ 9.82110560e-01 1.28533096e-01 -1.37615739e-01 -3.75631156e+01] [-1.26255884e-01 9.91677893e-01 2.51874704e-02 1.71170745e+00] [ 1.39707910e-01 -7.36208382e-03 9.90165390e-01 -3.86168091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.943741732 meters Centerline goodness [0,1] 0.9967693574610951 Centerline is valid? [True, True] Translation: X:-37.59, Y:1.73, Z:-3.86 [[ 9.80331071e-01 1.43311152e-01 -1.35694158e-01 -3.75900442e+01] [-1.41237874e-01 9.89664116e-01 2.48354666e-02 1.73152964e+00] [ 1.37850838e-01 -5.18182522e-03 9.90439445e-01 -3.85946560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.97374173199999 meters Centerline goodness [0,1] 0.9963966255458052 Centerline is valid? [True, True] Translation: X:-37.62, Y:1.75, Z:-3.86 [[ 9.78820789e-01 1.53149335e-01 -1.35849712e-01 -3.76186920e+01] [-1.51165387e-01 9.88195746e-01 2.48634956e-02 1.74593908e+00] [ 1.38053935e-01 -3.80113213e-03 9.90417418e-01 -3.86420017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.003741731999995 meters Centerline goodness [0,1] 0.9967165190865568 Centerline is valid? [True, True] Translation: X:-37.65, Y:1.76, Z:-3.87 [[ 9.77635829e-01 1.62662953e-01 -1.33300223e-01 -3.76468151e+01] [-1.60841176e-01 9.86678750e-01 2.43959288e-02 1.76368884e+00] [ 1.35492811e-01 -2.41016941e-03 9.90775398e-01 -3.86530336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.033741731999996 meters Centerline goodness [0,1] 0.9958449337720409 Centerline is valid? [True, True] Translation: X:-37.68, Y:1.77, Z:-3.86 [[ 9.77836277e-01 1.62636012e-01 -1.31855005e-01 -3.76773788e+01] [-1.60855102e-01 9.86683275e-01 2.41195179e-02 1.77162228e+00] [ 1.34021830e-01 -2.37538933e-03 9.90975533e-01 -3.86389963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.063741732 meters Centerline goodness [0,1] 0.9960106100795756 Centerline is valid? [True, True] Translation: X:-37.71, Y:1.76, Z:-3.88 [[ 9.79372660e-01 1.49974988e-01 -1.35413056e-01 -3.77091097e+01] [-1.47979085e-01 9.88680888e-01 2.47445448e-02 1.76185410e+00] [ 1.37591363e-01 -4.19583060e-03 9.90480193e-01 -3.87754760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.093741732 meters Centerline goodness [0,1] 0.9964476399140627 Centerline is valid? [True, True] Translation: X:-37.74, Y:1.75, Z:-3.88 [[ 9.81490585e-01 1.33386613e-01 -1.37419951e-01 -3.77407650e+01] [-1.31168761e-01 9.91041960e-01 2.51115343e-02 1.75316163e+00] [ 1.39538480e-01 -6.62152985e-03 9.90194510e-01 -3.87779764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.123741732 meters Centerline goodness [0,1] 0.9944274938554115 Centerline is valid? [True, True] Translation: X:-37.77, Y:1.74, Z:-3.88 [[ 9.82337847e-01 1.28199479e-01 -1.36298376e-01 -3.77727225e+01] [-1.25968310e-01 9.91721553e-01 2.49067427e-02 1.74479428e+00] [ 1.38363069e-01 -7.29755991e-03 9.90354687e-01 -3.88479602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.15374173199999 meters Centerline goodness [0,1] 0.9969703389830509 Centerline is valid? [True, True] Translation: X:-37.80, Y:1.75, Z:-3.87 [[ 9.82787801e-01 1.30564489e-01 -1.30694499e-01 -3.78027974e+01] [-1.28534840e-01 9.91417358e-01 2.38833926e-02 1.75211486e+00] [ 1.32691118e-01 -6.67351033e-03 9.91134971e-01 -3.87251066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.183741731999994 meters Centerline goodness [0,1] 0.9971385574090167 Centerline is valid? [True, True] Translation: X:-37.83, Y:1.77, Z:-3.87 [[ 9.81751509e-01 1.41050959e-01 -1.27548427e-01 -3.78318255e+01] [-1.39206107e-01 9.89989052e-01 2.33095687e-02 1.76552546e+00] [ 1.29559383e-01 -5.12868423e-03 9.91558401e-01 -3.87475337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.213741731999995 meters Centerline goodness [0,1] 0.9964831998644125 Centerline is valid? [True, True] Translation: X:-37.86, Y:1.78, Z:-3.88 [[ 9.79874506e-01 1.48260802e-01 -1.33658844e-01 -3.78599518e+01] [-1.46300945e-01 9.88938614e-01 2.44223701e-02 1.77936425e+00] [ 1.35801272e-01 -4.37644267e-03 9.90726431e-01 -3.88242573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.243741732 meters Centerline goodness [0,1] 0.9959977977299678 Centerline is valid? [True, True] Translation: X:-37.89, Y:1.79, Z:-3.89 [[ 9.78658466e-01 1.55332746e-01 -1.34533806e-01 -3.78886801e+01] [-1.53414296e-01 9.87856315e-01 2.45754936e-02 1.78892770e+00] [ 1.36717449e-01 -3.41160571e-03 9.90604210e-01 -3.89106330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.273741732 meters Centerline goodness [0,1] 0.9963292688072233 Centerline is valid? [True, True] Translation: X:-37.92, Y:1.80, Z:-3.89 [[ 9.78898139e-01 1.55829843e-01 -1.32194908e-01 -3.79198554e+01] [-1.53984157e-01 9.87778501e-01 2.41353012e-02 1.79569013e+00] [ 1.34340288e-01 -3.27007992e-03 9.90929863e-01 -3.89123931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.303741732 meters Centerline goodness [0,1] 0.9958221110003606 Centerline is valid? [True, True] Translation: X:-37.95, Y:1.80, Z:-3.89 [[ 9.80350714e-01 1.50568708e-01 -1.27442309e-01 -3.79522245e+01] [-1.48813579e-01 9.88592180e-01 2.32383488e-02 1.79656756e+00] [ 1.29487438e-01 -3.81658569e-03 9.91573717e-01 -3.88889929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33374173199999 meters Centerline goodness [0,1] 0.9954487722269263 Centerline is valid? [True, True] Translation: X:-37.98, Y:1.80, Z:-3.89 [[ 9.80974442e-01 1.48186569e-01 -1.25418842e-01 -3.79848264e+01] [-1.46470336e-01 9.88951157e-01 2.28484205e-02 1.79756189e+00] [ 1.27418938e-01 -4.04357659e-03 9.91840745e-01 -3.88824106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.363741731999994 meters Centerline goodness [0,1] 0.9972916931149761 Centerline is valid? [True, True] Translation: X:-38.02, Y:1.80, Z:-3.89 [[ 9.81356760e-01 1.44970216e-01 -1.26184570e-01 -3.80160523e+01] [-1.43208978e-01 9.89425927e-01 2.29678764e-02 1.79626778e+00] [ 1.28179943e-01 -4.46891746e-03 9.91740859e-01 -3.88981751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.393741731999995 meters Centerline goodness [0,1] 0.9955421279472662 Centerline is valid? [True, True] Translation: X:-38.05, Y:1.79, Z:-3.90 [[ 9.81321487e-01 1.42573704e-01 -1.29154477e-01 -3.80475540e+01] [-1.40707829e-01 9.89772091e-01 2.35056317e-02 1.79239849e+00] [ 1.31184782e-01 -4.89353543e-03 9.91345856e-01 -3.90023999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.423741731999996 meters Centerline goodness [0,1] 0.9959481703456717 Centerline is valid? [True, True] Translation: X:-38.08, Y:1.79, Z:-3.91 [[ 9.81954643e-01 1.35723047e-01 -1.31697886e-01 -3.80779482e+01] [-1.33721367e-01 9.90729105e-01 2.39674013e-02 1.78928316e+00] [ 1.33729858e-01 -5.92407954e-03 9.91000116e-01 -3.90550467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.453741732 meters Centerline goodness [0,1] 0.9959468017732742 Centerline is valid? [True, True] Translation: X:-38.11, Y:1.79, Z:-3.91 [[ 9.82333684e-01 1.32263345e-01 -1.32389354e-01 -3.81080197e+01] [-1.30209078e-01 9.91193754e-01 2.40943645e-02 1.79309903e+00] [ 1.34410302e-01 -6.43040998e-03 9.90904900e-01 -3.90651203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.483741732 meters Centerline goodness [0,1] 0.9965717187962924 Centerline is valid? [True, True] Translation: X:-38.14, Y:1.80, Z:-3.91 [[ 9.83226881e-01 1.27218913e-01 -1.30691427e-01 -3.81399461e+01] [-1.25173670e-01 9.91849802e-01 2.37807202e-02 1.79559461e+00] [ 1.32651623e-01 -7.02271785e-03 9.91137845e-01 -3.90668631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51374173199999 meters Centerline goodness [0,1] 0.996530715857167 Centerline is valid? [True, True] Translation: X:-38.17, Y:1.80, Z:-3.91 [[ 9.83603675e-01 1.25380537e-01 -1.29628435e-01 -3.81707605e+01] [-1.23353818e-01 9.92082578e-01 2.35795305e-02 1.79823410e+00] [ 1.31558526e-01 -7.20275042e-03 9.91282238e-01 -3.90987483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.543741731999994 meters Centerline goodness [0,1] 0.9954399594663064 Centerline is valid? [True, True] Translation: X:-38.20, Y:1.81, Z:-3.90 [[ 9.84260082e-01 1.25749690e-01 -1.24173696e-01 -3.81999226e+01] [-1.23894330e-01 9.92038397e-01 2.25835076e-02 1.81063537e+00] [ 1.26024943e-01 -6.84362817e-03 9.92003467e-01 -3.90355863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.573741731999995 meters Centerline goodness [0,1] 0.9959375396724641 Centerline is valid? [True, True] Translation: X:-38.23, Y:1.82, Z:-3.90 [[ 9.84300661e-01 1.26380975e-01 -1.23207379e-01 -3.82297878e+01] [-1.24559726e-01 9.91959103e-01 2.24056176e-02 1.82032491e+00] [ 1.25048325e-01 -6.70718678e-03 9.92127981e-01 -3.90480644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.603741731999996 meters Centerline goodness [0,1] 0.9960189734033542 Centerline is valid? [True, True] Translation: X:-38.26, Y:1.82, Z:-3.91 [[ 9.83878366e-01 1.28432033e-01 -1.24453097e-01 -3.82612559e+01] [-1.26590925e-01 9.91696983e-01 2.26236867e-02 1.82097170e+00] [ 1.26325367e-01 -6.50432323e-03 9.91967537e-01 -3.91356865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.633741732 meters Centerline goodness [0,1] 0.9970714646890275 Centerline is valid? [True, True] Translation: X:-38.29, Y:1.82, Z:-3.92 [[ 9.83174432e-01 1.32852737e-01 -1.25372190e-01 -3.82921980e+01] [-1.31020850e-01 9.91117788e-01 2.27830496e-02 1.82459819e+00] [ 1.27285398e-01 -5.97334096e-03 9.91848147e-01 -3.92012150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.663741732 meters Centerline goodness [0,1] 0.9958940841293783 Centerline is valid? [True, True] Translation: X:-38.32, Y:1.83, Z:-3.93 [[ 9.82384677e-01 1.36587097e-01 -1.27531611e-01 -3.83236421e+01] [-1.34723342e-01 9.90612356e-01 2.31685274e-02 1.83140448e+00] [ 1.29498912e-01 -5.57892146e-03 9.91563870e-01 -3.92605256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.693741732 meters Centerline goodness [0,1] 0.9953353504790721 Centerline is valid? [True, True] Translation: X:-38.35, Y:1.84, Z:-3.93 [[ 9.81924032e-01 1.43047333e-01 -1.23946183e-01 -3.83542555e+01] [-1.41339661e-01 9.89705235e-01 2.25088393e-02 1.83651249e+00] [ 1.25890015e-01 -4.58345878e-03 9.92033616e-01 -3.92594092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72374173199999 meters Centerline goodness [0,1] 0.9971674360050357 Centerline is valid? [True, True] Translation: X:-38.38, Y:1.85, Z:-3.92 [[ 9.80940565e-01 1.51009551e-01 -1.22277239e-01 -3.83820501e+01] [-1.49409542e-01 9.88526068e-01 2.22036183e-02 1.85213508e+00] [ 1.24227197e-01 -3.51104362e-03 9.92247588e-01 -3.91995525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.753741731999995 meters Centerline goodness [0,1] 0.9962630949131904 Centerline is valid? [True, True] Translation: X:-38.41, Y:1.86, Z:-3.93 [[ 9.80345155e-01 1.55905033e-01 -1.20900774e-01 -3.84115520e+01] [-1.54377928e-01 9.87767912e-01 2.19546621e-02 1.86035490e+00] [ 1.22844748e-01 -2.85873557e-03 9.92421783e-01 -3.92644095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.783741731999996 meters Centerline goodness [0,1] 0.9968698794168313 Centerline is valid? [True, True] Translation: X:-38.44, Y:1.86, Z:-3.93 [[ 9.80614942e-01 1.53104041e-01 -1.22284456e-01 -3.84427537e+01] [-1.51520354e-01 9.88204752e-01 2.22024710e-02 1.86153049e+00] [ 1.24241369e-01 -3.24349064e-03 9.92246724e-01 -3.93324332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.813741732 meters Centerline goodness [0,1] 0.9968698794168313 Centerline is valid? [True, True] Translation: X:-38.47, Y:1.87, Z:-3.94 [[ 9.80633580e-01 1.52983496e-01 -1.22285862e-01 -3.84746481e+01] [-1.51399842e-01 9.88223397e-01 2.21947288e-02 1.86746675e+00] [ 1.24241177e-01 -3.25083623e-03 9.92246724e-01 -3.93626810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.843741732 meters Centerline goodness [0,1] 0.9962907079089651 Centerline is valid? [True, True] Translation: X:-38.50, Y:1.87, Z:-3.94 [[ 9.81426920e-01 1.47242241e-01 -1.22967159e-01 -3.85045438e+01] [-1.45597295e-01 9.89092416e-01 2.23074146e-02 1.86733894e+00] [ 1.24910478e-01 -3.98941150e-03 9.92159996e-01 -3.93997039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.873741732 meters Centerline goodness [0,1] 0.9965795106391908 Centerline is valid? [True, True] Translation: X:-38.54, Y:1.87, Z:-3.95 [[ 9.81879389e-01 1.44363326e-01 -1.22768466e-01 -3.85365092e+01] [-1.42701413e-01 9.89515198e-01 2.22706176e-02 1.86786430e+00] [ 1.24696324e-01 -4.34782682e-03 9.92185428e-01 -3.94521204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90374173199999 meters Centerline goodness [0,1] 0.9972243250063083 Centerline is valid? [True, True] Translation: X:-38.57, Y:1.87, Z:-3.94 [[ 9.82505966e-01 1.40176397e-01 -1.22607521e-01 -3.85667022e+01] [-1.38487475e-01 9.90114597e-01 2.22329490e-02 1.87370281e+00] [ 1.24512031e-01 -4.86439913e-03 9.92206174e-01 -3.94288209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.933741731999994 meters Centerline goodness [0,1] 0.9962807513297872 Centerline is valid? [True, True] Translation: X:-38.60, Y:1.87, Z:-3.95 [[ 9.83175575e-01 1.39002800e-01 -1.18507427e-01 -3.85984034e+01] [-1.37417735e-01 9.90280175e-01 2.14835207e-02 1.87469792e+00] [ 1.20341825e-01 -4.83705061e-03 9.92720730e-01 -3.94751277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.963741731999995 meters Centerline goodness [0,1] 0.9952567022588127 Centerline is valid? [True, True] Translation: X:-38.63, Y:1.88, Z:-3.95 [[ 9.83476014e-01 1.37864968e-01 -1.17337891e-01 -3.86304837e+01] [-1.36304995e-01 9.90438859e-01 2.12559480e-02 1.87960811e+00] [ 1.19146457e-01 -4.91097443e-03 9.92864545e-01 -3.94739680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.993741732 meters Centerline goodness [0,1] 0.9970749773784222 Centerline is valid? [True, True] Translation: X:-38.66, Y:1.88, Z:-3.95 [[ 9.83068805e-01 1.38324160e-01 -1.20175503e-01 -3.86621716e+01] [-1.36692115e-01 9.90374567e-01 2.17596435e-02 1.88186437e+00] [ 1.22028646e-01 -4.96418308e-03 9.92514164e-01 -3.95373321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.023741732 meters Centerline goodness [0,1] 0.9972992777138072 Centerline is valid? [True, True] Translation: X:-38.69, Y:1.89, Z:-3.96 [[ 9.82381749e-01 1.41196156e-01 -1.22432609e-01 -3.86925475e+01] [-1.39525676e-01 9.89970564e-01 2.21555416e-02 1.89042292e+00] [ 1.24332957e-01 -4.68270714e-03 9.92229504e-01 -3.95669331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.053741732 meters Centerline goodness [0,1] 0.996964876292544 Centerline is valid? [True, True] Translation: X:-38.72, Y:1.90, Z:-3.96 [[ 9.81840344e-01 1.47797255e-01 -1.18934897e-01 -3.87207486e+01] [-1.46271113e-01 9.89010677e-01 2.15091017e-02 1.89965042e+00] [ 1.20806869e-01 -3.72176410e-03 9.92669053e-01 -3.95621007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08374173199999 meters Centerline goodness [0,1] 0.9971644809540687 Centerline is valid? [True, True] Translation: X:-38.75, Y:1.91, Z:-3.96 [[ 9.81827844e-01 1.50210792e-01 -1.15977592e-01 -3.87505720e+01] [-1.48776578e-01 9.88648353e-01 2.09752987e-02 1.90669982e+00] [ 1.17811772e-01 -3.33938305e-03 9.93030329e-01 -3.95675991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.113741731999994 meters Centerline goodness [0,1] 0.9965132787706698 Centerline is valid? [True, True] Translation: X:-38.78, Y:1.91, Z:-3.96 [[ 9.81961959e-01 1.49059157e-01 -1.16327460e-01 -3.87825432e+01] [-1.47608697e-01 9.88822143e-01 2.10343248e-02 1.90889765e+00] [ 1.18162527e-01 -3.48396196e-03 9.92988157e-01 -3.96052077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.143741731999995 meters Centerline goodness [0,1] 0.9959679946518478 Centerline is valid? [True, True] Translation: X:-38.81, Y:1.91, Z:-3.96 [[ 9.82294833e-01 1.48578715e-01 -1.14110585e-01 -3.88139411e+01] [-1.47181177e-01 9.88894519e-01 2.06235630e-02 1.91412873e+00] [ 1.15907555e-01 -3.46348901e-03 9.93253967e-01 -3.96209455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.173741731999996 meters Centerline goodness [0,1] 0.99763048082367 Centerline is valid? [True, True] Translation: X:-38.85, Y:1.91, Z:-3.97 [[ 9.82710446e-01 1.43459243e-01 -1.17045395e-01 -3.88454053e+01] [-1.41953403e-01 9.89647462e-01 2.11455003e-02 1.91341254e+00] [ 1.18867195e-01 -4.16491189e-03 9.92901427e-01 -3.96819134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.203741732 meters Centerline goodness [0,1] 0.9973685309719728 Centerline is valid? [True, True] Translation: X:-38.88, Y:1.91, Z:-3.97 [[ 9.83557423e-01 1.38383976e-01 -1.16037369e-01 -3.88760243e+01] [-1.36869198e-01 9.90367336e-01 2.09609573e-02 1.91351226e+00] [ 1.17820281e-01 -4.73436354e-03 9.93023649e-01 -3.97258904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.233741732 meters Centerline goodness [0,1] 0.9965676733429606 Centerline is valid? [True, True] Translation: X:-38.91, Y:1.92, Z:-3.97 [[ 9.83655199e-01 1.35927676e-01 -1.18093676e-01 -3.89060385e+01] [-1.34341227e-01 9.90705554e-01 2.13293180e-02 1.91991572e+00] [ 1.19895306e-01 -5.11584518e-03 9.92773360e-01 -3.97384136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26374173199999 meters Centerline goodness [0,1] 0.9957850808555034 Centerline is valid? [True, True] Translation: X:-38.94, Y:1.92, Z:-3.98 [[ 9.83994693e-01 1.33906826e-01 -1.17572980e-01 -3.89384728e+01] [-1.32320814e-01 9.90979583e-01 2.12289524e-02 1.91758068e+00] [ 1.19355125e-01 -5.33182400e-03 9.92837311e-01 -3.98037185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.293741731999994 meters Centerline goodness [0,1] 0.996837747311045 Centerline is valid? [True, True] Translation: X:-38.97, Y:1.93, Z:-3.98 [[ 9.84155786e-01 1.33636705e-01 -1.16527332e-01 -3.89683247e+01] [-1.32078190e-01 9.91016181e-01 2.10304510e-02 1.92780178e+00] [ 1.18290912e-01 -5.30652092e-03 9.92964804e-01 -3.97744845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.323741731999995 meters Centerline goodness [0,1] 0.9971848021020144 Centerline is valid? [True, True] Translation: X:-39.00, Y:1.93, Z:-3.98 [[ 9.84448040e-01 1.34531036e-01 -1.12975473e-01 -3.90007309e+01] [-1.33073220e-01 9.90896608e-01 2.03820959e-02 1.92649599e+00] [ 1.14689038e-01 -5.03110439e-03 9.93388702e-01 -3.98041875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.353741731999996 meters Centerline goodness [0,1] 0.9965037148030218 Centerline is valid? [True, True] Translation: X:-39.03, Y:1.93, Z:-3.98 [[ 9.84337215e-01 1.38510303e-01 -1.09064856e-01 -3.90308605e+01] [-1.37177084e-01 9.90351214e-01 1.96702971e-02 1.93219352e+00] [ 1.10737051e-01 -4.40100658e-03 9.93839995e-01 -3.98184247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.383741732 meters Centerline goodness [0,1] 0.9967430110445331 Centerline is valid? [True, True] Translation: X:-39.06, Y:1.94, Z:-3.98 [[ 9.83832510e-01 1.40747716e-01 -1.10741467e-01 -3.90606597e+01] [-1.39387476e-01 9.90036540e-01 1.99694968e-02 1.94344948e+00] [ 1.12448760e-01 -4.21066666e-03 9.93648603e-01 -3.98249128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.413741732 meters Centerline goodness [0,1] 0.9960976627712855 Centerline is valid? [True, True] Translation: X:-39.09, Y:1.95, Z:-3.99 [[ 9.83202209e-01 1.43190813e-01 -1.13180419e-01 -3.90922361e+01] [-1.41786765e-01 9.89686972e-01 2.04012430e-02 1.94915754e+00] [ 1.14934456e-01 -4.01106180e-03 9.93364979e-01 -3.98942102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.443741732 meters Centerline goodness [0,1] 0.9963969592835572 Centerline is valid? [True, True] Translation: X:-39.12, Y:1.95, Z:-3.99 [[ 9.83194894e-01 1.41677836e-01 -1.15131187e-01 -3.91235206e+01] [-1.40215570e-01 9.89903691e-01 2.07431215e-02 1.95266214e+00] [ 1.16907628e-01 -4.25134607e-03 9.93133693e-01 -3.99377429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.47374173199999 meters Centerline goodness [0,1] 0.9973012552301255 Centerline is valid? [True, True] Translation: X:-39.15, Y:1.96, Z:-4.00 [[ 9.83264437e-01 1.40713151e-01 -1.15718866e-01 -3.91538863e+01] [-1.39230082e-01 9.90040713e-01 2.08415478e-02 1.95805569e+00] [ 1.17499068e-01 -4.38120562e-03 9.93063328e-01 -3.99910124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.503741731999995 meters Centerline goodness [0,1] 0.9977754677754678 Centerline is valid? [True, True] Translation: X:-39.18, Y:1.96, Z:-4.00 [[ 9.83878152e-01 1.37252335e-01 -1.14654166e-01 -3.91846443e+01] [-1.35773953e-01 9.90524759e-01 2.06430374e-02 1.96198001e+00] [ 1.16401095e-01 -4.74318417e-03 9.93190962e-01 -3.99842890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.533741731999996 meters Centerline goodness [0,1] 0.9981221049117389 Centerline is valid? [True, True] Translation: X:-39.22, Y:1.96, Z:-4.00 [[ 9.84327065e-01 1.36448705e-01 -1.11722780e-01 -3.92170560e+01] [-1.35040774e-01 9.90635953e-01 2.01096266e-02 1.96280851e+00] [ 1.13420535e-01 -4.70731898e-03 9.93535920e-01 -3.99977267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.563741732 meters Centerline goodness [0,1] 0.9979593111634009 Centerline is valid? [True, True] Translation: X:-39.25, Y:1.97, Z:-4.00 [[ 9.84031166e-01 1.38799413e-01 -1.11433334e-01 -3.92472071e+01] [-1.37414850e-01 9.90310671e-01 2.00482685e-02 1.97192776e+00] [ 1.13136308e-01 -4.41552608e-03 9.93569665e-01 -4.00137664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.593741732 meters Centerline goodness [0,1] 0.9979561191290565 Centerline is valid? [True, True] Translation: X:-39.28, Y:1.98, Z:-4.01 [[ 9.83267962e-01 1.42253742e-01 -1.13789221e-01 -3.92779560e+01] [-1.40833684e-01 9.89821748e-01 2.04641324e-02 1.97924196e+00] [ 1.15542146e-01 -4.09637050e-03 9.93294132e-01 -4.00769609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.623741732 meters Centerline goodness [0,1] 0.9974384605772835 Centerline is valid? [True, True] Translation: X:-39.31, Y:1.99, Z:-4.01 [[ 9.83047619e-01 1.44267125e-01 -1.13156420e-01 -3.93079587e+01] [-1.42877468e-01 9.89531380e-01 2.03390450e-02 1.98760061e+00] [ 1.14906084e-01 -3.82674697e-03 9.93368989e-01 -4.01027287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.65374173199999 meters Centerline goodness [0,1] 0.9975806619809373 Centerline is valid? [True, True] Translation: X:-39.34, Y:1.98, Z:-4.02 [[ 9.82925994e-01 1.44619472e-01 -1.13761585e-01 -3.93415904e+01] [-1.43219187e-01 9.89480092e-01 2.04306751e-02 1.98339426e+00] [ 1.15519497e-01 -3.78899990e-03 9.93297986e-01 -4.01878486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.683741731999994 meters Centerline goodness [0,1] 0.9986034101805145 Centerline is valid? [True, True] Translation: X:-39.37, Y:2.00, Z:-4.01 [[ 9.83059312e-01 1.46412807e-01 -1.10261863e-01 -3.93708864e+01] [-1.45110592e-01 9.89217556e-01 1.97874451e-02 1.99664349e+00] [ 1.11970106e-01 -3.45206793e-03 9.93705579e-01 -4.01384147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.713741731999995 meters Centerline goodness [0,1] 0.9980560438424154 Centerline is valid? [True, True] Translation: