+ python -m lidar_slam --no-model /working/71489b8b-d63b-45f5-ab9e-23898dd7c761 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/71489b8b-d63b-45f5-ab9e-23898dd7c761 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 0.007806574 Adjusted end_distance from 9.223372036854776e+18 to 34.815966574 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.007806574 meters Centerline goodness [0,1] 0.9924867443241141 Centerline is valid? [0, True] SLAMing on 0.037806573999999996 meters Centerline goodness [0,1] 0.9922124110865833 Centerline is valid? [True, True] Translation: X:-0.03, Y:0.00, Z:0.00 [[ 9.99996999e-01 1.59523986e-03 -1.85912912e-03 -2.98470261e-02] [-1.59535511e-03 9.99998726e-01 -6.05110666e-05 1.96670223e-03] [ 1.85903022e-03 6.34768561e-05 9.99998270e-01 4.22615118e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.067806574 meters Centerline goodness [0,1] 0.9915355465853859 Centerline is valid? [True, True] Translation: X:-0.06, Y:0.00, Z:-0.00 [[ 9.99993859e-01 2.26789834e-03 -2.67166715e-03 -5.81416476e-02] [-2.26812908e-03 9.99997424e-01 -8.33384369e-05 6.99927666e-04] [ 2.67147126e-03 8.93976111e-05 9.99996428e-01 -2.66514914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09780657399999998 meters Centerline goodness [0,1] 0.99392583776241 Centerline is valid? [True, True] Translation: X:-0.09, Y:-0.00, Z:-0.01 [[ 9.99998860e-01 1.33516450e-03 -7.05697977e-04 -8.65591545e-02] [-1.33517962e-03 9.99999108e-01 -2.09629480e-05 -1.78775782e-03] [ 7.05669359e-04 2.19051576e-05 9.99999751e-01 -8.09563301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12780657399999998 meters Centerline goodness [0,1] 0.9942374974274542 Centerline is valid? [True, True] Translation: X:-0.12, Y:-0.01, Z:-0.01 [[ 9.99999811e-01 -3.46770779e-04 -5.07442728e-04 -1.15281946e-01] [ 3.46762739e-04 9.99999940e-01 -1.59319621e-05 -1.22749124e-02] [ 5.07448222e-04 1.57559969e-05 9.99999871e-01 -6.33825841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15780657399999998 meters Centerline goodness [0,1] 0.9942107532179589 Centerline is valid? [True, True] Translation: X:-0.14, Y:-0.02, Z:-0.01 [[ 9.99998194e-01 -1.60464559e-03 -1.01874339e-03 -1.44478054e-01] [ 1.60461320e-03 9.99998712e-01 -3.26120459e-05 -1.50974169e-02] [ 1.01879441e-03 3.09772979e-05 9.99999481e-01 -5.71426396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18780657399999998 meters Centerline goodness [0,1] 0.9947153888695438 Centerline is valid? [True, True] Translation: X:-0.17, Y:-0.01, Z:-0.00 [[ 9.99992889e-01 -3.60633836e-03 1.10295200e-03 -1.73677242e-01] [ 3.60630036e-03 9.99993497e-01 3.64360331e-05 -1.03891637e-02] [-1.10307623e-03 -3.24581978e-05 9.99999391e-01 -4.40515569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21780657399999998 meters Centerline goodness [0,1] 0.9951239500102438 Centerline is valid? [True, True] Translation: X:-0.20, Y:-0.02, Z:-0.00 [[ 9.99985786e-01 -3.54556830e-03 3.98213468e-03 -2.04115731e-01] [ 3.54508769e-03 9.99993708e-01 1.27744393e-04 -1.60382573e-02] [-3.98256255e-03 -1.13625561e-04 9.99992063e-01 -9.50820944e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24780657399999997 meters Centerline goodness [0,1] 0.9945233016081392 Centerline is valid? [True, True] Translation: X:-0.24, Y:-0.02, Z:-0.00 [[ 9.99984574e-01 -4.65736544e-03 3.02671491e-03 -2.36354717e-01] [ 4.65709954e-03 9.99989151e-01 9.48936352e-05 -1.80713091e-02] [-3.02712403e-03 -8.07964587e-05 9.99995415e-01 -3.24073745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.277806574 meters Centerline goodness [0,1] 0.9949747708783854 Centerline is valid? [True, True] Translation: X:-0.27, Y:-0.03, Z:-0.01 [[ 9.99980410e-01 -6.08399176e-03 -1.47104898e-03 -2.67974570e-01] [ 6.08392273e-03 9.99981491e-01 -5.13908215e-05 -2.61380609e-02] [ 1.47133442e-03 4.24400665e-05 9.99998917e-01 -1.47093479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30780657399999994 meters Centerline goodness [0,1] 0.9951588750538473 Centerline is valid? [True, True] Translation: X:-0.30, Y:-0.02, Z:-0.01 [[ 9.99982884e-01 -5.83467411e-03 -4.34445050e-04 -2.96557879e-01] [ 5.83466892e-03 9.99982978e-01 -1.32247797e-05 -2.35220580e-02] [ 4.34514818e-04 1.06897103e-05 9.99999906e-01 -1.16538613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33780657399999997 meters Centerline goodness [0,1] 0.9956721499774378 Centerline is valid? [True, True] Translation: X:-0.33, Y:-0.02, Z:-0.01 [[ 9.99988171e-01 -4.79725108e-03 8.02263215e-04 -3.25391683e-01] [ 4.79723094e-03 9.99988493e-01 2.70268541e-05 -2.18613262e-02] [-8.02383638e-04 -2.31778925e-05 9.99999678e-01 -1.09045225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36780657399999994 meters Centerline goodness [0,1] 0.9956645023424016 Centerline is valid? [True, True] Translation: X:-0.36, Y:-0.02, Z:-0.01 [[ 9.99995205e-01 -2.63347129e-03 1.62946908e-03 -3.55711778e-01] [ 2.63338867e-03 9.99996531e-01 5.28460767e-05 -1.52381930e-02] [-1.62960260e-03 -4.85547979e-05 9.99998671e-01 -7.83683422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39780657399999997 meters Centerline goodness [0,1] 0.996518550563418 Centerline is valid? [True, True] Translation: X:-0.39, Y:-0.01, Z:-0.01 [[ 9.99997078e-01 -5.75695885e-04 2.34802708e-03 -3.87818080e-01] [ 5.75524199e-04 9.99999832e-01 7.37942425e-05 -9.31389575e-03] [-2.34806917e-03 -7.24426805e-05 9.99997241e-01 -1.14450692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42780657399999994 meters Centerline goodness [0,1] 0.9961177413060001 Centerline is valid? [True, True] Translation: X:-0.42, Y:-0.01, Z:-0.01 [[ 9.99994993e-01 3.04391705e-03 8.65682997e-04 -4.19443443e-01] [-3.04394198e-03 9.99995367e-01 2.74759714e-05 -9.05783036e-03] [-8.65595351e-04 -3.01109226e-05 9.99999625e-01 -1.27488860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45780657399999997 meters Centerline goodness [0,1] 0.9948524435511987 Centerline is valid? [True, True] Translation: X:-0.45, Y:-0.02, Z:-0.01 [[ 9.99989542e-01 4.52467441e-03 6.65010911e-04 -4.50704911e-01] [-4.52468878e-03 9.99989763e-01 2.01091630e-05 -1.62358201e-02] [-6.64913116e-04 -2.31179201e-05 9.99999779e-01 -1.42619684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48780657399999994 meters Centerline goodness [0,1] 0.9960110210963523 Centerline is valid? [True, True] Translation: X:-0.48, Y:-0.01, Z:-0.02 [[ 9.99989972e-01 4.47368517e-03 2.02815459e-04 -4.83487608e-01] [-4.47368643e-03 9.99989993e-01 5.77507862e-06 -1.29905494e-02] [-2.02787594e-04 -6.68235348e-06 9.99999979e-01 -1.62995065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5178065739999999 meters Centerline goodness [0,1] 0.9973114969420843 Centerline is valid? [True, True] Translation: X:-0.51, Y:-0.01, Z:-0.02 [[ 9.99993704e-01 3.01581358e-03 1.87002470e-03 -5.13817373e-01] [-3.01593427e-03 9.99995450e-01 6.17187202e-05 -7.11208957e-03] [-1.86983006e-03 -6.73582032e-05 9.99998250e-01 -1.63449810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5478065739999999 meters Centerline goodness [0,1] 0.9972080228285193 Centerline is valid? [True, True] Translation: X:-0.55, Y:-0.00, Z:-0.01 [[ 9.99987369e-01 2.74884273e-03 4.20790569e-03 -5.46560890e-01] [-2.74945096e-03 9.99996211e-01 1.38766067e-04 -2.66608113e-03] [-4.20750830e-03 -1.50333745e-04 9.99991137e-01 -1.31299316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5778065739999999 meters Centerline goodness [0,1] 0.996649779375715 Centerline is valid? [True, True] Translation: X:-0.58, Y:-0.01, Z:-0.01 [[ 9.99982554e-01 3.19166541e-03 4.97049956e-03 -5.77708351e-01] [-3.19252276e-03 9.99994890e-01 1.64562419e-04 -9.59429131e-03] [-4.96994894e-03 -1.80427981e-04 9.99987633e-01 -1.12999757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6078065739999998 meters Centerline goodness [0,1] 0.996085824948255 Centerline is valid? [True, True] Translation: X:-0.61, Y:-0.01, Z:-0.01 [[ 9.99988282e-01 3.52016681e-03 3.32329891e-03 -6.09723915e-01] [-3.52055111e-03 9.99993797e-01 1.09795841e-04 -1.26441773e-02] [-3.32289179e-03 -1.21494398e-04 9.99994472e-01 -9.77610473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6378065739999998 meters Centerline goodness [0,1] 0.9963689328355148 Centerline is valid? [True, True] Translation: X:-0.64, Y:-0.01, Z:-0.01 [[ 9.99991052e-01 2.79102102e-03 3.17914719e-03 -6.40985794e-01] [-2.79137011e-03 9.99996099e-01 1.05376465e-04 -1.37528930e-02] [-3.17884068e-03 -1.14249699e-04 9.99994941e-01 -8.65023454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6678065739999999 meters Centerline goodness [0,1] 0.9974550007183466 Centerline is valid? [True, True] Translation: X:-0.67, Y:-0.01, Z:-0.02 [[ 9.99990593e-01 3.16253218e-03 2.96844843e-03 -6.73414642e-01] [-3.16283794e-03 9.99994993e-01 9.83147785e-05 -8.82299032e-03] [-2.96812264e-03 -1.07702575e-04 9.99995589e-01 -1.58418683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6978065739999999 meters Centerline goodness [0,1] 0.9966034007163737 Centerline is valid? [True, True] Translation: X:-0.70, Y:-0.01, Z:-0.02 [[ 9.99988995e-01 4.31640358e-03 1.83833569e-03 -7.04989222e-01] [-4.31652241e-03 9.99990682e-01 6.06795571e-05 -1.26770531e-02] [-1.83805664e-03 -6.86141065e-05 9.99998308e-01 -1.57743477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7278065739999998 meters Centerline goodness [0,1] 0.9965514410050086 Centerline is valid? [True, True] Translation: X:-0.74, Y:-0.01, Z:-0.01 [[ 9.99980641e-01 5.19368997e-03 3.42693805e-03 -7.37434790e-01] [-5.19411159e-03 9.99986504e-01 1.14143299e-04 -9.92407118e-03] [-3.42629897e-03 -1.31940988e-04 9.99994122e-01 -1.10776970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7578065739999998 meters Centerline goodness [0,1] 0.996665507436123 Centerline is valid? [True, True] Translation: X:-0.77, Y:-0.01, Z:-0.00 [[ 9.99974919e-01 4.19098945e-03 5.70934704e-03 -7.68027052e-01] [-4.19214706e-03 9.99991195e-01 1.90804727e-04 -9.58821642e-03] [-5.70849710e-03 -2.14734364e-04 9.99983683e-01 -4.71347417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7878065739999999 meters Centerline goodness [0,1] 0.9973407519535246 Centerline is valid? [True, True] Translation: X:-0.80, Y:-0.01, Z:-0.01 [[ 9.99973218e-01 4.04851911e-03 6.09700584e-03 -8.00432349e-01] [-4.04984399e-03 9.99991778e-01 2.04970006e-04 -7.05461332e-03] [-6.09612589e-03 -2.29656439e-04 9.99981392e-01 -9.49982201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8178065739999998 meters Centerline goodness [0,1] 0.9974510771254728 Centerline is valid? [True, True] Translation: X:-0.83, Y:-0.01, Z:-0.01 [[ 9.99971791e-01 4.97688315e-03 5.62563319e-03 -8.33057535e-01] [-4.97802684e-03 9.99987592e-01 1.89317040e-04 -7.91943462e-03] [-5.62462118e-03 -2.17316253e-04 9.99984158e-01 -9.10386281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8478065739999998 meters Centerline goodness [0,1] 0.9965692216036321 Centerline is valid? [True, True] Translation: X:-0.87, Y:-0.01, Z:-0.01 [[ 9.99982157e-01 4.52991394e-03 3.89425626e-03 -8.65214611e-01] [-4.53045862e-03 9.99989729e-01 1.31056401e-04 -1.20634557e-02] [-3.89362259e-03 -1.48696830e-04 9.99992409e-01 -8.38794431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8778065739999998 meters Centerline goodness [0,1] 0.9962519201228879 Centerline is valid? [True, True] Translation: X:-0.90, Y:-0.01, Z:-0.00 [[ 9.99988217e-01 3.12178593e-03 3.71766374e-03 -8.96224880e-01] [-3.12227469e-03 9.99995118e-01 1.25673614e-04 -1.39045434e-02] [-3.71725327e-03 -1.37279700e-04 9.99993082e-01 -4.15732949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9078065739999999 meters Centerline goodness [0,1] 0.9959636110314306 Centerline is valid? [True, True] Translation: X:-0.93, Y:-0.01, Z:-0.00 [[ 9.99986307e-01 1.23781704e-03 5.08469380e-03 -9.28697034e-01] [-1.23870890e-03 9.99999218e-01 1.72255196e-04 -1.48742223e-02] [-5.08447660e-03 -1.78551293e-04 9.99987058e-01 -2.09190099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9378065739999998 meters Centerline goodness [0,1] 0.9958123097665107 Centerline is valid? [True, True] Translation: X:-0.96, Y:-0.02, Z:0.00 [[ 9.99983680e-01 8.39059772e-04 5.65114931e-03 -9.61144520e-01] [-8.40157838e-04 9.99999629e-01 1.91937270e-04 -1.55136619e-02] [-5.65098617e-03 -1.96681995e-04 9.99984014e-01 6.59067379e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9678065739999998 meters Centerline goodness [0,1] 0.9958123097665107 Centerline is valid? [True, True] Translation: X:-0.99, Y:-0.02, Z:0.00 [[ 9.99983762e-01 7.34807536e-04 5.65114473e-03 -9.93681755e-01] [-7.35904704e-04 9.99999711e-01 1.92072785e-04 -1.64948826e-02] [-5.65100196e-03 -1.96228370e-04 9.99984014e-01 1.09004308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9978065739999998 meters Centerline goodness [0,1] 0.9961776371221307 Centerline is valid? [True, True] Translation: X:-1.03, Y:-0.02, Z:0.00 [[ 9.99984900e-01 2.34767829e-04 5.49050423e-03 -1.02531368e+00] [-2.35791899e-04 9.99999955e-01 1.85870020e-04 -1.97502533e-02] [-5.49046034e-03 -1.87161830e-04 9.99984910e-01 3.65898790e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0278065739999998 meters Centerline goodness [0,1] 0.9953009254509265 Centerline is valid? [True, True] Translation: X:-1.06, Y:-0.02, Z:0.00 [[ 9.99989583e-01 9.58535120e-04 4.46261884e-03 -1.05739256e+00] [-9.59221856e-04 9.99999528e-01 1.51748469e-04 -1.53349007e-02] [-4.46247128e-03 -1.56027530e-04 9.99990031e-01 4.16419796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0578065739999998 meters Centerline goodness [0,1] 0.9944314785243418 Centerline is valid? [True, True] Translation: X:-1.09, Y:-0.01, Z:0.01 [[ 9.99983739e-01 6.95517876e-04 5.66016462e-03 -1.08973686e+00] [-6.96639468e-04 9.99999738e-01 1.96186150e-04 -8.92602110e-03] [-5.66002669e-03 -2.00126054e-04 9.99983962e-01 6.62149791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0878065739999998 meters Centerline goodness [0,1] 0.9944621546509727 Centerline is valid? [True, True] Translation: X:-1.12, Y:-0.01, Z:0.01 [[ 9.99981458e-01 1.28528149e-03 5.95246304e-03 -1.12096354e+00] [-1.28653217e-03 9.99999151e-01 2.06287674e-04 -1.04041941e-02] [-5.95219285e-03 -2.13941884e-04 9.99982263e-01 7.21449873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1178065739999998 meters Centerline goodness [0,1] 0.9945444064725986 Centerline is valid? [True, True] Translation: X:-1.15, Y:-0.01, Z:0.00 [[ 9.99988553e-01 1.67015026e-03 4.48387234e-03 -1.15375479e+00] [-1.67086655e-03 9.99998592e-01 1.56008005e-04 -8.73708753e-03] [-4.48360547e-03 -1.63498171e-04 9.99989935e-01 4.80517834e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1478065739999999 meters Centerline goodness [0,1] 0.9934422198085948 Centerline is valid? [True, True] Translation: X:-1.19, Y:-0.01, Z:0.01 [[ 9.99987047e-01 2.57092570e-03 4.39276560e-03 -1.18616073e+00] [-2.57162420e-03 9.99996682e-01 1.53370016e-04 -7.23543243e-03] [-4.39235672e-03 -1.64664572e-04 9.99990340e-01 6.70034734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1778065739999999 meters Centerline goodness [0,1] 0.9938250076930967 Centerline is valid? [True, True] Translation: X:-1.22, Y:-0.00, Z:0.01 [[ 9.99969711e-01 5.32295896e-03 5.67832027e-03 -1.21688868e+00] [-5.32417555e-03 9.99985807e-01 1.99158456e-04 -4.94315940e-03] [-5.67717957e-03 -2.29384798e-04 9.99983858e-01 1.06722341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2078065739999997 meters Centerline goodness [0,1] 0.9924186390532544 Centerline is valid? [True, True] Translation: X:-1.25, Y:-0.00, Z:0.01 [[ 9.99952326e-01 7.62134256e-03 6.10410473e-03 -1.24730411e+00] [-7.62279344e-03 9.99970923e-01 2.14459366e-04 -2.25234722e-03] [-6.10229277e-03 -2.60979471e-04 9.99981347e-01 1.49420001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2378065739999997 meters Centerline goodness [0,1] 0.9941992743968681 Centerline is valid? [True, True] Translation: X:-1.28, Y:0.00, Z:0.01 [[ 9.99938798e-01 9.28660435e-03 6.01319767e-03 -1.28009111e+00] [-9.28803991e-03 9.99956843e-01 2.10853910e-04 2.46828289e-03] [-6.01098004e-03 -2.66691825e-04 9.99981898e-01 1.39291771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2678065739999997 meters Centerline goodness [0,1] 0.9929088188879552 Centerline is valid? [True, True] Translation: X:-1.31, Y:0.00, Z:0.01 [[ 9.99939359e-01 9.87202437e-03 4.88078560e-03 -1.31282278e+00] [-9.87297826e-03 9.99951246e-01 1.71381647e-04 2.33830005e-03] [-4.87885576e-03 -2.19559145e-04 9.99988074e-01 1.48571562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2978065739999998 meters Centerline goodness [0,1] 0.9922768819965082 Centerline is valid? [True, True] Translation: X:-1.34, Y:0.01, Z:0.02 [[ 9.99909716e-01 1.23296879e-02 5.34207051e-03 -1.34463901e+00] [-1.23308701e-02 9.99923954e-01 1.88418999e-04 6.39765661e-03] [-5.33934112e-03 -2.54274366e-04 9.99985713e-01 1.51821539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3278065739999998 meters Centerline goodness [0,1] 0.9933795195539887 Centerline is valid? [True, True] Translation: X:-1.38, Y:0.01, Z:0.02 [[ 9.99880071e-01 1.42969130e-02 5.95337475e-03 -1.37530371e+00] [-1.42984197e-02 9.99897750e-01 2.10608445e-04 7.77433733e-03] [-5.94975497e-03 -2.95707038e-04 9.99982256e-01 1.59512694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3578065739999998 meters Centerline goodness [0,1] 0.9933754460806432 Centerline is valid? [True, True] Translation: X:-1.41, Y:0.01, Z:0.02 [[ 9.99828534e-01 1.77446021e-02 5.29440492e-03 -1.40572902e+00] [-1.77458430e-02 9.99842513e-01 1.87497013e-04 1.12143794e-02] [-5.29024406e-03 -2.81418542e-04 9.99985967e-01 1.55338653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3878065739999998 meters Centerline goodness [0,1] 0.9943442403800671 Centerline is valid? [True, True] Translation: X:-1.44, Y:0.01, Z:0.01 [[ 9.99796894e-01 1.96688494e-02 4.39405467e-03 -1.43645045e+00] [-1.96697214e-02 9.99806520e-01 1.55301012e-04 8.69549357e-03] [-4.39014992e-03 -2.41699301e-04 9.99990334e-01 1.46058717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4178065739999997 meters Centerline goodness [0,1] 0.991387992518447 Centerline is valid? [True, True] Translation: X:-1.47, Y:0.01, Z:0.02 [[ 9.99724429e-01 2.30984581e-02 4.18666135e-03 -1.46760276e+00] [-2.30992808e-02 9.99733165e-01 1.48254039e-04 9.69868283e-03] [-4.18211976e-03 -2.44922051e-04 9.99991225e-01 1.99129632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4478065739999997 meters Centerline goodness [0,1] 0.992636954693685 Centerline is valid? [True, True] Translation: X:-1.50, Y:0.02, Z:0.03 [[ 9.99654418e-01 2.57767727e-02 5.15773563e-03 -1.49961895e+00] [-2.57780562e-02 9.99667674e-01 1.82520942e-04 1.77391811e-02] [-5.15131678e-03 -3.15414265e-04 9.99986682e-01 