X:-39.40, Y:2.00, Z:-4.02 [[ 9.83490002e-01 1.43005951e-01 -1.10890550e-01 -3.94022498e+01] [-1.41668895e-01 9.89714351e-01 1.98853748e-02 1.99853414e+00] [ 1.12593695e-01 -3.84732563e-03 9.93633664e-01 -4.01514488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.743741732 meters Centerline goodness [0,1] 0.997396375755051 Centerline is valid? [True, True] Translation: X:-39.43, Y:2.00, Z:-4.02 [[ 9.83872247e-01 1.39674355e-01 -1.11742906e-01 -3.94333875e+01] [-1.38295743e-01 9.90188344e-01 2.00332664e-02 1.99926115e+00] [ 1.13444656e-01 -4.25660667e-03 9.93535199e-01 -4.01956885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.773741732 meters Centerline goodness [0,1] 0.9973234636053782 Centerline is valid? [True, True] Translation: X:-39.47, Y:2.00, Z:-4.02 [[ 9.84126707e-01 1.38007949e-01 -1.11572536e-01 -3.94653445e+01] [-1.36623548e-01 9.90421187e-01 1.99969818e-02 2.00161142e+00] [ 1.13263546e-01 -4.43612813e-03 9.93555076e-01 -4.02239359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.803741732 meters Centerline goodness [0,1] 0.9978359031982854 Centerline is valid? [True, True] Translation: X:-39.50, Y:2.01, Z:-4.03 [[ 9.84053132e-01 1.39405786e-01 -1.10478321e-01 -3.94954859e+01] [-1.38058301e-01 9.90226331e-01 1.97919061e-02 2.00722873e+00] [ 1.12157648e-01 -4.22383799e-03 9.93681449e-01 -4.02626554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.83374173199999 meters Centerline goodness [0,1] 0.9986499397665435 Centerline is valid? [True, True] Translation: X:-39.53, Y:2.01, Z:-4.03 [[ 9.83395558e-01 1.41998236e-01 -1.13003002e-01 -3.95265429e+01] [-1.40606117e-01 9.89858783e-01 2.02363643e-02 2.01447839e+00] [ 1.14730542e-01 -4.01143739e-03 9.93388550e-01 -4.02881840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.863741731999994 meters Centerline goodness [0,1] 0.9983821119661488 Centerline is valid? [True, True] Translation: X:-39.56, Y:2.02, Z:-4.03 [[ 9.83109308e-01 1.43471697e-01 -1.13630806e-01 -3.95574718e+01] [-1.42074882e-01 9.89646925e-01 2.03394139e-02 2.02020086e+00] [ 1.15372508e-01 -3.85178367e-03 9.93314828e-01 -4.03306334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.893741731999995 meters Centerline goodness [0,1] 0.9982762559448402 Centerline is valid? [True, True] Translation: X:-39.59, Y:2.03, Z:-4.03 [[ 9.82813806e-01 1.45008029e-01 -1.14235261e-01 -3.95884967e+01] [-1.43607706e-01 9.89423629e-01 2.04379490e-02 2.02683105e+00] [ 1.15990734e-01 -3.68163463e-03 9.93243472e-01 -4.03243042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.923741731999996 meters Centerline goodness [0,1] 0.9974479209892937 Centerline is valid? [True, True] Translation: X:-39.62, Y:2.03, Z:-4.03 [[ 9.82977271e-01 1.44042855e-01 -1.14049725e-01 -3.96202022e+01] [-1.42642568e-01 9.89564259e-01 2.03881131e-02 2.03023314e+00] [ 1.15796294e-01 -3.77270613e-03 9.93265818e-01 -4.03350549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.953741732 meters Centerline goodness [0,1] 0.9978835539693738 Centerline is valid? [True, True] Translation: X:-39.65, Y:2.04, Z:-4.03 [[ 9.83430078e-01 1.41866772e-01 -1.12867627e-01 -3.96513696e+01] [-1.40482364e-01 9.89877772e-01 2.01668305e-02 2.03610051e+00] [ 1.14586158e-01 -3.97675663e-03 9.93405354e-01 -4.03409982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.983741732 meters Centerline goodness [0,1] 0.9983358988226484 Centerline is valid? [True, True] Translation: X:-39.68, Y:2.03, Z:-4.04 [[ 9.84123702e-01 1.38084924e-01 -1.11503783e-01 -3.96835222e+01] [-1.36710748e-01 9.90410821e-01 1.99142658e-02 2.03281575e+00] [ 1.13184413e-01 -4.35433546e-03 9.93564456e-01 -4.03853387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.01374173199999 meters Centerline goodness [0,1] 0.9987980271065611 Centerline is valid? [True, True] Translation: X:-39.71, Y:2.04, Z:-4.04 [[ 9.84207897e-01 1.35296728e-01 -1.14147323e-01 -3.97143692e+01] [-1.33838255e-01 9.90793584e-01 2.03812325e-02 2.03661665e+00] [ 1.15853949e-01 -4.78209156e-03 9.93254748e-01 -4.03994980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.043741731999994 meters Centerline goodness [0,1] 0.9976840363937138 Centerline is valid? [True, True] Translation: X:-39.75, Y:2.04, Z:-4.05 [[ 9.84477834e-01 1.33122592e-01 -1.14375568e-01 -3.97454180e+01] [-1.31644232e-01 9.91086748e-01 2.04170264e-02 2.03762157e+00] [ 1.16074077e-01 -5.04322615e-03 9.93227756e-01 -4.04673237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.073741731999995 meters Centerline goodness [0,1] 0.9972049689440994 Centerline is valid? [True, True] Translation: X:-39.78, Y:2.04, Z:-4.05 [[ 9.84783848e-01 1.30466557e-01 -1.14800911e-01 -3.97774951e+01] [-1.28959817e-01 9.91438162e-01 2.04874587e-02 2.03915248e+00] [ 1.16490933e-01 -5.37101388e-03 9.93177232e-01 -4.04891323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.103741731999996 meters Centerline goodness [0,1] 0.9989225477601426 Centerline is valid? [True, True] Translation: X:-39.81, Y:2.04, Z:-4.05 [[ 9.84993795e-01 1.29875648e-01 -1.13664158e-01 -3.98073615e+01] [-1.28395552e-01 9.91515694e-01 2.02783421e-02 2.04347478e+00] [ 1.15333459e-01 -5.38006883e-03 9.93312261e-01 -4.04986026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.133741732 meters Centerline goodness [0,1] 0.9989583550342701 Centerline is valid? [True, True] Translation: X:-39.84, Y:2.05, Z:-4.05 [[ 9.84914252e-01 1.29841402e-01 -1.14390238e-01 -3.98387140e+01] [-1.28342357e-01 9.91519983e-01 2.04049580e-02 2.04534189e+00] [ 1.16069615e-01 -5.41602117e-03 9.93226314e-01 -4.05261534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.163741732 meters Centerline goodness [0,1] 0.9990675700876485 Centerline is valid? [True, True] Translation: X:-39.87, Y:2.05, Z:-4.05 [[ 9.84274872e-01 1.33431131e-01 -1.15754526e-01 -3.98675287e+01] [-1.31921081e-01 9.91045225e-01 2.06443771e-02 2.05468536e+00] [ 1.17472573e-01 -5.04927946e-03 9.93063291e-01 -4.05284164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.193741732 meters Centerline goodness [0,1] 0.9980515711798358 Centerline is valid? [True, True] Translation: X:-39.90, Y:2.06, Z:-4.06 [[ 9.84127267e-01 1.36777719e-01 -1.13072444e-01 -3.98974687e+01] [-1.35359207e-01 9.90591362e-01 2.01653054e-02 2.06135877e+00] [ 1.14766751e-01 -4.53983059e-03 9.93382093e-01 -4.05574859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22374173199999 meters Centerline goodness [0,1] 0.9975297365744297 Centerline is valid? [True, True] Translation: X:-39.93, Y:2.07, Z:-4.06 [[ 9.83754212e-01 1.39088968e-01 -1.13498499e-01 -3.99290544e+01] [-1.37675582e-01 9.90270633e-01 2.02362738e-02 2.06798974e+00] [ 1.15208873e-01 -4.28154764e-03 9.93332061e-01 -4.05842797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.253741731999995 meters Centerline goodness [0,1] 0.998402655326211 Centerline is valid? [True, True] Translation: X:-39.96, Y:2.08, Z:-4.06 [[ 9.83279309e-01 1.41134805e-01 -1.15077224e-01 -3.99608002e+01] [-1.39696762e-01 9.89981943e-01 2.05077256e-02 2.07500412e+00] [ 1.16818727e-01 -4.08890668e-03 9.93144836e-01 -4.06070201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.283741731999996 meters Centerline goodness [0,1] 0.9986502761742597 Centerline is valid? [True, True] Translation: X:-39.99, Y:2.08, Z:-4.06 [[ 9.82850936e-01 1.44147044e-01 -1.15002902e-01 -3.99905890e+01] [-1.42732418e-01 9.89549288e-01 2.04856925e-02 2.08197735e+00] [ 1.16753992e-01 -3.71973976e-03 9.93153900e-01 -4.06369898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.313741732 meters Centerline goodness [0,1] 0.9985300207039337 Centerline is valid? [True, True] Translation: X:-40.02, Y:2.09, Z:-4.07 [[ 9.82525139e-01 1.46014495e-01 -1.15430148e-01 -4.00218905e+01] [-1.44602832e-01 9.89276242e-01 2.05557497e-02 2.08730640e+00] [ 1.17193741e-01 -3.50501447e-03 9.93102886e-01 -4.06882190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.343741732 meters Centerline goodness [0,1] 0.998565458741346 Centerline is valid? [True, True] Translation: X:-40.05, Y:2.09, Z:-4.07 [[ 9.82737707e-01 1.45373329e-01 -1.14425493e-01 -4.00527292e+01] [-1.43983013e-01 9.89370537e-01 2.03674205e-02 2.09295162e+00] [ 1.16170092e-01 -3.54050480e-03 9.93223024e-01 -4.06862060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.373741732 meters Centerline goodness [0,1] 0.9985498539495764 Centerline is valid? [True, True] Translation: X:-40.08, Y:2.09, Z:-4.07 [[ 9.83367227e-01 1.41365027e-01 -1.14038702e-01 -4.00842519e+01] [-1.39958103e-01 9.89949485e-01 2.02915607e-02 2.09233856e+00] [ 1.15761071e-01 -3.99341539e-03 9.93269061e-01 -4.07295937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40374173199999 meters Centerline goodness [0,1] 0.9987174448190976 Centerline is valid? [True, True] Translation: X:-40.12, Y:2.09, Z:-4.08 [[ 9.83708247e-01 1.37965406e-01 -1.15254637e-01 -4.01163069e+01] [-1.36505609e-01 9.90427117e-01 2.05023048e-02 2.09291023e+00] [ 1.16979926e-01 -4.43538195e-03 9.93124375e-01 -4.07750764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.433741731999994 meters Centerline goodness [0,1] 0.9991089560280161 Centerline is valid? [True, True] Translation: X:-40.15, Y:2.10, Z:-4.08 [[ 9.84060077e-01 1.36433245e-01 -1.14068994e-01 -4.01488166e+01] [-1.34994165e-01 9.90638766e-01 2.02832790e-02 2.09569758e+00] [ 1.15768481e-01 -4.56131648e-03 9.93265752e-01 -4.08138980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.463741731999995 meters Centerline goodness [0,1] 0.9981223175965666 Centerline is valid? [True, True] Translation: X:-40.18, Y:2.10, Z:-4.08 [[ 9.83908803e-01 1.38167413e-01 -1.13283863e-01 -4.01802210e+01] [-1.36760901e-01 9.90399485e-01 2.01324421e-02 2.10116956e+00] [ 1.14977927e-01 -4.31568383e-03 9.93358672e-01 -4.08425533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.493741732 meters Centerline goodness [0,1] 0.9988088881587054 Centerline is valid? [True, True] Translation: X:-40.21, Y:2.10, Z:-4.09 [[ 9.83905451e-01 1.36836712e-01 -1.14916392e-01 -4.02119046e+01] [-1.35381168e-01 9.90583269e-01 2.04138661e-02 2.10036311e+00] [ 1.16627621e-01 -4.52779876e-03 9.93165393e-01 -4.09030753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.523741732 meters Centerline goodness [0,1] 0.997971140508871 Centerline is valid? [True, True] Translation: X:-40.24, Y:2.11, Z:-4.09 [[ 9.83985503e-01 1.37268966e-01 -1.13709102e-01 -4.02425681e+01] [-1.35847633e-01 9.90523940e-01 2.01927141e-02 2.11097600e+00] [ 1.15403421e-01 -4.42222558e-03 9.93308862e-01 -4.08595409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.553741732 meters Centerline goodness [0,1] 0.9984411049448151 Centerline is valid? [True, True] Translation: X:-40.27, Y:2.12, Z:-4.09 [[ 9.83738933e-01 1.38124795e-01 -1.14800924e-01 -4.02745461e+01] [-1.36683356e-01 9.90405280e-01 2.03725482e-02 2.11528724e+00] [ 1.16513395e-01 -4.34989330e-03 9.93179595e-01 -4.08813936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58374173199999 meters Centerline goodness [0,1] 0.9980745740253825 Centerline is valid? [True, True] Translation: X:-40.31, Y:2.12, Z:-4.09 [[ 9.83722208e-01 1.39523945e-01 -1.13241713e-01 -4.03060167e+01] [-1.38131899e-01 9.90210139e-01 2.00863175e-02 2.12101049e+00] [ 1.14935614e-01 -4.11706383e-03 9.93364412e-01 -4.09239665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.613741731999994 meters Centerline goodness [0,1] 0.998466130503275 Centerline is valid? [True, True] Translation: X:-40.34, Y:2.13, Z:-4.10 [[ 9.83528816e-01 1.40264714e-01 -1.14003852e-01 -4.03361612e+01] [-1.38859806e-01 9.90105761e-01 2.02123028e-02 2.12954234e+00] [ 1.15710943e-01 -4.04882949e-03 9.93274677e-01 -4.09501843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.643741731999995 meters Centerline goodness [0,1] 0.9981791470959466 Centerline is valid? [True, True] Translation: X:-40.37, Y:2.13, Z:-4.10 [[ 9.83418616e-01 1.39994283e-01 -1.15279773e-01 -4.03681970e+01] [-1.38556725e-01 9.90143745e-01 2.04303050e-02 2.13104792e+00] [ 1.17003673e-01 -4.11875436e-03 9.93122941e-01 -4.10207383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.673741731999996 meters Centerline goodness [0,1] 0.9986865328572015 Centerline is valid? [True, True] Translation: X:-40.40, Y:2.13, Z:-4.11 [[ 9.83464409e-01 1.39497943e-01 -1.15490607e-01 -4.04005479e+01] [-1.38052893e-01 9.90213558e-01 2.04574915e-02 2.13091485e+00] [ 1.17214143e-01 -4.17540240e-03 9.93097886e-01 -4.10717451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.703741732 meters Centerline goodness [0,1] 0.9986865328572015 Centerline is valid? [True, True] Translation: X:-40.43, Y:2.14, Z:-4.11 [[ 9.83474932e-01 1.39422356e-01 -1.15492272e-01 -4.04316350e+01] [-1.37977890e-01 9.90224206e-01 2.04480901e-02 2.13651742e+00] [ 1.17214164e-01 -4.17480409e-03 9.93097886e-01 -4.11011878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.733741732 meters Centerline goodness [0,1] 0.9991324644207135 Centerline is valid? [True, True] Translation: X:-40.46, Y:2.14, Z:-4.11 [[ 9.83709078e-01 1.37948803e-01 -1.15267416e-01 -4.04613666e+01] [-1.36500815e-01 9.90429878e-01 2.04006073e-02 2.14275595e+00] [ 1.16978532e-01 -4.33416637e-03 9.93124986e-01 -4.10876465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76374173199999 meters Centerline goodness [0,1] 0.9989249090307641 Centerline is valid? [True, True] Translation: X:-40.49, Y:2.15, Z:-4.11 [[ 9.83963528e-01 1.37846381e-01 -1.13199604e-01 -4.04907813e+01] [-1.36449704e-01 9.90444438e-01 2.00323098e-02 2.15026472e+00] [ 1.14879299e-01 -4.26500988e-03 9.93370302e-01 -4.11026676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.793741731999994 meters Centerline goodness [0,1] 0.9982440556117916 Centerline is valid? [True, True] Translation: X:-40.52, Y:2.15, Z:-4.12 [[ 9.83993717e-01 1.34669868e-01 -1.16706434e-01 -4.05220083e+01] [-1.33162963e-01 9.90878999e-01 2.06503143e-02 2.15050840e+00] [ 1.18422930e-01 -4.77880488e-03 9.92951747e-01 -4.11575769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.823741731999995 meters Centerline goodness [0,1] 0.9976635030912061 Centerline is valid? [True, True] Translation: X:-40.55, Y:2.15, Z:-4.12 [[ 9.84539300e-01 1.31760651e-01 -1.15418791e-01 -4.05510833e+01] [-1.30267249e-01 9.91268594e-01 2.04210177e-02 2.15363588e+00] [ 1.17101709e-01 -5.07000606e-03 9.93106986e-01 -4.11841348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.853741731999996 meters Centerline goodness [0,1] 0.9986384172632187 Centerline is valid? [True, True] Translation: X:-40.58, Y:2.15, Z:-4.12 [[ 9.84965121e-01 1.28312287e-01 -1.15670510e-01 -4.05817685e+01] [-1.26788273e-01 9.91718587e-01 2.04689408e-02 2.15263077e+00] [ 1.17339012e-01 -5.49552843e-03 9.93076712e-01 -4.12314963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.883741732 meters Centerline goodness [0,1] 0.9981431430398812 Centerline is valid? [True, True] Translation: X:-40.61, Y:2.16, Z:-4.12 [[ 9.85207695e-01 1.27705986e-01 -1.14267141e-01 -4.06102758e+01] [-1.26214050e-01 9.91796785e-01 2.02274590e-02 2.15743354e+00] [ 1.15912951e-01 -5.50612965e-03 9.93244114e-01 -4.12374145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.913741732 meters Centerline goodness [0,1] 0.9982228100266578 Centerline is valid? [True, True] Translation: X:-40.64, Y:2.16, Z:-4.12 [[ 9.84972456e-01 1.29859068e-01 -1.13867830e-01 -4.06391907e+01] [-1.28390444e-01 9.91518580e-01 2.01692437e-02 2.16015492e+00] [ 1.15521228e-01 -5.24660822e-03 9.93291155e-01 -4.12420450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.943741732 meters Centerline goodness [0,1] 0.9980358102799487 Centerline is valid? [True, True] Translation: X:-40.67, Y:2.17, Z:-4.13 [[ 9.84603519e-01 1.31938914e-01 -1.14664875e-01 -4.06675334e+01] [-1.30460306e-01 9.91244903e-01 2.03383999e-02 2.16734371e+00] [ 1.16344400e-01 -5.06604544e-03 9.93196011e-01 -4.12805788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.97374173199999 meters Centerline goodness [0,1] 0.9973799306816307 Centerline is valid? [True, True] Translation: X:-40.70, Y:2.18, Z:-4.13 [[ 9.84023893e-01 1.36393512e-01 -1.14428086e-01 -4.06959085e+01] [-1.34950700e-01 9.90644370e-01 2.02987903e-02 2.17626151e+00] [ 1.16126163e-01 -4.53234437e-03 9.93224130e-01 -4.13210376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.003741731999995 meters Centerline goodness [0,1] 0.9983833861841697 Centerline is valid? [True, True] Translation: X:-40.72, Y:2.18, Z:-4.13 [[ 9.83659915e-01 1.39302068e-01 -1.14053082e-01 -4.07246049e+01] [-1.37887966e-01 9.90241125e-01 2.02341897e-02 2.18445613e+00] [ 1.15758717e-01 -4.17701383e-03 9.93268580e-01 -4.13429007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.033741731999996 meters Centerline goodness [0,1] 0.9978354532148673 Centerline is valid? [True, True] Translation: X:-40.75, Y:2.19, Z:-4.14 [[ 9.83192293e-01 1.42545216e-01 -1.14077936e-01 -4.07547417e+01] [-1.41152332e-01 9.89781015e-01 2.02376050e-02 2.19041004e+00] [ 1.15796949e-01 -3.79509051e-03 9.93265656e-01 -4.14013438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.063741732 meters Centerline goodness [0,1] 0.9974471939720838 Centerline is valid? [True, True] Translation: X:-40.79, Y:2.20, Z:-4.14 [[ 9.82909165e-01 1.43646826e-01 -1.15131068e-01 -4.07852679e+01] [-1.42236170e-01 9.89622121e-01 2.04188343e-02 2.19829351e+00] [ 1.16869352e-01 -3.69405726e-03 9.93140427e-01 -4.14160503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.093741732 meters Centerline goodness [0,1] 0.9981666117336849 Centerline is valid? [True, True] Translation: X:-40.82, Y:2.20, Z:-4.14 [[ 9.83031312e-01 1.43596350e-01 -1.14146955e-01 -4.08152523e+01] [-1.42210281e-01 9.89629569e-01 2.02373802e-02 2.20434603e+00] [ 1.15869216e-01 -3.66110789e-03 9.93257731e-01 -4.14408735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.123741732 meters Centerline goodness [0,1] 0.9979379317455408 Centerline is valid? [True, True] Translation: X:-40.85, Y:2.21, Z:-4.15 [[ 9.82998486e-01 1.43560319e-01 -1.14474501e-01 -4.08465005e+01] [-1.42166718e-01 9.89634764e-01 2.02893557e-02 2.20678933e+00] [ 1.16200692e-01 -3.66994189e-03 9.93218974e-01 -4.15228906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.15374173199999 meters Centerline goodness [0,1] 0.9989093528140756 Centerline is valid? [True, True] Translation: X:-40.88, Y:2.21, Z:-4.15 [[ 9.83121383e-01 1.43489709e-01 -1.13503524e-01 -4.08771597e+01] [-1.42120386e-01 9.89645125e-01 2.01077451e-02 2.21438565e+00] [ 1.15213464e-01 -3.63718939e-03 9.93334097e-01 -4.15348010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.183741731999994 meters Centerline goodness [0,1] 0.997482927231839 Centerline is valid? [True, True] Translation: X:-40.91, Y:2.22, Z:-4.15 [[ 9.83393985e-01 1.42341122e-01 -1.12584528e-01 -4.09096802e+01] [-1.40987376e-01 9.89810623e-01 1.99371673e-02 2.21835369e+00] [ 1.14275241e-01 -3.73309310e-03 9.93442114e-01 -4.15433067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.213741731999995 meters Centerline goodness [0,1] 0.9978770327926294 Centerline is valid? [True, True] Translation: X:-40.94, Y:2.22, Z:-4.16 [[ 9.83473344e-01 1.40932900e-01 -1.13657817e-01 -4.09402686e+01] [-1.39544855e-01 9.90011370e-01 2.01176497e-02 2.22208570e+00] [ 1.15357770e-01 -3.92480859e-03 9.93316254e-01 -4.15601514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.243741732 meters Centerline goodness [0,1] 0.9976164057041877 Centerline is valid? [True, True] Translation: X:-40.97, Y:2.22, Z:-4.16 [[ 9.83631918e-01 1.41297509e-01 -1.11817992e-01 -4.09718510e+01] [-1.39957407e-01 9.89959842e-01 1.97847095e-02 2.22325090e+00] [ 1.13490852e-01 -3.81111562e-03 9.93531732e-01 -4.16223277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.273741732 meters Centerline goodness [0,1] 0.9984221634802566 Centerline is valid? [True, True] Translation: X:-41.00, Y:2.23, Z:-4.17 [[ 9.83459015e-01 1.41556356e-01 -1.13005150e-01 -4.10040849e+01] [-1.40190148e-01 9.89922851e-01 1.99867595e-02 2.22586302e+00] [ 1.14695633e-01 -3.81395007e-03 9.93393359e-01 -4.16768530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.303741732 meters Centerline goodness [0,1] 0.9975400258297288 Centerline is valid? [True, True] Translation: X:-41.04, Y:2.23, Z:-4.17 [[ 9.83390838e-01 1.42060195e-01 -1.12966191e-01 -4.10360709e+01] [-1.40699355e-01 9.89850939e-01 1.99702325e-02 2.23061010e+00] [ 1.14656665e-01 -3.74427352e-03 9.93398122e-01 -4.17226888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.33374173199999 meters Centerline goodness [0,1] 0.9980440601194153 Centerline is valid? [True, True] Translation: X:-41.07, Y:2.24, Z:-4.17 [[ 9.83298895e-01 1.43701884e-01 -1.11682815e-01 -4.10657771e+01] [-1.42383415e-01 9.89614821e-01 1.97349995e-02 2.23992268e+00] [ 1.13358925e-01 -3.50362276e-03 9.93547925e-01 -4.17101243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.363741731999994 meters Centerline goodness [0,1] 0.9976926246394726 Centerline is valid? [True, True] Translation: X:-41.10, Y:2.25, Z:-4.17 [[ 9.83416473e-01 1.43632178e-01 -1.10733186e-01 -4.10968947e+01] [-1.42336306e-01 9.89625038e-01 1.95617237e-02 2.24608831e+00] [ 1.12394027e-01 -3.47596872e-03 9.93657637e-01 -4.17398870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.393741731999995 meters Centerline goodness [0,1] 0.9985779353269718 Centerline is valid? [True, True] Translation: X:-41.13, Y:2.25, Z:-4.18 [[ 9.83056035e-01 1.43350134e-01 -1.14243475e-01 -4.11277276e+01] [-1.41969705e-01 9.89665449e-01 2.01718294e-02 2.25283817e+00] [ 1.15954454e-01 -3.61092625e-03 9.93247968e-01 -4.17672124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.423741731999996 meters Centerline goodness [0,1] 0.9981076188909002 Centerline is valid? [True, True] Translation: X:-41.16, Y:2.26, Z:-4.18 [[ 9.83489723e-01 1.42187389e-01 -1.11940657e-01 -4.11593758e+01] [-1.40855875e-01 9.89832984e-01 1.97556687e-02 2.25731829e+00] [ 1.13611561e-01 -3.66199799e-03 9.93518497e-01 -4.18179619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.453741732 meters Centerline goodness [0,1] 0.9980858289595554 Centerline is valid? [True, True] Translation: X:-41.19, Y:2.26, Z:-4.19 [[ 9.84138074e-01 1.38558352e-01 -1.10787340e-01 -4.11892323e+01] [-1.37232285e-01 9.90346071e-01 1.95437774e-02 2.25997268e+00] [ 1.12425760e-01 -4.03017564e-03 9.93651954e-01 -4.18523339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.483741732 meters Centerline goodness [0,1] 0.9970754211805413 Centerline is valid? [True, True] Translation: X:-41.22, Y:2.26, Z:-4.19 [[ 9.84314071e-01 1.37223339e-01 -1.10885371e-01 -4.12199912e+01] [-1.35886803e-01 9.90531298e-01 1.95582126e-02 2.26400305e+00] [ 1.12519273e-01 -4.18356542e-03 9.93640735e-01 -4.18681808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.51374173199999 meters Centerline goodness [0,1] 0.9976526788288103 Centerline is valid? [True, True] Translation: X:-41.25, Y:2.27, Z:-4.19 [[ 9.84580766e-01 1.35658425e-01 -1.10442326e-01 -4.12506531e+01] [-1.34323340e-01 9.90746162e-01 1.94752085e-02 2.26724426e+00] [ 1.12062286e-01 -4.33993367e-03 9.93691707e-01 -4.18827821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.543741731999994 meters Centerline goodness [0,1] 0.9971547294946063 Centerline is valid? [True, True] Translation: X:-41.28, Y:2.27, Z:-4.19 [[ 9.84643658e-01 1.34324697e-01 -1.11506690e-01 -4.12818613e+01] [-1.32955697e-01 9.90927015e-01 1.96579045e-02 2.26933090e+00] [ 1.13135533e-01 -4.53058136e-03 9.93569235e-01 -4.19498076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.573741731999995 meters Centerline goodness [0,1] 0.9981582650442844 Centerline is valid? [True, True] Translation: X:-41.31, Y:2.28, Z:-4.20 [[ 9.84562117e-01 1.34133078e-01 -1.12453351e-01 -4.13110633e+01] [-1.32739912e-01 9.90952711e-01 1.98202043e-02 2.27679140e+00] [ 1.14094498e-01 -4.58717443e-03 9.93459311e-01 -4.19593001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.603741731999996 meters Centerline goodness [0,1] 0.9979370384123447 Centerline is valid? [True, True] Translation: X:-41.34, Y:2.28, Z:-4.20 [[ 9.84815457e-01 1.34109735e-01 -1.10241078e-01 -4.13410656e+01] [-1.32771064e-01 9.90956282e-01 1.94291362e-02 2.27755527e+00] [ 1.11849725e-01 -4.49728848e-03 9.93714956e-01 -4.20001818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.633741732 meters Centerline goodness [0,1] 0.9984589146649681 Centerline is valid? [True, True] Translation: X:-41.37, Y:2.28, Z:-4.20 [[ 9.84894721e-01 1.34005605e-01 -1.09658046e-01 -4.13717226e+01] [-1.32680103e-01 9.90970410e-01 1.93296917e-02 2.28020062e+00] [ 1.11258166e-01 -4.48827048e-03 9.93781402e-01 -4.20456565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.663741732 meters Centerline goodness [0,1] 0.9976540313618966 Centerline is valid? [True, True] Translation: X:-41.40, Y:2.29, Z:-4.20 [[ 9.84684371e-01 1.34856693e-01 -1.10500507e-01 -4.14007746e+01] [-1.33516437e-01 9.90855244e-01 1.94742342e-02 2.28927911e+00] [ 1.12116238e-01 -4.42233997e-03 9.93685258e-01 -4.20333918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.693741732 meters Centerline goodness [0,1] 0.9975904606956773 Centerline is valid? [True, True] Translation: X:-41.43, Y:2.29, Z:-4.21 [[ 9.84597100e-01 1.36210075e-01 -1.09614629e-01 -4.14309024e+01] [-1.34899624e-01 9.90670929e-01 1.93184354e-02 2.29419347e+00] [ 1.11223392e-01 -4.23390325e-03 9.93786411e-01 -4.20805090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72374173199999 meters Centerline goodness [0,1] 0.9980042794831702 Centerline is valid? [True, True] Translation: X:-41.46, Y:2.30, Z:-4.21 [[ 9.84335623e-01 1.36354435e-01 -1.11762466e-01 -4.14605047e+01] [-1.34992876e-01 9.90650782e-01 1.96965129e-02 2.30011720e+00] [ 1.13403281e-01 -4.30084259e-03 9.93539732e-01 -4.21025597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.753741731999995 meters Centerline goodness [0,1] 0.9979610750695088 Centerline is valid? [True, True] Translation: X:-41.49, Y:2.30, Z:-4.22 [[ 9.84582572e-01 1.35647725e-01 -1.10439364e-01 -4.14902336e+01] [-1.34314154e-01 9.90747680e-01 1.94613038e-02 2.30257156e+00] [ 1.12057425e-01 -4.32769087e-03 9.93692309e-01 -4.21557517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.783741731999996 meters Centerline goodness [0,1] 0.9986576626809573 Centerline is valid? [True, True] Translation: X:-41.52, Y:2.30, Z:-4.22 [[ 9.84806546e-01 1.32609128e-01 -1.12119966e-01 -4.15212554e+01] [-1.31214927e-01 9.91157053e-01 1.97570001e-02 2.30369206e+00] [ 1.13748454e-01 -4.74500982e-03 9.93498251e-01 -4.21872780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.813741732 meters Centerline goodness [0,1] 0.9972248489084405 Centerline is valid? [True, True] Translation: X:-41.55, Y:2.31, Z:-4.22 [[ 9.85326958e-01 1.31085351e-01 -1.09304239e-01 -4.15490683e+01] [-1.29751316e-01 9.91359488e-01 1.92603440e-02 2.30773553e+00] [ 1.10884543e-01 -4.79536731e-03 9.93821726e-01 -4.22207679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.843741732 meters Centerline goodness [0,1] 0.9974648584030669 Centerline is valid? [True, True] Translation: X:-41.58, Y:2.31, Z:-4.23 [[ 9.85486667e-01 1.29596113e-01 -1.09639756e-01 -4.15790302e+01] [-1.28243777e-01 9.91554327e-01 1.93274317e-02 2.30996247e+00] [ 1.11218535e-01 -4.98630982e-03 9.93783464e-01 -4.22531183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.873741732 meters Centerline goodness [0,1] 0.9984119454699197 Centerline is valid? [True, True] Translation: X:-41.61, Y:2.31, Z:-4.23 [[ 9.85625659e-01 1.27814936e-01 -1.10478060e-01 -4.16075946e+01] [-1.26430296e-01 9.91784244e-01 1.94780436e-02 2.31463637e+00] [ 1.12059985e-01 -5.23028571e-03 9.93687679e-01 -4.22938142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90374173199999 meters Centerline goodness [0,1] 0.9982533289495314 Centerline is valid? [True, True] Translation: X:-41.64, Y:2.32, Z:-4.23 [[ 9.85619636e-01 1.27186115e-01 -1.11254778e-01 -4.16368091e+01] [-1.25776738e-01 9.91864444e-01 1.96248852e-02 2.31603897e+00] [ 1.12845672e-01 -5.34940902e-03 9.93598127e-01 -4.23277499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.933741731999994 meters Centerline goodness [0,1] 0.9978030100815145 Centerline is valid? [True, True] Translation: X:-41.67, Y:2.32, Z:-4.24 [[ 9.85833823e-01 1.26519954e-01 -1.10110740e-01 -4.16654932e+01] [-1.25131786e-01 9.91949357e-01 1.94553162e-02 2.31985041e+00] [ 1.11685763e-01 -5.40135523e-03 9.93728894e-01 -4.23523943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.963741731999995 meters Centerline goodness [0,1] 0.9983505494732068 Centerline is valid? [True, True] Translation: X:-41.69, Y:2.32, Z:-4.24 [[ 9.86104216e-01 1.24419686e-01 -1.10082773e-01 -4.16934746e+01] [-1.23015826e-01 9.92213494e-01 1.94804914e-02 2.32219885e+00] [ 1.11649370e-01 -5.66787133e-03 9.93731500e-01 -4.23756522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.993741732 meters Centerline goodness [0,1] 0.9978670604401239 Centerline is valid? [True, True] Translation: X:-41.72, Y:2.32, Z:-4.24 [[ 9.85868511e-01 1.25050482e-01 -1.11470424e-01 -4.17213056e+01] [-1.23612872e-01 9.92134091e-01 1.97434210e-02 2.32175748e+00] [ 1.13062532e-01 -5.68523775e-03 9.93571609e-01 -4.24208675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.023741732 meters Centerline goodness [0,1] 0.9977439599655441 Centerline is valid? [True, True] Translation: X:-41.75, Y:2.32, Z:-4.25 [[ 9.85715218e-01 1.26907942e-01 -1.10724360e-01 -4.17498346e+01] [-1.25496930e-01 9.91899399e-01 1.96494915e-02 2.32458106e+00] [ 1.12321103e-01 -5.47323547e-03 9.93656889e-01 -4.24590444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.053741732 meters Centerline goodness [0,1] 0.9985585437173098 Centerline is valid? [True, True] Translation: X:-41.78, Y:2.33, Z:-4.25 [[ 9.85623622e-01 1.28296406e-01 -1.09936836e-01 -4.17771654e+01] [-1.26910774e-01 9.91721674e-01 1.95391335e-02 2.33165970e+00] [ 1.11533544e-01 -5.30606259e-03 9.93746504e-01 -4.24680903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08374173199999 meters Centerline goodness [0,1] 0.9983286908077994 Centerline is valid? [True, True] Translation: X:-41.81, Y:2.34, Z:-4.25 [[ 9.85176009e-01 1.29913427e-01 -1.12030057e-01 -4.18054697e+01] [-1.28482791e-01 9.91511504e-01 1.99276350e-02 2.33559541e+00] [ 1.13667958e-01 -5.23829349e-03 9.93504985e-01 -4.25036308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.113741731999994 meters Centerline goodness [0,1] 0.9978780387309436 Centerline is valid? [True, True] Translation: X:-41.83, Y:2.34, Z:-4.25 [[ 9.85268479e-01 1.28440985e-01 -1.12911191e-01 -4.18341962e+01] [-1.26974558e-01 9.91702006e-01 2.01145021e-02 2.33834937e+00] [ 1.14557781e-01 -5.48133633e-03 9.93401465e-01 -4.25418746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.143741731999995 meters Centerline goodness [0,1] 0.9986012835280567 Centerline is valid? [True, True] Translation: X:-41.86, Y:2.34, Z:-4.26 [[ 9.85554450e-01 1.27473356e-01 -1.11503231e-01 -4.18617213e+01] [-1.26036143e-01 9.91826561e-01 1.98736791e-02 2.34258869e+00] [ 1.13125230e-01 -5.53315573e-03 9.93565331e-01 -4.25759964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.173741731999996 meters Centerline goodness [0,1] 0.9983975017463123 Centerline is valid? [True, True] Translation: X:-41.89, Y:2.35, Z:-4.26 [[ 9.85591098e-01 1.27571684e-01 -1.11065982e-01 -4.18892653e+01] [-1.26145031e-01 9.91814037e-01 1.98077576e-02 2.34923253e+00] [ 1.12683709e-01 -5.51192793e-03 9.93615620e-01 -4.25744187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.203741732 meters Centerline goodness [0,1] 0.9985170538803757 Centerline is valid? [True, True] Translation: X:-41.92, Y:2.35, Z:-4.26 [[ 9.85418958e-01 1.27802674e-01 -1.12320759e-01 -4.19184889e+01] [-1.26342994e-01 9.91784001e-01 2.00485295e-02 2.35070653e+00] [ 1.13960188e-01 -5.56526005e-03 9.93469730e-01 -4.26037224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.233741732 meters Centerline goodness [0,1] 0.9981101068200493 Centerline is valid? [True, True] Translation: X:-41.95, Y:2.36, Z:-4.26 [[ 9.85233124e-01 1.28867104e-01 -1.12734029e-01 -4.19468552e+01] [-1.27399439e-01 9.91646631e-01 2.01579146e-02 2.35602932e+00] [ 1.14390013e-01 -5.49799304e-03 9.93420705e-01 -4.26189627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26374173199999 meters Centerline goodness [0,1] 0.9981083970721276 Centerline is valid? [True, True] Translation: X:-41.97, Y:2.36, Z:-4.27 [[ 9.85325275e-01 1.28948182e-01 -1.11832321e-01 -4.19741461e+01] [-1.27501100e-01 9.91636224e-01 2.00266997e-02 2.36175274e+00] [ 1.13479387e-01 -5.47406940e-03 9.93525271e-01 -4.26689244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.293741731999994 meters Centerline goodness [0,1] 0.9985381622022278 Centerline is valid? [True, True] Translation: X:-42.00, Y:2.36, Z:-4.27 [[ 9.85206500e-01 1.28293993e-01 -1.13616915e-01 -4.20027114e+01] [-1.26793809e-01 9.91720050e-01 2.03635180e-02 2.36264030e+00] [ 1.15288690e-01 -5.65634887e-03 9.93315923e-01 -4.27169303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.323741731999995 meters Centerline goodness [0,1] 0.9983111934919164 Centerline is valid? [True, True] Translation: X:-42.03, Y:2.36, Z:-4.27 [[ 9.85629954e-01 1.26520358e-01 -1.11920473e-01 -4.20308344e+01] [-1.25050009e-01 9.91947023e-01 2.00897816e-02 2.36395333e+00] [ 1.13560946e-01 -5.80543434e-03 9.93514071e-01 -4.27417562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.353741731999996 meters Centerline goodness [0,1] 0.9979831656067996 Centerline is valid? [True, True] Translation: X:-42.06, Y:2.37, Z:-4.27 [[ 9.85326897e-01 1.28993702e-01 -1.11765521e-01 -4.20583291e+01] [-1.27541968e-01 9.91630027e-01 2.00732443e-02 2.37246030e+00] [ 1.13419369e-01 -5.52391298e-03 9.93531848e-01 -4.27458436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.383741732 meters Centerline goodness [0,1] 0.9979409463410617 Centerline is valid? [True, True] Translation: X:-42.09, Y:2.37, Z:-4.28 [[ 9.84987650e-01 1.31800495e-01 -1.11480753e-01 -4.20880326e+01] [-1.30373236e-01 9.91262653e-01 2.00292976e-02 2.37127885e+00] [ 1.13146579e-01 -5.19450425e-03 9.93564728e-01 -4.28046074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.413741732 meters Centerline goodness [0,1] 0.9967745911742953 Centerline is valid? [True, True] Translation: X:-42.12, Y:2.38, Z:-4.28 [[ 9.84363157e-01 1.36283610e-01 -1.11606236e-01 -4.21161734e+01] [-1.34881235e-01 9.90658765e-01 2.00565398e-02 2.38347939e+00] [ 1.13297074e-01 -4.68933188e-03 9.93550091e-01 -4.28009463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.443741732 meters Centerline goodness [0,1] 0.9989060661726764 Centerline is valid? [True, True] Translation: X:-42.15, Y:2.39, Z:-4.28 [[ 9.83491611e-01 1.39468407e-01 -1.15294473e-01 -4.21453748e+01] [-1.37992756e-01 9.90216429e-01 2.07225016e-02 2.38854676e+00] [ 1.17056616e-01 -4.47060437e-03 9.93115181e-01 -4.28448346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.47374173199999 meters Centerline goodness [0,1] 0.9984210634240367 Centerline is valid? [True, True] Translation: X:-42.17, Y:2.39, Z:-4.29 [[ 9.83615491e-01 1.40524843e-01 -1.12930661e-01 -4.21743734e+01] [-1.39115706e-01 9.90067990e-01 2.03025943e-02 2.39340149e+00] [ 1.14662052e-01 -4.25951765e-03 9.93395425e-01 -4.28936342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.503741731999995 meters Centerline goodness [0,1] 0.9979663941497884 Centerline is valid? [True, True] Translation: X:-42.20, Y:2.40, Z:-4.29 [[ 9.83957505e-01 1.40006718e-01 -1.10570103e-01 -4.22037323e+01] [-1.38652378e-01 9.90141506e-01 1.98825420e-02 2.39956780e+00] [ 1.12263738e-01 -4.23276875e-03 9.93669430e-01 -4.29039093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.533741731999996 meters Centerline goodness [0,1] 0.9978257302264523 Centerline is valid? [True, True] Translation: X:-42.23, Y:2.40, Z:-4.29 [[ 9.84412351e-01 1.37928985e-01 -1.09123413e-01 -4.22330377e+01] [-1.36596982e-01 9.90432288e-01 1.96251576e-02 2.40254612e+00] [ 1.10786230e-01 -4.41331869e-03 9.93834460e-01 -4.29257071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.563741732 meters Centerline goodness [0,1] 0.9975635723352853 Centerline is valid? [True, True] Translation: X:-42.26, Y:2.41, Z:-4.30 [[ 9.84399077e-01 1.36746417e-01 -1.10719800e-01 -4.22627692e+01] [-1.35366981e-01 9.90595319e-01 1.99172092e-02 2.40554059e+00] [ 1.12402123e-01 -4.61867729e-03 9.93652067e-01 -4.29512747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.593741732 meters Centerline goodness [0,1] 0.9984650648765913 Centerline is valid? [True, True] Translation: X:-42.29, Y:2.41, Z:-4.30 [[ 9.84258049e-01 1.35439947e-01 -1.13543442e-01 -4.22917224e+01] [-1.33979564e-01 9.90773455e-01 2.04312963e-02 2.40830187e+00] [ 1.15263042e-01 -4.89716689e-03 9.93322933e-01 -4.29641859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.623741732 meters Centerline goodness [0,1] 0.9984650648765913 Centerline is valid? [True, True] Translation: X:-42.32, Y:2.41, Z:-4.30 [[ 9.84211928e-01 1.35777028e-01 -1.13540651e-01 -4.23186302e+01] [-1.34317092e-01 9.90727433e-01 2.04467951e-02 2.41294107e+00] [ 1.15264043e-01 -4.87352960e-03 9.93322933e-01 -4.29896788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.65374173199999 meters Centerline goodness [0,1] 0.9983713682517342 Centerline is valid? [True, True] Translation: X:-42.35, Y:2.41, Z:-4.31 [[ 9.84689804e-01 1.35737628e-01 -1.09367662e-01 -4.23469491e+01] [-1.34379545e-01 9.90733530e-01 1.97284214e-02 2.41131911e+00] [ 1.11032099e-01 -4.72959883e-03 9.93805566e-01 -4.30758969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.683741731999994 meters Centerline goodness [0,1] 0.9981145222773292 Centerline is valid? [True, True] Translation: X:-42.38, Y:2.41, Z:-4.31 [[ 9.84735860e-01 1.32679589e-01 -1.12656170e-01 -4.23755266e+01] [-1.31217013e-01 9.91145129e-01 2.03329355e-02 2.41429724e+00] [ 1.14356379e-01 -5.24016471e-03 9.93425971e-01 -4.31016767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.713741731999995 meters Centerline goodness [0,1] 0.9978844020868423 Centerline is valid? [True, True] Translation: X:-42.40, Y:2.42, Z:-4.31 [[ 9.85288458e-01 1.28275711e-01 -1.12924740e-01 -4.24045647e+01] [-1.26776792e-01 9.91721760e-01 2.03861780e-02 2.41877310e+00] [ 1.14604973e-01 -5.77002961e-03 9.93394386e-01 -4.31153528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.743741732 meters Centerline goodness [0,1] 0.9976391854163246 Centerline is valid? [True, True] Translation: X:-42.44, Y:2.42, Z:-4.31 [[ 9.85810683e-01 1.24964272e-01 -1.12076889e-01 -4.24355888e+01] [-1.23466091e-01 9.92142412e-01 2.02375546e-02 2.41645673e+00] [ 1.13725206e-01 -6.11270216e-03 9.93493439e-01 -4.31491705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.773741732 meters Centerline goodness [0,1] 0.998273913490188 Centerline is valid? [True, True] Translation: X:-42.46, Y:2.42, Z:-4.32 [[ 9.86188471e-01 1.22885309e-01 -1.11047287e-01 -4.24624956e+01] [-1.21401079e-01 9.92400898e-01 2.00558343e-02 2.42264743e+00] [ 1.12667995e-01 -6.29757207e-03 9.93612733e-01 -4.31506601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.803741732 meters Centerline goodness [0,1] 0.9983149761630774 Centerline is valid? [True, True] Translation: X:-42.49, Y:2.42, Z:-4.32 [[ 9.86050274e-01 1.23011455e-01 -1.12129559e-01 -4.24915971e+01] [-1.21496898e-01 9.92384858e-01 2.02681225e-02 2.42065902e+00] [ 1.13768888e-01 -6.36199411e-03 9.93486872e-01 -4.31903285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.83374173199999 meters Centerline goodness [0,1] 0.9971533310123083 Centerline is valid? [True, True] Translation: X:-42.52, Y:2.42, Z:-4.32 [[ 9.85984942e-01 1.23492274e-01 -1.12175542e-01 -4.25198247e+01] [-1.21975422e-01 9.92325247e-01 2.03125529e-02 2.42105382e+00] [ 1.13823066e-01 -6.34521218e-03 9.93480774e-01 -4.32199335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.863741731999994 meters Centerline goodness [0,1] 0.9975956598577946 Centerline is valid? [True, True] Translation: X:-42.55, Y:2.43, Z:-4.32 [[ 9.86070702e-01 1.24003714e-01 -1.10849670e-01 -4.25469498e+01] [-1.22522075e-01 9.92262105e-01 2.01061276e-02 2.42917032e+00] [ 1.12485161e-01 -6.24453178e-03 9.93633783e-01 -4.32198799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.893741731999995 meters Centerline goodness [0,1] 0.9978484047458044 Centerline is valid? [True, True] Translation: X:-42.58, Y:2.43, Z:-4.33 [[ 9.86193436e-01 1.23060759e-01 -1.10808647e-01 -4.25759601e+01] [-1.21572493e-01 9.92378722e-01 2.01147185e-02 2.43063487e+00] [ 1.12439476e-01 -6.36571988e-03 9.93638185e-01 -4.32512999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.923741731999996 meters Centerline goodness [0,1] 0.9982999119231478 Centerline is valid? [True, True] Translation: X:-42.60, Y:2.44, Z:-4.33 [[ 9.86073710e-01 1.23300587e-01 -1.11604675e-01 -4.26038544e+01] [-1.21788347e-01 9.92348609e-01 2.02937614e-02 2.43514707e+00] [ 1.13252976e-01 -6.41899577e-03 9.93545449e-01 -4.32783796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.953741732 meters Centerline goodness [0,1] 0.9972345132743363 Centerline is valid? [True, True] Translation: X:-42.63, Y:2.44, Z:-4.33 [[ 9.85844029e-01 1.25105518e-01 -1.11625089e-01 -4.26330189e+01] [-1.23600373e-01 9.92123778e-01 2.03311693e-02 2.43549074e+00] [ 1.13289446e-01 -6.24645919e-03 9.93542391e-01 -4.33199267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.983741732 meters Centerline goodness [0,1] 0.9975692458534194 Centerline is valid? [True, True] Translation: X:-42.66, Y:2.44, Z:-4.33 [[ 9.85742461e-01 1.25246971e-01 -1.12361011e-01 -4.26610533e+01] [-1.23718818e-01 9.92105555e-01 2.04993127e-02 2.44042255e+00] [ 1.14041460e-01 -6.30587152e-03 9.93455979e-01 -4.33211627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.01374173199999 meters Centerline goodness [0,1] 0.9977330746451547 Centerline is valid? [True, True] Translation: X:-42.69, Y:2.45, Z:-4.34 [[ 9.85496506e-01 1.27116198e-01 -1.12419344e-01 -4.26876126e+01] [-1.25595195e-01 9.91868941e-01 2.05390136e-02 2.45012040e+00] [ 1.14116097e-01 -6.12179678e-03 9.93448559e-01 -4.33561261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.043741731999994 meters Centerline goodness [0,1] 0.9985501327343271 Centerline is valid? [True, True] Translation: X:-42.72, Y:2.45, Z:-4.34 [[ 9.85535035e-01 1.27305924e-01 -1.11865525e-01 -4.27153125e+01] [-1.25799226e-01 9.91844826e-01 2.04547154e-02 2.45327252e+00] [ 1.13557248e-01 -6.08624224e-03 9.93512813e-01 -4.33969662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.073741731999995 meters Centerline goodness [0,1] 0.9978229168806095 Centerline is valid? [True, True] Translation: X:-42.74, Y:2.46, Z:-4.34 [[ 9.85516903e-01 1.27062047e-01 -1.12301690e-01 -4.27430376e+01] [-1.25538024e-01 9.91875564e-01 2.05686611e-02 2.45714427e+00] [ 1.14002798e-01 -6.17263091e-03 9.93461253e-01 -4.34275783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.103741731999996 meters Centerline goodness [0,1] 0.998120569549141 Centerline is valid? [True, True] Translation: X:-42.77, Y:2.46, Z:-4.35 [[ 9.85459526e-01 1.26899478e-01 -1.12986925e-01 -4.27723086e+01] [-1.25354076e-01 9.91895934e-01 2.07077763e-02 2.45801900e+00] [ 1.14699078e-01 -6.24330378e-03 9.93380664e-01 -4.34785878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.133741732 meters Centerline goodness [0,1] 0.9981219123831299 Centerline is valid? [True, True] Translation: X:-42.80, Y:2.46, Z:-4.35 [[ 9.85572841e-01 1.27489183e-01 -1.11322428e-01 -4.27993621e+01] [-1.25990966e-01 9.91821204e-01 2.04199734e-02 2.46369726e+00] [ 1.13015270e-01 -6.09975099e-03 9.93574527e-01 -4.34750021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.163741732 meters Centerline goodness [0,1] 0.9981631528460926 Centerline is valid? [True, True] Translation: X:-42.83, Y:2.47, Z:-4.35 [[ 9.85233553e-01 1.30362896e-01 -1.10997121e-01 -4.28291102e+01] [-1.28890345e-01 9.91449591e-01 2.03712284e-02 2.46736128e+00] [ 1.12703702e-01 -5.76396057e-03 9.93611922e-01 -4.34882362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.193741732 meters Centerline goodness [0,1] 0.9976456618761004 Centerline is valid? [True, True] Translation: X:-42.86, Y:2.47, Z:-4.35 [[ 9.84700913e-01 1.32294227e-01 -1.13412300e-01 -4.28572271e+01] [-1.30768053e-01 9.91194239e-01 2.08253839e-02 2.47086737e+00] [ 1.15168696e-01 -5.67606896e-03 9.93329731e-01 -4.35311335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22374173199999 meters Centerline goodness [0,1] 0.9984060814124571 Centerline is valid? [True, True] Translation: X:-42.88, Y:2.48, Z:-4.35 [[ 9.84618656e-01 1.34578475e-01 -1.11421440e-01 -4.28845758e+01] [-1.33116885e-01 9.90888541e-01 2.04888756e-02 2.47775082e+00] [ 1.13163590e-01 -5.34165411e-03 9.93562010e-01 -4.35487530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.253741731999995 meters Centerline goodness [0,1] 0.9975455605326133 Centerline is valid? [True, True] Translation: X:-42.91, Y:2.48, Z:-4.36 [[ 9.84728021e-01 1.35482849e-01 -1.09339486e-01 -4.29132295e+01] [-1.34079645e-01 9.90766296e-01 2.01195066e-02 2.47852655e+00] [ 1.11055726e-01 -5.15204238e-03 9.93800826e-01 -4.35702067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.283741731999996 meters Centerline goodness [0,1] 0.9977315921770584 Centerline is valid? [True, True] Translation: X:-42.94, Y:2.48, Z:-4.36 [[ 9.84696292e-01 1.34836813e-01 -1.10418501e-01 -4.29406084e+01] [-1.33398034e-01 9.90853597e-01 2.03497822e-02 2.48465045e+00] [ 1.12152469e-01 -5.30874412e-03 9.93676829e-01 -4.35968567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.313741732 meters Centerline goodness [0,1] 0.9987914046336317 Centerline is