2.51564405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4778065739999997 meters Centerline goodness [0,1] 0.9946275145077614 Centerline is valid? [True, True] Translation: X:-1.53, Y:0.02, Z:0.02 [[ 9.99647049e-01 2.57938646e-02 6.36032012e-03 -1.53152937e+00] [-2.57958191e-02 9.99667207e-01 2.25437086e-04 2.01636849e-02] [-6.35238855e-03 -3.89427186e-04 9.99979748e-01 1.96709836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5078065739999997 meters Centerline goodness [0,1] 0.9930795137177592 Centerline is valid? [True, True] Translation: X:-1.56, Y:0.02, Z:0.02 [[ 9.99625529e-01 2.64526100e-02 7.00441679e-03 -1.56315436e+00] [-2.64549929e-02 9.99649975e-01 2.47753944e-04 1.90159104e-02] [-6.99541133e-03 -4.32962964e-04 9.99975438e-01 2.33567496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5378065739999998 meters Centerline goodness [0,1] 0.9941169235815022 Centerline is valid? [True, True] Translation: X:-1.60, Y:0.01, Z:0.02 [[ 9.99631010e-01 2.68942565e-02 3.81353985e-03 -1.59550206e+00] [-2.68949640e-02 9.99638256e-01 1.34341767e-04 1.10146289e-02] [-3.80854730e-03 -2.36857213e-04 9.99992719e-01 2.22205608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5678065739999998 meters Centerline goodness [0,1] 0.993290243151739 Centerline is valid? [True, True] Translation: X:-1.63, Y:0.02, Z:0.02 [[ 9.99609679e-01 2.75565993e-02 4.59594220e-03 -1.62840236e+00] [-2.75576464e-02 9.99620202e-01 1.64665797e-04 1.70982644e-02] [-4.58965905e-03 -2.91254875e-04 9.99989425e-01 2.33660818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5978065739999998 meters Centerline goodness [0,1] 0.9921634595659131 Centerline is valid? [True, True] Translation: X:-1.66, Y:0.02, Z:0.03 [[ 9.99593447e-01 2.78529607e-02 6.09541310e-03 -1.65933690e+00] [-2.78548158e-02 9.99611955e-01 2.19650699e-04 1.91198214e-02] [-6.08692988e-03 -3.89348008e-04 9.99981399e-01 2.94319975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6278065739999996 meters Centerline goodness [0,1] 0.9929428224595189 Centerline is valid? [True, True] Translation: X:-1.69, Y:0.02, Z:0.03 [[ 9.99600851e-01 2.76696499e-02 5.70349489e-03 -1.69140001e+00] [-2.76712778e-02 9.99617056e-01 2.06702550e-04 2.05736282e-02] [-5.69559138e-03 -3.64443037e-04 9.99983714e-01 3.12668177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6578065739999996 meters Centerline goodness [0,1] 0.9934233512135973 Centerline is valid? [True, True] Translation: X:-1.72, Y:0.01, Z:0.02 [[ 9.99651824e-01 2.61958313e-02 3.16370053e-03 -1.72331958e+00] [-2.61963242e-02 9.99656811e-01 1.14475948e-04 9.73180031e-03] [-3.15961599e-03 -1.97313415e-04 9.99994989e-01 2.37319035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6878065739999997 meters Centerline goodness [0,1] 0.9934758524475812 Centerline is valid? [True, True] Translation: X:-1.76, Y:0.01, Z:0.02 [[ 9.99665623e-01 2.57326247e-02 2.54429026e-03 -1.75542816e+00] [-2.57329421e-02 9.99668849e-01 9.20761766e-05 6.85264491e-03] [-2.54107835e-03 -1.57517462e-04 9.99996759e-01 2.48797246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7178065739999997 meters Centerline goodness [0,1] 0.9928605133044744 Centerline is valid? [True, True] Translation: X:-1.79, Y:0.01, Z:0.04 [[ 9.99673036e-01 2.45572824e-02 7.12470270e-03 -1.78703390e+00] [-2.45597570e-02 9.99698330e-01 2.60028111e-04 1.23373976e-02] [-7.11616780e-03 -4.34924058e-04 9.99974585e-01 3.60734090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7478065739999997 meters Centerline goodness [0,1] 0.9925126851202508 Centerline is valid? [True, True] Translation: X:-1.82, Y:0.02, Z:0.04 [[ 9.99641153e-01 2.57433647e-02 7.40563966e-03 -1.81996075e+00] [-2.57460722e-02 9.99668478e-01 2.70475756e-04 1.73181404e-02] [-7.39622157e-03 -4.61044830e-04 9.99972541e-01 3.88652362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7778065739999998 meters Centerline goodness [0,1] 0.9938883077995857 Centerline is valid? [True, True] Translation: X:-1.85, Y:0.02, Z:0.03 [[ 9.99637628e-01 2.64553231e-02 4.97273619e-03 -1.85202283e+00] [-2.64565466e-02 9.99649948e-01 1.80414751e-04 1.71933550e-02] [-4.96622254e-03 -3.11910800e-04 9.99987620e-01 3.08671128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8078065739999998 meters Centerline goodness [0,1] 0.9936870244704915 Centerline is valid? [True, True] Translation: X:-1.88, Y:0.00, Z:0.03 [[ 9.99679297e-01 2.51941537e-02 2.56094415e-03 -1.88228556e+00] [-2.51944749e-02 9.99682564e-01 9.32464128e-05 2.76832190e-03] [-2.55778195e-03 -1.57738152e-04 9.99996716e-01 2.69643788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8378065739999996 meters Centerline goodness [0,1] 0.9935385628446786 Centerline is valid? [True, True] Translation: X:-1.91, Y:0.00, Z:0.03 [[ 9.99708504e-01 2.40412364e-02 2.21962497e-03 -1.91423028e+00] [-2.40414762e-02 9.99710959e-01 8.14313436e-05 8.44499297e-04] [-2.21702569e-03 -1.34770668e-04 9.99997533e-01 3.08427511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8678065739999996 meters Centerline goodness [0,1] 0.9934612388800066 Centerline is valid? [True, True] Translation: X:-1.95, Y:-0.00, Z:0.04 [[ 9.99735034e-01 2.21633839e-02 6.21665191e-03 -1.94503504e+00] [-2.21652442e-02 9.99754294e-01 2.30501397e-04 -8.75419203e-04] [-6.21001576e-03 -3.68233930e-04 9.99980650e-01 4.40780193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8978065739999996 meters Centerline goodness [0,1] 0.9927801546815863 Centerline is valid? [True, True] Translation: X:-1.98, Y:-0.00, Z:0.04 [[ 9.99730924e-01 2.14967267e-02 8.71611603e-03 -1.97675925e+00] [-2.15003525e-02 9.99768789e-01 3.22495788e-04 -2.26052427e-03] [-8.70716816e-03 -5.09808579e-04 9.99961962e-01 4.23216309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9278065739999997 meters Centerline goodness [0,1] 0.9922797363612098 Centerline is valid? [True, True] Translation: X:-2.01, Y:-0.01, Z:0.04 [[ 9.99772825e-01 2.03506355e-02 6.33639810e-03 -2.00739097e+00] [-2.03525324e-02 9.99792838e-01 2.35014774e-04 -1.09314127e-02] [-6.33030274e-03 -3.63923132e-04 9.99979897e-01 4.45807846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9578065739999997 meters Centerline goodness [0,1] 0.9928763523639424 Centerline is valid? [True, True] Translation: X:-2.04, Y:-0.01, Z:0.04 [[ 9.99745557e-01 2.23098997e-02 3.33022223e-03 -2.03901936e+00] [-2.23104385e-02 9.99751083e-01 1.24732254e-04 -1.01928838e-02] [-3.32661052e-03 -1.98999235e-04 9.99994447e-01 3.96886963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9878065739999997 meters Centerline goodness [0,1] 0.9942183449240772 Centerline is valid? [True, True] Translation: X:-2.07, Y:-0.01, Z:0.04 [[ 9.99763677e-01 2.17192615e-02 9.29105846e-04 -2.07242407e+00] [-2.17193021e-02 9.99764108e-01 3.36821412e-05 -1.01253527e-02] [-9.28155125e-04 -5.38537119e-05 9.99999568e-01 4.08362605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0178065739999997 meters Centerline goodness [0,1] 0.9938757475492714 Centerline is valid? [True, True] Translation: X:-2.10, Y:-0.01, Z:0.05 [[ 9.99750998e-01 2.15545786e-02 5.77423122e-03 -2.10292310e+00] [-2.15561888e-02 9.99767615e-01 2.16767136e-04 -1.43750187e-02] [-5.76821705e-03 -3.41183579e-04 9.99983305e-01 4.59942337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0478065739999995 meters Centerline goodness [0,1] 0.9939149319783642 Centerline is valid? [True, True] Translation: X:-2.13, Y:-0.02, Z:0.05 [[ 9.99718480e-01 2.25701207e-02 7.31779315e-03 -2.13364047e+00] [-2.25727390e-02 9.99745165e-01 2.75391805e-04 -1.86415523e-02] [-7.30971269e-03 -4.40496912e-04 9.99973187e-01 5.23932404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.077806574 meters Centerline goodness [0,1] 0.9937302790640495 Centerline is valid? [True, True] Translation: X:-2.16, Y:-0.02, Z:0.05 [[ 9.99702197e-01 2.38105977e-02 5.34531662e-03 -2.16397336e+00] [-2.38120231e-02 9.99716433e-01 2.03175329e-04 -2.17556211e-02] [-5.33896314e-03 -3.30397626e-04 9.99985693e-01 5.24477957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1078065739999996 meters Centerline goodness [0,1] 0.9929344588904636 Centerline is valid? [True, True] Translation: X:-2.19, Y:-0.02, Z:0.05 [[ 9.99711743e-01 2.38314788e-02 2.91392908e-03 -2.19489614e+00] [-2.38318959e-02 9.99715974e-01 1.08513648e-04 -2.46426707e-02] [-2.91051541e-03 -1.77926823e-04 9.99995749e-01 4.96868438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.137806574 meters Centerline goodness [0,1] 0.9927499129579945 Centerline is valid? [True, True] Translation: X:-2.23, Y:-0.03, Z:0.05 [[ 9.99698605e-01 2.40482256e-02 4.93790542e-03 -2.22835444e+00] [-2.40494472e-02 9.99710753e-01 1.88151319e-04 -2.68703666e-02] [-4.93195244e-03 -3.06848506e-04 9.99987791e-01 5.13026893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1678065739999997 meters Centerline goodness [0,1] 0.992047387730841 Centerline is valid? [True, True] Translation: X:-2.26, Y:-0.03, Z:0.06 [[ 9.99706288e-01 2.34904940e-02 5.96107162e-03 -2.26055769e+00] [-2.34922716e-02 9.99723992e-01 2.28342987e-04 -3.37164598e-02] [-5.95406243e-03 -3.68315034e-04 9.99982207e-01 5.52624897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1978065739999995 meters Centerline goodness [0,1] 0.9923062719271251 Centerline is valid? [True, True] Translation: X:-2.29, Y:-0.04, Z:0.05 [[ 9.99720130e-01 2.29407541e-02 5.77781671e-03 -2.29215991e+00] [-2.29424101e-02 9.99736764e-01 2.20494350e-04 -3.71131171e-02] [-5.77123748e-03 -3.52989681e-04 9.99983284e-01 5.48709708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2278065739999997 meters Centerline goodness [0,1] 0.9929718465247416 Centerline is valid? [True, True] Translation: X:-2.32, Y:-0.03, Z:0.06 [[ 9.99758691e-01 2.11488911e-02 5.93997679e-03 -2.32478696e+00] [-2.11506254e-02 9.99776274e-01 2.29288702e-04 -3.05996535e-02] [-5.93379866e-03 -3.54867596e-04 9.99982332e-01 5.64658422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2578065739999995 meters Centerline goodness [0,1] 0.9938165084843256 Centerline is valid? [True, True] Translation: X:-2.36, Y:-0.04, Z:0.06 [[ 9.99739157e-01 2.17470835e-02 6.97723365e-03 -2.35549403e+00] [-2.17494927e-02 9.99763415e-01 2.69583398e-04 -4.12270162e-02] [-6.96972030e-03 -4.21264371e-04 9.99975622e-01 6.06952638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2878065739999998 meters Centerline goodness [0,1] 0.9932103170557651 Centerline is valid? [True, True] Translation: X:-2.39, Y:-0.05, Z:0.06 [[ 9.99770582e-01 2.05561738e-02 6.01896912e-03 -2.38579136e+00] [-2.05579530e-02 9.99788636e-01 2.33860653e-04 -5.20545021e-02] [-6.01288965e-03 -3.57544685e-04 9.99981858e-01 6.02897050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3178065739999996 meters Centerline goodness [0,1] 0.9930629233657063 Centerline is valid? [True, True] Translation: X:-2.42, Y:-0.05, Z:0.06 [[ 9.99786169e-01 2.01276776e-02 4.74269222e-03 -2.41763173e+00] [-2.01287763e-02 9.99797379e-01 1.84040963e-04 -5.08287193e-02] [-4.73802693e-03 -2.79466200e-04 9.99988736e-01 5.72858437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.347806574 meters Centerline goodness [0,1] 0.9938851054256908 Centerline is valid? [True, True] Translation: X:-2.45, Y:-0.06, Z:0.06 [[ 9.99804028e-01 1.89865419e-02 5.60510084e-03 -2.44827897e+00] [-1.89880625e-02 9.99819687e-01 2.18194111e-04 -5.69579338e-02] [-5.59994741e-03 -3.24581357e-04 9.99984267e-01 6.41713409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3778065739999996 meters Centerline goodness [0,1] 0.993133748850516 Centerline is valid? [True, True] Translation: X:-2.48, Y:-0.06, Z:0.07 [[ 9.99788023e-01 1.90225464e-02 7.87731300e-03 -2.48022038e+00] [-1.90255556e-02 9.99818951e-01 3.07246651e-04 -6.15195457e-02] [-7.87004220e-03 -4.57051779e-04 9.99968926e-01 6.81697277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4078065739999994 meters Centerline goodness [0,1] 0.9927333591884223 Centerline is valid? [True, True] Translation: X:-2.51, Y:-0.07, Z:0.07 [[ 9.99770307e-01 2.04880862e-02 6.29052854e-03 -2.51193138e+00] [-2.04900366e-02 9.99790027e-01 2.45752104e-04 -6.75778572e-02] [-6.28417270e-03 -3.74588817e-04 9.99980184e-01 6.84401515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4378065739999997 meters Centerline goodness [0,1] 0.993505034619391 Centerline is valid? [True, True] Translation: X:-2.54, Y:-0.07, Z:0.06 [[ 9.99776253e-01 2.06947761e-02 4.37830925e-03 -2.54323226e+00] [-2.06957164e-02 9.99785806e-01 1.69549384e-04 -6.93469893e-02] [-4.37386266e-03 -2.60123694e-04 9.99990401e-01 6.37081079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4678065739999995 meters Centerline goodness [0,1] 0.9927138396228341 Centerline is valid? [True, True] Translation: X:-2.58, Y:-0.07, Z:0.06 [[ 9.99776046e-01 2.07026092e-02 4.38863394e-03 -2.57517022e+00] [-2.07035642e-02 9.99785643e-01 1.72285615e-04 -6.67114721e-02] [-4.38412644e-03 -2.63107395e-04 9.99990355e-01 6.45260517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4978065739999997 meters Centerline goodness [0,1] 0.9934285714285714 Centerline is valid? [True, True] Translation: X:-2.61, Y:-0.07, Z:0.07 [[ 9.99771040e-01 2.05348393e-02 6.01569640e-03 -2.60567092e+00] [-2.05366360e-02 9.99789073e-01 2.37037605e-04 -7.45419427e-02] [-6.00955999e-03 -3.60525499e-04 9.99981877e-01 7.34787407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5278065739999995 meters Centerline goodness [0,1] 0.993066917539267 Centerline is valid? [True, True] Translation: X:-2.64, Y:-0.08, Z:0.07 [[ 9.99733123e-01 2.22082591e-02 6.36200871e-03 -2.63715904e+00] [-2.22103054e-02 9.99753289e-01 2.51162198e-04 -7.50534090e-02] [-6.35486126e-03 -3.92397325e-04 9.99979731e-01 7.36910817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5578065739999998 meters Centerline goodness [0,1] 0.9941209005059712 Centerline is valid? [True, True] Translation: X:-2.67, Y:-0.08, Z:0.08 [[ 9.99707112e-01 2.35924871e-02 5.39294326e-03 -2.66747204e+00] [-2.35939782e-02 9.99721601e-01 2.13019182e-04 -8.41520255e-02] [-5.38641621e-03 -3.40197777e-04 9.99985435e-01 7.51081284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5878065739999996 meters Centerline goodness [0,1] 0.9930475799835932 Centerline is valid? [True, True] Translation: X:-2.70, Y:-0.09, Z:0.08 [[ 9.99716988e-01 2.32375163e-02 5.09535356e-03 -2.69916513e+00] [-2.32388420e-02 9.99729921e-01 2.01132470e-04 -8.94579796e-02] [-5.08930360e-03 -3.19485664e-04 9.99986998e-01 7.52721639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6178065739999994 meters Centerline goodness [0,1] 0.9928026662849899 Centerline is valid? [True, True] Translation: X:-2.73, Y:-0.09, Z:0.08 [[ 9.99725091e-01 2.28535267e-02 5.24001768e-03 -2.73094970e+00] [-2.28549256e-02 9.99738771e-01 2.07236910e-04 -9.31777310e-02] [-5.23391274e-03 -3.26940153e-04 9.99986250e-01 7.92024617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6478065739999996 meters Centerline goodness [0,1] 0.9933928789918023 Centerline is valid? [True, True] Translation: X:-2.76, Y:-0.10, Z:0.08 [[ 9.99743116e-01 2.20825083e-02 5.10537011e-03 -2.76298578e+00] [-2.20838280e-02 9.99756102e-01 2.02245190e-04 -9.80864047e-02] [-5.09965884e-03 -3.14939352e-04 9.99986947e-01 8.05458658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6778065739999994 meters Centerline goodness [0,1] 0.9933080937276169 Centerline is valid? [True, True] Translation: X:-2.79, Y:-0.11, Z:0.09 [[ 9.99752039e-01 2.13506805e-02 6.32523038e-03 -2.79339555e+00] [-2.13526963e-02 9.99771974e-01 2.51321440e-04 -1.09673025e-01] [-6.31842218e-03 -3.86319845e-04 9.99979964e-01 8.62999145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7078065739999997 meters Centerline goodness [0,1] 0.9925046078230596 Centerline is valid? [True, True] Translation: X:-2.83, Y:-0.11, Z:0.09 [[ 9.99744818e-01 2.12858622e-02 7.56372783e-03 -2.82556834e+00] [-2.12887461e-02 9.99773324e-01 3.00961555e-04 -1.13743993e-01] [-7.55560708e-03 -4.61907036e-04 9.99971349e-01 8.71512089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7378065739999995 meters Centerline goodness [0,1] 0.9917943890810125 Centerline is valid? [True, True] Translation: X:-2.86, Y:-0.12, Z:0.09 [[ 9.99751220e-01 2.11357260e-02 7.12600407e-03 -2.85670373e+00] [-2.11382784e-02 9.99776522e-01 2.83047332e-04 -1.19613552e-01] [-7.11842915e-03 -4.33608374e-04 9.99974570e-01 9.12279382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7678065739999997 meters Centerline goodness [0,1] 0.9935662329679336 Centerline is valid? [True, True] Translation: X:-2.89, Y:-0.12, Z:0.09 [[ 9.99737235e-01 2.15266948e-02 7.87790905e-03 -2.88942405e+00] [-2.15298486e-02 9.99768156e-01 3.15748094e-04 -1.20823669e-01] [-7.86928559e-03 -4.85275316e-04 9.99968919e-01 8.98830593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7978065739999995 meters Centerline goodness [0,1] 0.9923990110541264 Centerline is valid? [True, True] Translation: X:-2.92, Y:-0.13, Z:0.09 [[ 9.99748800e-01 2.15655895e-02 6.10432156e-03 -2.92102080e+00] [-2.15674785e-02 9.99767365e-01 2.43798728e-04 -1.25247219e-01] [-6.09764382e-03 -3.75392310e-04 9.99981339e-01 9.26196911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8278065739999994 meters Centerline goodness [0,1] 0.9938917620230484 Centerline is valid? [True, True] Translation: X:-2.95, Y:-0.13, Z:0.09 [[ 9.99767843e-01 2.06975193e-02 5.98940829e-03 -2.95259614e+00] [-2.06993316e-02 9.99785717e-01 2.40747058e-04 -1.30359356e-01] [-5.98314200e-03 -3.64667915e-04 9.99982034e-01 9.28381750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8578065739999996 meters Centerline goodness [0,1] 0.9915586004404209 Centerline is valid? [True, True] Translation: X:-2.98, Y:-0.14, Z:0.10 [[ 9.99725325e-01 2.27455334e-02 5.64937748e-03 -2.98393757e+00] [-2.27471924e-02 9.99741223e-01 2.29564039e-04 -1.38921168e-01] [-5.64269399e-03 -3.58008460e-04 9.99984016e-01 9.67548299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8878065739999994 meters Centerline goodness [0,1] 0.9915586004404209 Centerline is valid? [True, True] Translation: X:-3.02, Y:-0.14, Z:0.10 [[ 9.99727657e-01 2.26428110e-02 5.64938129e-03 -3.01650725e+00] [-2.26444678e-02 9.99743555e-01 2.29471409e-04 -1.40123577e-01] [-5.64273666e-03 -3.57336146e-04 9.99984016e-01 9.71864348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9178065739999997 meters Centerline goodness [0,1] 0.9919702511084323 Centerline is valid? [True, True] Translation: X:-3.05, Y:-0.15, Z:0.10 [[ 9.99735339e-01 2.18783519e-02 7.11270139e-03 -3.04712703e+00] [-2.18809688e-02 9.99760541e-01 2.90307253e-04 -1.49569413e-01] [-7.10464674e-03 -4.45863217e-04 9.99974662e-01 1.01508055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9478065739999995 meters Centerline goodness [0,1] 0.9927522917049468 Centerline is valid? [True, True] Translation: X:-3.08, Y:-0.15, Z:0.10 [[ 9.99777932e-01 1.98386967e-02 7.10724293e-03 -3.07891185e+00] [-1.98412532e-02 9.99803101e-01 2.89375410e-04 -1.47059226e-01] [-7.10010269e-03 -4.30327756e-04 9.99974701e-01 1.01437359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9778065739999997 meters Centerline goodness [0,1] 0.9924784368229571 Centerline is valid? [True, True] Translation: X:-3.11, Y:-0.15, Z:0.10 [[ 9.99785406e-01 1.98661469e-02 5.87184060e-03 -3.10981813e+00] [-1.98679010e-02 9.99802585e-01 2.40537046e-04 -1.54850547e-01] [-5.86590286e-03 -3.57146576e-04 9.99982732e-01 1.00244781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0078065739999995 meters Centerline goodness [0,1] 0.9906389906389906 Centerline is valid? [True, True] Translation: X:-3.14, Y:-0.16, Z:0.11 [[ 9.99832380e-01 1.78577150e-02 4.03904934e-03 -3.14144262e+00] [-1.78585311e-02 9.99840510e-01 1.66079882e-04 -1.64737392e-01] [-4.03543935e-03 -2.38183532e-04 9.99991829e-01 1.06118443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0378065739999993 meters Centerline goodness [0,1] 0.9910809045636378 Centerline is valid? [True, True] Translation: X:-3.17, Y:-0.17, Z:0.11 [[ 9.99873970e-01 1.50822218e-02 4.95694324e-03 -3.17174969e+00] [-1.50834220e-02 9.99886218e-01 2.04826481e-04 -1.73956626e-01] [-4.95328999e-03 -2.79568333e-04 9.99987693e-01 1.09904020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0678065739999996 meters Centerline goodness [0,1] 0.991216782074065 Centerline is valid? [True, True] Translation: X:-3.20, Y:-0.18, Z:0.11 [[ 9.99915466e-01 1.22480203e-02 4.36432978e-03 -3.20317066e+00] [-1.22489233e-02 9.99924963e-01 1.80232132e-04 -1.75331466e-01] [-4.36179480e-03 -2.33675237e-04 9.99990460e-01 1.05730755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0978065739999994 meters Centerline goodness [0,1] 0.9928086866176381 Centerline is valid? [True, True] Translation: X:-3.23, Y:-0.19, Z:0.10 [[ 9.99967888e-01 7.88560078e-03 1.42859636e-03 -3.23288984e+00] [-7.88569331e-03 9.99968906e-01 5.91458880e-05 -1.90786525e-01] [-1.42808554e-03 -7.04094615e-05 9.99998978e-01 1.00537067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1278065739999996 meters Centerline goodness [0,1] 0.9919672968829841 Centerline is valid? [True, True] Translation: X:-3.26, Y:-0.20, Z:0.10 [[ 9.99984347e-01 5.48523698e-03 -1.10382806e-03 -3.26439806e+00] [-5.48529186e-03 9.99984955e-01 -4.66958867e-05 -2.04019652e-01] [ 1.10355531e-03 5.27499748e-05 9.99999390e-01 9.82758359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1578065739999994 meters Centerline goodness [0,1] 0.9928302965928589 Centerline is valid? [True, True] Translation: X:-3.29, Y:-0.22, Z:0.10 [[ 9.99994054e-01 1.11510398e-03 3.26319694e-03 -3.29418981e+00] [-1.11555176e-03 9.99999369e-01 1.35403694e-04 -2.17744921e-01] [-3.26304390e-03 -1.39043154e-04 9.99994667e-01 1.04920037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1878065739999997 meters Centerline goodness [0,1] 0.9925307646782718 Centerline is valid? [True, True] Translation: X:-3.32, Y:-0.23, Z:0.11 [[ 9.99970427e-01 -3.20512505e-03 6.99080453e-03 -3.32483626e+00] [ 3.20317759e-03 9.99994828e-01 2.89753183e-04 -2.26351575e-01] [-6.99169707e-03 -2.67351826e-04 9.99975522e-01 1.09272789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2178065739999995 meters Centerline goodness [0,1] 0.9939845024469821 Centerline is valid? [True, True] Translation: X:-3.36, Y:-0.23, Z:0.11 [[ 9.99947387e-01 -4.95645339e-03 8.98096799e-03 -3.35564169e+00] [ 4.95331173e-03 9.99987663e-01 3.72022592e-04 -2.32624035e-01] [-8.98270110e-03 -3.27517485e-04 9.99959601e-01 1.10896197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2478065739999993 meters Centerline goodness [0,1] 0.9926817368677834 Centerline is valid? [True, True] Translation: X:-3.39, Y:-0.23, Z:0.11 [[ 9.99965944e-01 -3.15209757e-03 7.62723811e-03 -3.38791700e+00] [ 3.14977925e-03 9.99994990e-01 3.15945832e-04 -2.33573472e-01] [-7.62819578e-03 -2.91910956e-04 9.99970862e-01 1.07955091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2778065739999995 meters Centerline goodness [0,1] 0.9930820562006408 Centerline is valid? [True, True] Translation: X:-3.42, Y:-0.24, Z:0.11 [[ 9.99984566e-01 -1.27392035e-03 5.40793804e-03 -3.41916361e+00] [ 1.27271664e-03 9.99999165e-01 2.26018401e-04 -2.35815773e-01] [-5.40822145e-03 -2.19132140e-04 9.99985351e-01 1.09398484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3078065739999993 meters Centerline goodness [0,1] 0.9916918889272583 Centerline is valid? [True, True] Translation: X:-3.45, Y:-0.24, Z:0.11 [[ 9.99986301e-01 -1.39139061e-04 5.23236735e-03 -3.44979748e+00] [ 1.38003819e-04 9.99999967e-01 2.17325811e-04 -2.42458336e-01] [-5.23239742e-03 -2.16600748e-04 9.99986287e-01 1.12058489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3378065739999996 meters Centerline goodness [0,1] 0.9925786984178764 Centerline is valid? [True, True] Translation: X:-3.48, Y:-0.24, Z:0.11 [[ 9.99992019e-01 -5.86521847e-04 3.95194896e-03 -3.48166702e+00] [ 5.85871442e-04 9.99999815e-01 1.65733860e-04 -2.42555103e-01] [-3.95204543e-03 -1.63417203e-04 9.99992177e-01 1.11619131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3678065739999994 meters Centerline goodness [0,1] 0.9939657105579679 Centerline is valid? [True, True] Translation: X:-3.51, Y:-0.24, Z:0.11 [[ 9.99994048e-01 -3.40512659e-04 3.43337147e-03 -3.51414536e+00] [ 3.40025772e-04 9.99999932e-01 1.42392682e-04 -2.42958099e-01] [-3.43341973e-03 -1.41224400e-04 9.99994096e-01 1.07988035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3978065739999996 meters Centerline goodness [0,1] 0.9927732979483516 Centerline is valid? [True, True] Translation: X:-3.55, Y:-0.25, Z:0.10 [[ 9.99999049e-01 -1.27474366e-03 -5.26773285e-04 -3.54567395e+00] [ 1.27473157e-03 9.99999187e-01 -2.32832726e-05 -2.51733209e-01] [ 5.26802537e-04 2.26117559e-05 9.99999861e-01 1.02666548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4278065739999994 meters Centerline goodness [0,1] 0.9936881540904834 Centerline is valid? [True, True] Translation: X:-3.57, Y:-0.26, Z:0.11 [[ 9.99994369e-01 -3.27985015e-03 7.10247295e-04 -3.57443328e+00] [ 3.27982925e-03 9.99994621e-01 3.05991598e-05 -2.61880489e-01] [-7.10343835e-04 -2.82694977e-05 9.99999747e-01 1.06245356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4578065739999992 meters Centerline goodness [0,1] 0.9926231685636635 Centerline is valid? [True, True] Translation: X:-3.60, Y:-0.26, Z:0.12 [[ 9.99967150e-01 -5.89364833e-03 5.56458198e-03 -3.60484852e+00] [ 5.89242646e-03 9.99982612e-01 2.35949283e-04 -2.61660828e-01] [-5.56587583e-03 -2.03152642e-04 9.99984490e-01 1.19332348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4878065739999995 meters Centerline goodness [0,1] 0.9917989092549309 Centerline is valid? [True, True] Translation: X:-3.64, Y:-0.26, Z:0.11 [[ 9.99962081e-01 -7.48174785e-03 4.45635297e-03 -3.63586261e+00] [ 7.48098357e-03 9.99971999e-01 1.88147898e-04 -2.58959326e-01] [-4.45763586e-03 -1.54802860e-04 9.99990053e-01 1.14443466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5178065739999993 meters Centerline goodness [0,1] 0.9936671485878352 Centerline is valid? [True, True] Translation: X:-3.67, Y:-0.26, Z:0.11 [[ 9.99957404e-01 -8.54298857e-03 3.49378798e-03 -3.66781433e+00] [ 8.54252908e-03 9.99963501e-01 1.46417575e-04 -2.62296124e-01] [-3.49491131e-03 -1.16565553e-04 9.99993886e-01 1.10145088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5478065739999995 meters Centerline goodness [0,1] 0.9925901733042112 Centerline is valid? [True, True] Translation: X:-3.70, Y:-0.27, Z:0.11 [[ 9.99964877e-01 -7.58788795e-03 3.55917836e-03 -3.69941738e+00] [ 7.58740135e-03 9.99971204e-01 1.50200154e-04 -2.70255640e-01] [-3.56021557e-03 -1.23189964e-04 9.99993655e-01 1.11949591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5778065739999994 meters Centerline goodness [0,1] 0.9929011464240545 Centerline is valid? [True, True] Translation: X:-3.73, Y:-0.27, Z:0.12 [[ 9.99942204e-01 -7.40251456e-03 7.79683481e-03 -3.73022496e+00] [ 7.40012391e-03 9.99972562e-01 3.35423372e-04 -2.70670388e-01] [-7.79910386e-03 -2.77706442e-04 9.99969548e-01 1.22061115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6078065739999996 meters Centerline goodness [0,1] 0.9951777321097931 Centerline is valid? [True, True] Translation: X:-3.75, Y:-0.46, Z:0.11 [[ 9.99839459e-01 -1.28571900e-02 -1.24799508e-02 -3.75322622e+00] [ 1.28514430e-02 9.99917271e-01 -5.40588025e-04 -4.61678521e-01] [ 1.24858688e-02 3.80115861e-04 9.99921976e-01 1.11138299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6378065739999994 meters Centerline goodness [0,1] 0.9933511451938569 Centerline is valid? [True, True] Translation: X:-3.78, Y:-0.43, Z:0.11 [[ 9.99777961e-01 -1.83298001e-02 -1.03946091e-02 -3.78462167e+00] [ 1.83261171e-02 9.99831962e-01 -4.49462418e-04 -4.30742766e-01] [ 1.04011010e-02 2.58869796e-04 9.99945874e-01 1.08840315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.667806573999999 meters Centerline goodness [0,1] 0.9954804560260586 Centerline is valid? [True, True] Translation: X:-3.81, Y:-0.42, Z:0.13 [[ 9.99653294e-01 -2.63288770e-02 2.85137661e-04 -3.81420121e+00] [ 2.63288746e-02 9.99653335e-01 1.24075939e-05 -4.23308629e-01] [-2.85365492e-04 -4.89593842e-06 9.99999959e-01 1.30919005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6978065739999995 meters Centerline goodness [0,1] 0.9937902063843173 Centerline is valid? [True, True] Translation: X:-3.85, Y:-0.39, Z:0.13 [[ 9.99609286e-01 -2.79402261e-02 -7.86537863e-04 -3.84755999e+00] [ 2.79402076e-02 9.99609596e-01 -3.45328213e-05 -3.87089630e-01] [ 7.87195650e-04 1.25432976e-05 9.99999690e-01 1.33531865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7278065739999993 meters Centerline goodness [0,1] 0.993522529452249 Centerline is valid? [True, True] Translation: X:-3.88, Y:-0.35, Z:0.12 [[ 9.99627719e-01 -2.53939934e-02 -9.97836894e-03 -3.87834588e+00] [ 2.53909556e-02 9.99677505e-01 -4.31020964e-04 -3.45811036e-01] [ 9.98609631e-03 1.77500180e-04 9.99950122e-01 1.17580741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7578065739999995 meters Centerline goodness [0,1] 0.9943755203151333 Centerline is valid? [True, True] Translation: X:-3.91, Y:-0.32, Z:0.11 [[ 9.99702743e-01 -2.05104648e-02 -1.31812936e-02 -3.90987616e+00] [ 2.05047444e-02 9.99789594e-01 -5.68990521e-04 -3.16290295e-01] [ 1.31901905e-02 2.98542327e-04 9.99912961e-01 1.05977973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7878065739999993 meters Centerline goodness [0,1] 0.9938137197045237 Centerline is valid? [True, True] Translation: X:-3.94, Y:-0.29, Z:0.12 [[ 9.99910214e-01 -1.02684644e-02 -8.60945518e-03 -3.93969556e+00] [ 1.02656511e-02 9.99947238e-01 -3.70891636e-04 -2.88839213e-01] [ 8.61280942e-03 2.82476672e-04 9.99962869e-01 1.17811524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8178065739999996 meters Centerline goodness [0,1] 0.9930476500243942 Centerline is valid? [True, True] Translation: X:-3.97, Y:-0.26, Z:0.12 [[ 9.99962724e-01 5.38959446e-04 -8.61744352e-03 -3.96998334e+00] [-5.42175484e-04 9.99999784e-01 -3.70869131e-04 -2.56323126e-01] [ 8.61724177e-03 3.75527473e-04 9.99962800e-01 1.23587557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8478065739999994 meters Centerline goodness [0,1] 0.9929409364480262 Centerline is valid? [True, True] Translation: X:-4.00, Y:-0.23, Z:0.11 [[ 9.99870646e-01 7.34038396e-03 -1.43111747e-02 -4.00146342e+00] [-7.34996356e-03 9.99972798e-01 -6.16897090e-04 -2.29936923e-01] [ 1.43062572e-02 7.22003905e-04 9.99897400e-01 1.10339077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.877806573999999 meters Centerline goodness [0,1] 0.9920670436516008 Centerline is valid? [True, True] Translation: X:-4.03, Y:-0.22, Z:0.11 [[ 9.99821065e-01 1.00172887e-02 -1.60465521e-02 -4.03229825e+00] [-1.00296690e-02 9.99949463e-01 -6.91229971e-04 -2.17935385e-01] [ 1.60388169e-02 8.52047893e-04 9.99871007e-01 1.07192666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9078065739999994 meters Centerline goodness [0,1] 0.9938381179735162 Centerline is valid? [True, True] Translation: X:-4.06, Y:-0.21, Z:0.12 [[ 9.99935810e-01 6.07657346e-03 -9.56298927e-03 -4.06230744e+00] [-6.08078810e-03 9.99981427e-01 -4.11709859e-04 -2.09857702e-01] [ 9.56030987e-03 4.69833943e-04 9.99954189e-01 1.22819086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9378065739999992 meters Centerline goodness [0,1] 0.9927053277522656 Centerline is valid? [True, True] Translation: X:-4.09, Y:-0.20, Z:0.12 [[ 9.99960006e-01 6.76991487e-03 -5.84424239e-03 -4.09191729e+00] [-6.77147457e-03 9.99977043e-01 -2.47131167e-04 -1.95351236e-01] [ 5.84243517e-03 2.86695422e-04 9.99982892e-01 1.22137580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9678065739999995 meters Centerline goodness [0,1] 0.99183033167631 Centerline is valid? [True, True] Translation: X:-4.12, Y:-0.19, Z:0.12 [[ 9.99935421e-01 6.24245734e-03 -9.49661005e-03 -4.11975856e+00] [-6.24658271e-03 9.99980408e-01 -4.04805074e-04 -1.92927494e-01] [ 9.49389701e-03 4.64100292e-04 9.99954824e-01 1.22252232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9978065739999993 meters Centerline goodness [0,1] 0.9910225352686114 Centerline is valid? [True, True] Translation: X:-4.15, Y:-0.19, Z:0.13 [[ 9.99959290e-01 6.61364621e-03 -6.13816631e-03 -4.14854086e+00] [-6.61535227e-03 9.99978085e-01 -2.57679892e-04 -1.88658408e-01] [ 6.13632759e-03 2.98275534e-04 9.99981128e-01 1.30191903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0278065739999995 meters Centerline goodness [0,1] 0.991046902024621 Centerline is valid? [True, True] Translation: X:-4.18, Y:-0.19, Z:0.14 [[ 9.99958156e-01 9.02519895e-03 -1.49411590e-03 -4.17779412e+00] [-9.02529895e-03 9.99959269e-01 -6.02007406e-05 -1.85734994e-01] [ 1.49351172e-03 7.36830641e-05 9.99998882e-01 1.39752455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.057806574 meters Centerline goodness [0,1] 0.9924367185117414 Centerline is valid? [True, True] Translation: X:-4.21, Y:-0.19, Z:0.14 [[ 9.99955774e-01 9.37341236e-03 -7.68211033e-04 -4.20667529e+00] [-9.37343989e-03 9.99956068e-01 -3.22358601e-05 -1.89516505e-01] [ 7.67875124e-04 3.94352144e-05 9.99999704e-01 1.42917079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.087806573999999 meters Centerline goodness [0,1] 0.9903633971049701 Centerline is valid? [True, True] Translation: X:-4.24, Y:-0.18, Z:0.14 [[ 9.99909368e-01 1.33974489e-02 -1.32802168e-03 -4.23811843e+00] [-1.33975356e-02 9.99910247e-01 -5.63795438e-05 -1.76314721e-01] [ 1.32714714e-03 7.41666517e-05 9.99999117e-01 1.43522556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.117806573999999 meters Centerline goodness [0,1] 0.9881864947845713 Centerline is valid? [True, True] Translation: X:-4.27, Y:-0.17, Z:0.14 [[ 9.99830222e-01 1.83572034e-02 -1.59397611e-03 -4.26858988e+00] [-1.83573340e-02 9.99831488e-01 -6.73977590e-05 -1.72934748e-01] [ 1.59247027e-03 9.66474683e-05 9.99998727e-01 1.44937649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.147806574 meters Centerline goodness [0,1] 0.9897553921668466 Centerline is valid? [True, True] Translation: X:-4.30, Y:-0.18, Z:0.15 [[ 9.99773514e-01 2.12139241e-02 1.70007934e-03 -4.29943117e+00] [-2.12140762e-02 9.99774954e-01 7.14746700e-05 -1.77246783e-01] [-1.69818049e-03 -1.07524095e-04 9.99998552e-01 1.48396154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.177806573999999 meters Centerline goodness [0,1] 0.9868813236278108 Centerline is valid? [True, True] Translation: X:-4.33, Y:-0.17, Z:0.14 [[ 9.99676951e-01 2.54027415e-02 8.33782145e-04 -4.33008819e+00] [-2.54027797e-02 9.99677297e-01 3.52210340e-05 -1.68110495e-01] [-8.32618370e-04 -5.63900400e-05 9.99999652e-01 1.40814749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.207806573999999 meters Centerline goodness [0,1] 0.9879739094985732 Centerline is valid? [True, True] Translation: X:-4.36, Y:-0.18, Z:0.13 [[ 9.99663533e-01 2.45408707e-02 -8.40043861e-03 -4.35981409e+00] [-2.45447238e-02 9.99698670e-01 -3.55873758e-04 -1.81413839e-01] [ 8.38917385e-03 5.61940464e-04 9.99964652e-01 1.32479732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2378065739999995 meters Centerline goodness [0,1] 0.9909315074076338 Centerline is valid? [True, True] Translation: X:-4.39, Y:-0.20, Z:0.14 [[ 9.99801214e-01 1.91590828e-02 -5.51917712e-03 -4.38934575e+00] [-1.91606637e-02 9.99816390e-01 -2.33694968e-04 -2.02593663e-01] [ 5.51368636e-03 3.39399609e-04 9.99984742e-01 1.38060704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.267806574 meters Centerline goodness [0,1] 0.991002019954704 Centerline is valid? [True, True] Translation: X:-4.42, Y:-0.22, Z:0.16 [[ 9.99884654e-01 1.51612998e-02 9.01637163e-04 -4.41830139e+00] [-1.51613404e-02 9.99885060e-01 3.82301525e-05 -2.17667344e-01] [-9.00953909e-04 -5.18957708e-05 9.99999593e-01 1.56228433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.297806573999999 meters Centerline goodness [0,1] 0.9909687678382125 Centerline is valid? [True, True] Translation: X:-4.45, Y:-0.22, Z:0.16 [[ 9.99915842e-01 1.25200219e-02 3.39979267e-03 -4.44897986e+00] [-1.25205828e-02 9.99921604e-01 1.43752336e-04 -2.18738878e-01] [-3.39772636e-03 -1.86307624e-04 9.99994210e-01 1.59602985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.327806573999999 meters Centerline goodness [0,1] 0.9912454910225753 Centerline is valid? [True, True] Translation: X:-4.48, Y:-0.22, Z:0.15 [[ 9.99944308e-01 1.03686850e-02 1.96775349e-03 -4.48081756e+00] [-1.03688679e-02 9.99946238e-01 8.27388858e-05 -2.22537215e-01] [-1.96678980e-03 -1.03137654e-04 9.99998061e-01 1.52407613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.357806574 meters Centerline goodness [0,1] 0.990669181930668 Centerline is valid? [True, True] Translation: X:-4.51, Y:-0.24, Z:0.16 [[ 9.99952687e-01 7.82469267e-03 5.77908373e-03 -4.50995786e+00] [-7.82623931e-03 9.99969344e-01 2.45060294e-04 -2.37966850e-01] [-5.77698905e-03 -2.90277192e-04 9.99983271e-01 1.59912566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.387806573999999 meters Centerline goodness [0,1] 0.9896731867330822 Centerline is valid? [True, True] Translation: X:-4.54, Y:-0.25, Z:0.17 [[ 9.99883672e-01 7.39371655e-03 1.33407606e-02 -4.54189803e+00] [-7.40192099e-03 9.99972445e-01 5.65718516e-04 -2.46949366e-01] [-1.33362102e-02 -6.64399962e-04 9.99910848e-01 1.74668361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.417806573999999 meters Centerline goodness [0,1] 0.9909634282240908 Centerline is valid? [True, True] Translation: X:-4.57, Y:-0.26, Z:0.17 [[ 9.99942508e-01 