valid? [True, True] Translation: X:-42.97, Y:2.49, Z:-4.36 [[ 9.84669614e-01 1.35159379e-01 -1.10261933e-01 -4.29689855e+01] [-1.33724265e-01 9.90809770e-01 2.03425872e-02 2.48508920e+00] [ 1.11998092e-01 -5.28603156e-03 9.93694362e-01 -4.36259678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.343741732 meters Centerline goodness [0,1] 0.9984438347188664 Centerline is valid? [True, True] Translation: X:-43.00, Y:2.49, Z:-4.37 [[ 9.84750121e-01 1.34006446e-01 -1.10948060e-01 -4.29973902e+01] [-1.32541667e-01 9.90965254e-01 2.05078704e-02 2.48779052e+00] [ 1.12693860e-01 -5.48988692e-03 9.93614591e-01 -4.36593525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.373741732 meters Centerline goodness [0,1] 0.9984707297677549 Centerline is valid? [True, True] Translation: X:-43.03, Y:2.49, Z:-4.37 [[ 9.84968289e-01 1.32596620e-01 -1.10705039e-01 -4.30267319e+01] [-1.31125607e-01 9.91153854e-01 2.04966812e-02 2.48742626e+00] [ 1.12443517e-01 -5.67231557e-03 9.93641928e-01 -4.37038420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40374173199999 meters Centerline goodness [0,1] 0.996493231120535 Centerline is valid? [True, True] Translation: X:-43.06, Y:2.49, Z:-4.37 [[ 9.85139674e-01 1.32624590e-01 -1.09135425e-01 -4.30554591e+01] [-1.31191718e-01 9.91150408e-01 2.02386184e-02 2.48885813e+00] [ 1.10853759e-01 -5.62020209e-03 9.93820838e-01 -4.37378627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.433741731999994 meters Centerline goodness [0,1] 0.9980950039943465 Centerline is valid? [True, True] Translation: X:-43.08, Y:2.50, Z:-4.37 [[ 9.85315479e-01 1.31377889e-01 -1.09056211e-01 -4.30829693e+01] [-1.29936315e-01 9.91315482e-01 2.02526072e-02 2.49526136e+00] [ 1.10769856e-01 -5.78484504e-03 9.93829248e-01 -4.37327104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.463741731999995 meters Centerline goodness [0,1] 0.9979971797020294 Centerline is valid? [True, True] Translation: X:-43.11, Y:2.50, Z:-4.38 [[ 9.85463388e-01 1.30079284e-01 -1.09276213e-01 -4.31105770e+01] [-1.28622254e-01 9.91485695e-01 2.03084222e-02 2.49978599e+00] [ 1.10987507e-01 -5.95785375e-03 9.93803943e-01 -4.37615089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.493741732 meters Centerline goodness [0,1] 0.9983848544324501 Centerline is valid? [True, True] Translation: X:-43.14, Y:2.50, Z:-4.38 [[ 9.85183314e-01 1.31043303e-01 -1.10641270e-01 -4.31379544e+01] [-1.29552195e-01 9.91358774e-01 2.05914777e-02 2.50331827e+00] [ 1.12383569e-01 -5.95256082e-03 9.93647070e-01 -4.37852962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.523741732 meters Centerline goodness [0,1] 0.9983481186907311 Centerline is valid? [True, True] Translation: X:-43.17, Y:2.50, Z:-4.38 [[ 9.85023572e-01 1.33043235e-01 -1.09672514e-01 -4.31677201e+01] [-1.31589348e-01 9.91093933e-01 2.04220099e-02 2.50435475e+00] [ 1.11412774e-01 -5.68442651e-03 9.93757959e-01 -4.38200140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.553741732 meters Centerline goodness [0,1] 0.9977877465740798 Centerline is valid? [True, True] Translation: X:-43.20, Y:2.51, Z:-4.38 [[ 9.84672617e-01 1.34368488e-01 -1.11197783e-01 -4.31952228e+01] [-1.32881380e-01 9.90915506e-01 2.07123033e-02 2.50916049e+00] [ 1.12970689e-01 -5.61872298e-03 9.93582434e-01 -4.38272880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58374173199999 meters Centerline goodness [0,1] 0.9981228703760381 Centerline is valid? [True, True] Translation: X:-43.22, Y:2.51, Z:-4.38 [[ 9.84809160e-01 1.35907708e-01 -1.08074108e-01 -4.32247878e+01] [-1.34511424e-01 9.90707339e-01 2.01406406e-02 2.51258297e+00] [ 1.09807080e-01 -5.29748524e-03 9.93938802e-01 -4.38400302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.613741731999994 meters Centerline goodness [0,1] 0.9989599477934579 Centerline is valid? [True, True] Translation: X:-43.25, Y:2.52, Z:-4.39 [[ 9.84506254e-01 1.36663539e-01 -1.09865883e-01 -4.32527379e+01] [-1.35223875e-01 9.90603286e-01 2.04849776e-02 2.51634969e+00] [ 1.11633054e-01 -5.31109812e-03 9.93735304e-01 -4.38671741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.643741731999995 meters Centerline goodness [0,1] 0.9990198881038919 Centerline is valid? [True, True] Translation: X:-43.28, Y:2.52, Z:-4.39 [[ 9.84204474e-01 1.37860400e-01 -1.11067835e-01 -4.32797319e+01] [-1.36392586e-01 9.90437665e-01 2.07435316e-02 2.52150991e+00] [ 1.12865478e-01 -5.26704736e-03 9.93596317e-01 -4.38572184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.673741731999996 meters Centerline goodness [0,1] 0.9986531436850805 Centerline is valid? [True, True] Translation: X:-43.31, Y:2.52, Z:-4.39 [[ 9.84192077e-01 1.37416150e-01 -1.11726258e-01 -4.33082873e+01] [-1.35925848e-01 9.90498856e-01 2.08849414e-02 2.52470943e+00] [ 1.13534659e-01 -5.36830740e-03 9.93519533e-01 -4.39047099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.703741732 meters Centerline goodness [0,1] 0.9983427109974424 Centerline is valid? [True, True] Translation: X:-43.34, Y:2.53, Z:-4.39 [[ 9.84397849e-01 1.37089317e-01 -1.10305914e-01 -4.33363550e+01] [-1.35631407e-01 9.90544154e-01 2.06494488e-02 2.52876085e+00] [ 1.12093697e-01 -5.36632656e-03 9.93683152e-01 -4.39092911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.733741732 meters Centerline goodness [0,1] 0.9985876573533927 Centerline is valid? [True, True] Translation: X:-43.37, Y:2.53, Z:-4.39 [[ 9.84133713e-01 1.37546593e-01 -1.12079301e-01 -4.33653460e+01] [-1.36042227e-01 9.90480482e-01 2.09982907e-02 2.53079587e+00] [ 1.13900604e-01 -5.41760808e-03 9.93477379e-01 -4.39402914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76374173199999 meters Centerline goodness [0,1] 0.99861340511001 Centerline is valid? [True, True] Translation: X:-43.39, Y:2.53, Z:-4.40 [[ 9.84242007e-01 1.37615720e-01 -1.11038667e-01 -4.33944258e+01] [-1.36135821e-01 9.90471014e-01 2.08376832e-02 2.53358164e+00] [ 1.12848174e-01 -5.39298307e-03 9.93597607e-01 -4.39699635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.793741731999994 meters Centerline goodness [0,1] 0.999346485316342 Centerline is valid? [True, True] Translation: X:-43.42, Y:2.54, Z:-4.40 [[ 9.84180543e-01 1.37632072e-01 -1.11561963e-01 -4.34213866e+01] [-1.36134827e-01 9.90468448e-01 2.09657267e-02 2.53963420e+00] [ 1.13384161e-01 -5.44659176e-03 9.93536294e-01 -4.39720613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.823741731999995 meters Centerline goodness [0,1] 0.9982457213960794 Centerline is valid? [True, True] Translation: X:-43.45, Y:2.54, Z:-4.40 [[ 9.84184879e-01 1.37984780e-01 -1.11087012e-01 -4.34495658e+01] [-1.36500740e-01 9.90419637e-01 2.08923755e-02 2.54226938e+00] [ 1.12905588e-01 -5.39850073e-03 9.93591055e-01 -4.40091134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.853741731999996 meters Centerline goodness [0,1] 0.9976347287074608 Centerline is valid? [True, True] Translation: X:-43.48, Y:2.55, Z:-4.40 [[ 9.84238799e-01 1.37731838e-01 -1.10923067e-01 -4.34780680e+01] [-1.36246769e-01 9.90454545e-01 2.08952833e-02 2.54631499e+00] [ 1.12742201e-01 -5.45303907e-03 9.93609310e-01 -4.40351939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.883741732 meters Centerline goodness [0,1] 0.9986504447398017 Centerline is valid? [True, True] Translation: X:-43.51, Y:2.55, Z:-4.40 [[ 9.84089852e-01 1.37147893e-01 -1.12949632e-01 -4.35057503e+01] [-1.35600483e-01 9.90534455e-01 2.13073179e-02 2.55179877e+00] [ 1.14802756e-01 -5.65229058e-03 9.93372226e-01 -4.40420488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.913741732 meters Centerline goodness [0,1] 0.9989196901752956 Centerline is valid? [True, True] Translation: X:-43.53, Y:2.55, Z:-4.41 [[ 9.83834623e-01 1.38065738e-01 -1.14049495e-01 -4.35337995e+01] [-1.36491871e-01 9.90407131e-01 2.15333141e-02 2.55212499e+00] [ 1.15928446e-01 -5.61839097e-03 9.93241677e-01 -4.40822451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.943741732 meters Centerline goodness [0,1] 0.9982562854825628 Centerline is valid? [True, True] Translation: X:-43.56, Y:2.55, Z:-4.41 [[ 9.84126025e-01 1.37234087e-01 -1.12528984e-01 -4.35633210e+01] [-1.35692203e-01 9.90522370e-01 2.12852262e-02 2.55264477e+00] [ 1.14383535e-01 -5.67803927e-03 9.93420438e-01 -4.41011721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.97374173199999 meters Centerline goodness [0,1] 0.9981256621302257 Centerline is valid? [True, True] Translation: X:-43.59, Y:2.55, Z:-4.41 [[ 9.83928314e-01 1.38491767e-01 -1.12716920e-01 -4.35931787e+01] [-1.36948944e-01 9.90347891e-01 2.13551421e-02 2.54836859e+00] [ 1.14586476e-01 -5.57546577e-03 9.93397631e-01 -4.41434944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.003741731999995 meters Centerline goodness [0,1] 0.99879670419318 Centerline is valid? [True, True] Translation: X:-43.62, Y:2.56, Z:-4.41 [[ 9.83593721e-01 1.39419628e-01 -1.14479516e-01 -4.36185937e+01] [-1.37830501e-01 9.90217638e-01 2.17205609e-02 2.56056742e+00] [ 1.16387908e-01 -5.58543825e-03 9.93188128e-01 -4.41269714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.033741731999996 meters Centerline goodness [0,1] 0.9983230740914947 Centerline is valid? [True, True] Translation: X:-43.65, Y:2.56, Z:-4.42 [[ 9.83702211e-01 1.39657737e-01 -1.13250507e-01 -4.36466664e+01] [-1.38101915e-01 9.90184467e-01 2.15077466e-02 2.56469093e+00] [ 1.15142616e-01 -5.51710595e-03 9.93333650e-01 -4.41689872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.063741732 meters Centerline goodness [0,1] 0.9984313565709863 Centerline is valid? [True, True] Translation: X:-43.68, Y:2.57, Z:-4.42 [[ 9.83670333e-01 1.39600288e-01 -1.13597687e-01 -4.36754897e+01] [-1.38030465e-01 9.90192241e-01 2.16082629e-02 2.56761117e+00] [ 1.15500068e-01 -5.57546556e-03 9.93291824e-01 -4.41795827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.093741732 meters Centerline goodness [0,1] 0.998693984164558 Centerline is valid? [True, True] Translation: X:-43.70, Y:2.57, Z:-4.42 [[ 9.83658126e-01 1.39321514e-01 -1.14044755e-01 -4.37027775e+01] [-1.37733858e-01 9.90231020e-01 2.17235434e-02 2.57258784e+00] [ 1.15957211e-01 -5.66071601e-03 9.93238079e-01 -4.41975226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.123741732 meters Centerline goodness [0,1] 0.9975530678411941 Centerline is valid? [True, True] Translation: X:-43.73, Y:2.57, Z:-4.42 [[ 9.83819448e-01 1.38594663e-01 -1.13537720e-01 -4.37315494e+01] [-1.37014374e-01 9.90332571e-01 2.16439377e-02 2.57262330e+00] [ 1.15439837e-01 -5.73742715e-03 9.93297904e-01 -4.42227914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.15374173199999 meters Centerline goodness [0,1] 0.9982504678981202 Centerline is valid? [True, True] Translation: X:-43.76, Y:2.57, Z:-4.43 [[ 9.83982228e-01 1.36416099e-01 -1.14758974e-01 -4.37616008e+01] [-1.34783247e-01 9.90632921e-01 2.19064297e-02 2.57132298e+00] [ 1.16672407e-01 -6.08795039e-03 9.93151794e-01 -4.42545826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.183741731999994 meters Centerline goodness [0,1] 0.9987547462540317 Centerline is valid? [True, True] Translation: X:-43.79, Y:2.59, Z:-4.42 [[ 9.84117046e-01 1.35023426e-01 -1.15248925e-01 -4.37869018e+01] [-1.33366089e-01 9.90822453e-01 2.20080206e-02 2.58853883e+00] [ 1.17162821e-01 -6.28816977e-03 9.93092812e-01 -4.42133229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.213741731999995 meters Centerline goodness [0,1] 0.9982105091914755 Centerline is valid? [True, True] Translation: X:-43.82, Y:2.59, Z:-4.43 [[ 9.84367769e-01 1.35349902e-01 -1.12696491e-01 -4.38158043e+01] [-1.33765027e-01 9.90778889e-01 2.15432104e-02 2.58567516e+00] [ 1.14573175e-01 -6.13159280e-03 9.93395888e-01 -4.42818285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.243741732 meters Centerline goodness [0,1] 0.9981848958864438 Centerline is valid? [True, True] Translation: X:-43.84, Y:2.59, Z:-4.43 [[ 9.84223778e-01 1.34650099e-01 -1.14773282e-01 -4.38449350e+01] [-1.32997407e-01 9.90872786e-01 2.19729629e-02 2.58519984e+00] [ 1.16684383e-01 -6.36176372e-03 9.93148671e-01 -4.43087187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.273741732 meters Centerline goodness [0,1] 0.9979122318650728 Centerline is valid? [True, True] Translation: X:-43.87, Y:2.59, Z:-4.43 [[ 9.84315857e-01 1.34477731e-01 -1.14184210e-01 -4.38712900e+01] [-1.32839543e-01 9.90896202e-01 2.18717199e-02 2.59369434e+00] [ 1.16085959e-01 -6.36050255e-03 9.93218805e-01 -4.43170156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.303741732 meters Centerline goodness [0,1] 0.9984832957573273 Centerline is valid? [True, True] Translation: X:-43.90, Y:2.60, Z:-4.43 [[ 9.84038214e-01 1.36243167e-01 -1.14484030e-01 -4.39002396e+01] [-1.34605677e-01 9.90656087e-01 2.19505944e-02 2.59604194e+00] [ 1.16404920e-01 -6.19002333e-03 9.93182550e-01 -4.43308530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.33374173199999 meters Centerline goodness [0,1] 0.9983438630926823 Centerline is valid? [True, True] Translation: X:-43.93, Y:2.60, Z:-4.44 [[ 9.83755018e-01 1.37642109e-01 -1.15241983e-01 -4.39282354e+01] [-1.35988059e-01 9.90463240e-01 2.21318144e-02 2.60175922e+00] [ 1.17189217e-01 -6.10074998e-03 9.93090866e-01 -4.43725821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.363741731999994 meters Centerline goodness [0,1] 0.9985123293254534 Centerline is valid? [True, True] Translation: X:-43.96, Y:2.61, Z:-4.44 [[ 9.83440931e-01 1.40463900e-01 -1.14515626e-01 -4.39565871e+01] [-1.38846340e-01 9.90069065e-01 2.20213466e-02 2.60763428e+00] [ 1.16471583e-01 -5.75661798e-03 9.93177341e-01 -4.43930770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.393741731999995 meters Centerline goodness [0,1] 0.9986923296963753 Centerline is valid? [True, True] Translation: X:-43.98, Y:2.62, Z:-4.44 [[ 9.83142950e-01 1.43626541e-01 -1.13143083e-01 -4.39834077e+01] [-1.42067617e-01 9.89617637e-01 2.17652075e-02 2.61711555e+00] [ 1.15094452e-01 -5.32434206e-03 9.93340283e-01 -4.43922645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.423741731999996 meters Centerline goodness [0,1] 0.9984425591212754 Centerline is valid? [True, True] Translation: X:-44.01, Y:2.63, Z:-4.44 [[ 9.82079495e-01 1.48150337e-01 -1.16496111e-01 -4.40121014e+01] [-1.46527703e-01 9.88952474e-01 2.24195464e-02 2.62511907e+00] [ 1.18530581e-01 -4.94786922e-03 9.92938075e-01 -4.44340422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.453741732 meters Centerline goodness [0,1] 0.9980358056265984 Centerline is valid? [True, True] Translation: X:-44.04, Y:2.63, Z:-4.45 [[ 9.81643270e-01 1.50458422e-01 -1.17212429e-01 -4.40395200e+01] [-1.48831031e-01 9.88605134e-01 2.25657695e-02 2.63236303e+00] [ 1.19272019e-01 -4.70668902e-03 9.92850458e-01 -4.44548498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.483741732 meters Centerline goodness [0,1] 0.998569443309082 Centerline is valid? [True, True] Translation: X:-44.07, Y:2.64, Z:-4.45 [[ 9.81528749e-01 1.52817176e-01 -1.15100933e-01 -4.40680359e+01] [-1.51262430e-01 9.88244881e-01 2.21750456e-02 2.64080017e+00] [ 1.17136635e-01 -4.35499799e-03 9.93106260e-01 -4.45002199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.51374173199999 meters Centerline goodness [0,1] 0.998569443309082 Centerline is valid? [True, True] Translation: X:-44.09, Y:2.65, Z:-4.45 [[ 9.81477525e-01 1.53147548e-01 -1.15098639e-01 -4.40949136e+01] [-1.51593669e-01 9.88193857e-01 2.21869426e-02 2.64576112e+00] [ 1.17137644e-01 -4.32776054e-03 9.93106260e-01 -4.45257231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.543741731999994 meters Centerline goodness [0,1] 0.9985095044612777 Centerline is valid? [True, True] Translation: X:-44.12, Y:2.65, Z:-4.46 [[ 9.81127425e-01 1.54944937e-01 -1.15676452e-01 -4.41233919e+01] [-1.53383091e-01 9.87914292e-01 2.23378247e-02 2.65006498e+00] [ 1.17739553e-01 -4.17344061e-03 9.93035740e-01 -4.45659246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.573741731999995 meters Centerline goodness [0,1] 0.9987739087788131 Centerline is valid? [True, True] Translation: X:-44.15, Y:2.65, Z:-4.46 [[ 9.81424251e-01 1.53676207e-01 -1.14847997e-01 -4.41519206e+01] [-1.52124016e-01 9.88111777e-01 2.22125845e-02 2.65341639e+00] [ 1.16896204e-01 -4.32883061e-03 9.93134703e-01 -4.45708035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.603741731999996 meters Centerline goodness [0,1] 0.9986520433796948 Centerline is valid? [True, True] Translation: X:-44.18, Y:2.66, Z:-4.46 [[ 9.81539197e-01 1.52801249e-01 -1.15032968e-01 -4.41795493e+01] [-1.51234370e-01 9.88246824e-01 2.22795884e-02 2.65836425e+00] [ 1.17085315e-01 -4.47135081e-03 9.93111794e-01 -4.45759911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.633741732 meters Centerline goodness [0,1] 0.9986141116047772 Centerline is valid? [True, True] Translation: X:-44.21, Y:2.66, Z:-4.46 [[ 9.81560583e-01 1.52423327e-01 -1.15351429e-01 -4.42078371e+01] [-1.50842478e-01 9.88304819e-01 2.23636395e-02 2.66255820e+00] [ 1.17411113e-01 -4.55137170e-03 9.93072966e-01 -4.46074035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.663741732 meters Centerline goodness [0,1] 0.9977100797382948 Centerline is valid? [True, True] Translation: X:-44.24, Y:2.66, Z:-4.47 [[ 9.81554834e-01 1.52426377e-01 -1.15396304e-01 -4.42358428e+01] [-1.50840002e-01 9.88304174e-01 2.24087909e-02 2.66186878e+00] [ 1.17462340e-01 -4.58907832e-03 9.93066734e-01 -4.46801704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.69374173199999 meters Centerline goodness [0,1] 0.9984135378106822 Centerline is valid? [True, True] Translation: X:-44.26, Y:2.67, Z:-4.47 [[ 9.81618605e-01 1.52641798e-01 -1.14566116e-01 -4.42627627e+01] [-1.51075762e-01 9.88271043e-01 2.22813688e-02 2.66720394e+00] [ 1.16623443e-01 -4.56364291e-03 9.93165719e-01 -4.46901448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72374173199999 meters Centerline goodness [0,1] 0.9981705085986096 Centerline is valid? [True, True] Translation: X:-44.29, Y:2.67, Z:-4.47 [[ 9.81395445e-01 1.53350581e-01 -1.15527402e-01 -4.42905496e+01] [-1.51760809e-01 9.88161440e-01 2.24861384e-02 2.67051434e+00] [ 1.17607986e-01 -4.53526191e-03 9.93049743e-01 -4.47137478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.753741731999995 meters Centerline goodness [0,1] 0.9976871277401396 Centerline is valid? [True, True] Translation: X:-44.32, Y:2.68, Z:-4.47 [[ 9.81213819e-01 1.54479232e-01 -1.15566465e-01 -4.43192307e+01] [-1.52891686e-01 9.87986063e-01 2.25315616e-02 2.67535183e+00] [ 1.17658715e-01 -4.43912786e-03 9.93044169e-01 -4.47350178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.783741731999996 meters Centerline goodness [0,1] 0.9988579120184365 Centerline is valid? [True, True] Translation: X:-44.35, Y:2.68, Z:-4.47 [[ 9.80930250e-01 1.55232749e-01 -1.16955713e-01 -4.43467036e+01] [-1.53608415e-01 9.87867987e-01 2.28319055e-02 2.68230951e+00] [ 1.19081064e-01 -4.43112510e-03 9.92874647e-01 -4.47444589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.813741732 meters Centerline goodness [0,1] 0.9988181355068773 Centerline is valid? [True, True] Translation: X:-44.38, Y:2.69, Z:-4.48 [[ 9.80859996e-01 1.57268391e-01 -1.14805579e-01 -4.43753048e+01] [-1.55716065e-01 9.87547317e-01 2.24232856e-02 2.68710650e+00] [ 1.16902416e-01 -4.11703080e-03 9.93134873e-01 -4.47682002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.843741732 meters Centerline goodness [0,1] 0.9989221946557124 Centerline is valid? [True, True] Translation: X:-44.40, Y:2.69, Z:-4.48 [[ 9.80303605e-01 1.60258456e-01 -1.15421270e-01 -4.44028085e+01] [-1.58708965e-01 9.87067813e-01 2.25521058e-02 2.69389540e+00] [ 1.17542786e-01 -3.78952027e-03 9.93060589e-01 -4.47992403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.873741732 meters Centerline goodness [0,1] 0.9983282364933741 Centerline is valid? [True, True] Translation: X:-44.43, Y:2.70, Z:-4.48 [[ 9.79611975e-01 1.64406157e-01 -1.15459924e-01 -4.44307293e+01] [-1.62883010e-01 9.86387196e-01 2.25704339e-02 2.70467888e+00] [ 1.17598909e-01 -3.30380738e-03 9.93055679e-01 -4.48301993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90374173199999 meters Centerline goodness [0,1] 0.9979952130597549 Centerline is valid? [True, True] Translation: X:-44.46, Y:2.72, Z:-4.49 [[ 9.78727785e-01 1.68829563e-01 -1.16569725e-01 -4.44562834e+01] [-1.67307219e-01 9.85641264e-01 2.27946031e-02 2.71570019e+00] [ 1.18744334e-01 -2.80675491e-03 9.92920896e-01 -4.48560588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.933741731999994 meters Centerline goodness [0,1] 0.998524831994755 Centerline is valid? [True, True] Translation: X:-44.48, Y:2.72, Z:-4.49 [[ 9.78026078e-01 1.71726891e-01 -1.18215336e-01 -4.44838820e+01] [-1.70179683e-01 9.85141397e-01 2.31366062e-02 2.72334068e+00] [ 1.20431999e-01 -2.51035583e-03 9.92718405e-01 -4.48918357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.963741731999995 meters Centerline goodness [0,1] 0.9984905044570915 Centerline is valid? [True, True] Translation: X:-44.51, Y:2.73, Z:-4.49 [[ 9.77904171e-01 1.74444279e-01 -1.15206879e-01 -4.45128282e+01] [-1.72990590e-01 9.84664705e-01 2.25759532e-02 2.73182368e+00] [ 1.17378393e-01 -2.14741288e-03 9.93084942e-01 -4.48964198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.993741732 meters Centerline goodness [0,1] 0.9987290133453599 Centerline is valid? [True, True] Translation: X:-44.54, Y:2.74, Z:-4.49 [[ 9.77866575e-01 1.73308034e-01 -1.17223236e-01 -4.45411831e+01] [-1.71793225e-01 9.84864898e-01 2.29830452e-02 2.73752693e+00] [ 1.19432197e-01 -2.33619401e-03 9.92839611e-01 -4.49272180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.023741732 meters Centerline goodness [0,1] 0.9988562792312563 Centerline is valid? [True, True] Translation: X:-44.57, Y:2.74, Z:-4.49 [[ 9.78216470e-01 1.72228575e-01 -1.15887257e-01 -4.45686957e+01] [-1.70737141e-01 9.85053918e-01 2.27509796e-02 2.74065562e+00] [ 1.18073566e-01 -2.46912391e-03 9.93001781e-01 -4.49444260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.053741732 meters Centerline goodness [0,1] 0.998731821064043 Centerline is valid? [True, True] Translation: X:-44.60, Y:2.74, Z:-4.50 [[ 9.78604468e-01 1.70727088e-01 -1.14828380e-01 -4.45961675e+01] [-1.69250485e-01 9.85314809e-01 2.25610413e-02 2.74303477e+00] [ 1.16993884e-01 -2.64357690e-03 9.93129117e-01 -4.49746255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08374173199999 meters Centerline goodness [0,1] 0.9987721021611002 Centerline is valid? [True, True] Translation: X:-44.63, Y:2.74, Z:-4.50 [[ 9.79052046e-01 1.66291880e-01 -1.17490861e-01 -4.46251578e+01] [-1.64709765e-01 9.86071112e-01 2.31182869e-02 2.74398242e+00] [ 1.19698728e-01 -3.28211400e-03 9.92804836e-01 -4.50009235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.113741731999994 meters Centerline goodness [0,1] 0.9990180233628608 Centerline is