6.95665413e-03 8.15998695e-03 -4.57371365e+00] [-6.95970280e-03 9.99975721e-01 3.45276429e-04 -2.59138890e-01] [-8.15738687e-03 -4.02047663e-04 9.99966647e-01 1.68423444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4478065739999995 meters Centerline goodness [0,1] 0.9897526430064325 Centerline is valid? [True, True] Translation: X:-4.60, Y:-0.26, Z:0.15 [[ 9.99944743e-01 1.03783244e-02 -1.67384912e-03 -4.60460512e+00] [-1.03784587e-02 9.99946140e-01 -7.15750525e-05 -2.56288755e-01] [ 1.67301613e-03 8.89430713e-05 9.99998597e-01 1.50280838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.477806574 meters Centerline goodness [0,1] 0.990441714797039 Centerline is valid? [True, True] Translation: X:-4.63, Y:-0.27, Z:0.15 [[ 9.99908698e-01 1.30129023e-02 -3.64134136e-03 -4.63293280e+00] [-1.30135519e-02 9.99915308e-01 -1.54767165e-04 -2.65918635e-01] [ 3.63901900e-03 2.02139819e-04 9.99993358e-01 1.51034995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.507806573999999 meters Centerline goodness [0,1] 0.9898594520047863 Centerline is valid? [True, True] Translation: X:-4.66, Y:-0.27, Z:0.16 [[ 9.99916330e-01 1.29339852e-02 2.10839437e-04 -4.66055149e+00] [-1.29339876e-02 9.99916352e-01 1.01300440e-05 -2.74353594e-01] [-2.10690779e-04 -1.28561911e-05 9.99999978e-01 1.59087392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.537806573999999 meters Centerline goodness [0,1] 0.9899614682620158 Centerline is valid? [True, True] Translation: X:-4.69, Y:-0.28, Z:0.16 [[ 9.99948044e-01 1.01764508e-02 5.90588967e-04 -4.69155946e+00] [-1.01764671e-02 9.99948218e-01 2.47185351e-05 -2.81420606e-01] [-5.90306838e-04 -3.07273601e-05 9.99999825e-01 1.58322573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.567806574 meters Centerline goodness [0,1] 0.9901879126460132 Centerline is valid? [True, True] Translation: X:-4.72, Y:-0.29, Z:0.17 [[ 9.99965709e-01 6.45142371e-03 5.19233496e-03 -4.72030173e+00] [-6.45266061e-03 9.99979157e-01 2.21497717e-04 -2.93439820e-01] [-5.19079776e-03 -2.54994496e-04 9.99986495e-01 1.67576427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.597806573999999 meters Centerline goodness [0,1] 0.9928149287564767 Centerline is valid? [True, True] Translation: X:-4.75, Y:-0.30, Z:0.18 [[ 9.99918567e-01 2.88042909e-03 1.24322849e-02 -4.74985246e+00] [-2.88723980e-03 9.99995692e-01 5.29911174e-04 -3.02889069e-01] [-1.24307050e-02 -5.65763010e-04 9.99922576e-01 1.78768865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.627806573999999 meters Centerline goodness [0,1] 0.9908969804618117 Centerline is valid? [True, True] Translation: X:-4.78, Y:-0.31, Z:0.18 [[ 9.99887847e-01 2.25601498e-03 1.48055351e-02 -4.78165192e+00] [-2.26561190e-03 9.99997234e-01 6.31457244e-04 -3.07293494e-01] [-1.48040696e-02 -6.64930020e-04 9.99890193e-01 1.83780220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.657806573999999 meters Centerline goodness [0,1] 0.9898807592472421 Centerline is valid? [True, True] Translation: X:-4.81, Y:-0.31, Z:0.19 [[ 9.99932760e-01 1.43123041e-03 1.15077023e-02 -4.81359177e+00] [-1.43699784e-03 9.99998846e-01 4.92926831e-04 -3.14286262e-01] [-1.15069835e-02 -5.09430229e-04 9.99933663e-01 1.86250791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.687806574 meters Centerline goodness [0,1] 0.9927987701270329 Centerline is valid? [True, True] Translation: X:-4.84, Y:-0.33, Z:0.18 [[ 9.99977924e-01 -1.13562067e-04 6.64364246e-03 -4.84455392e+00] [ 1.11671216e-04 9.99999953e-01 2.84980824e-04 -3.27642393e-01] [-6.64367451e-03 -2.84232629e-04 9.99977890e-01 1.76335075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.717806573999999 meters Centerline goodness [0,1] 0.9912607972748286 Centerline is valid? [True, True] Translation: X:-4.88, Y:-0.32, Z:0.19 [[ 9.99940559e-01 1.88090132e-03 1.07396530e-02 -4.87679273e+00] [-1.88600241e-03 9.99998113e-01 4.64869128e-04 -3.20811671e-01] [-1.07387583e-02 -4.85096508e-04 9.99942220e-01 1.85945199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.747806573999999 meters Centerline goodness [0,1] 0.9915472401840553 Centerline is valid? [True, True] Translation: X:-4.91, Y:-0.32, Z:0.19 [[ 9.99913002e-01 3.54084898e-03 1.27063513e-02 -4.90808609e+00] [-3.54817011e-03 9.99993552e-01 5.53681815e-04 -3.19979977e-01] [-1.27043088e-02 -5.98717941e-04 9.99919118e-01 1.86774073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7778065739999995 meters Centerline goodness [0,1] 0.9915472401840553 Centerline is valid? [True, True] Translation: X:-4.94, Y:-0.32, Z:0.19 [[ 9.99913976e-01 3.25453660e-03 1.27062246e-02 -4.94064517e+00] [-3.26187131e-03 9.99994525e-01 5.56571959e-04 -3.21242069e-01] [-1.27043437e-02 -5.97970150e-04 9.99919118e-01 1.87205365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.807806573999999 meters Centerline goodness [0,1] 0.9909300258564965 Centerline is valid? [True, True] Translation: X:-4.97, Y:-0.32, Z:0.19 [[ 9.99950387e-01 1.19792509e-03 9.88880708e-03 -4.97289891e+00] [-1.20229405e-03 9.99999182e-01 4.35876348e-04 -3.21822951e-01] [-9.88827685e-03 -4.47743977e-04 9.99951010e-01 1.85532791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.837806573999999 meters Centerline goodness [0,1] 0.9905077442172446 Centerline is valid? [True, True] Translation: X:-5.01, Y:-0.33, Z:0.19 [[ 9.99986673e-01 -1.22807795e-03 5.01459661e-03 -5.00508816e+00] [ 1.22698539e-03 9.99999223e-01 2.20945096e-04 -3.27130917e-01] [-5.01486405e-03 -2.14789315e-04 9.99987402e-01 1.85749404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.867806573999999 meters Centerline goodness [0,1] 0.9913913873266603 Centerline is valid? [True, True] Translation: X:-5.04, Y:-0.33, Z:0.19 [[ 9.99973696e-01 -5.21950847e-03 5.03627156e-03 -5.03542452e+00] [ 5.21845310e-03 9.99986359e-01 2.22671893e-04 -3.29518933e-01] [-5.03736510e-03 -1.96384489e-04 9.99987293e-01 1.90838527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.897806574 meters Centerline goodness [0,1] 0.9916860523920299 Centerline is valid? [True, True] Translation: X:-5.07, Y:-0.33, Z:0.20 [[ 9.99910807e-01 -1.08040519e-02 7.85182488e-03 -5.06612552e+00] [ 1.08016572e-02 9.99941600e-01 3.47333253e-04 -3.31972053e-01] [-7.85511894e-03 -2.62489552e-04 9.99969114e-01 1.98857718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.927806573999999 meters Centerline goodness [0,1] 0.99180543471663 Centerline is valid? [True, True] Translation: X:-5.10, Y:-0.35, Z:0.20 [[ 9.99824159e-01 -1.55577876e-02 1.04693050e-02 -5.09508478e+00] [ 1.55537840e-02 9.99878925e-01 4.63726066e-04 -3.46693416e-01] [-1.04752519e-02 -3.00807215e-04 9.99945088e-01 2.04348020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.957806573999999 meters Centerline goodness [0,1] 0.9912887056350553 Centerline is valid? [True, True] Translation: X:-5.12, Y:-0.36, Z:0.21 [[ 9.99686265e-01 -2.19536891e-02 1.20585251e-02 -5.12421372e+00] [ 2.19488438e-02 9.99758952e-01 5.34023315e-04 -3.57265387e-01] [-1.20673422e-02 -2.69185088e-04 9.99927151e-01 2.12686092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9878065739999995 meters Centerline goodness [0,1] 0.9894856033646069 Centerline is valid? [True, True] Translation: X:-5.16, Y:-0.35, Z:0.21 [[ 9.99636167e-01 -2.43642822e-02 1.15722052e-02 -5.15652804e+00] [ 2.43599742e-02 9.99703120e-01 5.13099136e-04 -3.49698590e-01] [-1.15812710e-02 -2.31013832e-04 9.99932908e-01 2.13483413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.017806573999999 meters Centerline goodness [0,1] 0.9902599379071042 Centerline is valid? [True, True] Translation: X:-5.19, Y:-0.35, Z:0.21 [[ 9.99605292e-01 -2.59566730e-02 1.07476072e-02 -5.18802008e+00] [ 2.59530219e-02 9.99663049e-01 4.79066765e-04 -3.47816209e-01] [-1.07564208e-02 -1.99944788e-04 9.99942128e-01 2.10755611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.047806573999999 meters Centerline goodness [0,1] 0.9911244996158667 Centerline is valid? [True, True] Translation: X:-5.22, Y:-0.35, Z:0.21 [[ 9.99605852e-01 -2.63761157e-02 9.61463808e-03 -5.22115915e+00] [ 2.63731969e-02 9.99652074e-01 4.30255984e-04 -3.50764672e-01] [-9.62264138e-03 -1.76517656e-04 9.99953686e-01 2.13936853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.077806573999999 meters Centerline goodness [0,1] 0.9922876055140584 Centerline is valid? [True, True] Translation: X:-5.25, Y:-0.35, Z:0.22 [[ 9.99629572e-01 -2.50827474e-02 1.05629225e-02 -5.25257114e+00] [ 2.50791152e-02 9.99685356e-01 4.76210612e-04 -3.47362101e-01] [-1.05715436e-02 -2.11125459e-04 9.99944097e-01 2.15624113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.107806574 meters Centerline goodness [0,1] 0.9917833724601312 Centerline is valid? [True, True] Translation: X:-5.29, Y:-0.34, Z:0.22 [[ 9.99650594e-01 -2.43016888e-02 1.03979536e-02 -5.28568937e+00] [ 2.42980975e-02 9.99704646e-01 4.71599709e-04 -3.38336624e-01] [-1.04063432e-02 -2.18784440e-04 9.99945829e-01 2.16423884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.137806573999999 meters Centerline goodness [0,1] 0.9906123190600206 Centerline is valid? [True, True] Translation: X:-5.32, Y:-0.33, Z:0.22 [[ 9.99674211e-01 -2.15657032e-02 1.36525368e-02 -5.31852727e+00] [ 2.15592343e-02 9.99767380e-01 6.20843170e-04 -3.34052798e-01] [-1.36627499e-02 -3.26302667e-04 9.99906607e-01 2.18868280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.167806573999999 meters Centerline goodness [0,1] 0.9910914038093318 Centerline is valid? [True, True] Translation: X:-5.35, Y:-0.33, Z:0.22 [[ 9.99694285e-01 -2.03820478e-02 1.39967442e-02 -5.34977775e+00] [ 2.03751132e-02 9.99792202e-01 6.37875842e-04 -3.34305527e-01] [-1.40068370e-02 -3.52495585e-04 9.99901837e-01 2.21211520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1978065739999995 meters Centerline goodness [0,1] 0.9903293679695719 Centerline is valid? [True, True] Translation: X:-5.38, Y:-0.32, Z:0.22 [[ 9.99774114e-01 -1.70424658e-02 1.26994166e-02 -5.38166743e+00] [ 1.70364530e-02 9.99854700e-01 5.81507837e-04 -3.17911863e-01] [-1.27074817e-02 -3.65023469e-04 9.99919190e-01 2.19145979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.227806573999999 meters Centerline goodness [0,1] 0.990486407708034 Centerline is valid? [True, True] Translation: X:-5.41, Y:-0.31, Z:0.22 [[ 9.99801710e-01 -1.66444642e-02 1.09317133e-02 -5.41428254e+00] [ 1.66399870e-02 9.99861421e-01 5.00391358e-04 -3.12591101e-01] [-1.09385271e-02 -3.18388569e-04 9.99940122e-01 2.17447131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.257806573999999 meters Centerline goodness [0,1] 0.9895189628014055 Centerline is valid? [True, True] Translation: X:-5.45, Y:-0.32, Z:0.23 [[ 9.99756792e-01 -1.86604332e-02 1.17534874e-02 -5.44549471e+00] [ 1.86553585e-02 9.99825827e-01 5.41256215e-04 -3.18118726e-01] [-1.17615403e-02 -3.21859056e-04 9.99930779e-01 2.26357323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.287806573999999 meters Centerline goodness [0,1] 0.9912629391230654 Centerline is valid? [True, True] Translation: X:-5.48, Y:-0.31, Z:0.23 [[ 9.99705065e-01 -2.04577778e-02 1.30867189e-02 -5.47789238e+00] [ 2.04515962e-02 9.99790661e-01 6.06020695e-04 -3.08464737e-01] [-1.30963771e-02 -3.38197668e-04 9.99914182e-01 2.30542817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.317806574 meters Centerline goodness [0,1] 0.9926205976305043 Centerline is valid? [True, True] Translation: X:-5.51, Y:-0.30, Z:0.23 [[ 9.99634611e-01 -2.32566835e-02 1.37757391e-02 -5.51068302e+00] [ 2.32500493e-02 9.99729475e-01 6.41558857e-04 -2.96926866e-01] [-1.37869329e-02 -3.21037826e-04 9.99904904e-01 2.31770698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.347806573999999 meters Centerline goodness [0,1] 0.9906500445235975 Centerline is valid? [True, True] Translation: X:-5.54, Y:-0.29, Z:0.23 [[ 9.99567646e-01 -2.60118270e-02 1.37078911e-02 -5.54264409e+00] [ 2.60054710e-02 9.99661595e-01 6.41753426e-04 -2.89376034e-01] [-1.37199455e-02 -2.84995796e-04 9.99905837e-01 2.31016357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.377806573999999 meters Centerline goodness [0,1] 0.990046624771944 Centerline is valid? [True, True] Translation: X:-5.57, Y:-0.29, Z:0.23 [[ 9.99606312e-01 -2.54251094e-02 1.18652491e-02 -5.57497348e+00] [ 2.54202790e-02 9.99676697e-01 5.57761893e-04 -2.85476861e-01] [-1.18755942e-02 -2.55924366e-04 9.99929450e-01 2.32952448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.407806573999999 meters Centerline goodness [0,1] 0.9903665555892154 Centerline is valid? [True, True] Translation: X:-5.61, Y:-0.28, Z:0.23 [[ 9.99584291e-01 -2.65625775e-02 1.12104690e-02 -5.60633042e+00] [ 2.65583077e-02 9.99647126e-01 5.29598503e-04 -2.81758642e-01] [-1.12205806e-02 -2.31647259e-04 9.99937020e-01 2.32535375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.437806573999999 meters Centerline goodness [0,1] 0.9905973117955518 Centerline is valid? [True, True] Translation: X:-5.64, Y:-0.28, Z:0.24 [[ 9.99542279e-01 -2.73233289e-02 1.29872188e-02 -5.63863785e+00] [ 2.73176170e-02 9.99626614e-01 6.17034381e-04 -2.77765733e-01] [-1.29992290e-02 -2.61972080e-04 9.99915472e-01 2.35087278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.467806573999999 meters Centerline goodness [0,1] 0.9914291489791793 Centerline is valid? [True, True] Translation: X:-5.67, Y:-0.28, Z:0.24 [[ 9.99556773e-01 -2.61881259e-02 1.41576675e-02 -5.67027218e+00] [ 2.61811693e-02 9.99656986e-01 6.76513108e-04 -2.76926297e-01] [-1.41705279e-02 -3.05548968e-04 9.99899546e-01 2.44190740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.497806573999999 meters Centerline goodness [0,1] 0.9913608655282387 Centerline is valid? [True, True] Translation: X:-5.70, Y:-0.26, Z:0.25 [[ 9.99559564e-01 -2.58340534e-02 1.46040656e-02 -5.70336813e+00] [ 2.58265587e-02 9.99666193e-01 7.01586557e-04 -2.56158133e-01] [-1.46173155e-02 -3.24104794e-04 9.99893109e-01 2.48023099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5278065739999995 meters Centerline goodness [0,1] 0.9901306532663317 Centerline is valid? [True, True] Translation: X:-5.74, Y:-0.24, Z:0.24 [[ 9.99600064e-01 -2.40981826e-02 1.47983065e-02 -5.73686990e+00] [ 2.40902416e-02 9.99709533e-01 7.14664047e-04 -2.40421914e-01] [-1.48112302e-02 -3.57883447e-04 9.99890244e-01 2.41808663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.557806573999999 meters Centerline goodness [0,1] 0.9918349980752477 Centerline is valid? [True, True] Translation: X:-5.77, Y:-0.24, Z:0.24 [[ 9.99634093e-01 -2.27011685e-02 1.47084306e-02 -5.76806931e+00] [ 2.26931229e-02 9.99742223e-01 7.13694755e-04 -2.36416154e-01] [-1.47208408e-02 -3.79653386e-04 9.99891570e-01 2.43159634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.587806573999999 meters Centerline goodness [0,1] 0.9910638469936517 Centerline is valid? [True, True] Translation: X:-5.80, Y:-0.24, Z:0.25 [[ 9.99645287e-01 -2.15576137e-02 1.56387170e-02 -5.80003851e+00] [ 2.15483370e-02 9.99767518e-01 7.61466843e-04 -2.37420656e-01] [-1.56514967e-02 -4.24208395e-04 9.99877418e-01 2.53216946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.617806573999999 meters Centerline goodness [0,1] 0.9918341708542714 Centerline is valid? [True, True] Translation: X:-5.83, Y:-0.23, Z:0.26 [[ 9.99648255e-01 -2.05185341e-02 1.68034637e-02 -5.83283031e+00] [ 2.05076015e-02 9.99789359e-01 8.22684608e-04 -2.33581272e-01] [-1.68168045e-02 -4.77796496e-04 9.99858473e-01 2.55185489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.647806573999999 meters Centerline goodness [0,1] 0.9914486718149841 Centerline is valid? [True, True] Translation: X:-5.87, Y:-0.23, Z:0.26 [[ 9.99656047e-01 -2.15544376e-02 1.49396451e-02 -5.86554211e+00] [ 2.15458612e-02 9.99767591e-01 7.34804034e-04 -2.27570017e-01] [-1.49520113e-02 -4.12663776e-04 9.99888127e-01 2.57384890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.677806573999999 meters Centerline goodness [0,1] 0.9903963044006807 Centerline is valid? [True, True] Translation: X:-5.90, Y:-0.22, Z:0.26 [[ 9.99620264e-01 -2.33580399e-02 1.46194901e-02 -5.89704923e+00] [ 2.33499681e-02 9.99727091e-01 7.22597807e-04 -2.22131694e-01] [-1.46323788e-02 -3.80958783e-04 9.99892868e-01 2.60180059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.707806573999999 meters Centerline goodness [0,1] 0.9890590809628009 Centerline is valid? [True, True] Translation: X:-5.93, Y:-0.22, Z:0.26 [[ 9.99581714e-01 -2.42883662e-02 1.56994450e-02 -5.92986907e+00] [ 2.42791104e-02 9.99704915e-01 7.79913886e-04 -2.15573978e-01] [-1.57137552e-02 -3.98419098e-04 9.99876452e-01 2.64540204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7378065739999995 meters Centerline goodness [0,1] 0.99158948584399 Centerline is valid? [True, True] Translation: X:-5.96, Y:-0.21, Z:0.26 [[ 9.99543029e-01 -2.50005807e-02 1.69912936e-02 -5.96336440e+00] [ 2.49897614e-02 9.99687347e-01 8.48813705e-04 -2.08401718e-01] [-1.70072021e-02 -4.23817449e-04 9.99855277e-01 2.63544147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.767806573999999 meters Centerline goodness [0,1] 0.9927083964531701 Centerline is valid? [True, True] Translation: X:-6.00, Y:-0.21, Z:0.27 [[ 9.99497984e-01 -2.63696634e-02 1.75618947e-02 -5.99510830e+00] [ 2.63582296e-02 9.99652172e-01 8.82244051e-04 -2.07002542e-01] [-1.75790507e-02 -4.18900697e-04 9.99845389e-01 2.65013210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.797806573999999 meters Centerline goodness [0,1] 0.9915784796833347 Centerline is valid? [True, True] Translation: X:-6.03, Y:-0.20, Z:0.27 [[ 9.99468341e-01 -2.77603723e-02 1.70996210e-02 -6.02648919e+00] [ 2.77496721e-02 9.99614531e-01 8.62754630e-04 -1.99008185e-01] [-1.71169801e-02 -3.87787061e-04 9.99853419e-01 2.68460304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.827806573999999 meters Centerline goodness [0,1] 0.9918260552096221 Centerline is valid? [True, True] Translation: X:-6.06, Y:-0.19, Z:0.27 [[ 9.99449467e-01 -2.90064140e-02 1.61056035e-02 -6.05864406e+00] [ 2.89970270e-02 9.99579165e-01 8.16107230e-04 -1.90538958e-01] [-1.61224980e-02 -3.48643317e-04 9.99869963e-01 2.67056453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.857806573999999 meters Centerline goodness [0,1] 0.9917227634174615 Centerline is valid? [True, True] Translation: X:-6.09, Y:-0.19, Z:0.27 [[ 9.99480670e-01 -2.81259714e-02 1.57263943e-02 -6.09085873e+00] [ 2.81168533e-02 9.99604322e-01 8.00641629e-04 -1.94388961e-01] [-1.57426905e-02 -3.58049110e-04 9.99876012e-01 2.72060056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.887806573999999 meters Centerline goodness [0,1] 0.99191210751424 Centerline is valid? [True, True] Translation: X:-6.12, Y:-0.20, Z:0.27 [[ 9.99506486e-01 -2.96773734e-02 1.02974709e-02 -6.12307814e+00] [ 2.96735310e-02 9.99559506e-01 