valid? [True, True] Translation: X:-44.66, Y:2.74, Z:-4.51 [[ 9.79542822e-01 1.64382996e-01 -1.16077952e-01 -4.46550397e+01] [-1.62823893e-01 9.86390429e-01 2.28539346e-02 2.73855461e+00] [ 1.18254979e-01 -3.48614358e-03 9.92977143e-01 -4.50717268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.143741731999995 meters Centerline goodness [0,1] 0.9983033177293076 Centerline is valid? [True, True] Translation: X:-44.68, Y:2.75, Z:-4.50 [[ 9.79722468e-01 1.62449865e-01 -1.17277140e-01 -4.46831611e+01] [-1.60840738e-01 9.86709524e-01 2.31208235e-02 2.74534720e+00] [ 1.19474446e-01 -3.78904852e-03 9.92830046e-01 -4.50323294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.173741731999996 meters Centerline goodness [0,1] 0.9986495058419104 Centerline is valid? [True, True] Translation: X:-44.71, Y:2.75, Z:-4.51 [[ 9.79791392e-01 1.62472420e-01 -1.16668506e-01 -4.47108349e+01] [-1.60878183e-01 9.86705833e-01 2.30175700e-02 2.74783203e+00] [ 1.18857216e-01 -3.78299962e-03 9.92904150e-01 -4.50535524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.203741732 meters Centerline goodness [0,1] 0.9985344108127914 Centerline is valid? [True, True] Translation: X:-44.74, Y:2.75, Z:-4.51 [[ 9.79869007e-01 1.61162439e-01 -1.17827832e-01 -4.47385480e+01] [-1.59522561e-01 9.86919722e-01 2.32812264e-02 2.74986552e+00] [ 1.20038670e-01 -4.01635476e-03 9.92761092e-01 -4.50612036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.233741732 meters Centerline goodness [0,1] 0.9987003756726571 Centerline is valid? [True, True] Translation: X:-44.77, Y:2.75, Z:-4.51 [[ 9.80004331e-01 1.62284980e-01 -1.15130777e-01 -4.47675875e+01] [-1.60726092e-01 9.86736616e-01 2.27590339e-02 2.75437100e+00] [ 1.17297203e-01 -3.79943189e-03 9.93089588e-01 -4.50934966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26374173199999 meters Centerline goodness [0,1] 0.9984947111472742 Centerline is valid? [True, True] Translation: X:-44.80, Y:2.76, Z:-4.51 [[ 9.79978715e-01 1.62193417e-01 -1.15477326e-01 -4.47954256e+01] [-1.60623118e-01 9.86751540e-01 2.28388369e-02 2.75895165e+00] [ 1.17651738e-01 -3.83324595e-03 9.93047519e-01 -4.51206984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.293741731999994 meters Centerline goodness [0,1] 0.9982230755090786 Centerline is valid? [True, True] Translation: X:-44.83, Y:2.76, Z:-4.51 [[ 9.80090118e-01 1.59766837e-01 -1.17889437e-01 -4.48255598e+01] [-1.58108972e-01 9.87145671e-01 2.33447601e-02 2.75905590e+00] [ 1.20103765e-01 -4.24059108e-03 9.92752287e-01 -4.51481432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.323741731999995 meters Centerline goodness [0,1] 0.9985529104842654 Centerline is valid? [True, True] Translation: X:-44.85, Y:2.77, Z:-4.51 [[ 9.80242614e-01 1.59399966e-01 -1.17115623e-01 -4.48515348e+01] [-1.57760353e-01 9.87204874e-01 2.31993232e-02 2.76620750e+00] [ 1.19315085e-01 -4.26476321e-03 9.92847280e-01 -4.51478583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.353741731999996 meters Centerline goodness [0,1] 0.9987377593192044 Centerline is valid? [True, True] Translation: X:-44.88, Y:2.77, Z:-4.52 [[ 9.80135505e-01 1.58922114e-01 -1.18651393e-01 -4.48789931e+01] [-1.57233453e-01 9.87281330e-01 2.35205510e-02 2.77131554e+00] [ 1.20880241e-01 -4.39735885e-03 9.92657358e-01 -4.51871967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.383741732 meters Centerline goodness [0,1] 0.9985289911330855 Centerline is valid? [True, True] Translation: X:-44.91, Y:2.77, Z:-4.52 [[ 9.80268427e-01 1.58069391e-01 -1.18692373e-01 -4.49082387e+01] [-1.56371066e-01 9.87417649e-01 2.35473225e-02 2.76718142e+00] [ 1.20921055e-01 -4.52264397e-03 9.92651824e-01 -4.52494226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.413741732 meters Centerline goodness [0,1] 0.9988151416722846 Centerline is valid? [True, True] Translation: X:-44.93, Y:2.78, Z:-4.52 [[ 9.80237027e-01 1.57372226e-01 -1.19872234e-01 -4.49349753e+01] [-1.55630706e-01 9.87528236e-01 2.38131522e-02 2.77739703e+00] [ 1.22124745e-01 -4.68673307e-03 9.92503693e-01 -4.52369777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44374173199999 meters Centerline goodness [0,1] 0.9982255399865386 Centerline is valid? [True, True] Translation: X:-44.96, Y:2.78, Z:-4.53 [[ 9.80463466e-01 1.56505519e-01 -1.19152907e-01 -4.49639136e+01] [-1.54776336e-01 9.87665499e-01 2.36885396e-02 2.78123481e+00] [ 1.21390602e-01 -4.78369718e-03 9.92593289e-01 -4.52523677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.47374173199999 meters Centerline goodness [0,1] 0.9990016706735667 Centerline is valid? [True, True] Translation: X:-44.99, Y:2.78, Z:-4.53 [[ 9.80584459e-01 1.56021933e-01 -1.18790889e-01 -4.49929964e+01] [-1.54295446e-01 9.87741616e-01 2.36519849e-02 2.78462851e+00] [ 1.21024933e-01 -4.86387574e-03 9.92637551e-01 -4.52769933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.503741731999995 meters Centerline goodness [0,1] 0.9990621623274685 Centerline is valid? [True, True] Translation: X:-45.02, Y:2.79, Z:-4.53 [[ 9.80759996e-01 1.54681669e-01 -1.19094128e-01 -4.50214866e+01] [-1.52932265e-01 9.87951319e-01 2.37468591e-02 2.78602828e+00] [ 1.21332405e-01 -5.07663459e-03 9.92598950e-01 -4.53111873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.533741731999996 meters Centerline goodness [0,1] 0.9985523498827608 Centerline is valid? [True, True] Translation: X:-45.05, Y:2.79, Z:-4.53 [[ 9.80889799e-01 1.52828769e-01 -1.20410010e-01 -4.50506585e+01] [-1.51021911e-01 9.88237922e-01 2.40456176e-02 2.78850992e+00] [ 1.22668601e-01 -5.40155111e-03 9.92432989e-01 -4.53273114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.563741732 meters Centerline goodness [0,1] 0.9982389733416999 Centerline is valid? [True, True] Translation: X:-45.08, Y:2.79, Z:-4.53 [[ 9.81284101e-01 1.51325680e-01 -1.19088424e-01 -4.50786208e+01] [-1.49544043e-01 9.88468351e-01 2.38096469e-02 2.79215789e+00] [ 1.21318149e-01 -5.55506355e-03 9.92598130e-01 -4.53130638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.593741732 meters Centerline goodness [0,1] 0.9978366463937304 Centerline is valid? [True, True] Translation: X:-45.11, Y:2.80, Z:-4.53 [[ 9.81369127e-01 1.50278417e-01 -1.19712293e-01 -4.51055989e+01] [-1.48468618e-01 9.88627124e-01 2.39474254e-02 2.79941365e+00] [ 1.21949601e-01 -5.72774535e-03 9.92519767e-01 -4.53089643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.623741732 meters Centerline goodness [0,1] 0.9986550923095733 Centerline is valid? [True, True] Translation: X:-45.13, Y:2.80, Z:-4.54 [[ 9.81251977e-01 1.50753270e-01 -1.20075017e-01 -4.51340876e+01] [-1.48933380e-01 9.88554946e-01 2.40409482e-02 2.79991160e+00] [ 1.22325003e-01 -5.70704987e-03 9.92473689e-01 -4.53633657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.65374173199999 meters Centerline goodness [0,1] 0.99859616284511 Centerline is valid? [True, True] Translation: X:-45.16, Y:2.80, Z:-4.54 [[ 9.81439809e-01 1.49506936e-01 -1.20098198e-01 -4.51627038e+01] [-1.47671856e-01 9.88743040e-01 2.40878209e-02 2.80275240e+00] [ 1.22347553e-01 -5.90562261e-03 9.92469748e-01 -4.53983892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.683741731999994 meters Centerline goodness [0,1] 0.9990393655724973 Centerline is valid? [True, True] Translation: X:-45.19, Y:2.81, Z:-4.54 [[ 9.81488918e-01 1.49202811e-01 -1.20075079e-01 -4.51909674e+01] [-1.47361638e-01 9.88788538e-01 2.41200244e-02 2.80631921e+00] [ 1.22327637e-01 -5.97907627e-03 9.92471763e-01 -4.54136121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.713741731999995 meters Centerline goodness [0,1] 0.9986495058419104 Centerline is valid? [True, True] Translation: X:-45.22, Y:2.81, Z:-4.54 [[ 9.81166725e-01 1.49639293e-01 -1.22147208e-01 -4.52202885e+01] [-1.47732258e-01 9.88722044e-01 2.45743841e-02 2.80731775e+00] [ 1.24446931e-01 -6.06648502e-03 9.92207720e-01 -4.54438214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.743741732 meters Centerline goodness [0,1] 0.9980580539656582 Centerline is valid? [True, True] Translation: X:-45.25, Y:2.82, Z:-4.55 [[ 9.81348819e-01 1.48822428e-01 -1.21681473e-01 -4.52466625e+01] [-1.46919819e-01 9.88844641e-01 2.45121081e-02 2.81539438e+00] [ 1.23972023e-01 -6.17750840e-03 9.92266484e-01 -4.54615254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.773741732 meters Centerline goodness [0,1] 0.9972138048849932 Centerline is valid? [True, True] Translation: X:-45.28, Y:2.81, Z:-4.55 [[ 9.81223607e-01 1.49492645e-01 -1.21869533e-01 -4.52759821e+01] [-1.47586765e-01 9.88743884e-01 2.45698837e-02 2.81478222e+00] [ 1.24170772e-01 -6.12221975e-03 9.92241975e-01 -4.54996790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.803741732 meters Centerline goodness [0,1] 0.9984074807570591 Centerline is valid? [True, True] Translation: X:-45.30, Y:2.82, Z:-4.55 [[ 9.81154047e-01 1.49620337e-01 -1.22272201e-01 -4.53021979e+01] [-1.47698724e-01 9.88724343e-01 2.46831979e-02 2.82378805e+00] [ 1.24586610e-01 -6.15857133e-03 9.92189623e-01 -4.55030378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.83374173199999 meters Centerline goodness [0,1] 0.9991832067303765 Centerline is valid? [True, True] Translation: X:-45.33, Y:2.83, Z:-4.55 [[ 9.81050177e-01 1.50540224e-01 -1.21976190e-01 -4.53309865e+01] [-1.48632599e-01 9.88585396e-01 2.46427560e-02 2.82821005e+00] [ 1.24293606e-01 -6.04614194e-03 9.92227063e-01 -4.55275360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.863741731999994 meters Centerline goodness [0,1] 0.9986354378818737 Centerline is valid? [True, True] Translation: X:-45.36, Y:2.83, Z:-4.56 [[ 9.80755692e-01 1.51395953e-01 -1.23278294e-01 -4.53595056e+01] [-1.49449069e-01 9.88454746e-01 2.49437470e-02 2.83225386e+00] [ 1.25631397e-01 -6.03989554e-03 9.92058603e-01 -4.55689752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.893741731999995 meters Centerline goodness [0,1] 0.997653683716565 Centerline is valid? [True, True] Translation: X:-45.39, Y:2.84, Z:-4.56 [[ 9.80446837e-01 1.52420928e-01 -1.24466307e-01 -4.53870597e+01] [-1.50439307e-01 9.88297422e-01 2.52234309e-02 2.83768227e+00] [ 1.26854309e-01 -6.00560816e-03 9.91903179e-01 -4.55792840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.923741731999996 meters Centerline goodness [0,1] 0.9983434566537824 Centerline is valid? [True, True] Translation: X:-45.41, Y:2.85, Z:-4.56 [[ 9.80541270e-01 1.52652286e-01 -1.23434590e-01 -4.54140497e+01] [-1.50701037e-01 9.88261992e-01 2.50486200e-02 2.84555530e+00] [ 1.25809443e-01 -5.95948503e-03 9.92036526e-01 -4.55848635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.953741732 meters Centerline goodness [0,1] 0.9981866340668296 Centerline is valid? [True, True] Translation: X:-45.44, Y:2.85, Z:-4.56 [[ 9.80481074e-01 1.53286773e-01 -1.23126070e-01 -4.54421794e+01] [-1.51348599e-01 9.88164274e-01 2.49993789e-02 2.84950171e+00] [ 1.25500858e-01 -5.87645958e-03 9.92076107e-01 -4.55951043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.983741732 meters Centerline goodness [0,1] 0.9990412467871568 Centerline is valid? [True, True] Translation: X:-45.47, Y:2.85, Z:-4.56 [[ 9.80524480e-01 1.52343086e-01 -1.23948897e-01 -4.54697414e+01] [-1.50369552e-01 9.88309144e-01 2.51800360e-02 2.85304603e+00] [ 1.26335833e-01 -6.05150143e-03 9.91969070e-01 -4.56097096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.01374173199999 meters Centerline goodness [0,1] 0.9983464663373208 Centerline is valid? [True, True] Translation: X:-45.50, Y:2.86, Z:-4.56 [[ 9.80358155e-01 1.53254369e-01 -1.24140992e-01 -4.54975670e+01] [-1.51280211e-01 9.88168818e-01 2.52326064e-02 2.85796299e+00] [ 1.26539265e-01 -5.95691593e-03 9.91943713e-01 -4.56329193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.043741731999994 meters Centerline goodness [0,1] 0.998816036580387 Centerline is valid? [True, True] Translation: X:-45.53, Y:2.86, Z:-4.57 [[ 9.80113411e-01 1.53936667e-01 -1.25224614e-01 -4.55263649e+01] [-1.51930662e-01 9.88062857e-01 2.54728111e-02 2.86165354e+00] [ 1.27650990e-01 -5.94078519e-03 9.91801357e-01 -4.56815667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.073741731999995 meters Centerline goodness [0,1] 0.9983244447168924 Centerline is valid? [True, True] Translation: X:-45.55, Y:2.87, Z:-4.57 [[ 9.79758577e-01 1.56025834e-01 -1.25415588e-01 -4.55545162e+01] [-1.54025949e-01 9.87736448e-01 2.55483248e-02 2.86766550e+00] [ 1.27863746e-01 -5.71393548e-03 9.91775284e-01 -4.56914704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.103741731999996 meters Centerline goodness [0,1] 0.9979741344028812 Centerline is valid? [True, True] Translation: X:-45.58, Y:2.88, Z:-4.57 [[ 9.79716689e-01 1.55505370e-01 -1.26385478e-01 -4.55815718e+01] [-1.53465821e-01 9.87817671e-01 2.57776983e-02 2.87505899e+00] [ 1.28854379e-01 -5.85899015e-03 9.91646218e-01 -4.56880468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.133741732 meters Centerline goodness [0,1] 0.9987784270211942 Centerline is valid? [True, True] Translation: X:-45.61, Y:2.88, Z:-4.57 [[ 9.79630939e-01 1.55620349e-01 -1.26907563e-01 -4.56107155e+01] [-1.53562029e-01 9.87799384e-01 2.59052304e-02 2.87674110e+00] [ 1.29390594e-01 -5.88938215e-03 9.91576215e-01 -4.57405521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.163741732 meters Centerline goodness [0,1] 0.9986126129802297 Centerline is valid? [True, True] Translation: X:-45.64, Y:2.88, Z:-4.58 [[ 9.79696364e-01 1.55568456e-01 -1.26465373e-01 -4.56380839e+01] [-1.53518983e-01 9.87807407e-01 2.58543795e-02 2.88220585e+00] [ 1.28945558e-01 -5.91460626e-03 9.91634036e-01 -4.57597149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.19374173199999 meters Centerline goodness [0,1] 0.9982189284910025 Centerline is valid? [True, True] Translation: X:-45.67, Y:2.89, Z:-4.58 [[ 9.79600229e-01 1.57190360e-01 -1.25198168e-01 -4.56663031e+01] [-1.55190774e-01 9.87552006e-01 2.56292716e-02 2.88832182e+00] [ 1.27668377e-01 -5.67683971e-03 9.91800665e-01 -4.57962618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22374173199999 meters Centerline goodness [0,1] 0.9976266470251248 Centerline is valid? [True, True] Translation: X:-45.69, Y:2.90, Z:-4.58 [[ 9.78988904e-01 1.59376922e-01 -1.27199541e-01 -4.56925943e+01] [-1.57329542e-01 9.87202544e-01 2.60490506e-02 2.89816256e+00] [ 1.29723328e-01 -5.48948594e-03 9.91535034e-01 -4.57999565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.253741731999995 meters Centerline goodness [0,1] 0.998839127512678 Centerline is valid? [True, True] Translation: X:-45.72, Y:2.91, Z:-4.58 [[ 9.78611995e-01 1.60413263e-01 -1.28787223e-01 -4.57204943e+01] [-1.58320194e-01 9.87034940e-01 2.63958977e-02 2.90549335e+00] [ 1.31351741e-01 -5.44172397e-03 9.91320890e-01 -4.57959925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.283741731999996 meters Centerline goodness [0,1] 0.9984691065705946 Centerline is valid? [True, True] Translation: X:-45.75, Y:2.91, Z:-4.58 [[ 9.78543758e-01 1.60846962e-01 -1.28764780e-01 -4.57474367e+01] [-1.58752883e-01 9.86964456e-01 2.64326290e-02 2.91150287e+00] [ 1.31337869e-01 -5.42370395e-03 9.91322827e-01 -4.58282306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.313741732 meters Centerline goodness [0,1] 0.9979635475002545 Centerline is valid? [True, True] Translation: X:-45.78, Y:2.92, Z:-4.59 [[ 9.78407298e-01 1.61246111e-01 -1.29301395e-01 -4.57760921e+01] [-1.59132060e-01 9.86899253e-01 2.65867066e-02 2.91533964e+00] [ 1.31894453e-01 -5.43663041e-03 9.91248857e-01 -4.58819051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.343741732 meters Centerline goodness [0,1] 0.997833861244508 Centerline is valid? [True, True] Translation: X:-45.80, Y:2.92, Z:-4.59 [[ 9.78475322e-01 1.61045816e-01 -1.29036001e-01 -4.58030606e+01] [-1.58934281e-01 9.86931685e-01 2.65658157e-02 2.92088989e+00] [ 1.31628032e-01 -5.48575102e-03 9.91284000e-01 -4.58602546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.373741732 meters Centerline goodness [0,1] 0.9981950939371564 Centerline is valid? [True, True] Translation: X:-45.83, Y:2.93, Z:-4.59 [[ 9.78483218e-01 1.60006250e-01 -1.30263548e-01 -4.58306489e+01] [-1.57842640e-01 9.87099560e-01 2.68357817e-02 2.92632111e+00] [ 1.32876984e-01 -5.69721960e-03 9.91116163e-01 -4.58922975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40374173199999 meters Centerline goodness [0,1] 0.9984897034512317 Centerline is valid? [True, True] Translation: X:-45.86, Y:2.93, Z:-4.60 [[ 9.78558391e-01 1.59690828e-01 -1.30085797e-01 -4.58597867e+01] [-1.57527834e-01 9.87150325e-01 2.68182173e-02 2.92781481e+00] [ 1.32696860e-01 -5.75105779e-03 9.91139984e-01 -4.59553119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.433741731999994 meters Centerline goodness [0,1] 0.9984897034512317 Centerline is valid? [True, True] Translation: X:-45.89, Y:2.93, Z:-4.60 [[ 9.78506654e-01 1.60013867e-01 -1.30078019e-01 -4.58866375e+01] [-1.57848710e-01 9.87098042e-01 2.68558968e-02 2.93313784e+00] [ 1.32697074e-01 -5.74602618e-03 9.91139985e-01 -4.59808767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.463741731999995 meters Centerline goodness [0,1] 0.9979338842975206 Centerline is valid? [True, True] Translation: X:-45.92, Y:2.94, Z:-4.60 [[ 9.78530240e-01 1.59749303e-01 -1.30225685e-01 -4.59152940e+01] [-1.57571119e-01 9.87140393e-01 2.69292839e-02 2.93607911e+00] [ 1.32852968e-01 -5.83131175e-03 9.91118603e-01 -4.60047124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.493741732 meters Centerline goodness [0,1] 0.9976980117340287 Centerline is valid? [True, True] Translation: X:-45.94, Y:2.94, Z:-4.60 [[ 9.78505542e-01 1.60357300e-01 -1.29662793e-01 -4.59431860e+01] [-1.58199146e-01 9.87042259e-01 2.68441719e-02 2.94124236e+00] [ 1.32287315e-01 -5.75462776e-03 9.91194709e-01 -4.60102723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.523741732 meters Centerline goodness [0,1] 0.9975312672148205 Centerline is valid? [True, True] Translation: X:-45.97, Y:2.95, Z:-4.60 [[ 9.78511688e-01 1.60439082e-01 -1.29515162e-01 -4.59704743e+01] [-1.58284735e-01 9.87028992e-01 2.68274502e-02 2.94618697e+00] [ 1.32139391e-01 -5.75070048e-03 9.91214463e-01 -4.59961340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.553741732 meters Centerline goodness [0,1] 0.9983457909569906 Centerline is valid? [True, True] Translation: X:-46.00, Y:2.95, Z:-4.61 [[ 9.78392765e-01 1.60895517e-01 -1.29846950e-01 -4.59985203e+01] [-1.58731018e-01 9.86954832e-01 2.69188368e-02 2.94851477e+00] [ 1.32484195e-01 -5.72645658e-03 9.91168576e-01 -4.60640599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58374173199999 meters Centerline goodness [0,1] 0.9977288396804153 Centerline is valid? [True, True] Translation: X:-46.03, Y:2.95, Z:-4.61 [[ 9.78095772e-01 1.61952191e-01 -1.30767540e-01 -4.60258489e+01] [-1.59760199e-01 9.86782332e-01 2.71534131e-02 2.95325884e+00] [ 1.33436653e-01 -5.66719037e-03 9.91041141e-01 -4.60800252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.613741731999994 meters Centerline goodness [0,1] 0.9974450689831375 Centerline is valid? [True, True] Translation: X:-46.05, Y:2.96, Z:-4.61 [[ 9.77942771e-01 1.63045557e-01 -1.30552991e-01 -4.60525130e+01] [-1.60865431e-01 9.86602953e-01 2.71463919e-02 2.96035948e+00] [ 1.33230065e-01 -5.54615453e-03 9.91069619e-01 -4.60856209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.643741731999995 meters Centerline goodness [0,1] 0.9975862703786282 Centerline is valid? [True, True] Translation: X:-46.08, Y:2.97, Z:-4.61 [[ 9.77988722e-01 1.64707594e-01 -1.28099448e-01 -4.60801015e+01] [-1.62621041e-01 9.86328548e-01 2.66531846e-02 2.96815627e+00] [ 1.30738125e-01 -5.23484838e-03 9.91403116e-01 -4.60970257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.673741731999996 meters Centerline goodness [0,1] 0.997639637806491 Centerline is valid? [True, True] Translation: X:-46.11, Y:2.97, Z:-4.61 [[ 9.78102380e-01 1.64195156e-01 -1.27889345e-01 -4.61089132e+01] [-1.62108853e-01 9.86413573e-01 2.66267280e-02 2.97110075e+00] [ 1.30523766e-01 -5.31167095e-03 9.91430952e-01 -4.61483190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.703741732 meters Centerline goodness [0,1] 0.997717267242785 Centerline is valid? [True, True] Translation: X:-46.14, Y:2.98, Z:-4.62 [[ 9.77938008e-01 1.64763280e-01 -1.28414620e-01 -4.61367667e+01] [-1.62659187e-01 9.86318909e-01 2.67768398e-02 2.97572745e+00] [ 1.31069608e-01 -5.29827176e-03 9.91359010e-01 -4.61705307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.733741732 meters Centerline goodness [0,1] 0.9973888208894329 Centerline is valid? [True, True] Translation: X:-46.16, Y:2.98, Z:-4.62 [[ 9.78357505e-01 1.63842286e-01 -1.26381557e-01 -4.61632249e+01] [-1.61792567e-01 9.86471938e-01 2.63871145e-02 2.98385651e+00] [ 1.28995185e-01 -5.36843493e-03 9.91630688e-01 -4.61728822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76374173199999 meters Centerline goodness [0,1] 0.9974736757008024 Centerline is valid? [True, True] Translation: X:-46.19, Y:2.99, Z:-4.62 [[ 9.78344893e-01 1.63384709e-01 -1.27069697e-01 -4.61919268e+01] [-1.61305899e-01 9.86547216e-01 2.65517856e-02 2.98510001e+00] [ 1.29698412e-01 -5.47971211e-03 9.91538348e-01 -4.62105014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.793741731999994 meters Centerline goodness [0,1] 0.9988135662561879 Centerline is valid? [True, True] Translation: X:-46.22, Y:2.99, Z:-4.62 [[ 9.78433371e-01 1.62067114e-01 -1.28071815e-01 -4.62198789e+01] [-1.59939858e-01 9.86763096e-01 2.67924132e-02 2.99032641e+00] [ 1.30718710e-01 -5.73080321e-03 9.91402934e-01 -4.62206962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.823741731999995 meters Centerline goodness [0,1] 0.9978592399282336 Centerline is valid? [True, True] Translation: X:-46.25, Y:2.99, Z:-4.63 [[ 9.78795764e-01 1.61135366e-01 -1.26468364e-01 -4.62484861e+01] [-1.59050956e-01 9.86915266e-01 2.64773782e-02 2.98949799e+00] [ 1.29080001e-01 -5.80103147e-03 9.91617215e-01 -4.62562665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.853741731999996 meters Centerline goodness [0,1] 0.9980222648126249 Centerline is valid? [True, True] Translation: X:-46.28, Y:2.99, Z:-4.62 [[ 9.79085289e-01 1.60041615e-01 -1.25613208e-01 -4.62759869e+01] [-1.57971888e-01 9.87092396e-01 2.63340949e-02 2.99432225e+00] [ 1.28206394e-01 -5.93996924e-03 9.91729720e-01 -4.62241642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.883741732 meters Centerline goodness [0,1] 0.9965409255582619 Centerline is valid? [True, True] Translation: X:-46.31, Y:2.99, Z:-4.63 [[ 9.79264968e-01 1.58096583e-01 -1.26671201e-01 -4.63059979e+01] [-1.55973429e-01 9.87403789e-01 2.65715484e-02 2.99329670e+00] [ 1.29276495e-01 -6.26324487e-03 9.91588806e-01 -4.62666933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.913741732 meters Centerline goodness [0,1] 0.9972721535736824 Centerline is valid? [True, True] Translation: X:-46.34, Y:2.99, Z:-4.63 [[ 9.79194389e-01 1.57287534e-01 -1.28214589e-01 -4.63350541e+01] [-1.55102904e-01 9.87531683e-01 2.69121481e-02 2.99313657e+00] [ 1.30848914e-01 -6.46576925e-03 9.91381236e-01 -4.63128697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94374173199999 meters Centerline goodness [0,1] 0.9976390613233468 Centerline is valid? [True, True] Translation: X:-46.36, Y:3.00, Z:-4.63 [[ 9.79481029e-01 1.57855230e-01 -1.25294212e-01 -4.63639269e+01] [-1.55772881e-01 9.87442475e-01 2.63090937e-02 2.99813331e+00] [ 1.27873854e-01 -6.25181792e-03 9.91770736e-01 -4.63301949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.97374173199999 meters Centerline goodness [0,1] 0.9982685217249597 Centerline is valid? [True, True] Translation: X:-46.39, Y:3.00, Z:-4.63 [[ 9.79380234e-01 1.57164887e-01 -1.26939180e-01 -4.63911551e+01] [-1.55020156e-01 9.87551403e-01 2.66641663e-02 3.00359369e+00] [ 1.29549636e-01 -6.43622581e-03 9.91552049e-01 -4.63288166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.003741731999995 meters Centerline goodness [0,1] 0.9972100032583904 Centerline is valid? [True, True] Translation: X:-46.42, Y:3.01, Z:-4.63 [[ 9.79442692e-01 1.57436855e-01 -1.26117599e-01 -4.64195705e+01] [-1.55319583e-01 9.87508458e-01 2.65117315e-02 3.00757219e+00] [ 1.28716120e-01 -6.37818882e-03 9.91660970e-01 -4.63429565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.033741731999996 meters Centerline goodness [0,1] 0.9972540883573346 Centerline is valid? [True, True] Translation: X:-46.45, Y:3.01, Z:-4.64 [[ 9.79480785e-01 1.57215246e-01 -1.26098207e-01 -4.64467312e+01] [-1.55092780e-01 9.87543381e-01 2.65386650e-02 3.01246395e+00] [ 1.28699732e-01 -6.43719103e-03 9.91662716e-01 -4.63525335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.063741732 meters Centerline goodness [0,1] 0.9970737060293848 Centerline is valid? [True, True] Translation: X:-46.48, Y:3.02, Z:-4.64 [[ 9.79919971e-01 1.55711539e-01 -1.24542226e-01 -4.64752443e+01] [-1.53626826e-01 9.87780712e-01 2.62309432e-02 3.01877086e+00] [ 1.27104869e-01 -6.57119822e-03 9.91867517e-01 -4.63668779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.093741732 meters Centerline goodness [0,1] 0.9971361358289864 Centerline is valid? [True, True] Translation: X:-46.50, Y:3.03, Z:-4.64 [[ 9.79548810e-01 1.55894923e-01 -1.27204173e-01 -4.65027874e+01] [-1.53717067e-01 9.87750781e-01 2.68227198e-02 3.02613616e+00] [ 1.29827548e-01 -6.72071081e-03 9.91513812e-01 -4.63741105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.123741732 meters Centerline goodness [0,1] 0.9978974442720666 Centerline is valid? [True, True] Translation: X:-46.53, Y:3.03, Z:-4.64 [[ 9.79323306e-01 1.57350818e-01 -1.27147876e-01 -4.65313327e+01] [-1.55184563e-01 9.87521087e-01 2.68301042e-02 3.03071078e+00] [ 1.29782948e-01 -6.54395868e-03 9.91520833e-01 -4.63968847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.15374173199999 meters Centerline goodness [0,1] 0.9980416156670746 Centerline is valid? [True, True] Translation: X:-46.56, Y:3.04, Z:-4.64 [[ 9.78472272e-01 1.62127191e-01 -1.27698028e-01 -4.65604604e+01] [-1.59978694e-01 9.86751841e-01 2.69744800e-02 3.04063930e+00] [ 1.30379561e-01 -5.96481686e-03 9.91446212e-01 -4.64229361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.183741731999994 meters Centerline goodness [0,1] 0.9981241334312047 Centerline is valid? [True, True] Translation: X:-46.59, Y:3.05, Z:-4.64 [[ 9.78236459e-01 1.66392500e-01 -1.23963569e-01 -4.65890212e+01] [-1.64402491e-01 9.86045698e-01 2.61859089e-02 3.05060796e+00] [ 1.26590883e-01 -5.23609121e-03 9.91941194e-01 -4.64426316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.213741731999995 meters Centerline goodness [0,1] 0.9990010193679918 Centerline is valid? [True, True] Translation: X:-46.62, Y:3.06, Z:-4.65 [[ 9.77355906e-01 1.70207230e-01 -1.25717669e-01 -4.66171042e+01] [-1.68190035e-01 9.85396492e-01 2.65681282e-02 3.05842229e+00] [ 1.28403838e-01 -4.82205781e-03 9.91710241e-01 -4.64646216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.243741732 meters Centerline goodness [0,1] 0.9981848588676783 Centerline is valid? [True, True] Translation: X:-46.65, Y:3.06, Z:-4.65 [[ 9.76636679e-01 1.74629231e-01 -1.25241484e-01 -4.66458571e+01] [-1.72659560e-01 9.84625070e-01 2.64980877e-02 3.06393146e+00] [ 1.27943245e-01 -4.25486492e-03 9.91772364e-01 -4.64983393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.273741732 meters Centerline goodness [0,1] 0.9975670592083742 Centerline is valid? [True, True] Translation: X:-46.67, Y:3.07, Z:-4.65 [[ 9.75924626e-01 1.78171398e-01 -1.25801741e-01 -4.66718063e+01] [-1.76211509e-01 9.83992049e-01 2.66299042e-02 3.07336781e+00] [ 1.28532600e-01 -3.82106471e-03 9.91697923e-01 -4.64981016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.303741732 meters Centerline goodness [0,1] 0.997784597874027 Centerline is valid? [True, True] Translation: X:-46.70, Y:3.08, Z:-4.65 [[ 9.75161727e-01 1.81399529e-01 -1.27097666e-01 -4.67003101e+01] [-1.79422146e-01 9.83403392e-01 2.69344203e-02 3.07609132e+00] [ 1.29874167e-01 -3.46127986e-03 9.91524443e-01 -4.65355935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.33374173199999 meters Centerline goodness [0,1] 0.9981965917610586 Centerline is valid? [True, True] Translation: X:-46.73, Y:3.08, Z:-4.66 [[ 9.74827705e-01 1.83856468e-01 -1.26125910e-01 -4.67266818e+01] [-1.81925191e-01 9.82948070e-01 2.67640788e-02 3.08315006e+00] [ 1.28895968e-01 -3.14488528e-03 9.91653134e-01 -4.65575714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.363741731999994 meters Centerline goodness [0,1] 0.9985346792575708 Centerline is valid? [True, True] Translation: X:-46.75, Y:3.09, Z:-4.66 [[ 9.74552557e-01 1.84465844e-01 -1.27356450e-01 -4.67533524e+01] [-1.82498807e-01 9.82833984e-01 2.70470851e-02 3.09036365e+00] [ 1.30159510e-01 -3.11640578e-03 9.91488169e-01 -4.65629368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.393741731999995 meters Centerline goodness [0,1] 0.9986169866579889 Centerline is valid? [True, True] Translation: X:-46.78, Y:3.10, Z:-4.66 [[ 9.74221492e-01 1.87418772e-01 -1.25565476e-01 -4.67825839e+01] [-1.85529793e-01 9.82276408e-01 2.66787204e-02 3.09595689e+00] [ 1.28340097e-01 -2.69484609e-03 9.91726554e-01 -4.65922267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.423741731999996 meters Centerline goodness [0,1] 0.9984489795918368 Centerline is valid? [True, True] Translation: X:-46.81, Y:3.10, Z:-4.66 [[ 9.74095581e-01 1.89114340e-01 -1.23990183e-01 -4.68096321e+01] [-1.87285337e-01 9.81952023e-01 2.63520001e-02 3.10365018e+00] [ 1.26735952e-01 -2.44782371e-03 9.91933469e-01 -4.66018155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.453741732 meters Centerline goodness [0,1] 0.9982447546738509 Centerline is valid? [True, True] Translation: X:-46.84, Y:3.11, Z:-4.66 [[ 9.73970296e-01 1.89066420e-01 -1.25043000e-01 -4.68374004e+01] [-1.87202936e-01 9.81961128e-01 2.65970578e-02 3.10825900e+00] [ 1.27815976e-01 -2.49632749e-03 9.91794759e-01 -4.66462716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.483741732 meters Centerline goodness [0,1] 0.9975385992392034 Centerline is valid? [True, True] Translation: X:-46.87, Y:3.11, Z:-4.67 [[ 9.73859002e-01 1.89411003e-01 -1.25387861e-01 -4.68651687e+01] [-1.87534694e-01 9.81894713e-01 2.67116175e-02 3.11390424e+00] [ 1.28177152e-01 -2.49877512e-03 9.91748140e-01 -4.66520006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.51374173199999 meters Centerline goodness [0,1] 0.9983120475067111 Centerline is valid? [True, True] Translation: X:-46.89, Y:3.12, Z:-4.67 [[ 9.74114246e-01 1.87998563e-01 -1.25530780e-01 -4.68937969e+01] [-1.86100799e-01 9.82165510e-01 2.67843881e-02 3.11791935e+00] [ 1.28327429e-01 -2.72967561e-03 9.91728098e-01 -4.66947860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.543741731999994 meters Centerline goodness [0,1] 0.9985858337432366 Centerline is valid? [True, True] Translation: X:-46.92, Y:3.12, Z:-4.67 [[ 9.74279981e-01 1.86551953e-01 -1.26399716e-01 -4.69212224e+01] [-1.84611146e-01 9.82440594e-01 2.70037636e-02 3.12214329e+00] [ 1.29217817e-01 -2.97442983e-03 9.91611773e-01 -4.66955130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.573741731999995 meters Centerline goodness [0,1] 0.998405788215096 Centerline is valid? [True, True] Translation: X:-46.95, Y:3.12, Z:-4.67 [[ 9.75150102e-01 1.83403613e-01 -1.24279498e-01 -4.69496178e+01] [-1.81498792e-01 9.83031953e-01 2.65775647e-02 3.12408498e+00] [ 1.27045139e-01 -3.36053617e-03 9.91891244e-01 -4.67165941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.603741731999996 meters Centerline goodness [0,1] 0.9982415245573141 Centerline is valid? [True, True] Translation: X:-46.98, Y:3.13, Z:-4.67 [[ 9.75548197e-01 1.80898725e-01 -1.24825343e-01 -4.69786547e+01] [-1.78951142e-01 9.83494597e-01 2.67369987e-02 3.12555405e+00] [ 1.27601739e-01 -3.74559335e-03 9.91818414e-01 -4.67409999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.633741732 meters Centerline goodness [0,1] 0.997673896631231 Centerline is valid? [True, True] Translation: X:-47.01, Y:3.13, Z:-4.68 [[ 9.76043825e-01 1.77953260e-01 -1.25184218e-01 -4.70068435e+01] [-1.75966486e-01 9.84030097e-01 2.68433296e-02 3.12932632e+00] [ 1.27961896e-01 -4.17203911e-03 9.91770310e-01 -4.67593210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.663741732 meters Centerline goodness [0,1] 0.9986260637752487 Centerline is valid? [True, True] Translation: X:-47.04, Y:3.13, Z:-4.68 [[ 9.76102133e-01 1.76909061e-01 -1.26205425e-01 -4.70360827e+01] [-1.74879112e-01 9.84217552e-01 2.70759281e-02 3.13020586e+00] [ 1.29003571e-01 -4.35817864e-03 9.91634552e-01 -4.68265595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.69374173199999 meters Centerline goodness [0,1] 0.9983414893834845 Centerline is valid? [True, True] Translation: X:-47.06, Y:3.14, Z:-4.68 [[ 9.76431376e-01 1.75803594e-01 -1.25199297e-01 -4.70632526e+01] [-1.73794680e-01 9.84415042e-01 2.68781380e-02 3.13717218e+00] [ 1.27973344e-01 -4.48568552e-03 9.91767464e-01 -4.68254253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72374173199999 meters Centerline goodness [0,1] 0.9980376926536119 Centerline is valid? [True, True] Translation: X:-47.09, Y:3.14, Z:-4.68 [[ 9.76598058e-01 1.75627918e-01 -1.24141318e-01 -4.70904176e+01] [-1.73649814e-01 9.84446408e-01 2.66647881e-02 3.14386579e+00] [ 1.26893556e-01 -4.48366346e-03 9.91906206e-01 -4.68428964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.753741731999995 meters Centerline goodness [0,1] 0.9976234378201189 Centerline is valid? [True, True] Translation: X:-47.12, Y:3.15, Z:-4.69 [[ 9.76118115e-01 1.76766234e-01 -1.26281926e-01 -4.71185383e+01] [-1.74725590e-01 9.84242878e-01 2.71463553e-02 3.14801054e+00] [ 1.29090645e-01 -4.43336519e-03 9.91622887e-01 -4.68723318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.783741731999996 meters Centerline goodness [0,1] 0.9982998422745243 Centerline is valid? [True, True] Translation: X:-47.15, Y:3.15, Z:-4.69 [[ 9.76252472e-01 1.76629684e-01 -1.25431517e-01 -4.71468497e+01] [-1.74611255e-01 9.84267303e-01 2.69960303e-02 3.14884372e+00] [ 1.28226441e-01 -4.45318683e-03 9.91734919e-01 -4.69399167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.813741732 meters Centerline goodness [0,1] 0.9986272179650043 Centerline is valid? [True, True] Translation: X:-47.17, Y:3.16, Z:-4.69 [[ 9.76401231e-01 1.75436461e-01 -1.25947146e-01 -4.71729051e+01] [-1.73389623e-01 9.84479807e-01 2.71209947e-02 3.16110070e+00] [ 1.28750433e-01 -4.64304439e-03 9.91666158e-01 -4.69193694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.843741732 meters Centerline goodness [0,1] 0.9982809782052594 Centerline is valid? [True, True] Translation: X:-47.20, Y:3.17, Z:-4.69 [[ 9.76268472e-01 1.75725005e-01 -1.26572483e-01 -4.72011046e+01] [-1.73657260e-01 9.84428312e-01 2.72773556e-02 3.16635632e+00] [ 1.29394849e-01 -4.64979183e-03 9.91582247e-01 -4.69458901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.873741732 meters Centerline goodness [0,1] 0.9965248676383409 Centerline is valid? [True, True] Translation: X:-47.23, Y:3.17, Z:-4.70 [[ 9.76498545e-01 1.73582875e-01 -1.27748103e-01 -4.72301969e+01] [-1.71453795e-01 9.84806508e-01 2.75633343e-02 3.16606079e+00] [ 1.30591686e-01 -5.01265867e-03 9.91423565e-01 -4.70100542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90374173199999 meters Centerline goodness [0,1] 0.9982235109141772 Centerline is valid? [True, True] Translation: X:-47.26, Y:3.17, Z:-4.71 [[ 9.76873824e-01 1.71513903e-01 -1.27673462e-01 -4.72570868e+01] [-1.69368152e-01 9.85167453e-01 2.75593729e-02 3.17136048e+00] [ 1.30506555e-01 -5.29821175e-03 9.91433290e-01 -4.70504005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.933741731999994 meters Centerline goodness [0,1] 0.9976285393028723 Centerline is valid? [True, True] Translation: X:-47.28, Y:3.18, Z:-4.71 [[ 9.77223450e-01 1.70718811e-01 -1.26053225e-01 -4.72843570e+01] [-1.68619192e-01 9.85305277e-01 2.72227668e-02 3.17669412e+00] [ 1.28848346e-01 -5.34773331e-03 9.91649891e-01 -4.70695357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.963741731999995 meters Centerline goodness [0,1] 0.9982783764076805 Centerline is valid? [True, True] Translation: X:-47.31, Y:3.18, Z:-4.71 [[ 9.77013148e-01 1.70980266e-01 -1.27322651e-01 -4.73131357e+01] [-1.68837389e-01 9.85259720e-01 2.75176462e-02 3.17933846e+00] [ 1.30150854e-01 -5.38827818e-03 9.91479562e-01 -4.71063074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.993741732 meters Centerline goodness [0,1] 0.9970226484055769 Centerline is valid? [True, True] Translation: X:-47.34, Y:3.18, Z:-4.71 [[ 9.77099720e-01 1.68822199e-01 -1.29519120e-01 -4.73417403e+01] [-1.66581537e-01 9.85629429e-01 2.80217653e-02 3.18379974e+00] [ 1.32388553e-01 -5.80456483e-03 9.91180901e-01 -4.71194689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.023741732 meters Centerline goodness [0,1] 0.9986285667499079 Centerline is valid? [True, True] Translation: X:-47.37, Y:3.19, Z:-4.71 [[ 9.76893145e-01 1.70051692e-01 -1.29468935e-01 -4.73690792e+01] [-1.67822414e-01 9.85418981e-01 2.80190700e-02 3.18885634e+00] [ 1.32345836e-01 -5.64384822e-03 9.91187534e-01 -4.71437397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.053741732 meters Centerline goodness [0,1] 0.998158379373849 Centerline is valid? [True, True] Translation: X:-47.40, Y:3.19, Z:-4.72 [[ 9.77345905e-01 1.70226138e-01 -1.25769804e-01 -4.73982495e+01] [-1.68122868e-01 9.85389843e-01 2.72315802e-02 3.19304637e+00] [ 1.28567814e-01 -5.46989324e-03 9.91685634e-01 -4.71556796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08374173199999 meters Centerline goodness [0,1] 0.9968141809790267 Centerline is valid? [True, True] Translation: X:-47.43, Y:3.20, Z:-4.72 [[ 9.77351507e-01 1.69951270e-01 -1.26097572e-01 -4.74267024e+01] [-1.67832112e-01 9.85436893e-01 2.73223657e-02 3.19545242e+00] [ 1.28904671e-01 -5.54033345e-03 9.91641513e-01 -4.71743301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.113741731999994 meters Centerline goodness [0,1] 0.9979482549908697 Centerline is valid? [True, True] Translation: X:-47.46, Y:3.20, Z:-4.72 [[ 9.77110145e-01 1.71104638e-01 -1.26407939e-01 -4.74553325e+01] [-1.68980035e-01 9.85237865e-01 2.74243986e-02 3.20117108e+00] [ 1.29234329e-01 -5.43624029e-03 9.91599181e-01 -4.71913317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.143741731999995 meters Centerline goodness [0,1] 0.9987260361230402 Centerline is valid? [True, True] Translation: X:-47.48, Y:3.21, Z:-4.72 [[ 9.76853529e-01 1.72068431e-01 -1.27081226e-01 -4.74826224e+01] [-1.69926216e-01 9.85070419e-01 2.75925712e-02 3.20728313e+00] [ 1.29931767e-01 -5.35946874e-03 9.91508453e-01 -4.72057526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.173741731999996 meters Centerline goodness [0,1] 0.9977189593522666 Centerline is valid? [True, True] Translation: X:-47.51, Y:3.21, Z:-4.72 [[ 9.77111052e-01 1.71745989e-01 -1.25528110e-01 -4.75113850e+01] [-1.69650068e-01 9.85126678e-01 2.72815347e-02 3.21101946e+00] [ 1.28346584e-01 -5.36123672e-03 9.91714884e-01 -4.72436201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.203741732 meters Centerline goodness [0,1] 0.9984992701930391 Centerline is valid? [True, True] Translation: X:-47.54, Y:3.22, Z:-4.72 [[ 9.77145079e-01 1.71576012e-01 -1.25495685e-01 -4.75383880e+01] [-1.69475564e-01 9.85156005e-01 2.73071170e-02 3.21657138e+00] [ 1.28318074e-01 -5.41456308e-03 9.91718284e-01 -4.72474770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.233741732 meters Centerline goodness [0,1] 0.9974392592289097 Centerline is valid? [True, True] Translation: X:-47.57, Y:3.22, Z:-4.73 [[ 9.77042638e-01 1.70956057e-01 -1.27128715e-01 -4.75672263e+01] [-1.68792292e-01 9.85262799e-01 2.76835652e-02 3.22074291e+00] [ 1.29987866e-01 -5.58967643e-03 9.91499829e-01 -4.72893217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26374173199999 meters Centerline goodness [0,1] 0.9970574920778633 Centerline is valid? [True, True] Translation: X:-47.60, Y:3.22, Z:-4.73 [[ 9.77347434e-01 1.69092433e-01 -1.27278205e-01 -4.75962786e+01] [-1.66902932e-01 9.85582647e-01 2.77534975e-02 3.22459591e+00] [ 1.30136097e-01 -5.88170391e-03 9.91478695e-01 -4.73156308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.293741731999994 meters Centerline goodness [0,1] 0.9954070125076891 Centerline is valid? [True, True] Translation: X:-47.62, Y:3.22, Z:-4.74 [[ 9.77575028e-01 1.68562074e-01 -1.26229517e-01 -4.76248352e+01] [-1.66399238e-01 9.85673135e-01 2.75638237e-02 3.21790545e+00] [ 1.29067259e-01 -5.94121023e-03 9.91618044e-01 -4.74422621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.323741731999995 meters Centerline goodness [0,1] 0.9954070125076891 Centerline is valid? [True, True] Translation: X:-47.65, Y:3.22, Z:-4.75 [[ 9.77525125e-01 1.68858072e-01 -1.26220370e-01 -4.76516518e+01] [-1.66692298e-01 9.85622446e-01 2.76056584e-02 3.22352528e+00] [ 1.29067068e-01 -5.94526120e-03 9.91618044e-01 -4.74678345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.353741731999996 meters Centerline goodness [0,1] 0.9979064898813678 Centerline is valid? [True, True] Translation: X:-47.68, Y:3.24, Z:-4.74 [[ 9.77708360e-01 1.67675311e-01 -1.26377817e-01 -4.76776291e+01] [-1.65490036e-01 9.85823144e-01 2.76726677e-02 3.23786019e+00] [ 1.29226200e-01 -6.14152906e-03 9.91596123e-01 -4.74145873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.383741732 meters Centerline goodness [0,1] 0.9976406384637478 Centerline is valid? [True, True] Translation: X:-47.71, Y:3.24, Z:-4.74 [[ 9.77420012e-01 1.67512828e-01 -1.28800514e-01 -4.77051980e+01] [-1.65239209e-01 9.85849785e-01 2.82170925e-02 3.24377592e+00] [ 1.31704684e-01 -6.29705584e-03 9.91268996e-01 -4.74313040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.413741732 meters Centerline goodness [0,1] 0.9949309314161079 Centerline is valid? [True, True] Translation: X:-47.73, Y:3.24, Z:-4.75 [[ 9.78009444e-01 1.66821580e-01 -1.25172232e-01 -4.77341525e+01] [-1.64667513e-01 9.85967473e-01 2.74363466e-02 3.23957191e+00] [ 1.27992724e-01 -6.22120600e-03 9.91755594e-01 -4.75337520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44374173199999 meters Centerline goodness [0,1] 0.9958601375895448 Centerline is valid? [True, True] Translation: X:-47.76, Y:3.25, Z:-4.75 [[ 9.77669672e-01 1.68485510e-01 -1.25597159e-01 -4.77611407e+01] [-1.66327803e-01 9.85685603e-01 2.75491283e-02 3.24746786e+00] [ 1.28440940e-01 -6.04364767e-03 9.91698744e-01 -4.75465367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.47374173199999 meters Centerline goodness [0,1] 0.9961996504491322 Centerline is valid? [True, True] Translation: X:-47.79, Y:3.25, Z:-4.75 [[ 9.77452499e-01 1.69878438e-01 -1.25411034e-01 -4.77881752e+01] [-1.67736878e-01 9.85447575e-01 2.75212186e-02 3.25453103e+00] [ 1.28261261e-01 -5.86462853e-03 9.91723074e-01 -4.75485695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.503741731999995 meters Centerline goodness [0,1] 0.996169131806449 Centerline is valid? [True, True] Translation: X:-47.82, Y:3.26, Z:-4.76 [[ 9.77339333e-01 1.70698274e-01 -1.25179582e-01 -4.78162843e+01] [-1.68568821e-01 9.85306479e-01 2.74899175e-02 3.25737234e+00] [ 1.28032735e-01 -5.76560307e-03 9.91753183e-01 -4.76000451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.533741731999996 meters Centerline goodness [0,1] 0.9971042274201114 Centerline is valid? [True, True] Translation: X:-47.84, Y:3.27, Z:-4.76 [[ 9.77026733e-01 1.73305626e-01 -1.24031947e-01 -4.78445722e+01] [-1.71232579e-01 9.84853284e-01 2.72656191e-02 3.26602875e+00] [ 1.26878555e-01 -5.40092869e-03 9.91903555e-01 -4.76308818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.563741732 meters Centerline goodness [0,1] 0.9983616293596018 Centerline is valid? [True, True] Translation: X:-47.87, Y:3.28, Z:-4.76 [[ 9.76332723e-01 1.76150165e-01 -1.25481208e-01 -4.78705612e+01] [-1.74050503e-01 9.84350102e-01 2.75916309e-02 3.27763017e+00] [ 1.28377711e-01 -5.09854461e-03 9.91712241e-01 -4.76408336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.593741732 meters Centerline goodness [0,1] 0.9983191554781182 Centerline is valid? [True, True] Translation: X:-47.90, Y:3.28, Z:-4.77 [[ 9.75897750e-01 1.77791548e-01 -1.26545437e-01 -4.78980348e+01] [-1.75666953e-01 9.84055746e-01 2.78462072e-02 3.28467418e+00] [ 1.29478585e-01 -4.94519962e-03 9.91569887e-01 -4.76695025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.623741732 meters Centerline goodness [0,1] 0.9975662630890052 Centerline is valid? [True, True] Translation: X:-47.93, Y:3.29, Z:-4.77 [[ 9.75792754e-01 1.79505140e-01 -1.24925604e-01 -4.79269785e+01] [-1.77445165e-01 9.83745881e-01 2.75182607e-02 3.29242133e+00] [ 1.27834718e-01 -4.68467487e-03 9.91784422e-01 -4.76890713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.65374173199999 meters Centerline goodness [0,1] 0.997730339835603 Centerline is valid? [True, True] Translation: X:-47.95, Y:3.30, Z:-4.77 [[ 9.75787283e-01 1.79565173e-01 -1.24882055e-01 -4.79542910e+01] [-1.77505085e-01 9.83734895e-01 2.75245459e-02 3.29683554e+00] [ 1.27793285e-01 -4.69090202e-03 9.91789732e-01 -4.77339861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.683741731999994 meters Centerline goodness [0,1] 0.9975003073392615 Centerline is valid? [True, True] Translation: X:-47.98, Y:3.30, Z:-4.78 [[ 9.75627242e-01 1.79323433e-01 -1.26469720e-01 -4.79827219e+01] [-1.77202753e-01 9.83778337e-01 2.79171594e-02 3.30126010e+00] [ 1.29424372e-01 -4.82595867e-03 9.91577552e-01 -4.77547190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.713741731999995 meters