5.25765721e-04 -1.99332258e-01] [-1.03085383e-02 -2.19943927e-04 9.99946841e-01 2.66964058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.917806573999999 meters Centerline goodness [0,1] 0.9908450561273167 Centerline is valid? [True, True] Translation: X:-6.16, Y:-0.19, Z:0.26 [[ 9.99488193e-01 -3.15623236e-02 5.21261652e-03 -6.15585962e+00] [ 3.15613672e-02 9.99501781e-01 2.65663983e-04 -1.92847127e-01] [-5.21840447e-03 -1.01010711e-04 9.99986379e-01 2.58975345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9478065739999995 meters Centerline goodness [0,1] 0.9916217590238943 Centerline is valid? [True, True] Translation: X:-6.19, Y:-0.18, Z:0.26 [[ 9.99523979e-01 -3.00617899e-02 6.93567638e-03 -6.18737712e+00] [ 3.00600274e-02 9.99548031e-01 3.58257995e-04 -1.82574852e-01] [-6.94331155e-03 -1.49600835e-04 9.99975884e-01 2.55901932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.977806573999999 meters Centerline goodness [0,1] 0.9921197633903249 Centerline is valid? [True, True] Translation: X:-6.22, Y:-0.19, Z:0.27 [[ 9.99446366e-01 -2.93459406e-02 1.56772801e-02 -6.22045025e+00] [ 2.93368352e-02 9.99569254e-01 8.10508422e-04 -1.85451299e-01] [-1.56943123e-02 -3.50137914e-04 9.99876775e-01 2.72328563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.007806573999999 meters Centerline goodness [0,1] 0.9929754750690272 Centerline is valid? [True, True] Translation: X:-6.25, Y:-0.18, Z:0.29 [[ 9.99483606e-01 -2.58018111e-02 1.91517293e-02 -6.25200991e+00] [ 2.57874781e-02 9.99666952e-01 9.95017980e-04 -1.83120341e-01] [-1.91710241e-02 -5.00629360e-04 9.99816094e-01 2.89036569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.037806573999999 meters Centerline goodness [0,1] 0.9926355724168713 Centerline is valid? [True, True] Translation: X:-6.28, Y:-0.18, Z:0.29 [[ 9.99501183e-01 -2.56591386e-02 1.84117821e-02 -6.28446303e+00] [ 2.56458338e-02 9.99670632e-01 9.58408520e-04 -1.81027710e-01] [-1.84303098e-02 -4.85744946e-04 9.99830029e-01 2.85588366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.067806573999999 meters Centerline goodness [0,1] 0.9913545252075319 Centerline is valid? [True, True] Translation: X:-6.32, Y:-0.17, Z:0.27 [[ 9.99543345e-01 -2.58053780e-02 1.57220550e-02 -6.31874424e+00] [ 2.57956361e-02 9.99666899e-01 8.22145522e-04 -1.71027377e-01] [-1.57380338e-02 -4.16209675e-04 9.99876063e-01 2.69414468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.097806573999999 meters Centerline goodness [0,1] 0.9936040609137056 Centerline is valid? [True, True] Translation: X:-6.35, Y:-0.18, Z:0.27 [[ 9.99571338e-01 -2.56497337e-02 1.41149662e-02 -6.34980603e+00] [ 2.56418149e-02 9.99670919e-01 7.41742163e-04 -1.78742434e-01] [-1.41293467e-02 -3.79490856e-04 9.99900104e-01 2.65989792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.127806573999999 meters Centerline goodness [0,1] 0.991114439541756 Centerline is valid? [True, True] Translation: X:-6.38, Y:-0.18, Z:0.27 [[ 9.99543091e-01 -2.69140848e-02 1.37565319e-02 -6.38178418e+00] [ 2.69066400e-02 9.99637687e-01 7.26008863e-04 -1.81969628e-01] [-1.37710876e-02 -3.55535092e-04 9.99905111e-01 2.72331353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.157806573999999 meters Centerline goodness [0,1] 0.9910993065974616 Centerline is valid? [True, True] Translation: X:-6.41, Y:-0.18, Z:0.28 [[ 9.99494370e-01 -2.76831592e-02 1.56411916e-02 -6.41325284e+00] [ 2.76735606e-02 9.99616669e-01 8.29820385e-04 -1.83942978e-01] [-1.56581679e-02 -3.96553339e-04 9.99877325e-01 2.84995399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.187806573999999 meters Centerline goodness [0,1] 0.9919425043020549 Centerline is valid? [True, True] Translation: X:-6.45, Y:-0.18, Z:0.28 [[ 9.99421077e-01 -2.94338056e-02 1.70634442e-02 -6.44608020e+00] [ 2.94225639e-02 9.99566649e-01 9.09545158e-04 -1.79671772e-01] [-1.70828212e-02 -4.06968324e-04 9.99853995e-01 2.82003915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.217806573999999 meters Centerline goodness [0,1] 0.9909503178523708 Centerline is valid? [True, True] Translation: X:-6.48, Y:-0.17, Z:0.28 [[ 9.99444271e-01 -2.98147041e-02 1.49074951e-02 -6.47985813e+00] [ 2.98061165e-02 9.99555380e-01 7.97959111e-04 -1.73640414e-01] [-1.49246579e-02 -3.53181124e-04 9.99888559e-01 2.76169680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.247806573999999 meters Centerline goodness [0,1] 0.9918901427820248 Centerline is valid? [True, True] Translation: X:-6.51, Y:-0.18, Z:0.27 [[ 9.99413440e-01 -3.05958713e-02 1.53840628e-02 -6.51198460e+00] [ 3.05867527e-02 9.99531773e-01 8.27725602e-04 -1.75273530e-01] [-1.54021846e-02 -3.56691566e-04 9.99881316e-01 2.73302077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.277806573999999 meters Centerline goodness [0,1] 0.991107877612061 Centerline is valid? [True, True] Translation: X:-6.54, Y:-0.18, Z:0.29 [[ 9.99378183e-01 -3.05801582e-02 1.75528319e-02 -6.54312604e+00] [ 3.05682104e-02 9.99532233e-01 9.48632484e-04 -1.77279703e-01] [-1.75736306e-02 -4.11483950e-04 9.99845487e-01 2.85397556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.307806573999999 meters Centerline goodness [0,1] 0.991497737464743 Centerline is valid? [True, True] Translation: X:-6.58, Y:-0.17, Z:0.29 [[ 9.99390297e-01 -3.09596691e-02 1.61410393e-02 -6.57638896e+00] [ 3.09495753e-02 9.99520564e-01 8.74826313e-04 -1.74475229e-01] [-1.61603851e-02 -3.74734615e-04 9.99869342e-01 2.85362573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.337806573999999 meters Centerline goodness [0,1] 0.9919194783101786 Centerline is valid? [True, True] Translation: X:-6.61, Y:-0.17, Z:0.28 [[ 9.99469233e-01 -2.93796546e-02 1.40743621e-02 -6.60812868e+00] [ 2.93717754e-02 9.99568263e-01 7.66246050e-04 -1.73585647e-01] [-1.40907977e-02 -3.52450349e-04 9.99900658e-01 2.83670200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.367806573999999 meters Centerline goodness [0,1] 0.9923972102830265 Centerline is valid? [True, True] Translation: X:-6.64, Y:-0.18, Z:0.28 [[ 9.99478440e-01 -2.86164015e-02 1.49649633e-02 -6.64076147e+00] [ 2.86073539e-02 9.99590391e-01 8.18349989e-04 -1.75220537e-01] [-1.49822518e-02 -3.89815169e-04 9.99887684e-01 2.84478714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.397806573999999 meters Centerline goodness [0,1] 0.9917149455090548 Centerline is valid? [True, True] Translation: X:-6.67, Y:-0.18, Z:0.29 [[ 9.99465427e-01 -2.68422140e-02 1.86642976e-02 -6.67181322e+00] [ 2.68277306e-02 9.99639545e-01 1.02599038e-03 -1.77607957e-01] [-1.86851098e-02 -5.24721163e-04 9.99825280e-01 2.94941469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.427806573999999 meters Centerline goodness [0,1] 0.9924972550933269 Centerline is valid? [True, True] Translation: X:-6.70, Y:-0.18, Z:0.29 [[ 9.99503467e-01 -2.55658360e-02 1.84176048e-02 -6.70452214e+00] [ 2.55514354e-02 9.99672992e-01 1.01682495e-03 -1.77756577e-01] [-1.84375781e-02 -5.45723818e-04 9.99829864e-01 2.92857061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.457806573999999 meters Centerline goodness [0,1] 0.992467043314501 Centerline is valid? [True, True] Translation: X:-6.74, Y:-0.18, Z:0.29 [[ 9.99510963e-01 -2.62316364e-02 1.70216332e-02 -6.73735713e+00] [ 2.62193628e-02 9.99655768e-01 9.43861469e-04 -1.75070839e-01] [-1.70405329e-02 -4.97103508e-04 9.99854676e-01 2.92018264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.487806573999999 meters Centerline goodness [0,1] 0.9905967597492469 Centerline is valid? [True, True] Translation: X:-6.77, Y:-0.15, Z:0.29 [[ 9.99581214e-01 -2.28556528e-02 1.77486943e-02 -6.77057854e+00] [ 2.28417091e-02 9.99738606e-01 9.87967475e-04 -1.54659175e-01] [-1.77666355e-02 -5.82143217e-04 9.99841991e-01 2.88675175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.517806573999999 meters Centerline goodness [0,1] 0.9919217687074829 Centerline is valid? [True, True] Translation: X:-6.80, Y:-0.16, Z:0.29 [[ 9.99529205e-01 -2.35122638e-02 1.97114701e-02 -6.80282321e+00] [ 2.34951540e-02 9.99723347e-01 1.09918199e-03 -1.58055787e-01] [-1.97318611e-02 -6.35540476e-04 9.99805106e-01 2.91469422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.547806573999999 meters Centerline goodness [0,1] 0.9906356413166856 Centerline is valid? [True, True] Translation: X:-6.83, Y:-0.17, Z:0.29 [[ 9.99650987e-01 -1.83987182e-02 1.89576103e-02 -6.83313450e+00] [ 1.83819282e-02 9.99830477e-01 1.05954691e-03 -1.67693060e-01] [-1.89738908e-02 -7.10699683e-04 9.99819727e-01 2.94286394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.577806573999999 meters Centerline goodness [0,1] 0.9938870109102687 Centerline is valid? [True, True] Translation: X:-6.86, Y:-0.19, Z:0.30 [[ 9.98969628e-01 -4.14010896e-02 1.85911608e-02 -6.86214147e+00] [ 4.13889145e-02 9.99142571e-01 1.03934239e-03 -1.92751447e-01] [-1.86182501e-02 -2.68803518e-04 9.99826629e-01 2.98085512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.607806573999999 meters Centerline goodness [0,1] 0.9934743519809281 Centerline is valid? [True, True] Translation: X:-6.89, Y:-0.19, Z:0.29 [[ 9.99298182e-01 -3.54062899e-02 1.22285619e-02 -6.89322643e+00] [ 3.54005735e-02 9.99372969e-01 6.83669929e-04 -1.89772620e-01] [-1.22451004e-02 -2.50292013e-04 9.99924995e-01 2.89986797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.637806573999999 meters Centerline goodness [0,1] 0.9926645398573548 Centerline is valid? [True, True] Translation: X:-6.92, Y:-0.18, Z:0.28 [[ 9.99551444e-01 -2.85391989e-02 9.07884970e-03 -6.92421211e+00] [ 2.85357617e-02 9.99592643e-01 5.07927931e-04 -1.83719561e-01] [-9.08964722e-03 -2.48628205e-04 9.99958657e-01 2.82447596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.667806573999999 meters Centerline goodness [0,1] 0.9923535615771539 Centerline is valid? [True, True] Translation: X:-6.95, Y:-0.18, Z:0.28 [[ 9.99619774e-01 -2.45925831e-02 1.24704621e-02 -6.95452170e+00] [ 2.45857914e-02 9.99697480e-01 6.97662523e-04 -1.83348381e-01] [-1.24838468e-02 -3.90801075e-04 9.99921997e-01 2.83848323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.697806573999999 meters Centerline goodness [0,1] 0.9923535615771539 Centerline is valid? [True, True] Translation: X:-6.99, Y:-0.18, Z:0.28 [[ 9.99612630e-01 -2.48812851e-02 1.24704611e-02 -6.98710970e+00] [ 2.48745156e-02 9.99690338e-01 6.97680633e-04 -1.84999783e-01] [-1.24839587e-02 -3.87213693e-04 9.99921997e-01 2.84280494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.727806573999999 meters Centerline goodness [0,1] 0.990629996154858 Centerline is valid? [True, True] Translation: X:-7.02, Y:-0.19, Z:0.29 [[ 9.99634880e-01 -2.32709004e-02 1.37321167e-02 -7.01945567e+00] [ 2.32624801e-02 9.99729093e-01 7.72614757e-04 -1.89862933e-01] [-1.37463761e-02 -4.52889567e-04 9.99905412e-01 2.86773240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.757806573999999 meters Centerline goodness [0,1] 0.9929178470254958 Centerline is valid? [True, True] Translation: X:-7.05, Y:-0.21, Z:0.29 [[ 9.99565997e-01 -2.58873525e-02 1.40592531e-02 -7.05065262e+00] [ 2.58787333e-02 9.99664774e-01 7.94672635e-04 -2.08756634e-01] [-1.40751121e-02 -4.30492083e-04 9.99900848e-01 2.94251263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.787806573999999 meters Centerline goodness [0,1] 0.9930065677450742 Centerline is valid? [True, True] Translation: X:-7.08, Y:-0.21, Z:0.29 [[ 9.99460801e-01 -2.98036230e-02 1.37786862e-02 -7.08206814e+00] [ 2.97956700e-02 9.99555704e-01 7.82158437e-04 -2.12317289e-01] [-1.37958756e-02 -3.71191509e-04 9.99904763e-01 2.91903605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.817806573999999 meters Centerline goodness [0,1] 0.9934984708241347 Centerline is valid? [True, True] Translation: X:-7.11, Y:-0.21, Z:0.28 [[ 9.99297393e-01 -3.46069992e-02 1.43901665e-02 -7.11449703e+00] [ 3.45987742e-02 9.99400947e-01 8.20207212e-04 -2.12794750e-01] [-1.44099309e-02 -3.21748807e-04 9.99896120e-01 2.84957462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.847806573999999 meters Centerline goodness [0,1] 0.9940371515776282 Centerline is valid? [True, True] Translation: X:-7.15, Y:-0.23, Z:0.29 [[ 9.99246083e-01 -3.59924146e-02 1.45537536e-02 -7.14569945e+00] [ 3.59841293e-02 9.99352016e-01 8.30844556e-04 -2.27123772e-01] [-1.45742271e-02 -3.06514017e-04 9.99893743e-01 2.88748599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.877806573999999 meters Centerline goodness [0,1] 0.9925465586222304 Centerline is valid? [True, True] Translation: X:-7.18, Y:-0.24, Z:0.30 [[ 9.99199162e-01 -3.70372366e-02 1.51418986e-02 -7.17755822e+00] [ 3.70283276e-02 9.99313839e-01 8.68397513e-04 -2.37537395e-01] [-1.51636719e-02 -3.07022885e-04 9.99884978e-01 2.99981446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9078065739999985 meters Centerline goodness [0,1] 0.9936758893280633 Centerline is valid? [True, True] Translation: X:-7.21, Y:-0.22, Z:0.29 [[ 9.99224088e-01 -3.69131741e-02 1.37346395e-02 -7.21053891e+00] [ 3.69057896e-02 9.99318436e-01 7.90810768e-04 -2.23902445e-01] [-1.37544698e-02 -2.83309452e-04 9.99905363e-01 2.91446969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.937806573999999 meters Centerline goodness [0,1] 0.9926072553930678 Centerline is valid? [True, True] Translation: X:-7.24, Y:-0.22, Z:0.29 [[ 9.99274559e-01 -3.56074177e-02 1.35080390e-02 -7.24324283e+00] [ 3.56001066e-02 9.99365810e-01 7.81390104e-04 -2.24000426e-01] [-1.35272956e-02 -2.99935623e-04 9.99908457e-01 2.88748973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.967806573999999 meters Centerline goodness [0,1] 0.9930462636337835 Centerline is valid? [True, True] Translation: X:-7.27, Y:-0.24, Z:0.30 [[ 9.99351725e-01 -3.35610068e-02 1.30303221e-02 -7.27416448e+00] [ 3.35539878e-02 9.99436620e-01 7.56970694e-04 -2.37376740e-01] [-1.30483858e-02 -3.19260699e-04 9.99914815e-01 2.95605663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.997806573999999 meters Centerline goodness [0,1] 0.99332078450422 Centerline is valid? [True, True] Translation: X:-7.31, Y:-0.24, Z:0.30 [[ 9.99353860e-01 -3.30285352e-02 1.41766760e-02 -7.30628072e+00] [ 3.30201165e-02 9.99454345e-01 8.27565569e-04 -2.39049339e-01] [-1.41962737e-02 -3.58915353e-04 9.99899163e-01 2.98468254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.027806573999999 meters Centerline goodness [0,1] 0.991543383050437 Centerline is valid? [True, True] Translation: X:-7.34, Y:-0.24, Z:0.29 [[ 9.99340893e-01 -3.32517176e-02 1.45637502e-02 -7.33861221e+00] [ 3.32427992e-02 9.99446940e-01 8.54089764e-04 -2.41253749e-01] [-1.45840955e-02 -3.69387004e-04 9.99893578e-01 2.92634047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.057806573999999 meters Centerline goodness [0,1] 0.9921285335599668 Centerline is valid? [True, True] Translation: X:-7.37, Y:-0.26, Z:0.31 [[ 9.99217187e-01 -3.65868113e-02 1.50471869e-02 -7.36948364e+00] [ 3.65776092e-02 9.99330422e-01 8.86400177e-04 -2.55342047e-01] [-1.50695422e-02 -3.35316168e-04 9.99886392e-01 3.06642089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.087806573999999 meters Centerline goodness [0,1] 0.9928147580026642 Centerline is valid? [True, True] Translation: X:-7.40, Y:-0.25, Z:0.31 [[ 9.99127843e-01 -3.77576426e-02 1.78301354e-02 -7.40200312e+00] [ 3.77448509e-02 9.99286854e-01 1.05351883e-03 -2.52265353e-01] [-1.78571983e-02 -3.79604194e-04 9.99840475e-01 3.12426089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1178065739999985 meters Centerline goodness [0,1] 0.9920413687229831 Centerline is valid? [True, True] Translation: X:-7.43, Y:-0.25, Z:0.30 [[ 9.99130204e-01 -3.80400784e-02 1.70817973e-02 -7.43476137e+00] [ 3.80283073e-02 9.99276148e-01 1.01351122e-03 -2.46774595e-01] [-1.71079867e-02 -3.63037835e-04 9.99853582e-01 3.00977041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.147806573999999 meters Centerline goodness [0,1] 0.9921077065923862 Centerline is valid? [True, True] Translation: X:-7.47, Y:-0.25, Z:0.30 [[ 9.99046994e-01 -4.08897764e-02 1.52685994e-02 -7.46672534e+00] [ 4.08806479e-02 9.99163623e-01 9.09626815e-04 -2.54364174e-01] [-1.52930235e-02 -2.84569700e-04 9.99883014e-01 2.96267645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.177806573999999 meters Centerline goodness [0,1] 0.9937978252114378 Centerline is valid? [True, True] Translation: X:-7.50, Y:-0.27, Z:0.31 [[ 9.99043651e-01 -3.98958921e-02 1.78913687e-02 -7.49711412e+00] [ 3.98831083e-02 9.99203778e-01 1.07090701e-03 -2.71964798e-01] [-1.79198480e-02 -3.56319452e-04 9.99839363e-01 3.06178951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.207806573999999 meters Centerline goodness [0,1] 0.9942396313364056 Centerline is valid? [True, True] Translation: X:-7.53, Y:-0.27, Z:0.31 [[ 9.99009844e-01 -4.02735059e-02 1.89043777e-02 -7.52975981e+00] [ 4.02592053e-02 9.99188623e-01 1.13658748e-03 -2.74927941e-01] [-1.89348135e-02 -3.74386862e-04 9.99820650e-01 3.12660121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.237806573999999 meters Centerline goodness [0,1] 0.9925585334865993 Centerline is valid? [True, True] Translation: X:-7.56, Y:-0.27, Z:0.31 [[ 9.99053041e-01 -3.97050832e-02 1.77912084e-02 -7.56254920e+00] [ 3.96922404e-02 9.99211375e-01 1.07453272e-03 -2.68151278e-01] [-1.78198422e-02 -3.67342261e-04 9.99841147e-01 3.07490681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.267806573999999 meters Centerline goodness [0,1] 0.9940269593994673 Centerline is valid? [True, True] Translation: X:-7.59, Y:-0.27, Z:0.31 [[ 9.99056889e-01 -3.94302414e-02 1.81820873e-02 -7.59442136e+00] [ 3.94166971e-02 9.99222251e-01 1.10283655e-03 -2.72598069e-01] [-1.82114314e-02 -3.85118621e-04 9.99834084e-01 3.05372186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.297806573999999 meters Centerline goodness [0,1] 0.9933862967294431 Centerline is valid? [True, True] Translation: X:-7.63, Y:-0.28, Z:0.31 [[ 9.98988709e-01 -4.13649329e-02 1.76210512e-02 -7.62542072e+00] [ 4.13524368e-02 9.99144046e-01 1.07308898e-03 -2.83995749e-01] [-1.76503567e-02 -3.43330369e-04 9.99844161e-01 3.12355875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3278065739999985 meters Centerline goodness [0,1] 0.9937830527633119 Centerline is valid? [True, True] Translation: X:-7.66, Y:-0.29, Z:0.32 [[ 9.98922108e-01 -4.14374433e-02 2.09179607e-02 -7.65755767e+00] [ 4.14197323e-02 9.99141015e-01 1.27942236e-03 -2.88432179e-01] [-2.09530085e-02 -4.11626948e-04 9.99780377e-01 3.21566592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.357806573999999 meters Centerline goodness [0,1] 0.9938753234152652 Centerline is valid? [True, True] Translation: X:-7.69, Y:-0.29, Z:0.33 [[ 9.98795735e-01 -4.28279359e-02 2.39342285e-02 -7.68999120e+00] [ 4.28049869e-02 9.99082364e-01 1.47057575e-03 -2.85850255e-01] [-2.39752473e-02 -4.44300454e-04 9.99712454e-01 3.27411485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.387806573999999 meters Centerline goodness [0,1] 0.9934865280362489 Centerline is valid? [True, True] Translation: X:-7.72, Y:-0.29, Z:0.33 [[ 9.98770415e-01 -4.33378823e-02 2.40725297e-02 -7.72334004e+00] [ 4.33146499e-02 9.99060375e-01 1.48592981e-03 -2.85206893e-01] [-2.41143076e-02 -4.41409531e-04 9.99709110e-01 3.25670671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.417806573999999 meters Centerline goodness [0,1] 0.9923132792640116 Centerline is valid? [True, True] Translation: X:-7.76, Y:-0.28, Z:0.33 [[ 9.98914168e-01 -3.96059098e-02 2.45327536e-02 -7.75558662e+00] [ 3.95804877e-02 9.99215228e-01 1.52115762e-03 -2.83816139e-01] [-2.45737478e-02 -5.48487552e-04 9.99697869e-01 3.26493092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.447806573999999 meters Centerline goodness [0,1] 0.993448901431163 Centerline is valid? [True, True] Translation: X:-7.79, Y:-0.29, Z:0.32 [[ 9.99068051e-01 -3.69436659e-02 2.23202926e-02 -7.78720901e+00] [ 3.69218729e-02 9.99317191e-01 1.38783391e-03 -2.86659293e-01] [-2.23563238e-02 -5.62433511e-04 9.99749908e-01 3.23829637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.477806573999999 meters Centerline goodness [0,1] 0.9929801136938359 Centerline is valid? [True, True] Translation: X:-7.82, Y:-0.29, Z:0.33 [[ 9.99184480e-01 -3.22682471e-02 2.42720966e-02 -7.81867041e+00] [ 3.22410546e-02 9.99478980e-01 1.51092675e-03 -2.85116260e-01] [-2.43082053e-02 -7.27136566e-04 9.99704247e-01 3.27333755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.507806573999999 meters Centerline goodness [0,1] 0.9926560090886959 Centerline is valid? [True, True] Translation: X:-7.85, Y:-0.29, Z:0.33 [[ 9.99260488e-01 -3.05020018e-02 2.34116420e-02 -7.84944686e+00] [ 3.04761504e-02 9.99534428e-01 1.46029657e-03 -2.86986031e-01] [-2.34452842e-02 -7.45719940e-04 9.99724843e-01 3.29910955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.537806573999998 meters Centerline goodness [0,1] 0.9915195919689119 Centerline is valid? [True, True] Translation: X:-7.88, Y:-0.29, Z:0.33 [[ 9.99355666e-01 -3.11777848e-02 1.77819760e-02 -7.88135121e+00] [ 3.11629167e-02 9.99513699e-01 1.11267471e-03 -2.85173040e-01] [-1.78080193e-02 -5.57819535e-04 9.99841269e-01 3.26853483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.567806573999999 meters Centerline goodness [0,1] 0.99196274926612 Centerline is valid? [True, True] Translation: X:-7.91, Y:-0.28, Z:0.32 [[ 9.99346596e-01 -3.23396361e-02 1.61408893e-02 -7.91380043e+00] [ 3.23274784e-02 9.99476816e-01 1.01363431e-03 -2.83452955e-01] [-1.61652252e-02 -4.91177749e-04 9.99869214e-01 3.23337376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.597806573999999 meters Centerline goodness [0,1] 0.9923803779654202 Centerline is valid? [True, True] Translation: X:-7.94, Y:-0.29, Z:0.32 [[ 9.99090303e-01 -3.75854716e-02 2.01469079e-02 -7.94296318e+00] [ 3.75674969e-02 9.99293285e-01 1.27004587e-03 -2.94217846e-01] [-2.01804051e-02 -5.12021613e-04 9.99796224e-01 3.23105328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.627806573999999 meters Centerline goodness [0,1] 0.9925933421026004 Centerline is valid? [True, True] Translation: X:-7.97, Y:-0.31, Z:0.33 [[ 9.98992846e-01 -3.91969682e-02 2.18378410e-02 -7.97462344e+00] [ 3.91761561e-02 9.99231367e-01 1.38019316e-03 -3.05880413e-01] [-2.18751551e-02 -5.23280429e-04 9.99760573e-01 3.32545215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6578065739999985 meters Centerline goodness [0,1] 0.9929732904035802 Centerline is valid? [True, True] Translation: X:-8.01, Y:-0.32, Z:0.34 [[ 9.98769367e-01 -4.35737836e-02 2.36870470e-02 -8.00509133e+00] [ 4.35503790e-02 9.99050101e-01 1.50328614e-03 -3.15752546e-01] [-2.37300506e-02 -4.69856272e-04 9.99718292e-01 3.37909793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.687806573999999 meters Centerline goodness [0,1] 0.993120662364544 Centerline is valid? [True, True] Translation: X:-8.04, Y:-0.32, Z:0.34 [[ 9.98668370e-01 -4.51145951e-02 2.50231719e-02 -8.03762400e+00] [ 4.50887868e-02 9.98981710e-01 1.59492472e-03 -3.18122526e-01] [-2.50696454e-02 -4.64536406e-04 9.99685599e-01 3.38687896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.717806573999999 meters Centerline goodness [0,1] 0.9936205434650947 Centerline is valid? [True, True] Translation: X:-8.07, Y:-0.33, Z:0.34 [[ 9.98514156e-01 -4.87196334e-02 2.44105943e-02 -8.06894825e+00] [ 4.86959939e-02 9.98812425e-01 1.56226717e-03 -3.25648840e-01] [-2.44577179e-02 -3.71247739e-04 9.99700796e-01 3.36054543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.747806573999998 meters Centerline goodness [0,1] 0.9938986327299087 Centerline is valid? [True, True] Translation: X:-8.10, Y:-0.34, Z:0.33 [[ 9.98449535e-01 -5.04007846e-02 2.36281097e-02 -8.09994464e+00] [ 5.03789802e-02 9.98729020e-01 1.51754938e-03 -3.36078157e-01] [-2.36745645e-02 -3.24836400e-04 9.99719665e-01 3.34825015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.777806573999999 meters Centerline goodness [0,1] 0.9940083397433302 Centerline is valid? [True, True] Translation: X:-8.13, Y:-0.34, Z:0.33 [[ 9.98399110e-01 -5.17204950e-02 2.28955990e-02 -8.13089848e+00] [ 5.17002681e-02 9.98661558e-01 1.47488742e-03 -3.41908790e-01] [-2.29412365e-02 -2.88817679e-04 9.99736773e-01 3.33006568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.807806573999999 meters Centerline goodness [0,1] 0.9941712204007286 Centerline is valid? [True, True] Translation: X:-8.16, Y:-0.34, Z:0.34 [[ 9.98331256e-01 -5.17869378e-02 2.55502674e-02 -8.16258220e+00] [ 5.17616316e-02 9.98658103e-01 1.65127053e-03 -3.44037448e-01] [-2.56014958e-02 -3.25991452e-04 9.99672175e-01 3.38173983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.837806573999999 meters Centerline goodness [0,1] 0.9936598031519835 Centerline is valid? [True, True] Translation: X:-8.19, Y:-0.35, Z:0.34 [[ 9.98255298e-01 -5.32173627e-02 2.55787417e-02 -8.19378506e+00] [ 5.31923357e-02 9.98582909e-01 1.65832581e-03 -3.51606377e-01] [-2.56307460e-02 -2.94839508e-04 9.99671435e-01 3.35372873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8678065739999985 meters Centerline goodness [0,1] 0.9922600931207547 Centerline is valid? [True, True] Translation: X:-8.23, Y:-0.35, Z:0.34 [[ 9.98269687e-01 -5.32749950e-02 2.48878990e-02 -8.22546828e+00] [ 5.32511959e-02 9.98579837e-01 1.61850762e-03 -3.53170287e-01] [-2.49387801e-02 -2.90396709e-04 9.99688938e-01 3.37109906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.897806573999999 meters Centerline goodness [0,1] 0.9934991520633126 Centerline is valid? [True, True] Translation: X:-8.26, Y:-0.35, Z:0.33 [[ 9.98285147e-01 -5.41986659e-02 2.21194274e-02 -8.25676456e+00] [ 5.41799958e-02 9.98530143e-01 1.44291693e-03 -3.53956310e-01] [-2.21651192e-02 -2.42012055e-04 9.99754294e-01 3.29711820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.927806573999999 meters Centerline goodness [0,1] 0.9935319561790031 Centerline is valid? [True, True] Translation: X:-8.29, Y:-0.36, Z:0.33 [[ 9.98178582e-01 -5.63174628e-02 2.16301229e-02 -8.28882132e+00] [ 5.63000206e-02 9.98412893e-01 1.41498135e-03 -3.58826428e-01] [-2.16754817e-02 -1.94627712e-04 9.99765040e-01 3.31911809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.957806573999998 meters Centerline goodness [0,1] 0.9951079078756644 Centerline is valid? [True, True] Translation: X:-8.32, Y:-0.36, Z:0.35 [[ 9.97981945e-01 -5.57587703e-02 3.03808765e-02 -8.32003780e+00] [ 5.57239085e-02 9.98444226e-01 1.99361152e-03 -3.64479333e-01] [-3.04447721e-02 -2.96647113e-04 9.99536406e-01 3.45530804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.987806573999999 meters Centerline goodness [0,1] 0.9958644341335485 Centerline is valid? [True, True] Translation: X:-8.35, Y:-0.37, Z:0.35 [[ 9.97925482e-01 -5.63685056e-02 3.11018393e-02 -8.35150112e+00] [ 5.63320962e-02 9.98409990e-01 2.04633709e-03 -3.65131656e-01] [-3.11677360e-02 -2.90060117e-04 9.99514126e-01 3.47948665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.017806573999998 meters Centerline goodness [0,1] 0.9949784213286008 Centerline is valid? [True, True] Translation: X:-8.38, Y:-0.36, Z:0.35 [[ 9.97815428e-01 -6.05281921e-02 2.64709100e-02 -8.38372140e+00] [ 6.05031837e-02 9.98166478e-01 1.74539314e-03 -3.64214019e-01] [-2.65280205e-02 -1.40005875e-04 9.99648060e-01 3.46416975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.047806573999999 meters Centerline goodness [0,1] 0.9952808308964405 Centerline is valid? [True, True] Translation: X:-8.41, Y:-0.37, Z:0.34 [[ 9.97828449e-01 -6.10061101e-02 2.48322428e-02 -8.41491322e+00] [ 6.09841551e-02 9.98137385e-01 1.64118341e-03 -3.72221752e-01] [-2.48861121e-02 -1.23246154e-04 9.99690285e-01 3.39597061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.077806573999998 meters Centerline goodness [0,1] 0.99475002019223 Centerline is valid? [True, True] Translation: X:-8.45, Y:-0.37, Z:0.34 [[ 9.97726811e-01 -6.25561852e-02 2.50586081e-02 -8.44840913e+00] [ 6.25341409e-02 9.98041440e-01 1.66314478e-03 -3.72263153e-01] [-2.51135693e-02 -9.23456070e-05 9.99684600e-01 3.44623692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.107806574 meters Centerline goodness [0,1] 0.9952643082651987 Centerline is valid? [True, True] Translation: X:-8.48, Y:-0.36, Z:0.35 [[ 9.97552966e-01 -6.32143753e-02 2.98667374e-02 -8.48078996e+00] [ 6.31830780e-02 9.97999966e-01 1.99143029e-03 -3.63709637e-01] [-2.99328899e-02 -9.94847988e-05 9.99551906e-01 3.52494333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.137806573999999 meters Centerline goodness [0,1] 0.9960012117540139 Centerline is valid? [True, True] Translation: X:-8.51, Y:-0.36, Z:0.35 [[ 9.97397447e-01 -6.59643361e-02 2.91039202e-02 -8.51311422e+00] [ 6.59355709e-02 9.97821981e-01 1.94800092e-03 -3.63177283e-01] [-2.91690299e-02 -2.39475553e-05 9.99574493e-01 3.46385037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.167806573999998 meters Centerline goodness [0,1] 0.9956360857499095 Centerline is valid? [True, True] Translation: X:-8.54, Y:-0.38, Z:0.35 [[ 9.97147123e-01 -6.89852408e-02 3.06374260e-02 -8.54472684e+00] [ 6.89545439e-02 9.97617679e-01 2.05861946e-03 -3.78137810e-01] [-3.07064522e-02 5.98432670e-05 9.99528444e-01 3.52222796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.197806574 meters Centerline goodness [0,1] 0.9957725213890287 Centerline is valid? [True, True] Translation: X:-8.58, Y:-0.38, Z:0.36 [[ 9.97057549e-01 -7.05880486e-02 2.98926504e-02 -8.57572364e+00] [ 7.05593794e-02 9.97505547e-01 2.01414415e-03 -3.79590036e-01] [-2.99602591e-02 1.00989234e-04 9.99551086e-01 3.58597177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.227806573999999 meters Centerline goodness [0,1] 0.9946977944437724 Centerline is valid? [True, True] Translation: X:-8.61, Y:-0.37, Z:0.36 [[ 9.97080905e-01 -7.04260258e-02 2.94931011e-02 -8.60988557e+00] [ 7.03978523e-02 9.97517001e-01 1.99381326e-03 -3.70079660e-01] [-2.95602861e-02 8.82578402e-05 9.99562995e-01 3.56394235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.257806573999998 meters Centerline goodness [0,1] 0.9954383061179177 Centerline is valid? [True, True] Translation: X:-8.64, Y:-0.37, Z:0.36 [[ 9.97097839e-01 -6.94039849e-02 3.12887677e-02 -8.64156944e+00] [ 6.93715605e-02 9.97588635e-01 2.12195779e-03 -3.66155259e-01] [-3.13605913e-02 5.47511167e-05 9.99508134e-01 3.56914441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.287806574 meters Centerline goodness [0,1] 0.995982241507463 Centerline is valid? [True, True] Translation: X:-8.67, Y:-0.38, Z:0.36 [[ 9.97024180e-01 -7.03316312e-02 3.15633525e-02 -8.67365560e+00] [ 7.02988658e-02 9.97523662e-01 2.14797311e-03 -3.75086350e-01] [-3.16362614e-02 7.72867499e-05 9.99499445e-01 3.58133467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.317806573999999 meters Centerline goodness [0,1] 0.9963957070656223 Centerline is valid? [True, True] Translation: X:-8.71, Y:-0.37, Z:0.37 [[ 9.97112337e-01 -6.87495217e-02 3.22566241e-02 -8.70618014e+00] [ 6.87141866e-02 9.97633952e-01 2.20400923e-03 -3.73256499e-01] [-3.23318280e-02 1.88428900e-05 9.99477190e-01 3.69490008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.347806573999998 meters Centerline goodness [0,1] 0.9962547570626019 Centerline is valid? [True, True] Translation: X:-8.74, Y:-0.37, Z:0.37 [[ 9.97118537e-01 -6.83864325e-02 3.28316733e-02 -8.73903503e+00] [ 6.83493533e-02 9.97658908e-01 2.25168010e-03 -3.67894808e-01] [-3.29087957e-02 -1.16833002e-06 9.99458359e-01 3.73824546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.377806574 meters Centerline goodness [0,1] 0.9974489279423376 Centerline is valid? [True, True] Translation: X:-8.77, Y:-0.36, Z:0.37 [[ 9.97186945e-01 -6.68165343e-02 3.39668624e-02 -8.77100919e+00] [ 6.67756436e-02 9.97765276e-01 2.33809673e-03 -3.57473950e-01] [-3.40471794e-02 -6.33604363e-05 9.99420225e-01 3.65380873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.407806573999999 meters Centerline goodness [0,1] 0.99574640469921 Centerline is valid? [True, True] Translation: X:-8.80, Y:-0.36, Z:0.37 [[ 9.97200829e-01 -6.75378027e-02 3.20803870e-02 -8.80225528e+00] [ 6.75015166e-02 9.97716715e-01 2.21401082e-03 -3.63212547e-01] [-3.21566678e-02 -4.23386520e-05 9.99482840e-01 3.73627074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.437806573999998 meters Centerline goodness [0,1] 0.9966724155422543 Centerline is valid? [True, True] Translation: X:-8.83, Y:-0.37, Z:0.38 [[ 9.97187173e-01 -6.84635551e-02 3.05038155e-02 -8.83295399e+00] [ 6.84309969e-02 9.97653618e-01 2.11124737e-03 -3.68317743e-01] [-3.05767854e-02 -1.79022968e-05 9.99532421e-01 3.77354952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.467806573999999 meters Centerline goodness [0,1] 0.9964346487318694 Centerline is valid? [True, True] Translation: X:-8.86, Y:-0.37, Z:0.38 [[ 9.97156458e-01 -6.76678131e-02 3.31672354e-02 -8.86484175e+00] [ 6.76285847e-02 9.97707905e-01 2.30444712e-03 -3.69842741e-01] [-3.32471499e-02 -5.48411424e-05 9.99447159e-01 3.82908242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.497806573999998 meters Centerline goodness [0,1] 0.996690746196376 Centerline is valid? [True, True] Translation: X:-8.90, Y:-0.36, Z:0.39 [[ 9.97105704e-01 -6.81188240e-02 3.37644909e-02 -8.89793429e+00] [ 6.80781264e-02 9.97677214e-01 2.35485083e-03 -3.63063694e-01] [-3.38464729e-02 -4.94119146e-05 9.99427043e-01 3.89126725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.527806574 meters Centerline goodness [0,1] 0.99632085388534 Centerline is valid? [True, True] Translation: X:-8.93, Y:-0.36, Z:0.39 [[ 9.97092060e-01 -6.85419890e-02 3.33079435e-02 -8.93010459e+00] [ 6.85023242e-02 9.97648232e-01 2.33189410e-03 -3.58789018e-01] [-3.33894436e-02 -4.34415498e-05 9.99442416e-01 3.87904745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.557806573999999 meters Centerline goodness [0,1] 0.9969653442311194 Centerline is valid? [True, True] Translation: X:-8.96, Y:-0.36, Z:0.38 [[ 9.97142685e-01 -6.87543690e-02 3.12937947e-02 -8.96195739e+00] [ 6.87192156e-02 9.97633618e-01 2.19873398e-03 -3.55223764e-01] [-3.13709142e-02 -4.19664803e-05 9.99507811e-01 3.82365382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.587806573999998 meters Centerline goodness [0,1] 0.9969653442311194 Centerline is valid? [True, True] Translation: X:-8.99, Y:-0.36, Z:0.38 [[ 9.97121747e-01 -6.90576436e-02 3.12931796e-02 -8.99449643e+00] [ 6.90223656e-02 9.97612670e-01 2.20746290e-03 -3.57344342e-01] [-3.13709147e-02 -4.11799822e-05 9.99507811e-01 3.82796399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.617806574 meters Centerline goodness [0,1] 0.9966332002741825 Centerline is valid? [True, True] Translation: X:-9.03, Y:-0.37, Z:0.39 [[ 9.97160782e-01 -6.84287148e-02 3.14306430e-02 -9.02666120e+00] [ 6.83925106e-02 9.97656006e-01 2.22677242e-03 -3.67441708e-01] [-3.15093449e-02 -7.08295422e-05 9.99503455e-01 3.92021946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.647806573999999 meters Centerline goodness [0,1] 0.9978194152802455 Centerline is valid? [True, True] Translation: X:-9.06, Y:-0.37, Z:0.40 [[ 9.97158298e-01 -6.79932806e-02 3.24382808e-02 -9.05882687e+00] [ 6.79541882e-02 9.97685774e-01 2.30734012e-03 -3.70259392e-01] [-3.25200949e-02 -9.64663089e-05 9.99471077e-01 3.98311633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.677806573999998 meters Centerline goodness [0,1] 0.9972048934618812 Centerline is valid? [True, True] Translation: X:-9.09, Y:-0.37, Z:0.40 [[ 9.97107167e-01 -6.95275542e-02 3.07118290e-02 -9.09017646e+00] [ 6.94930102e-02 9.97580030e-01 2.19202388e-03 -3.65467041e-01] [-3.07899134e-02 -5.14252730e-05 9.99525877e-01 3.98970088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.707806574 meters Centerline goodness [0,1] 0.9971649588919039 Centerline is valid? [True, True] Translation: X:-9.12, Y:-0.36, Z:0.39 [[ 9.97050861e-01 -7.04580225e-02 3.04178817e-02 -9.12275765e+00] [ 7.04243243e-02 9.97514745e-01 2.17908240e-03 -3.64325980e-01] [-3.04958193e-02 -3.04972234e-05 9.99534894e-01 3.93918110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.737806573999999 meters Centerline goodness [0,1] 0.9970285621879484 Centerline is valid? [True, True] Translation: X:-9.15, Y:-0.37, Z:0.39 [[ 9.96652617e-01 -7.57986462e-02 3.06288546e-02 -9.15447766e+00] [ 7.57667407e-02 9.97123137e-01 2.20261065e-03 -3.70435744e-01] [-3.07076945e-02 1.25410823e-04 9.99528400e-01 3.92806505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.767806573999998 meters Centerline goodness [0,1] 0.9960531109581832 Centerline is valid? [True, True] Translation: X:-9.19, Y:-0.37, Z:0.40 [[ 9.96394557e-01 -7.89026617e-02 3.11810170e-02 -9.18613147e+00] [ 7.88708530e-02 9.96882301e-01 2.25067407e-03 -3.74069995e-01] [-3.12613882e-02 2.16714014e-04 9.99511220e-01 3.98026868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.797806573999999 meters Centerline goodness [0,1] 0.9961188599151001 Centerline is valid? [True, True] Translation: X:-9.22, Y:-0.38, Z:0.40 [[ 9.96023928e-01 -8.28285765e-02 3.27987996e-02 -9.21706283e+00] [ 8.27952280e-02 9.96563749e-01 2.37595305e-03 -3.75641614e-01] [-3.28828915e-02 3.49078003e-04 9.99459151e-01 3.95128500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.827806573999998 meters Centerline goodness [0,1] 0.996370162737704 Centerline is valid? [True, True] Translation: X:-9.25, Y:-0.38, Z:0.40 [[ 9.95720721e-01 -8.58087316e-02 3.43090057e-02 -9.24891486e+00] [ 8.57736981e-02 9.96311523e-01 2.49437716e-03 -3.78913538e-01] [-3.43964970e-02 4.59107272e-04 9.99408160e-01 3.95433481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.857806573999998 