Centerline goodness [0,1] 0.9971299124623301 Centerline is valid? [True, True] Translation: X:-48.01, Y:3.31, Z:-4.78 [[ 9.76081537e-01 1.78060329e-01 -1.24737136e-01 -4.80102982e+01] [-1.75983477e-01 9.84007101e-01 2.75652148e-02 3.30774583e+00] [ 1.27650499e-01 -4.95422236e-03 9.91806839e-01 -4.77639932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.743741732 meters Centerline goodness [0,1] 0.9974561439212015 Centerline is valid? [True, True] Translation: X:-48.04, Y:3.31, Z:-4.78 [[ 9.76562574e-01 1.76107952e-01 -1.23739761e-01 -4.80393886e+01] [-1.74046175e-01 9.84357192e-01 2.73650864e-02 3.30936968e+00] [ 1.26623333e-01 -5.18728714e-03 9.91937308e-01 -4.78067644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.773741732 meters Centerline goodness [0,1] 0.9974959283387622 Centerline is valid? [True, True] Translation: X:-48.07, Y:3.31, Z:-4.78 [[ 9.76952643e-01 1.74700317e-01 -1.22651260e-01 -4.80684331e+01] [-1.72659580e-01 9.84607091e-01 2.71577903e-02 3.31303745e+00] [ 1.25507775e-01 -5.35495985e-03 9.92078184e-01 -4.78363228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.803741732 meters Centerline goodness [0,1] 0.996263370768062 Centerline is valid? [True, True] Translation: X:-48.10, Y:3.32, Z:-4.79 [[ 9.76632377e-01 1.75045466e-01 -1.24692766e-01 -4.80955445e+01] [-1.72936211e-01 9.84545436e-01 2.76288058e-02 3.31883110e+00] [ 1.27601991e-01 -5.41929179e-03 9.91810649e-01 -4.78728216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.83374173199999 meters Centerline goodness [0,1] 0.9977230302160044 Centerline is valid? [True, True] Translation: X:-48.12, Y:3.32, Z:-4.79 [[ 9.76513035e-01 1.75365544e-01 -1.25176749e-01 -4.81229951e+01] [-1.73239736e-01 9.84488475e-01 2.77567273e-02 3.32495912e+00] [ 1.28102640e-01 -5.41921907e-03 9.91746109e-01 -4.79051866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.863741731999994 meters Centerline goodness [0,1] 0.9983581660715019 Centerline is valid? [True, True] Translation: X:-48.15, Y:3.33, Z:-4.79 [[ 9.76532392e-01 1.75872328e-01 -1.24311754e-01 -4.81514319e+01] [-1.73775082e-01 9.84398428e-01 2.76035567e-02 3.32988912e+00] [ 1.27226997e-01 -5.35348197e-03 9.91859179e-01 -4.79384691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.893741731999995 meters Centerline goodness [0,1] 0.9976093175316715 Centerline is valid? [True, True] Translation: X:-48.18, Y:3.33, Z:-4.80 [[ 9.76503788e-01 1.76851924e-01 -1.23141174e-01 -4.81789589e+01] [-1.74797896e-01 9.84223694e-01 2.73754604e-02 3.33480876e+00] [ 1.26039864e-01 -5.20742264e-03 9.92011510e-01 -4.79650982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.923741731999996 meters Centerline goodness [0,1] 0.9975038363171356 Centerline is valid? [True, True] Translation: X:-48.21, Y:3.34, Z:-4.80 [[ 9.76298170e-01 1.77689127e-01 -1.23565599e-01 -4.82057936e+01] [-1.75624658e-01 9.84073250e-01 2.74921537e-02 3.34128710e+00] [ 1.26482657e-01 -5.13937336e-03 9.91955505e-01 -4.79834674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.953741732 meters Centerline goodness [0,1] 0.9974033408984031 Centerline is valid? [True, True] Translation: X:-48.23, Y:3.35, Z:-4.80 [[ 9.75802209e-01 1.80307065e-01 -1.23690787e-01 -4.82334124e+01] [-1.78253713e-01 9.83598422e-01 2.75637141e-02 3.34794437e+00] [ 1.26631995e-01 -4.84839105e-03 9.91937917e-01 -4.80207923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.983741732 meters Centerline goodness [0,1] 0.9965561510402869 Centerline is valid? [True, True] Translation: X:-48.26, Y:3.35, Z:-4.81 [[ 9.75311085e-01 1.82787051e-01 -1.23924091e-01 -4.82612766e+01] [-1.80740726e-01 9.83141886e-01 2.76554192e-02 3.34945817e+00] [ 1.26890017e-01 -4.57450663e-03 9.91906244e-01 -4.81437658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.01374173199999 meters Centerline goodness [0,1] 0.9983479502345503 Centerline is valid? [True, True] Translation: X:-48.29, Y:3.36, Z:-4.81 [[ 9.75448198e-01 1.82172636e-01 -1.23749522e-01 -4.82876290e+01] [-1.80122985e-01 9.83255422e-01 2.76493288e-02 3.36144849e+00] [ 1.26714340e-01 -4.68035460e-03 9.91928208e-01 -4.81135014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.043741731999994 meters Centerline goodness [0,1] 0.9977017572404816 Centerline is valid? [True, True] Translation: X:-48.32, Y:3.36, Z:-4.82 [[ 9.75343221e-01 1.81893234e-01 -1.24981811e-01 -4.83163154e+01] [-1.79797227e-01 9.83306638e-01 2.79466115e-02 3.36272028e+00] [ 1.27978744e-01 -4.78615504e-03 9.91765362e-01 -4.81778408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.073741731999995 meters Centerline goodness [0,1] 0.9963591986169023 Centerline is valid? [True, True] Translation: X:-48.35, Y:3.36, Z:-4.83 [[ 9.75887917e-01 1.80258884e-01 -1.23083337e-01 -4.83451529e+01] [-1.78208276e-01 9.83606677e-01 2.75629354e-02 3.35851464e+00] [ 1.26034056e-01 -4.96386621e-03 9.92013496e-01 -4.82508920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.103741731999996 meters Centerline goodness [0,1] 0.9962215857151563 Centerline is valid? [True, True] Translation: X:-48.37, Y:3.37, Z:-4.82 [[ 9.76510235e-01 1.77516003e-01 -1.22130377e-01 -4.83718540e+01] [-1.75471394e-01 9.84103582e-01 2.73848443e-02 3.36991085e+00] [ 1.25050190e-01 -5.31119313e-03 9.92136201e-01 -4.82138501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.133741732 meters Centerline goodness [0,1] 0.9957364341085271 Centerline is valid? [True, True] Translation: X:-48.40, Y:3.37, Z:-4.83 [[ 9.76808885e-01 1.75890464e-01 -1.22094010e-01 -4.84020391e+01] [-1.73832562e-01 9.84394197e-01 2.73916873e-02 3.36704472e+00] [ 1.25006571e-01 -5.53252902e-03 9.92140488e-01 -4.82794746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.163741732 meters Centerline goodness [0,1] 0.9971377167157344 Centerline is valid? [True, True] Translation: X:-48.43, Y:3.38, Z:-4.83 [[ 9.76678527e-01 1.75486184e-01 -1.23707936e-01 -4.84281172e+01] [-1.73367651e-01 9.84465523e-01 2.77721523e-02 3.37914411e+00] [ 1.26659827e-01 -5.67751059e-03 9.91929964e-01 -4.82771594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.19374173199999 meters Centerline goodness [0,1] 0.9937215891717798 Centerline is valid? [True, True] Translation: X:-48.46, Y:3.38, Z:-4.84 [[ 9.76936379e-01 1.73562257e-01 -1.24384303e-01 -4.84577619e+01] [-1.71403145e-01 9.84804785e-01 2.79373959e-02 3.37528077e+00] [ 1.27343134e-01 -5.97319775e-03 9.91840737e-01 -4.83894002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22374173199999 meters Centerline goodness [0,1] 0.9956238113740006 Centerline is valid? [True, True] Translation: X:-48.48, Y:3.39, Z:-4.84 [[ 9.76631220e-01 1.75173714e-01 -1.24521604e-01 -4.84836100e+01] [-1.73021260e-01 9.84520565e-01 2.79803573e-02 3.38753839e+00] [ 1.27495503e-01 -5.78160571e-03 9.91822297e-01 -4.83695052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.253741731999995 meters Centerline goodness [0,1] 0.9938013579919662 Centerline is valid? [True, True] Translation: X:-48.51, Y:3.39, Z:-4.85 [[ 9.76270193e-01 1.76734332e-01 -1.25145862e-01 -4.85122560e+01] [-1.74570148e-01 9.84242507e-01 2.81416375e-02 3.38634723e+00] [ 1.28147470e-01 -5.62711026e-03 9.91739160e-01 -4.84843885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.283741731999996 meters Centerline goodness [0,1] 0.9956658625342438 Centerline is valid? [True, True] Translation: X:-48.54, Y:3.39, Z:-4.85 [[ 9.76224649e-01 1.77722073e-01 -1.24097940e-01 -4.85385478e+01] [-1.75597957e-01 9.84065447e-01 2.79383958e-02 3.39467255e+00] [ 1.27085764e-01 -5.48280605e-03 9.91876579e-01 -4.84929512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.313741732 meters Centerline goodness [0,1] 0.9966409962313616 Centerline is valid? [True, True] Translation: X:-48.57, Y:3.40, Z:-4.85 [[ 9.75692467e-01 1.79418146e-01 -1.25830591e-01 -4.85660824e+01] [-1.77244921e-01 9.83758303e-01 2.83520603e-02 3.40063031e+00] [ 1.28873763e-01 -5.36005848e-03 9.91646521e-01 -4.85317556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.343741732 meters Centerline goodness [0,1] 0.9963240549758 Centerline is valid? [True, True] Translation: X:-48.59, Y:3.41, Z:-4.85 [[ 9.75866541e-01 1.78709170e-01 -1.25489151e-01 -4.85929732e+01] [-1.76537228e-01 9.83886710e-01 2.83116426e-02 3.40878343e+00] [ 1.28526658e-01 -5.47487791e-03 9.91690942e-01 -4.85262941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.373741732 meters Centerline goodness [0,1] 0.9968086412176261 Centerline is valid? [True, True] Translation: X:-48.62, Y:3.41, Z:-4.86 [[ 9.75871464e-01 1.79445009e-01 -1.24396040e-01 -4.86207552e+01] [-1.77313671e-01 9.83753430e-01 2.80900590e-02 3.41381862e+00] [ 1.27415651e-01 -5.35516858e-03 9.91834953e-01 -4.85651651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40374173199999 meters Centerline goodness [0,1] 0.9951557945728479 Centerline is valid? [True, True] Translation: X:-48.65, Y:3.42, Z:-4.86 [[ 9.75920466e-01 1.80061608e-01 -1.23114020e-01 -4.86475850e+01] [-1.77975054e-01 9.83641320e-01 2.78322478e-02 3.41989122e+00] [ 1.26111557e-01 -5.25083586e-03 9.92002169e-01 -4.85577851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.433741731999994 meters Centerline goodness [0,1] 0.996005326231691 Centerline is valid? [True, True] Translation: X:-48.68, Y:3.42, Z:-4.86 [[ 9.76195550e-01 1.80253919e-01 -1.20626586e-01 -4.86755819e+01] [-1.78250117e-01 9.83606685e-01 2.72907354e-02 3.42495714e+00] [ 1.23568378e-01 -5.13939133e-03 9.92322751e-01 -4.85800868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.463741731999995 meters Centerline goodness [0,1] 0.9965108164689462 Centerline is valid? [True, True] Translation: X:-48.70, Y:3.43, Z:-4.86 [[ 9.75871354e-01 1.81001364e-01 -1.22121282e-01 -4.87042218e+01] [-1.78948394e-01 9.83469383e-01 2.76666603e-02 3.42829835e+00] [ 1.25110245e-01 -5.14569395e-03 9.92129502e-01 -4.86424549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.493741732 meters Centerline goodness [0,1] 0.9970506912442396 Centerline is valid? [True, True] Translation: X:-48.73, Y:3.43, Z:-4.87 [[ 9.75901542e-01 1.81068125e-01 -1.21780603e-01 -4.87310346e+01] [-1.79023267e-01 9.83457054e-01 2.76205141e-02 3.43314153e+00] [ 1.24767188e-01 -5.15334087e-03 9.92172662e-01 -4.86995908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.523741732 meters Centerline goodness [0,1] 0.997637973175591 Centerline is valid? [True, True] Translation: X:-48.76, Y:3.44, Z:-4.87 [[ 9.75447482e-01 1.82837140e-01 -1.22771289e-01 -4.87578546e+01] [-1.80770707e-01 9.83130587e-01 2.78603785e-02 3.44035777e+00] [ 1.25794122e-01 -4.98288333e-03 9.92043855e-01 -4.87156249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.553741732 meters Centerline goodness [0,1] 0.9973805918225351 Centerline is valid? [True, True] Translation: X:-48.79, Y:3.44, Z:-4.88 [[ 9.74857667e-01 1.84477187e-01 -1.24982788e-01 -4.87856889e+01] [-1.82345287e-01 9.82824659e-01 2.83881289e-02 3.44218009e+00] [ 1.28073129e-01 -4.88436272e-03 9.91752699e-01 -4.88315847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58374173199999 meters Centerline goodness [0,1] 0.9963336951846465 Centerline is valid? [True, True] Translation: X:-48.81, Y:3.45, Z:-4.89 [[ 9.75000655e-01 1.83322953e-01 -1.25564399e-01 -4.88130373e+01] [-1.81157384e-01 9.83039557e-01 2.85522521e-02 3.44668010e+00] [ 1.28669054e-01 -5.09154646e-03 9.91674518e-01 -4.88938584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.613741731999994 meters Centerline goodness [0,1] 0.996274385375939 Centerline is valid? [True, True] Translation: X:-48.84, Y:3.45, Z:-4.89 [[ 9.74940273e-01 1.83547192e-01 -1.25705575e-01 -4.88396203e+01] [-1.81376612e-01 9.82997759e-01 2.85994888e-02 3.45015099e+00] [ 1.28817655e-01 -5.08274215e-03 9.91655272e-01 -4.89414986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.643741731999995 meters Centerline goodness [0,1] 0.9962997035674128 Centerline is valid? [True, True] Translation: X:-48.87, Y:3.46, Z:-4.90 [[ 9.75086201e-01 1.83790238e-01 -1.24209696e-01 -4.88675682e+01] [-1.81670144e-01 9.82952702e-01 2.82833046e-02 3.45560085e+00] [ 1.27290452e-01 -5.01346672e-03 9.91852815e-01 -4.89802927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.673741731999996 meters Centerline goodness [0,1] 0.9962396795553012 Centerline is valid? [True, True] Translation: X:-48.89, Y:3.46, Z:-4.90 [[ 9.74825886e-01 1.84680457e-01 -1.24930464e-01 -4.88933888e+01] [-1.82537606e-01 9.82786073e-01 2.84878281e-02 3.46108690e+00] [ 1.28041065e-01 -4.96616438e-03 9.91756433e-01 -4.90251536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.703741732 meters Centerline goodness [0,1] 0.9964011955350426 Centerline is valid? [True, True] Translation: X:-48.92, Y:3.46, Z:-4.91 [[ 9.74896676e-01 1.85250145e-01 -1.23526733e-01 -4.89221068e+01] [-1.83154570e-01 9.82679294e-01 2.82100940e-02 3.46474681e+00] [ 1.26613087e-01 -4.87744124e-03 9.91940188e-01 -4.90691325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.733741732 meters Centerline goodness [0,1] 0.996931385786179 Centerline is valid? [True, True] Translation: X:-48.95, Y:3.47, Z:-4.91 [[ 9.74094844e-01 1.88613850e-01 -1.24755962e-01 -4.89479300e+01] [-1.86498952e-01 9.82040925e-01 2.85265134e-02 3.47282432e+00] [ 1.27895956e-01 -4.52067354e-03 9.91777288e-01 -4.91123170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76374173199999 meters Centerline goodness [0,1] 0.9963304248552557 Centerline is valid? [True, True] Translation: X:-48.98, Y:3.48, Z:-4.91 [[ 9.74233654e-01 1.88980375e-01 -1.23106483e-01 -4.89757348e+01] [-1.86920653e-01 9.81970825e-01 2.81774299e-02 3.47822897e+00] [ 1.26211956e-01 -4.44025628e-03 9.91993360e-01 -4.91431732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.793741731999994 meters Centerline goodness [0,1] 0.9964092624706723 Centerline is valid? [True, True] Translation: X:-49.00, Y:3.49, Z:-4.92 [[ 9.73825060e-01 1.91459153e-01 -1.22507732e-01 -4.90027455e+01] [-1.89435071e-01 9.81491895e-01 2.80715907e-02 3.48572914e+00] [ 1.25614909e-01 -4.12955745e-03 9.92070482e-01 -4.91644349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.823741731999995 meters Centerline goodness [0,1] 0.9968454900683816 Centerline is valid? [True, True] Translation: X:-49.03, Y:3.49, Z:-4.92 [[ 9.73519020e-01 1.93129513e-01 -1.22318065e-01 -4.90292741e+01] [-1.91123159e-01 9.81165438e-01 2.80414248e-02 3.49278709e+00] [ 1.25429885e-01 -3.92104536e-03 9.92094738e-01 -4.91922945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.853741731999996 meters Centerline goodness [0,1] 0.9958806615412852 Centerline is valid? [True, True] Translation: X:-49.06, Y:3.50, Z:-4.92 [[ 9.73409335e-01 1.93750324e-01 -1.22209157e-01 -4.90573573e+01] [-1.91749134e-01 9.81043264e-01 2.80425202e-02 3.49698744e+00] [ 1.25325718e-01 -3.86335090e-03 9.92108129e-01 -4.92440782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.883741732 meters Centerline goodness [0,1] 0.9969220106812344 Centerline is valid? [True, True] Translation: X:-49.08, Y:3.50, Z:-4.93 [[ 9.73762238e-01 1.92990605e-01 -1.20589093e-01 -4.90845201e+01] [-1.91032538e-01 9.81192695e-01 2.77031673e-02 3.50390032e+00] [ 1.23667588e-01 -3.93985768e-03 9.92315880e-01 -4.92696863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.913741732 meters Centerline goodness [0,1] 0.9963273550835526 Centerline is valid? [True, True] Translation: X:-49.11, Y:3.51, Z:-4.93 [[ 9.73655890e-01 1.93585915e-01 -1.20493577e-01 -4.91129448e+01] [-1.91632988e-01 9.81075650e-01 2.77013963e-02 3.50806044e+00] [ 1.23575914e-01 -3.88108353e-03 9.92327532e-01 -4.92941729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94374173199999 meters Centerline goodness [0,1] 0.9971160926122883 Centerline is valid? [True, True] Translation: X:-49.14, Y:3.51, Z:-4.93 [[ 9.73986463e-01 1.92434744e-01 -1.19663024e-01 -4.91398856e+01] [-1.90496087e-01 9.81301492e-01 2.75431070e-02 3.51305450e+00] [ 1.22725755e-01 -4.03127550e-03 9.92432435e-01 -4.93341093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.97374173199999 meters Centerline goodness [0,1] 0.9972206895142337 Centerline is valid? [True, True] Translation: X:-49.17, Y:3.51, Z:-4.94 [[ 9.73585617e-01 1.93964619e-01 -1.20452366e-01 -4.91692756e+01] [-1.92009267e-01 9.81000834e-01 2.77453420e-02 3.51423752e+00] [ 1.23545486e-01 -3.88449543e-03 9.92331307e-01 -4.93890893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.003741731999995 meters Centerline goodness [0,1] 0.9978064330962094 Centerline is valid? [True, True] Translation: X:-49.20, Y:3.52, Z:-4.94 [[ 9.74007668e-01 1.92418828e-01 -1.19515932e-01 -4.91963276e+01] [-1.90478007e-01 9.81304400e-01 2.75645509e-02 3.52214268e+00] [ 1.22585449e-01 -4.08292736e-03 9.92449564e-01 -4.93911371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.033741731999996 meters Centerline goodness [0,1] 0.9969714332487517 Centerline is valid? [True, True] Translation: X:-49.22, Y:3.53, Z:-4.94 [[ 9.73953924e-01 1.92880935e-01 -1.19208636e-01 -4.92245256e+01] [-1.90950456e-01 9.81213855e-01 2.75189825e-02 3.52656600e+00] [ 1.22277052e-01 -4.03927763e-03 9.92487787e-01 -4.94200692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.063741732 meters Centerline goodness [0,1] 0.9973504765034505 Centerline is valid? [True, True] Translation: X:-49.25, Y:3.53, Z:-4.94 [[ 9.74071522e-01 1.92626285e-01 -1.18658268e-01 -4.92508382e+01] [-1.90707587e-01 9.81263684e-01 2.74262216e-02 3.53294674e+00] [ 1.21718060e-01 -4.08606947e-03 9.92556305e-01 -4.94374915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.093741732 meters Centerline goodness [0,1] 0.9949837588914929 Centerline is valid? [True, True] Translation: X:-49.28, Y:3.52, Z:-4.96 [[ 9.74329923e-01 1.92081781e-01 -1.17412908e-01 -4.92806553e+01] [-1.90196381e-01 9.81370214e-01 2.71632242e-02 3.52349718e+00] [ 1.20443091e-01 -4.13443205e-03 9.92711624e-01 -4.95732746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.123741732 meters Centerline goodness [0,1] 0.9957806775614374 Centerline is valid? [True, True] Translation: X:-49.31, Y:3.53, Z:-4.96 [[ 9.74395155e-01 1.91756060e-01 -1.17403980e-01 -4.93075842e+01] [-1.89863998e-01 9.81433581e-01 2.71990521e-02 3.53024429e+00] [ 1.20439791e-01 -4.21183562e-03 9.92711699e-01 -4.95903628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.15374173199999 meters Centerline goodness [0,1] 0.993771583621115 Centerline is valid? [True, True] Translation: X:-49.34, Y:3.53, Z:-4.96 [[ 9.74768662e-01 1.89397558e-01 -1.18129676e-01 -4.93368524e+01] [-1.87462313e-01 9.81889941e-01 2.73865896e-02 3.53350954e+00] [ 1.21177294e-01 -4.55072702e-03 9.92620448e-01 -4.96244030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.183741731999994 meters Centerline goodness [0,1] 0.9942839455220801 Centerline is valid? [True, True] Translation: X:-49.36, Y:3.54, Z:-4.96 [[ 9.75169131e-01 1.87929403e-01 -1.17165293e-01 -4.93641821e+01] [-1.86012275e-01 9.82171206e-01 2.71874005e-02 3.54129645e+00] [ 1.20185689e-01 -4.71813097e-03 9.92740217e-01 -4.96208064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.213741731999995 meters Centerline goodness [0,1] 0.9931532351481053 Centerline is valid? [True, True] Translation: X:-49.39, Y:3.54, Z:-4.97 [[ 9.75322041e-01 1.87187569e-01 -1.17080019e-01 -4.93935674e+01] [-1.85265953e-01 9.82312354e-01 2.71839228e-02 3.54139735e+00] [ 1.20097641e-01 -4.82213785e-03 9.92750373e-01 -4.96694431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.243741732 meters Centerline goodness [0,1] 0.9931532351481053 Centerline is valid? [True, True] Translation: X:-49.42, Y:3.55, Z:-4.97 [[ 9.75268691e-01 1.87469904e-01 -1.17072691e-01 -4.94203165e+01] [-1.85546534e-01 9.82258522e-01 2.72154490e-02 3.54734937e+00] [ 1.20097726e-01 -4.81994320e-03 9.92750374e-01 -4.96950003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.273741732 meters Centerline goodness [0,1] 0.9907797899611346 Centerline is valid? [True, True] Translation: X:-49.45, Y:3.55, Z:-4.97 [[ 9.75295931e-01 1.87756812e-01 -1.16383964e-01 -4.94481144e+01] [-1.85854568e-01 9.82203889e-01 2.70850591e-02 3.55232284e+00] [ 1.19398186e-01 -4.78545663e-03 9.92834917e-01 -4.97252959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.303741732 meters Centerline goodness [0,1] 0.9935042098512589 Centerline is valid? [True, True] Translation: X:-49.48, Y:3.56, Z:-4.97 [[ 9.75391396e-01 1.88420303e-01 -1.14496345e-01 -4.94753442e+01] [-1.86582348e-01 9.82077516e-01 2.66604663e-02 3.55948832e+00] [ 1.17467659e-01 -4.64139253e-03 9.93065862e-01 -4.97336092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.33374173199999 meters Centerline goodness [0,1] 0.993637569427174 Centerline is valid? [True, True] Translation: X:-49.50, Y:3.57, Z:-4.98 [[ 9.75224840e-01 1.89147306e-01 -1.14716204e-01 -4.95019717e+01] [-1.87304185e-01 9.81938004e-01 2.67375825e-02 3.56729184e+00] [ 1.17701542e-01 -4.58832953e-03 9.93038415e-01 -4.97542036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.363741731999994 meters Centerline goodness [0,1] 0.9950585499543227 Centerline is valid? [True, True] Translation: X:-49.53, Y:3.58, Z:-4.98 [[ 9.74753813e-01 1.91929907e-01 -1.14096077e-01 -4.95286928e+01] [-1.90124449e-01 9.81399479e-01 2.66037126e-02 3.57595069e+00] [ 1.17079879e-01 -4.23961656e-03 9.93113452e-01 -4.97676459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.393741731999995 meters Centerline goodness [0,1] 0.9947140597685841 Centerline is valid? [True, True] Translation: X:-49.56, Y:3.58, Z:-4.98 [[ 9.74478471e-01 1.94074236e-01 -1.12813564e-01 -4.95573030e+01] [-1.92322571e-01 9.80978911e-01 2.63135720e-02 3.58448530e+00] [ 1.15774513e-01 -3.94541489e-03 9.93267686e-01 -4.97947020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.423741731999996 meters Centerline goodness [0,1] 0.995579557538731 Centerline is valid? [True, True] Translation: X:-49.58, Y:3.59, Z:-4.98 [[ 9.74431354e-01 1.94350303e-01 -1.12745270e-01 -4.95843228e+01] [-1.92601389e-01 9.80924354e-01 2.63080921e-02 3.59017739e+00] [ 1.15707567e-01 -3.92053417e-03 9.93275585e-01 -4.98424711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.453741732 meters Centerline goodness [0,1] 0.9941526574083742 Centerline is valid? [True, True] Translation: X:-49.61, Y:3.59, Z:-4.99 [[ 9.74763974e-01 1.92619468e-01 -1.12840312e-01 -4.96133236e+01] [-1.90852095e-01 9.81264699e-01 2.63641456e-02 3.59497197e+00] [ 1.15804462e-01 -4.16300952e-03 9.93263306e-01 -4.98553444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.483741732 meters Centerline goodness [0,1] 0.9924144272161157 Centerline is valid? [True, True] Translation: X:-49.64, Y:3.60, Z:-4.98 [[ 9.74589525e-01 1.93759267e-01 -1.12394863e-01 -4.96402659e+01] [-1.92010530e-01 9.81040803e-01 2.62849702e-02 3.60359233e+00] [ 1.15356903e-01 -4.03605944e-03 9.93315909e-01 -4.98453246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.51374173199999 