meters Centerline goodness [0,1] 0.9967393725823764 Centerline is valid? [True, True] Translation: X:-9.28, Y:-0.38, Z:0.40 [[ 9.95687560e-01 -8.58462443e-02 3.51668237e-02 -9.28090323e+00] [ 8.58091327e-02 9.96308290e-01 2.56602170e-03 -3.83580682e-01] [-3.52572813e-02 4.62678757e-04 9.99378162e-01 3.98077971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.887806573999999 meters Centerline goodness [0,1] 0.9968371112282551 Centerline is valid? [True, True] Translation: X:-9.31, Y:-0.38, Z:0.40 [[ 9.95865946e-01 -8.41240779e-02 3.42659829e-02 -9.31270142e+00] [ 8.40875368e-02 9.96455214e-01 2.50865860e-03 -3.80323832e-01] [-3.43555559e-02 3.83054432e-04 9.99409600e-01 3.99644447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.917806573999998 meters Centerline goodness [0,1] 0.9969441240159472 Centerline is valid? [True, True] Translation: X:-9.35, Y:-0.38, Z:0.40 [[ 9.96296298e-01 -8.03429003e-02 3.06382797e-02 -9.34522234e+00] [ 8.03117731e-02 9.96767259e-01 2.24719770e-03 -3.75309479e-01] [-3.07197805e-02 2.21739823e-04 9.99528012e-01 3.97138899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.947806574 meters Centerline goodness [0,1] 0.9966599190283401 Centerline is valid? [True, True] Translation: X:-9.38, Y:-0.38, Z:0.40 [[ 9.96420855e-01 -7.79842178e-02 3.26181074e-02 -9.37580891e+00] [ 7.79474829e-02 9.96954582e-01 2.39822995e-03 -3.81383886e-01] [-3.27057957e-02 1.52853029e-04 9.99465011e-01 4.03219464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.977806573999999 meters Centerline goodness [0,1] 0.9971328059865384 Centerline is valid? [True, True] Translation: X:-9.41, Y:-0.38, Z:0.42 [[ 9.96720171e-01 -7.25356487e-02 3.58814845e-02 -9.40744371e+00] [ 7.24873299e-02 9.97365820e-01 2.64740613e-03 -3.76136342e-01] [-3.59789975e-02 -3.77700843e-05 9.99352546e-01 4.16449019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.007806573999998 meters Centerline goodness [0,1] 0.9968945990379346 Centerline is valid? [True, True] Translation: X:-9.44, Y:-0.36, Z:0.42 [[ 9.97166473e-01 -6.59498783e-02 3.61889335e-02 -9.44142606e+00] [ 6.58960425e-02 9.97822896e-01 2.67966417e-03 -3.57416845e-01] [-3.62868699e-02 -2.87363773e-04 9.99341373e-01 4.19731808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.037806574 meters Centerline goodness [0,1] 0.9974469119792511 Centerline is valid? [True, True] Translation: X:-9.47, Y:-0.35, Z:0.41 [[ 9.97401790e-01 -6.35447195e-02 3.39372562e-02 -9.47455689e+00] [ 6.34956878e-02 9.97978927e-01 2.52166228e-03 -3.54230280e-01] [-3.40289048e-02 -3.60241050e-04 9.99420784e-01 4.12939462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.067806573999999 meters Centerline goodness [0,1] 0.9970051340559042 Centerline is valid? [True, True] Translation: X:-9.50, Y:-0.36, Z:0.42 [[ 9.97636480e-01 -6.13092709e-02 3.10262277e-02 -9.50488577e+00] [ 6.12669816e-02 9.98118734e-01 2.31275140e-03 -3.63978433e-01] [-3.11096523e-02 -4.06401837e-04 9.99515895e-01 4.19762016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.097806573999998 meters Centerline goodness [0,1] 0.9966412213740458 Centerline is valid? [True, True] Translation: X:-9.54, Y:-0.36, Z:0.42 [[ 9.97628709e-01 -6.15110847e-02 3.08762907e-02 -9.53771611e+00] [ 6.14690394e-02 9.98106318e-01 2.30998466e-03 -3.64820773e-01] [-3.09599104e-02 -4.06571090e-04 9.99520544e-01 4.22727147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.127806574 meters Centerline goodness [0,1] 0.9970677472561038 Centerline is valid? [True, True] Translation: X:-9.57, Y:-0.36, Z:0.42 [[ 9.97471999e-01 -6.43346923e-02 3.01771191e-02 -9.56904923e+00] [ 6.42955794e-02 9.97928327e-01 2.26568135e-03 -3.64154198e-01] [-3.02603638e-02 -3.19698351e-04 9.99541999e-01 4.24330611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.157806573999999 meters Centerline goodness [0,1] 0.9982044847075147 Centerline is valid? [True, True] Translation: X:-9.60, Y:-0.37, Z:0.43 [[ 9.97258157e-01 -6.71443291e-02 3.11096115e-02 -9.60208328e+00] [ 6.71038525e-02 9.97743242e-01 2.34449410e-03 -3.69192171e-01] [-3.11968242e-02 -2.50491080e-04 9.99513229e-01 4.25185529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.187806573999998 meters Centerline goodness [0,1] 0.9973753280839895 Centerline is valid? [True, True] Translation: X:-9.63, Y:-0.38, Z:0.43 [[ 9.97025341e-01 -7.08872736e-02 3.02566289e-02 -9.63410606e+00] [ 7.08504524e-02 9.97484323e-01 2.28867912e-03 -3.76838010e-01] [-3.03427512e-02 -1.38175234e-04 9.99539543e-01 4.26938067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.217806573999999 meters Centerline goodness [0,1] 0.9968802887262198 Centerline is valid? [True, True] Translation: X:-9.67, Y:-0.38, Z:0.43 [[ 9.96932190e-01 -7.33367239e-02 2.73483803e-02 -9.66591461e+00] [ 7.33073734e-02 9.97307235e-01 2.07562763e-03 -3.80756446e-01] [-2.74269572e-02 -6.44220693e-05 9.99623808e-01 4.28392844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.247806573999998 meters Centerline goodness [0,1] 0.9968087065032833 Centerline is valid? [True, True] Translation: X:-9.70, Y:-0.38, Z:0.43 [[ 9.96738768e-01 -7.53821219e-02 2.87986860e-02 -9.69717858e+00] [ 7.53502542e-02 9.97154720e-01 2.19173612e-03 -3.82194431e-01] [-2.88819634e-02 -1.46000433e-05 9.99582829e-01 4.31835304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.277806573999998 meters Centerline goodness [0,1] 0.9972470890515712 Centerline is valid? [True, True] Translation: X:-9.73, Y:-0.39, Z:0.44 [[ 9.96631060e-01 -7.46559802e-02 3.39560712e-02 -9.72808486e+00] [ 7.46111446e-02 9.97209347e-01 2.58737599e-03 -3.86091671e-01] [-3.40544747e-02 -4.51579306e-05 9.99419977e-01 4.42027813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.307806573999999 meters Centerline goodness [0,1] 0.9980711051552252 Centerline is valid? [True, True] Translation: X:-9.76, Y:-0.39, Z:0.44 [[ 9.96545094e-01 -7.56560813e-02 3.42641547e-02 -9.76084336e+00] [ 7.56107833e-02 9.97133971e-01 2.61771209e-03 -3.90906801e-01] [-3.43639984e-02 -1.79285727e-05 9.99409383e-01 4.43597543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.337806573999998 meters Centerline goodness [0,1] 0.9979047154074616 Centerline is valid? [True, True] Translation: X:-9.79, Y:-0.39, Z:0.44 [[ 9.96984790e-01 -7.20846466e-02 2.87251042e-02 -9.79230430e+00] [ 7.20511255e-02 9.97398510e-01 2.20165766e-03 -3.90298107e-01] [-2.88090819e-02 -1.25343115e-04 9.99584924e-01 4.37476878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.367806574 meters Centerline goodness [0,1] 0.9976814659643272 Centerline is valid? [True, True] Translation: X:-9.82, Y:-0.39, Z:0.44 [[ 9.97230906e-01 -6.97770936e-02 2.57230793e-02 -9.82477954e+00] [ 6.97492866e-02 9.97562592e-01 1.97776005e-03 -3.89421434e-01] [-2.57983840e-02 -1.78117022e-04 9.99667150e-01 4.35256829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.397806573999999 meters Centerline goodness [0,1] 0.9976555710503446 Centerline is valid? [True, True] Translation: X:-9.86, Y:-0.39, Z:0.44 [[ 9.97279114e-01 -6.80536946e-02 2.83383666e-02 -9.85755753e+00] [ 6.80190785e-02 9.97681628e-01 2.18482995e-03 -3.89106989e-01] [-2.84213534e-02 -2.51335697e-04 9.99596000e-01 4.38088036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.427806573999998 meters Centerline goodness [0,1] 0.9961094249689365 Centerline is valid? [True, True] Translation: X:-9.89, Y:-0.39, Z:0.44 [[ 9.97343927e-01 -6.50313794e-02 3.28025962e-02 -9.88920152e+00] [ 6.49832375e-02 9.97883142e-01 2.53272250e-03 -3.90253190e-01] [-3.28978642e-02 -3.94376503e-04 9.99458641e-01 4.42541628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.457806574 meters Centerline goodness [0,1] 0.998091021709551 Centerline is valid? [True, True] Translation: X:-9.92, Y:-0.39, Z:0.45 [[ 9.97307027e-01 -6.54584137e-02 3.30740159e-02 -9.92121115e+00] [ 6.54094902e-02 9.97855222e-01 2.56019015e-03 -3.94204596e-01] [-3.31706654e-02 -3.89941111e-04 9.99449626e-01 4.48499853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.487806573999999 meters Centerline goodness [0,1] 0.9969259583477535 Centerline is valid? [True, True] Translation: X:-9.95, Y:-0.39, Z:0.45 [[ 9.97407426e-01 -6.39419927e-02 3.30128536e-02 -9.95231157e+00] [ 6.38921397e-02 9.97953516e-01 2.56390812e-03 -3.94212029e-01] [-3.31092347e-02 -4.47999143e-04 9.99451639e-01 4.49302021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.517806573999998 meters Centerline goodness [0,1] 0.9974573857857695 Centerline is valid? [True, True] Translation: X:-9.98, Y:-0.40, Z:0.45 [[ 9.97392517e-01 -6.56469413e-02 2.99774422e-02 -9.98456978e+00] [ 6.56063849e-02 9.97842847e-01 2.33553890e-03 -3.96470015e-01] [-3.00660973e-02 -3.62737405e-04 9.99547847e-01 4.45865378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.547806573999999 meters Centerline goodness [0,1] 0.9973774091241766 Centerline is valid? [True, True] Translation: X:-10.02, Y:-0.40, Z:0.45 [[ 9.97348419e-01 -6.67797271e-02 2.89240350e-02 -1.00164126e+01] [ 6.67422286e-02 9.97767690e-01 2.26102331e-03 -4.03749248e-01] [-2.90104581e-02 -3.24573467e-04 9.99579055e-01 4.47992156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.577806573999998 meters Centerline goodness [0,1] 0.9964438844973684 Centerline is valid? [True, True] Translation: X:-10.05, Y:-0.42, Z:0.45 [[ 9.97078302e-01 -7.02604637e-02 2.99721010e-02 -1.00473252e+01] [ 7.02215290e-02 9.97528651e-01 2.35094227e-03 -4.17496330e-01] [-3.00632078e-02 -2.39386759e-04 9.99547971e-01 4.52501437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.607806573999998 meters Centerline goodness [0,1] 0.9977859928501788 Centerline is valid? [True, True] Translation: X:-10.08, Y:-0.42, Z:0.46 [[ 9.96875061e-01 -7.21719779e-02 3.21141552e-02 -1.00777284e+01] [ 7.21279989e-02 9.97392182e-01 2.52733402e-03 -4.24506075e-01] [-3.22128101e-02 -2.03106499e-04 9.99481012e-01 4.64508865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.637806573999999 meters Centerline goodness [0,1] 0.9986185600520071 Centerline is valid? [True, True] Translation: X:-10.11, Y:-0.42, Z:0.46 [[ 9.96856167e-01 -7.28044608e-02 3.12616694e-02 -1.01105273e+01] [ 7.27628440e-02 9.97346217e-01 2.46831678e-03 -4.18008176e-01] [-3.13584122e-02 -1.85868830e-04 9.99508187e-01 4.59955264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.667806573999998 meters Centerline goodness [0,1] 0.9980104350650669 Centerline is valid? [True, True] Translation: X:-10.14, Y:-0.42, Z:0.46 [[ 9.96988081e-01 -7.17996600e-02 2.93185125e-02 -1.01426254e+01] [ 7.17623990e-02 9.97419051e-01 2.32249977e-03 -4.16639029e-01] [-2.94095976e-02 -2.11537797e-04 9.99567422e-01 4.59265802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.697806573999998 meters Centerline goodness [0,1] 0.9978312422725338 Centerline is valid? [True, True] Translation: X:-10.18, Y:-0.42, Z:0.46 [[ 9.97032847e-01 -7.15541295e-02 2.83814977e-02 -1.01750546e+01] [ 7.15188870e-02 9.97436694e-01 2.25621616e-03 -4.24619138e-01] [-2.84701888e-02 -2.19708493e-04 9.99594618e-01 4.59879186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.727806573999999 meters Centerline goodness [0,1] 0.9981323968250746 Centerline is valid? [True, True] Translation: X:-10.21, Y:-0.43, Z:0.47 [[ 9.97165155e-01 -6.98959223e-02 2.78605999e-02 -1.02059612e+01] [ 6.98611043e-02 9.97554253e-01 2.22233580e-03 -4.34469213e-01] [-2.79477921e-02 -2.69663548e-04 9.99609348e-01 4.68382037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.757806573999998 meters Centerline goodness [0,1] 0.9984948948460318 Centerline is valid? [True, True] Translation: X:-10.24, Y:-0.44, Z:0.48 [[ 9.97321432e-01 -6.79858932e-02 2.69792350e-02 -1.02385597e+01] [ 6.79523586e-02 9.97686231e-01 2.15891943e-03 -4.36041521e-01] [-2.70635874e-02 -3.19833969e-04 9.99633663e-01 4.75339097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.787806574 meters Centerline goodness [0,1] 0.9986951291618243 Centerline is valid? [True, True] Translation: X:-10.27, Y:-0.44, Z:0.48 [[ 9.97339482e-01 -6.77854362e-02 2.68158986e-02 -1.02705591e+01] [ 6.77520342e-02 9.97699867e-01 2.15327559e-03 -4.35544817e-01] [-2.69001792e-02 -3.30715082e-04 9.99638070e-01 4.81017657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.817806573999999 meters Centerline goodness [0,1] 0.9984288600053052 Centerline is valid? [True, True] Translation: X:-10.30, Y:-0.43, Z:0.47 [[ 9.97308096e-01 -6.80365226e-02 2.73421464e-02 -1.03034439e+01] [ 6.80016666e-02 9.97682774e-01 2.20370262e-03 -4.34649262e-01] [-2.74287208e-02 -3.38458941e-04 9.99623705e-01 4.74935463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.847806573999998 meters Centerline goodness [0,1] 0.9981631903342993 Centerline is valid? [True, True] Translation: X:-10.34, Y:-0.44, Z:0.48 [[ 9.97164211e-01 -6.94858387e-02 2.89007840e-02 -1.03351592e+01] [ 6.94472569e-02 9.97582885e-01 2.33780149e-03 -4.41258606e-01] [-2.89933716e-02 -3.24091800e-04 9.99579551e-01 4.82083662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.877806574 meters Centerline goodness [0,1] 0.9981032408068365 Centerline is valid? [True, True] Translation: X:-10.37, Y:-0.45, Z:0.48 [[ 9.97072136e-01 -7.04659354e-02 2.96935720e-02 -1.03664113e+01] [ 7.04254417e-02 9.97514138e-01 2.40864388e-03 -4.49969357e-01] [-2.97894852e-02 -3.10408778e-04 9.99556147e-01 4.82884573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.907806573999999 meters Centerline goodness [0,1] 0.9977938923501175 Centerline is valid? [True, True] Translation: X:-10.40, Y:-0.45, Z:0.49 [[ 9.96834171e-01 -7.39622102e-02 2.91757963e-02 -1.03984036e+01] [ 7.39244191e-02 9.97261023e-01 2.37327834e-03 -4.54141012e-01] [-2.92714174e-02 -2.08961151e-04 9.99571478e-01 4.88581701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.937806573999998 meters Centerline goodness [0,1] 0.997577361563518 Centerline is valid? [True, True] Translation: X:-10.43, Y:-0.45, Z:0.49 [[ 9.96594872e-01 -7.75212632e-02 2.80911723e-02 -1.04303857e+01] [ 7.74874470e-02 9.96990693e-01 2.29202157e-03 -4.53621559e-01] [-2.81843177e-02 -1.07503722e-04 9.99602737e-01 4.85179007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.967806573999999 meters Centerline goodness [0,1] 0.9978576675099976 Centerline is valid? [True, True] Translation: X:-10.46, Y:-0.46, Z:0.48 [[ 9.96367225e-01 -8.01961375e-02 2.86519287e-02 -1.04625424e+01] [ 8.01618864e-02 9.96779102e-01 2.34391275e-03 -4.59352591e-01] [-2.87476165e-02 -3.86051884e-05 9.99586701e-01 4.83883394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.997806573999998 meters Centerline goodness [0,1] 0.9974256582814749 Centerline is valid? [True, True] Translation: X:-10.49, Y:-0.48, Z:0.49 [[ 9.95847632e-01 -8.54227702e-02 3.14713368e-02 -1.04934044e+01] [ 8.53838170e-02 9.96344788e-01 2.58203083e-03 -4.78191991e-01] [-3.15768666e-02 1.15833579e-04 9.99501320e-01 4.88950090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.027806573999998 meters Centerline goodness [0,1] 0.9981460731384333 Centerline is valid? [True, True] Translation: X:-10.53, Y:-0.48, Z:0.49 [[ 9.95751811e-01 -8.67918820e-02 3.07489941e-02 -1.05251363e+01] [ 8.67550920e-02 9.96226454e-01 2.53110411e-03 -4.80628074e-01] [-3.08526407e-02 1.47280315e-04 9.99523933e-01 4.94912151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.057806573999999 meters Centerline goodness [0,1] 0.9980593234188593 Centerline is valid? [True, True] Translation: X:-10.56, Y:-0.48, Z:0.49 [[ 9.95570928e-01 -8.88658870e-02 3.06819508e-02 -1.05582077e+01] [ 8.88299840e-02 9.96043580e-01 2.53395397e-03 -4.75538287e-01] [-3.07857422e-02 2.02746297e-04 9.99525986e-01 4.94395164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.087806573999998 meters Centerline goodness [0,1] 0.9980455230261819 Centerline is valid? [True, True] Translation: X:-10.59, Y:-0.48, Z:0.49 [[ 9.95596418e-01 -8.89186091e-02 2.96859268e-02 -1.05907878e+01] [ 8.88847943e-02 9.96038877e-01 2.45937255e-03 -4.76250747e-01] [-2.97870212e-02 1.90084999e-04 9.99556250e-01 4.88333256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.117806573999998 meters Centerline goodness [0,1] 0.9981600359815186 Centerline is valid? [True, True] Translation: X:-10.62, Y:-0.48, Z:0.50 [[ 9.95545643e-01 -8.90831178e-02 3.08718359e-02 -1.06213094e+01] [ 8.90463805e-02 9.96024176e-01 2.56553927e-03 -4.84599137e-01] [-3.09776411e-02 1.94913800e-04 9.99520059e-01 5.00234957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.147806573999999 meters Centerline goodness [0,1] 0.9981071784747522 Centerline is valid? [True, True] Translation: X:-10.65, Y:-0.49, Z:0.50 [[ 9.95641562e-01 -8.85237810e-02 2.93499522e-02 -1.06519569e+01] [ 8.84901740e-02 9.96074050e-01 2.44450108e-03 -4.93105028e-01] [-2.94511223e-02 1.63335503e-04 9.99566208e-01 5.01354244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.177806573999998 meters Centerline goodness [0,1] 0.9982958349394413 Centerline is valid? [True, True] Translation: X:-10.68, Y:-0.49, Z:0.51 [[ 9.95818990e-01 -8.69399329e-02 2.80354724e-02 -1.06842609e+01] [ 8.69084768e-02 9.96213550e-01 2.34087556e-03 -4.89846244e-01] [-2.81328331e-02 1.05431873e-04 9.99604188e-01 5.05361969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.207806574 meters Centerline goodness [0,1] 0.9979817336703906 Centerline is valid? [True, True] Translation: X:-10.72, Y:-0.49, Z:0.50 [[ 9.95914090e-01 -8.62086816e-02 2.68921708e-02 -1.07164075e+01] [ 8.61792817e-02 9.96277099e-01 2.25248940e-03 -4.87660606e-01] [-2.69862381e-02 7.42620340e-05 9.99635802e-01 5.02374836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.237806573999999 meters Centerline goodness [0,1] 0.9984772810330126 Centerline is valid? [True, True] Translation: X:-10.75, Y:-0.49, Z:0.51 [[ 9.95924140e-01 -8.54830651e-02 2.87707125e-02 -1.07475172e+01] [ 8.54488907e-02 9.96339622e-01 2.41745337e-03 -4.90696106e-01] [-2.88720522e-02 5.08252985e-05 9.99583114e-01 5.09696044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.267806573999998 meters Centerline goodness [0,1] 0.9986770332980542 Centerline is valid? [True, True] Translation: X:-10.78, Y:-0.50, Z:0.52 [[ 9.95735873e-01 -8.67619825e-02 3.13437302e-02 -1.07795704e+01] [ 8.67217879e-02 9.96229065e-01 2.64210753e-03 -4.95385028e-01] [-3.14547695e-02 8.73430717e-05 9.99505172e-01 5.21151952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.297806573999999 meters Centerline goodness [0,1] 0.9982248520710059 Centerline is valid? [True, True] Translation: X:-10.81, Y:-0.50, Z:0.52 [[ 9.95811680e-01 -8.64187240e-02 2.98479707e-02 -1.08110093e+01] [ 8.63818936e-02 9.96258902e-01 2.52360243e-03 -4.97000492e-01] [-2.99543930e-02 6.52914552e-05 9.99551264e-01 5.18981662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.327806573999998 meters Centerline goodness [0,1] 0.9982251055756166 Centerline