meters Centerline goodness [0,1] 0.9916878319094897 Centerline is valid? [True, True] Translation: X:-49.67, Y:3.61, Z:-4.99 [[ 9.74123597e-01 1.95682779e-01 -1.13099369e-01 -4.96665632e+01] [-1.93923344e-01 9.80659708e-01 2.64626782e-02 3.61124324e+00] [ 1.16090284e-01 -3.84531155e-03 9.93231222e-01 -4.98532149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.543741731999994 meters Centerline goodness [0,1] 0.9924301364678175 Centerline is valid? [True, True] Translation: X:-49.70, Y:3.61, Z:-4.99 [[ 9.74630023e-01 1.92720754e-01 -1.13820161e-01 -4.96955788e+01] [-1.90915986e-01 9.81244450e-01 2.66536137e-02 3.61435060e+00] [ 1.16822106e-01 -4.24732383e-03 9.93143774e-01 -4.98804106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.573741731999995 meters Centerline goodness [0,1] 0.988361833536406 Centerline is valid? [True, True] Translation: X:-49.72, Y:3.62, Z:-4.99 [[ 9.73949649e-01 1.95344475e-01 -1.15163433e-01 -4.97241577e+01] [-1.93511226e-01 9.80726492e-01 2.69991207e-02 3.62042981e+00] [ 1.18217959e-01 -4.01036702e-03 9.92979572e-01 -4.98799856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.603741731999996 meters Centerline goodness [0,1] 0.984500031504001 Centerline is valid? [True, True] Translation: X:-49.75, Y:3.63, Z:-4.98 [[ 9.72892608e-01 1.98539393e-01 -1.18583650e-01 -4.97507417e+01] [-1.96615136e-01 9.80085694e-01 2.78302001e-02 3.63054435e+00] [ 1.21747530e-01 -3.76045544e-03 9.92553977e-01 -4.98303508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.633741732 meters Centerline goodness [0,1] 0.9814542243155726 Centerline is valid? [True, True] Translation: X:-49.78, Y:3.63, Z:-4.99 [[ 9.73109013e-01 1.97670041e-01 -1.18259901e-01 -4.97796271e+01] [-1.95747773e-01 9.80260951e-01 2.77718877e-02 3.63218660e+00] [ 1.21415233e-01 -3.87596209e-03 9.92594236e-01 -4.98698058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.663741732 meters Centerline goodness [0,1] 0.9750294266016479 Centerline is valid? [True, True] Translation: X:-49.81, Y:3.64, Z:-4.98 [[ 9.72694509e-01 1.97895652e-01 -1.21254702e-01 -4.98080078e+01] [-1.95871594e-01 9.80215005e-01 2.85107542e-02 3.63816454e+00] [ 1.24497833e-01 -3.98190218e-03 9.92211890e-01 -4.98213925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.69374173199999 meters Centerline goodness [0,1] 0.9688815014307356 Centerline is valid? [True, True] Translation: X:-49.84, Y:3.64, Z:-4.98 [[ 9.72504844e-01 1.97325928e-01 -1.23680263e-01 -4.98364951e+01] [-1.95211626e-01 9.80329098e-01 2.91080994e-02 3.64328539e+00] [ 1.26991143e-01 -4.16394244e-03 9.91895111e-01 -4.97559610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72374173199999 meters Centerline goodness [0,1] 0.9606374968627123 Centerline is valid? [True, True] Translation: X:-49.87, Y:3.65, Z:-4.97 [[ 9.73160511e-01 1.92439866e-01 -1.26196346e-01 -4.98672879e+01] [-1.90196157e-01 9.81296486e-01 2.97090613e-02 3.64544663e+00] [ 1.29553239e-01 -4.90962520e-03 9.91560313e-01 -4.96687059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.753741731999995 meters Centerline goodness [0,1] 0.9545235954586322 Centerline is valid? [True, True] Translation: X:-49.90, Y:3.65, Z:-4.96 [[ 9.71843726e-01 1.97137472e-01 -1.29060412e-01 -4.98964753e+01] [-1.94829391e-01 9.80365994e-01 3.03977981e-02 3.64842296e+00] [ 1.32518984e-01 -4.39714804e-03 9.91170714e-01 -4.96238050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.783741731999996 meters Centerline goodness [0,1] 0.9474886323156549 Centerline is valid? [True, False] Translation: X:-49.92, Y:3.66, Z:-4.96 [[ 9.71840431e-01 1.96537979e-01 -1.29996154e-01 -4.99236136e+01] [-1.94165201e-01 9.80484948e-01 3.08081254e-02 3.65510101e+00] [ 1.33514239e-01 -4.69985243e-03 9.91035751e-01 -4.96125256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.813741732 meters Centerline goodness [0,1] 0.9351706531064934 Centerline is valid? [False, False] Translation: X:-49.97, Y:3.67, Z:-4.96 [[ 9.72337780e-01 1.93229961e-01 -1.31230420e-01 -4.99650587e+01] [-1.90184791e-01 9.81107154e-01 3.54753060e-02 3.66594267e+00] [ 1.35605996e-01 -9.53595037e-03 9.90716952e-01 -4.96295696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.843741732 meters Centerline goodness [0,1] 0.9260345116434914 Centerline is valid? [False, False] Translation: X:-50.00, Y:3.68, Z:-4.97 [[ 9.72707732e-01 1.90437855e-01 -1.32563537e-01 -5.00033968e+01] [-1.86525735e-01 9.81575496e-01 4.14450926e-02 3.67701236e+00] [ 1.38013834e-01 -1.55874509e-02 9.90307636e-01 -4.96502999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.873741732 meters Centerline goodness [0,1] 0.9205813270698767 Centerline is valid? [False, False] Translation: X:-50.02, Y:3.68, Z:-4.96 [[ 9.73058556e-01 1.88091163e-01 -1.33337020e-01 -5.00216676e+01] [-1.83600702e-01 9.81955604e-01 4.53207813e-02 3.68360517e+00] [ 1.39455473e-01 -1.96190035e-02 9.90033972e-01 -4.96243427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90374173199999 meters Centerline goodness [0,1] 0.8887540029721415 Centerline is valid? [False, False] Translation: X:-50.04, Y:3.69, Z:-4.96 [[ 9.73308885e-01 1.85067031e-01 -1.35720335e-01 -5.00440892e+01] [-1.80226947e-01 9.82490483e-01 4.72302689e-02 3.68997969e+00] [ 1.42084703e-01 -2.15091787e-02 9.89620782e-01 -4.95873936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.933741731999994 meters Centerline goodness [0,1] 0.898649785479936 Centerline is valid? [False, False] Translation: X:-50.05, Y:3.69, Z:-4.95 [[ 9.73412136e-01 1.83959925e-01 -1.36482816e-01 -5.00521429e+01] [-1.79177528e-01 9.82710525e-01 4.66415846e-02 3.69215072e+00] [ 1.42703282e-01 -2.09468310e-02 9.89543836e-01 -4.95416268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.963741731999995 meters Centerline goodness [0,1] 0.8489198202116862 Centerline is valid? [False, False] Translation: X:-50.06, Y:3.69, Z:-4.95 [[ 9.73570998e-01 1.82755298e-01 -1.36967196e-01 -5.00592005e+01] [-1.78078335e-01 9.82951705e-01 4.57608103e-02 3.69389285e+00] [ 1.42995170e-01 -2.01605075e-02 9.89518032e-01 -4.95050232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.993741732 meters Centerline goodness [0,1] 0.8636468105555671 Centerline is valid? [False, False] Translation: X:-50.06, Y:3.69, Z:-4.95 [[ 9.73579349e-01 1.82231271e-01 -1.37604559e-01 -5.00619530e+01] [-1.77598264e-01 9.83058395e-01 4.53326479e-02 3.69448256e+00] [ 1.43534343e-01 -1.96965990e-02 9.89449310e-01 -4.94801499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.023741732 meters Centerline goodness [0,1] 0.8659593169261678 Centerline is valid? [False, False] Translation: X:-50.06, Y:3.70, Z:-4.95 [[ 9.73504178e-01 1.82526034e-01 -1.37745641e-01 -5.00628737e+01] [-1.77890637e-01 9.83004758e-01 4.53493908e-02 3.69535563e+00] [ 1.43682065e-01 -1.96441615e-02 9.89428912e-01 -4.94727418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.053741732 meters Centerline goodness [0,1] 0.8766379908714217 Centerline is valid? [False, False] Translation: X:-50.06, Y:3.70, Z:-4.95 [[ 9.73372799e-01 1.83146940e-01 -1.37849891e-01 -5.00642362e+01] [-1.78452813e-01 9.82882859e-01 4.57807689e-02 3.69579969e+00] [ 1.43874903e-01 -1.99620543e-02 9.89394526e-01 -4.94610386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08374173199999 meters Centerline goodness [0,1] 0.8753476506137471 Centerline is valid? [False, False] Translation: X:-50.07, Y:3.70, Z:-4.94 [[ 9.73547760e-01 1.82347430e-01 -1.37674157e-01 -5.00692461e+01] [-1.77778019e-01 9.83046102e-01 4.48925058e-02 3.69582047e+00] [ 1.43526076e-01 -1.92295596e-02 9.89459696e-01 -4.94326220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.113741731999994 meters Centerline goodness [0,1] 0.8688865109838233 Centerline is valid? [False, False] Translation: X:-50.09, Y:3.70, Z:-4.94 [[ 9.73676382e-01 1.82176219e-01 -1.36989517e-01 -5.00862286e+01] [-1.77612623e-01 9.83074097e-01 4.49341373e-02 3.69922576e+00] [ 1.42856777e-01 -1.94202408e-02 9.89552826e-01 -4.93544593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.143741731999995 meters Centerline goodness [0,1] 0.8076172685761727 Centerline is valid? [False, False] Translation: X:-50.13, Y:3.71, Z:-4.94 [[ 9.74778542e-01 1.78850178e-01 -1.33489352e-01 -5.01314473e+01] [-1.73238044e-01 9.83472755e-01 5.26300313e-02 3.71117055e+00] [ 1.40696031e-01 -2.81771910e-02 9.89651794e-01 -4.94031811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.173741731999996 meters Centerline goodness [0,1] 0.7430899635559559 Centerline is valid? [False, False] Translation: X:-50.17, Y:3.72, Z:-4.95 [[ 9.75276005e-01 1.75610924e-01 -1.34154829e-01 -5.01691165e+01] [-1.68829754e-01 9.83790210e-01 6.04428458e-02 3.72113383e+00] [ 1.42594631e-01 -3.62991304e-02 9.89115334e-01 -4.94539020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.203741732 meters Centerline goodness [0,1] 0.720378660314592 Centerline is valid? [False, False] Translation: X:-50.22, Y:3.73, Z:-4.95 [[ 9.76068984e-01 1.70651608e-01 -1.34786374e-01 -5.02212930e+01] [-1.62648654e-01 9.84311080e-01 6.83894191e-02 3.73184442e+00] [ 1.44342486e-01 -4.48299684e-02 9.88511771e-01 -4.95075065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.233741732 meters Centerline goodness [0,1] 0.6957314325508992 Centerline is valid? [False, False] Translation: X:-50.27, Y:3.74, Z:-4.96 [[ 0.97692919 0.16463489 -0.13603201 -50.26642562] [ -0.15520833 0.98485371 0.07728866 3.74100966] [ 0.14669604 -0.05439224 0.98768505 -4.95616341] [ 0. 0. 0. 1. ]] SLAMing on 57.26374173199999 meters Centerline goodness [0,1] 0.6882913643477024 Centerline is valid? [False, False] Translation: X:-50.30, Y:3.75, Z:-4.96 [[ 0.97759328 0.16076136 -0.13589395 -50.30297945] [ -0.15065731 0.98520502 0.08169113 3.74863561] [ 0.14701618 -0.05938728 0.98734968 -4.95943556] [ 0. 0. 0. 1. ]] SLAMing on 57.293741731999994 meters Centerline goodness [0,1] 0.6879426833500031 Centerline is valid? [False, False] Translation: X:-50.33, Y:3.76, Z:-4.96 [[ 0.97804882 0.15874495 -0.13498351 -50.3331896 ] [ -0.1477664 0.98511253 0.08785435 3.7562486 ] [ 0.14692039 -0.06597982 0.98694532 -4.96146096] [ 0. 0. 0. 1. ]] SLAMing on 57.323741731999995 meters Centerline goodness [0,1] 0.6933048492139213 Centerline is valid? [False, False] Translation: X:-50.35, Y:3.76, Z:-4.96 [[ 0.97828071 0.15901754 -0.13296718 -50.34877021] [ -0.1480024 0.98497044 0.0890422 3.76149156] [ 0.14512802 -0.06742881 0.98711256 -4.95855537] [ 0. 0. 0. 1. ]] SLAMing on 57.353741731999996 meters Centerline goodness [0,1] 0.68347632862169 Centerline is valid? [False, False] Translation: X:-50.38, Y:3.77, Z:-4.96 [[ 0.97834752 0.16149384 -0.12944444 -50.38087977] [ -0.15025491 0.98432029 0.09239601 3.76881088] [ 0.14233618 -0.07094574 0.98727256 -4.95887369] [ 0. 0. 0. 1. ]] SLAMing on 57.383741732 meters Centerline goodness [0,1] 0.6821326484112846 Centerline is valid? [False, False] Translation: X:-50.43, Y:3.78, Z:-4.96 [[ 0.9775362 0.16487185 -0.13130215 -50.42506297] [ -0.15310116 0.98360872 0.09525711 3.77847835] [ 0.14485516 -0.07301477 0.9867552 -4.96288381] [ 0. 0. 0. 1. ]] SLAMing on 57.413741732 meters Centerline goodness [0,1] 0.6759099143610013 Centerline is valid? [False, False] Translation: X:-50.47, Y:3.79, Z:-4.97 [[ 0.97697553 0.16595748 -0.13407809 -50.47388212] [ -0.15381234 0.98338359 0.09642865 3.78731476] [ 0.14785325 -0.07358556 0.98626801 -4.96696082] [ 0. 0. 0. 1. ]] SLAMing on 57.44374173199999 meters Centerline goodness [0,1] 0.673310546472841 Centerline is valid? [False, False] Translation: X:-50.50, Y:3.79, Z:-4.97 [[ 0.977496 0.16276212 -0.1342016 -50.50356081] [ -0.14981891 0.98348561 0.10153987 3.79448485] [ 0.14851219 -0.07914888 0.98573809 -4.96965759] [ 0. 0. 0. 1. ]] SLAMing on 57.47374173199999 meters Centerline goodness [0,1] 0.675865901092795 Centerline is valid? [False, False] Translation: X:-50.55, Y:3.80, Z:-4.98 [[ 0.97817971 0.15907481 -0.13364002 -50.547024 ] [ -0.14494427 0.98335248 0.10958588 3.80473755] [ 0.1488476 -0.08782432 0.98495243 -4.97604876] [ 0. 0. 0. 1. ]] SLAMing on 57.503741731999995 meters Centerline goodness [0,1] 0.6701789631208872 Centerline is valid? [False, False] Translation: X:-50.58, Y:3.81, Z:-4.98 [[ 0.97923624 0.15503094 -0.1306208 -50.58374807] [ -0.14050933 0.98350257 0.11392901 3.8125327 ] [ 0.14612841 -0.09320998 0.98486465 -4.97964084] [ 0. 0. 0. 1. ]] SLAMing on 57.533741731999996 meters Centerline goodness [0,1] 0.6734706475441882 Centerline is valid? [False, False] Translation: X:-50.61, Y:3.82, Z:-4.98 [[ 0.97992627 0.14940869 -0.13199068 -50.60515219] [ -0.13433232 0.98405239 0.11660071 3.81838565] [ 0.1473069 -0.09652949 0.98436921 -4.97707141] [ 0. 0. 0. 1. ]] SLAMing on 57.563741732 meters Centerline goodness [0,1] 0.6687418829495557 Centerline is valid? [False, False] Translation: X:-50.65, Y:3.83, Z:-4.98 [[ 0.98161729 0.14040396 -0.12928347 -50.6475518 ] [ -0.12526199 0.98500372 0.11864696 3.82552257] [ 0.14400321 -0.10027161 0.98448397 -4.98044989] [ 0. 0. 0. 1. ]] SLAMing on 57.593741732 meters Centerline goodness [0,1] 0.6618274278215224 Centerline is valid? [False, False] Translation: X:-50.70, Y:3.83, Z:-4.99 [[ 0.9827011 0.13302644 -0.12885072 -50.69856774] [ -0.11787804 0.98589294 0.11882707 3.83254599] [ 0.14284016 -0.10158282 0.98451898 -4.98827884] [ 0. 0. 0. 1. ]] SLAMing on 57.62374173199999 meters Centerline goodness [0,1] 0.6600972033444541 Centerline is valid? [False, False] Translation: X:-50.75, Y:3.84, Z:-5.00 [[ 0.9831844 0.12816869 -0.13008158 -50.75124627] [ -0.11256159 0.98625185 0.12098418 3.8397107 ] [ 0.14379959 -0.10430757 0.98409431 -4.99605287] [ 0. 0. 0. 1. ]] SLAMing on 57.65374173199999 meters Centerline goodness [0,1] 0.6596460976310712 Centerline is valid? [False, False] Translation: X:-50.78, Y:3.85, Z:-4.99 [[ 0.98337026 0.12385671 -0.13282484 -50.78015305] [ -0.10737705 0.98635559 0.12479113 3.84514635] [ 0.14646874 -0.10845354 0.98325212 -4.99490222] [ 0. 0. 0. 1. ]] SLAMing on 57.683741731999994 meters Centerline goodness [0,1] 0.6580324705978942 Centerline is valid? [False, False] Translation: X:-50.83, Y:3.85, Z:-5.00 [[ 0.98341608 0.12239429 -0.13383738 -50.83238097] [ -0.10569696 0.98645153 0.1254653 3.85204338] [ 0.14738033 -0.10923839 0.983029 -5.0012111 ] [ 0. 0. 0. 1. ]] SLAMing on 57.713741731999995 meters Centerline goodness [0,1] 0.6557794622131838 Centerline is valid? [False, False] Translation: X:-50.87, Y:3.86, Z:-5.00 [[ 0.98291661 0.12284956 -0.13705078 -50.86835886] [ -0.1057275 0.98639126 0.1259126 3.85823587] [ 0.150654 -0.10927156 0.98252893 -5.00483764] [ 0. 0. 0. 1. ]] SLAMing on 57.743741732 meters Centerline goodness [0,1] 0.6545078149259911 Centerline is valid? [False, False] Translation: X:-50.93, Y:3.87, Z:-5.01 [[ 0.98228971 0.12669785 -0.13803833 -50.92519941] [ -0.10990253 0.98628005 0.1231791 3.86551518] [ 0.15175098 -0.1058268 0.98273716 -5.01162446] [ 0. 0. 0. 1. ]] SLAMing on 57.773741732 meters Centerline goodness [0,1] 0.6522098990233405 Centerline is valid? [False, False] Translation: X:-50.99, Y:3.87, Z:-5.02 [[ 0.98229408 0.12920626 -0.13566168 -50.98718871] [ -0.11275068 0.98601848 0.12269814 3.87446826] [ 0.1496183 -0.10522971 0.98312821 -5.02085035] [ 0. 0. 0. 1. ]] SLAMing on 57.803741732 meters Centerline goodness [0,1] 0.6416912729658792 Centerline is valid? [False, False] Translation: X:-51.05, Y:3.88, Z:-5.03 [[ 0.9820926 0.13094142 -0.13545652 -51.05340991] [ -0.11443182 0.98575708 0.12324096 3.88250088] [ 0.14966457 -0.10553349 0.9830886 -5.0291742 ] [ 0. 0. 0. 1. ]] SLAMing on 57.83374173199999 meters Centerline goodness [0,1] 0.6385046113306982 Centerline is valid? [False, False] Translation: X:-51.12, Y:3.89, Z:-5.04 [[ 0.98314719 0.12756208 -0.13095616 -51.12380835] [ -0.11200106 0.98643294 0.12002422 3.88946402] [ 0.14449001 -0.10333425 0.98409587 -5.03644074] [ 0. 0. 0. 1. ]] SLAMing on 57.863741731999994 meters Centerline goodness [0,1] 0.633724394403238 Centerline is valid? [False, False] Translation: X:-51.18, Y:3.89, Z:-5.04 [[ 0.98398502 0.12215742 -0.1298116 -51.17837987] [ -0.10659223 0.98694137 0.12076769 3.89436699] [ 0.14286911 -0.10499669 0.98415655 -5.04276375] [ 0. 0. 0. 1. ]] SLAMing on 57.893741731999995 meters Centerline goodness [0,1] 0.6294165813715455 Centerline is valid? [False, False] Translation: X:-51.26, Y:3.90, Z:-5.05 [[ 0.98462756 0.11638512 -0.13024235 -51.26343358] [ -0.10048044 0.98734787 0.12266971 3.90304745] [ 0.14287144 -0.10769717 0.98386436 -5.0536034 ] [ 0. 0. 0. 1. ]] SLAMing on 57.923741731999996 meters Centerline goodness [0,1] 0.6176161099304682 Centerline is valid? [False, False] Translation: X:-51.35, Y:3.91, Z:-5.06 [[ 0.98559368 0.11183557 -0.1268775 -51.35478743] [ -0.09618941 0.98768607 0.12338487 3.91274379] [ 0.13911395 -0.10940308 0.98421455 -5.06195982] [ 0. 0. 0. 1. ]] SLAMing on 57.953741732 meters Centerline goodness [0,1] 0.6099152665271707 Centerline is valid? [False, False] Translation: X:-51.42, Y:3.92, Z:-5.07 [[ 0.98659013 0.11013934 -0.12045431 -51.42134611] [ -0.09548599 0.98801032 0.12131794 3.91975555] [ 0.13237198 -0.10818938 0.98527799 -5.06948201] [ 0. 0. 0. 1. ]] SLAMing on 57.983741732 meters Centerline goodness [0,1] 0.6065358112340781 Centerline is valid? [False, False] Translation: X:-51.53, Y:3.93, Z:-5.08 [[ 0.98787541 0.10961068 -0.10994393 -51.52642892] [ -0.09634218 0.98814944 0.11949421 3.93094926] [ 0.12173888 -0.10745316 0.98672867 -5.07820186] [ 0. 0. 0. 1. ]] SLAMing on 58.01374173199999 meters Centerline goodness [0,1] 0.5911418655832064 Centerline is valid? [False, False] Translation: X:-51.64, Y:3.94, Z:-5.08 [[ 0.98959556 0.10694776 -0.09624341 -51.63585218] [ -0.09559975 0.98867734 0.11566243 3.94220975] [ 0.10752352 -0.10525818 0.98861489 -5.08486741] [ 0. 0. 0. 1. ]] SLAMing on 58.043741731999994 meters Centerline goodness [0,1] 0.5906595167389492 Centerline is valid? [False, False] Translation: X:-51.71, Y:3.95, Z:-5.09 [[ 0.9907265 0.10685164 -0.08392697 -51.71004192] [ -0.09680226 0.98853904 0.11584422 3.9504088 ] [ 0.09534323 -0.10664562 0.9897153 -5.08736198] [ 0. 0. 0. 1. ]] SLAMing on 58.073741731999995 meters Centerline goodness [0,1] 0.5810907358894974 Centerline is valid? [False, False] Translation: X:-51.82, Y:3.96, Z:-5.09 [[ 0.99245724 0.10434028 -0.06435623 -51.82399727] [ -0.09669699 0.98896816 0.11221259 3.96200749] [ 0.07535456 -0.10514315 0.99159801 -5.08923876] [ 0. 0. 0. 1. ]] SLAMing on 58.103741731999996 meters Centerline goodness [0,1] 0.5664603721866501 Centerline is valid? [False, False] Translation: X:-51.93, Y:3.97, Z:-5.09 [[ 9.94206934e-01 9.97238828e-02 -4.00963736e-02 -5.19334721e+01] [-9.48886422e-02 9.89572229e-01 1.08364886e-01 3.97303952e+00] [ 5.04848250e-02 -1.03932430e-01 9.93302236e-01 -5.08793215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.133741732 meters Centerline goodness [0,1] 0.5664603721866501 Centerline is valid? [False, False] Translation: X:-51.93, Y:3.97, Z:-5.09 [[ 9.94236935e-01 9.94178147e-02 -4.01125221e-02 -5.19336898e+01] [-9.45843802e-02 9.89605799e-01 1.08324320e-01 3.97324531e+00] [ 5.04649516e-02 -1.03906022e-01 9.93306009e-01 -5.08793654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.163741732 meters Centerline goodness [0,1] 0.563164837035146 Centerline is valid? [False, False] Translation: X:-52.00, Y:3.98, Z:-5.08 [[ 9.95445344e-01 9.24504497e-02 -2.32697608e-02 -5.19993026e+01] [-8.94724087e-02 9.90251053e-01 1.06759261e-01 3.98076104e+00] [ 3.29128469e-02 -1.04191008e-01 9.94012564e-01 -5.08425082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19374173199999 meters Centerline goodness [0,1] 0.5794686199722607 Centerline is valid? [False, False] Translation: X:-52.10, Y:3.99, Z:-5.07 [[ 9.96216265e-01 8.51738111e-02 1.72793138e-02 -5.21044646e+01] [-8.64926871e-02 9.91086533e-01 1.01323736e-01 3.99053551e+00] [-8.49516641e-03 -1.02434888e-01 9.94703436e-01 -5.07310477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22374173199999 meters Centerline goodness [0,1] 0.5860255772185317 Centerline is valid? [False, False] Translation: X:-52.13, Y:3.99, Z:-5.06 [[ 9.96158040e-01 7.83460903e-02 3.91286388e-02 -5.21339730e+01] [-8.19145284e-02 9.91615616e-01 9.99423834e-02 3.99348460e+00] [-3.09704743e-02 -1.02763613e-01 9.94223551e-01 -5.06285257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.253741731999995 meters Centerline goodness [0,1] 0.6153128727903698 Centerline is valid? [False, False] Translation: X:-52.16, Y:4.00, Z:-5.05 [[ 0.99442228 0.07376514 0.07538585 -52.16289562] [ -0.08084294 0.99213099 0.09560603 3.99547734] [ -0.06774025 -0.10116718 0.99256056 -5.04634889] [ 0. 0. 0. 1. ]] SLAMing on 58.283741731999996 meters Centerline goodness [0,1] 0.6417825840491868 Centerline is valid? [False, False] Translation: X:-52.18, Y:4.00, Z:-5.03 [[ 0.99121174 0.06552152 0.11491829 -52.17820768] [ -0.07644062 0.99269604 0.09333489 3.99591065] [ -0.10796349 -0.10129907 0.98898048 -5.02936435] [ 0. 0. 0. 1. ]] SLAMing on 58.313741732 meters Centerline goodness [0,1] 0.6550911273600349 Centerline is valid? [False, False] Translation: X:-52.18, Y:4.00, Z:-5.01 [[ 0.98663602 0.05774027 0.15236607 -52.18051195] [ -0.07240279 0.99307631 0.09250555 3.99574168] [ -0.14596984 -0.10230103 0.98398542 -5.01119636] [ 0. 0. 0. 1. ]] SLAMing on 58.343741732 meters Centerline goodness [0,1] 0.6541543189551092 Centerline is valid? [False, False] Translation: X:-52.18, Y:3.99, Z:-5.01 [[ 0.98510278 0.05395502 0.16328309 -52.17848869] [ -0.06948355 0.99342999 0.09093349 3.9938073 ] [ -0.157304 -0.10092432 0.98237963 -5.0101982 ] [ 0. 0. 0. 1. ]] SLAMing on 58.37374173199999 meters Centerline goodness [0,1] 0.6543080254609883 Centerline is valid? [False, False] Translation: X:-52.17, Y:3.99, Z:-5.01 [[ 9.86282711e-01 5.02120827e-02 1.57242361e-01 -5.21679340e+01] [-6.54141547e-02 9.93510759e-01 9.30449365e-02 3.99184792e+00] [-1.51549997e-01 -1.02054488e-01 9.83167066e-01 -5.01190795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40374173199999 meters Centerline goodness [0,1] 0.6482883511880086 Centerline is valid? [False, False] Translation: X:-52.16, Y:3.99, Z:-5.01 [[ 9.86977780e-01 4.55965878e-02 1.54258917e-01 -5.21555498e+01] [-6.07112087e-02 9.93649635e-01 9.47341093e-02 3.98984829e+00] [-1.48959764e-01 -1.02865706e-01 9.83478335e-01 -5.01204132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.433741731999994 meters Centerline goodness [0,1] 0.6482048366641886 Centerline is valid? [False, False] Translation: X:-52.15, Y:3.99, Z:-5.01 [[ 9.86996555e-01 4.48660891e-02 1.54352955e-01 -5.21493570e+01] [-5.97474203e-02 9.93856545e-01 9.31633712e-02 3.98845600e+00] [-1.49224819e-01 -1.01174117e-01 9.83613619e-01 -5.01452904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3067.57 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%| | 0/1948 [00:00