is valid? [True, True] Translation: X:-10.84, Y:-0.50, Z:0.52 [[ 9.95745006e-01 -8.87383397e-02 2.48473268e-02 -1.08432332e+01] [ 8.87133916e-02 9.96054966e-01 2.10675482e-03 -4.98032573e-01] [-2.49362532e-02 1.06500044e-04 9.99689038e-01 5.19436877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.357806573999998 meters Centerline goodness [0,1] 0.9985315712187959 Centerline is valid? [True, True] Translation: X:-10.88, Y:-0.50, Z:0.52 [[ 9.95649472e-01 -8.99711857e-02 2.42345655e-02 -1.08752454e+01] [ 8.99476817e-02 9.95944361e-01 2.06041596e-03 -5.00723191e-01] [-2.43216570e-02 1.28390924e-04 9.99704177e-01 5.20179529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.387806573999999 meters Centerline goodness [0,1] 0.9980166843870123 Centerline is valid? [True, True] Translation: X:-10.91, Y:-0.50, Z:0.53 [[ 9.95306179e-01 -9.29388431e-02 2.69811480e-02 -1.09075626e+01] [ 9.29106225e-02 9.95671795e-01 2.30042877e-03 -5.03058024e-01] [-2.70781673e-02 2.17204291e-04 9.99633296e-01 5.30301501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.417806573999998 meters Centerline goodness [0,1] 0.9986587546740368 Centerline is valid? [True, True] Translation: X:-10.94, Y:-0.51, Z:0.54 [[ 9.95116636e-01 -9.36243141e-02 3.12629039e-02 -1.09384548e+01] [ 9.35864939e-02 9.95607562e-01 2.67403724e-03 -5.07205774e-01] [-3.13759385e-02 2.64806621e-04 9.99507619e-01 5.39979644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.447806573999998 meters Centerline goodness [0,1] 0.9982604780615586 Centerline is valid? [True, True] Translation: X:-10.97, Y:-0.51, Z:0.54 [[ 9.95167141e-01 -9.34544813e-02 3.01433544e-02 -1.09694006e+01] [ 9.34190743e-02 9.95623523e-01 2.58388326e-03 -5.06324509e-01] [-3.02529082e-02 2.44568551e-04 9.99542246e-01 5.41710555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.477806573999999 meters Centerline goodness [0,1] 0.9986094638256104 Centerline is valid? [True, True] Translation: X:-11.00, Y:-0.50, Z:0.54 [[ 9.95540574e-01 -9.08927594e-02 2.52482172e-02 -1.10019275e+01] [ 9.08669776e-02 9.95860677e-01 2.16893986e-03 -4.98223764e-01] [-2.53408476e-02 1.34961549e-04 9.99678860e-01 5.40228161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.507806573999998 meters Centerline goodness [0,1] 0.9986094638256104 Centerline is valid? [True, True] Translation: X:-11.03, Y:-0.50, Z:0.54 [[ 9.95512652e-01 -9.11982363e-02 2.52476136e-02 -1.10344296e+01] [ 9.11723750e-02 9.95832749e-01 2.17594843e-03 -5.00856949e-01] [-2.53408431e-02 1.35700708e-04 9.99678860e-01 5.40659134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.537806573999998 meters Centerline goodness [0,1] 0.9982251417846505 Centerline is valid? [True, True] Translation: X:-11.07, Y:-0.50, Z:0.54 [[ 9.95688420e-01 -8.87461447e-02 2.69943075e-02 -1.10668525e+01] [ 8.87154601e-02 9.96054274e-01 2.33457995e-03 -5.01782717e-01] [-2.70949803e-02 7.02981869e-05 9.99632861e-01 5.42187567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.567806573999999 meters Centerline goodness [0,1] 0.9987339704320837 Centerline is valid? [True, True] Translation: X:-11.10, Y:-0.51, Z:0.56 [[ 9.95820684e-01 -8.71216176e-02 2.74041829e-02 -1.10997579e+01] [ 8.70891585e-02 9.96197683e-01 2.37803626e-03 -5.06007186e-01] [-2.75071618e-02 1.85095323e-05 9.99621606e-01 5.55269621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.597806573999998 meters Centerline goodness [0,1] 0.9977222359024871 Centerline is valid? [True, True] Translation: X:-11.13, Y:-0.50, Z:0.56 [[ 9.96132715e-01 -8.33059374e-02 2.79237506e-02 -1.11315584e+01] [ 8.32705125e-02 9.96524015e-01 2.43110432e-03 -5.02488625e-01] [-2.80292135e-02 -9.64775246e-05 9.99607100e-01 5.59679924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.627806574 meters Centerline goodness [0,1] 0.998348522845434 Centerline is valid? [True, True] Translation: X:-11.17, Y:-0.50, Z:0.56 [[ 9.96476160e-01 -7.97481006e-02 2.59904335e-02 -1.11657230e+01] [ 7.97160099e-02 9.96815030e-01 2.27013661e-03 -4.97358659e-01] [-2.60886938e-02 -1.90283358e-04 9.99659614e-01 5.58678721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.657806573999999 meters Centerline goodness [0,1] 0.9988471806488148 Centerline is valid? [True, True] Translation: X:-11.20, Y:-0.49, Z:0.56 [[ 9.96628663e-01 -7.74798225e-02 2.69849090e-02 -1.11981846e+01] [ 7.74441734e-02 9.96993884e-01 2.36525696e-03 -4.93141354e-01] [-2.70870489e-02 -2.67458906e-04 9.99633043e-01 5.59222306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.687806573999998 meters Centerline goodness [0,1] 0.9979674796747967 Centerline is valid? [True, True] Translation: X:-11.23, Y:-0.50, Z:0.57 [[ 9.96946429e-01 -7.32189339e-02 2.71441561e-02 -1.12294158e+01] [ 7.31810884e-02 9.97315814e-01 2.38636808e-03 -4.96916929e-01] [-2.72460234e-02 -3.92642246e-04 9.99628681e-01 5.69177488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.717806573999999 meters Centerline goodness [0,1] 0.9982799926285398 Centerline is valid? [True, True] Translation: X:-11.26, Y:-0.50, Z:0.57 [[ 9.96909203e-01 -7.39298677e-02 2.65784785e-02 -1.12609476e+01] [ 7.38936592e-02 9.97263374e-01 2.34326585e-03 -4.99168434e-01] [-2.66789804e-02 -3.72042262e-04 9.99643983e-01 5.71133937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.747806573999998 meters Centerline goodness [0,1] 0.9983384956206026 Centerline is valid? [True, True] Translation: X:-11.29, Y:-0.50, Z:0.58 [[ 9.96802901e-01 -7.54817710e-02 2.62007391e-02 -1.12936977e+01] [ 7.54469389e-02 9.97147126e-01 2.31686023e-03 -4.98042793e-01] [-2.63008724e-02 -3.32687437e-04 9.99654017e-01 5.75862405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.777806573999998 meters Centerline goodness [0,1] 0.9982595876246443 Centerline is valid? [True, True] Translation: X:-11.33, Y:-0.50, Z:0.58 [[ 9.96758537e-01 -7.66455645e-02 2.44514985e-02 -1.13259891e+01] [ 7.66154198e-02 9.97058361e-01 2.16866699e-03 -5.00482002e-01] [-2.45457897e-02 -2.88275519e-04 9.99698665e-01 5.76833696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.807806573999999 meters Centerline goodness [0,1] 0.9979097932334678 Centerline is valid? [True, True] Translation: X:-11.36, Y:-0.51, Z:0.58 [[ 9.96646865e-01 -7.80356928e-02 2.46060530e-02 -1.13564879e+01] [ 7.80054299e-02 9.96950531e-01 2.18882206e-03 -5.09770204e-01] [-2.47018239e-02 -2.62076902e-04 9.99694829e-01 5.78661275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.837806573999998 meters Centerline goodness [0,1] 0.9975178978030319 Centerline is valid? [True, True] Translation: X:-11.39, Y:-0.52, Z:0.59 [[ 9.96278316e-01 -8.19241384e-02 2.67946308e-02 -1.13881715e+01] [ 8.18894554e-02 9.96638550e-01 2.39099691e-03 -5.18893890e-01] [-2.69004424e-02 -1.87900649e-04 9.99638100e-01 5.91023205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.867806573999998 meters Centerline goodness [0,1] 0.9987064717477004 Centerline is valid? [True, True] Translation: X:-11.42, Y:-0.52, Z:0.59 [[ 9.96218456e-01 -8.27825707e-02 2.63786812e-02 -1.14219693e+01] [ 8.27490476e-02 9.96567618e-01 2.36179081e-03 -5.17578128e-01] [-2.64836546e-02 -1.70048851e-04 9.99649232e-01 5.91758757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.897806573999999 meters Centerline goodness [0,1] 0.9987499231510134 Centerline is valid? [True, True] Translation: X:-11.45, Y:-0.52, Z:0.59 [[ 9.96260106e-01 -8.28564122e-02 2.45074602e-02 -1.14541848e+01] [ 8.28273315e-02 9.96561483e-01 2.20107955e-03 -5.15131583e-01] [-2.46055645e-02 -1.62960214e-04 9.99697224e-01 5.89680113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.927806573999998 meters Centerline goodness [0,1] 0.9983112630516713 Centerline is valid? [True, True] Translation: X:-11.49, Y:-0.52, Z:0.59 [[ 9.96379297e-01 -8.20425177e-02 2.23006995e-02 -1.14850191e+01] [ 8.20181130e-02 9.96628815e-01 2.00834340e-03 -5.21204275e-01] [-2.23902892e-02 -1.72010495e-04 9.99749291e-01 5.88877209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.957806573999997 meters Centerline goodness [0,1] 0.9984332481240208 Centerline is valid? [True, True] Translation: X:-11.52, Y:-0.53, Z:0.60 [[ 9.96496243e-01 -7.94114780e-02 2.62498720e-02 -1.15158578e+01] [ 7.93765525e-02 9.96841883e-01 2.37147267e-03 -5.33370673e-01] [-2.63552940e-02 -2.79539263e-04 9.99652600e-01 6.03885888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.987806573999999 meters Centerline goodness [0,1] 0.9986215693535777 Centerline is valid? [True, True] Translation: X:-11.55, Y:-0.53, Z:0.61 [[ 9.96710697e-01 -7.64233002e-02 2.69678746e-02 -1.15475158e+01] [ 7.63851481e-02 9.97075392e-01 2.44356978e-03 -5.29953239e-01] [-2.70757498e-02 -3.75587046e-04 9.99633314e-01 6.06166954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.017806573999998 meters Centerline goodness [0,1] 0.9984997019956019 Centerline is valid? [True, True] Translation: X:-11.58, Y:-0.52, Z:0.61 [[ 9.97010747e-01 -7.33966449e-02 2.41350843e-02 -1.15801993e+01] [ 7.33650546e-02 9.97302742e-01 2.19295891e-03 -5.24169538e-01] [-2.42309416e-02 -4.15731823e-04 9.99706301e-01 6.06991421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.047806573999999 meters Centerline goodness [0,1] 0.9981527093596059 Centerline is valid? [True, True] Translation: X:-11.61, Y:-0.53, Z:0.61 [[ 9.97048059e-01 -7.31134870e-02 2.34432598e-02 -1.16134172e+01] [ 7.30834456e-02 9.97323540e-01 2.13682496e-03 -5.26594516e-01] [-2.35367455e-02 -4.17202975e-04 9.99722885e-01 6.07457560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.077806573999998 meters Centerline goodness [0,1] 0.9980464331982973 Centerline is valid? [True, True] Translation: X:-11.64, Y:-0.54, Z:0.61 [[ 9.97231974e-01 -7.01803007e-02 2.45584039e-02 -1.16435204e+01] [ 7.01462663e-02 9.97534189e-01 2.24565580e-03 -5.38907320e-01] [-2.46554484e-02 -5.16759419e-04 9.99695875e-01 6.09592556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.107806573999998 meters Centerline goodness [0,1] 0.9987798573053459 Centerline is valid? [True, True] Translation: X:-11.68, Y:-0.54, Z:0.62 [[ 9.97265252e-01 -6.91275425e-02 2.61419319e-02 -1.16755932e+01] [ 6.90884243e-02 9.97607659e-01 2.39771875e-03 -5.43558077e-01] [-2.62451399e-02 -5.85056710e-04 9.99655366e-01 6.19386124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.137806573999999 meters Centerline goodness [0,1] 0.9982912669329271 Centerline is valid? [True, True] Translation: X:-11.71, Y:-0.54, Z:0.62 [[ 9.97229929e-01 -6.98270296e-02 2.56252581e-02 -1.17084761e+01] [ 6.97894894e-02 9.97558955e-01 2.35748315e-03 -5.39271656e-01] [-2.57273218e-02 -5.62579071e-04 9.99668839e-01 6.22105292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.167806573999998 meters Centerline goodness [0,1] 0.997934097717178 Centerline is valid? [True, True] Translation: X:-11.74, Y:-0.54, Z:0.62 [[ 9.97245567e-01 -6.99761512e-02 2.45889623e-02 -1.17406480e+01] [ 6.99414598e-02 9.97548517e-01 2.26911139e-03 -5.42374988e-01] [-2.46874665e-02 -5.43073360e-04 9.99695071e-01 6.17504190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.197806573999998 meters Centerline goodness [0,1] 0.9974470888577781 Centerline is valid? [True, True] Translation: X:-11.77, Y:-0.55, Z:0.63 [[ 9.97290130e-01 -6.99613263e-02 2.27554304e-02 -1.17725950e+01] [ 6.99314599e-02 9.97549574e-01 2.10659709e-03 -5.51438996e-01] [-2.28470502e-02 -5.09568015e-04 9.99738842e-01 6.25559366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.227806573999999 meters Centerline goodness [0,1] 0.9985345414766043 Centerline is valid? [True, True] Translation: X:-11.80, Y:-0.56, Z:0.63 [[ 9.97194907e-01 -7.06179002e-02 2.48078463e-02 -1.18044430e+01] [ 7.05824103e-02 9.97503290e-01 2.30441843e-03 -5.58149967e-01] [-2.49086415e-02 -5.46956733e-04 9.99689582e-01 6.29704663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.257806573999998 meters Centerline goodness [0,1] 0.9983323725603228 Centerline is valid? [True, True] Translation: X:-11.83, Y:-0.57, Z:0.63 [[ 9.97285525e-01 -6.83215147e-02 2.74545469e-02 -1.18347529e+01] [ 6.82770040e-02 9.97663127e-01 2.55652195e-03 -5.66318543e-01] [-2.75650546e-02 -6.75068128e-04 9.99619784e-01 6.34158212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.287806573999998 meters Centerline goodness [0,1] 0.9979844514828679 Centerline is valid? [True, True] Translation: X:-11.87, Y:-0.56, Z:0.64 [[ 9.97441482e-01 -6.64897902e-02 2.62602128e-02 -1.18668511e+01] [ 6.64482883e-02 9.97786860e-01 2.45085295e-03 -5.64623032e-01] [-2.63650520e-02 -6.99636210e-04 9.99652137e-01 6.42562391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.317806573999999 meters Centerline goodness [0,1] 0.9983938720039536 Centerline is valid? [True, True] Translation: X:-11.90, Y:-0.57, Z:0.64 [[ 9.97478444e-01 -6.66278661e-02 2.44434408e-02 -1.18983159e+01] [ 6.65917970e-02 9.97777680e-01 2.28755191e-03 -5.65887663e-01] [-2.45415343e-02 -6.54051077e-04 9.99698597e-01 6.35720564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.347806573999998 meters Centerline goodness [0,1] 0.9985776715039578 Centerline is valid? [True, True] Translation: X:-11.93, Y:-0.57, Z:0.64 [[ 9.97540610e-01 -6.48306730e-02 2.66404803e-02 -1.19290142e+01] [ 6.47869919e-02 9.97895983e-01 2.50043078e-03 -5.72248347e-01] [-2.67465329e-02 -7.68324661e-04 9.99641952e-01 6.38437807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.377806573999997 meters Centerline goodness [0,1] 0.9984780552013491 Centerline is valid? [True, True] Translation: X:-11.96, Y:-0.58, Z:0.64 [[ 9.97532513e-01 -6.42517820e-02 2.82947590e-02 -1.19599377e+01] [ 6.42020426e-02 9.97933365e-01 2.66381993e-03 -5.83609075e-01] [-2.84074392e-02 -8.40665668e-04 9.99596074e-01 6.43365343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.407806573999999 meters Centerline goodness [0,1] 0.9987678659438147 Centerline is valid? [True, True] Translation: X:-11.99, Y:-0.59, Z:0.65 [[ 9.97565201e-01 -6.56332158e-02 2.35785993e-02 -1.19913585e+01] [ 6.55989686e-02 9.97843590e-01 2.22385004e-03 -5.92783870e-01] [-2.36737126e-02 -6.71703613e-04 9.99719513e-01 6.47005571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.437806573999998 meters Centerline goodness [0,1] 0.9988661196553004 Centerline is valid? [True, True] Translation: X:-12.02, Y:-0.60, Z:0.65 [[ 9.97374878e-01 -6.92991411e-02 2.09995525e-02 -1.20222782e+01] [ 6.92727261e-02 9.97595787e-01 1.98358811e-03 -5.98165850e-01] [-2.10865261e-02 -5.23684698e-04 9.99777517e-01 6.46001014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.467806573999999 meters Centerline goodness [0,1] 0.9993838570548367 Centerline is valid? [True, True] Translation: X:-12.05, Y:-0.61, Z:0.65 [[ 9.97184075e-01 -7.14649777e-02 2.27305372e-02 -1.20537508e+01] [ 7.14344437e-02 9.97442972e-01 2.15349266e-03 -6.06917960e-01] [-2.28263139e-02 -5.23685308e-04 9.99739309e-01 6.46347102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.497806573999998 meters Centerline goodness [0,1] 0.9990154452033722 Centerline is valid? [True, True] Translation: X:-12.09, Y:-0.62, Z:0.66 [[ 9.97062194e-01 -7.25766310e-02 2.44870197e-02 -1.20853240e+01] [ 7.25413491e-02 9.97362691e-01 2.32724390e-03 -6.17815418e-01] [-2.45913434e-02 -5.44085465e-04 9.99697439e-01 6.55471065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.527806573999998 meters Centerline goodness [0,1] 0.9990537705187806 Centerline is valid? [True, True] Translation: X:-12.12, Y:-0.62, Z:0.65 [[ 9.96807842e-01 -7.60737540e-02 2.42262196e-02 -1.21161738e+01] [ 7.60400884e-02 9.97102087e-01 2.30917282e-03 -6.24012966e-01] [-2.43316816e-02 -4.59637697e-04 9.99703835e-01 6.54733605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.557806573999999 meters Centerline goodness [0,1] 0.9986418635278623 Centerline is valid? [True, True] Translation: X:-12.15, Y:-0.63, Z:0.65 [[ 9.96592095e-01 -7.95745624e-02 2.17275150e-02 -1.21481851e+01] [ 7.95481960e-02 9.96828858e-01 2.07648462e-03 -6.29246891e-01] [-2.18238493e-02 -3.41023541e-04 9.99761773e-01 6.50880024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.587806573999998 meters Centerline goodness [0,1] 0.9986448195145989 Centerline is valid? [True, True] Translation: X:-12.18, Y:-0.64, Z:0.65 [[ 9.96217180e-01 -8.41909164e-02 2.15225624e-02 -1.21789624e+01] [ 8.41659936e-02 9.96449613e-01 2.06282540e-03 -6.44913519e-01] [-2.16198201e-02 -2.43554258e-04 9.99766235e-01 6.48777145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.617806573999998 meters Centerline goodness [0,1] 0.9985572959604286 Centerline is valid? [True, True] Translation: X:-12.21, Y:-0.66, Z:0.66 [[ 9.95884531e-01 -8.68290486e-02 2.59753262e-02 -1.22102112e+01] [ 8.67934386e-02 9.96223199e-01 2.49735770e-03 -6.57663368e-01] [-2.60940658e-02 -2.32592022e-04 9.99659465e-01 6.62355036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.647806573999999 meters Centerline goodness [0,1] 0.9991559965416443 Centerline is valid? [True, True] Translation: X:-12.24, Y:-0.66, Z:0.67 [[ 9.95526174e-01 -8.94384088e-02 3.04697782e-02 -1.22413389e+01] [ 8.93903619e-02 9.95992335e-01 2.93814549e-03 -6.60856781e-01] [-3.06104486e-02 -2.01296238e-04 9.99531370e-01 6.66946684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.677806573999998 meters Centerline goodness [0,1] 0.9990141307919816 Centerline is valid? [True, True] Translation: X:-12.27, Y:-0.66, Z:0.67 [[ 9.95470337e-01 -9.05980041e-02 2.88237853e-02 -1.22733256e+01] [ 9.05552737e-02 9.95887531e-01 2.78706855e-03 -6.63751187e-01] [-2.89577513e-02 -1.64298300e-04 9.99580623e-01 6.65700600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.707806573999997 meters Centerline goodness [0,1] 0.9986072138131619 Centerline is valid? [True, True] Translation: X:-12.30, Y:-0.67, Z:0.66 [[ 9.95597329e-01 -9.00204348e-02 2.61205053e-02 -1.23046903e+01] [ 8.99849650e-02 9.95939904e-01 2.53258694e-03 -6.70623317e-01] [-2.62424381e-02 -1.70984037e-04 9.99655593e-01 6.62785423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.737806573999999 meters Centerline goodness [0,1] 0.9988349990802624 Centerline is valid? [True, True] Translation: X:-12.34, Y:-0.68, Z:0.67 [[ 9.95643722e-01 -9.01544559e-02 2.37855635e-02 -1.23363605e+01] [ 9.01249359e-02 9.95927783e-01 2.31236135e-03 -6.79725723e-01] [-2.38971732e-02 -1.58615673e-04 9.99714409e-01 6.67249060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.767806573999998 meters Centerline goodness [0,1] 0.9988306492973639 Centerline is valid? [True, True] Translation: X:-12.37, Y:-0.69, Z:0.68 [[ 9.95652202e-01 -9.02205436e-02 2.31720802e-02 -1.23685337e+01] [ 9.01923927e-02 9.95921798e-01 2.25925518e-03 -6.86165696e-01] [-2.32814110e-02 -1.59487042e-04 9.99728938e-01 6.75754301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.797806573999997 meters Centerline goodness [0,1] 0.9987050093527102 Centerline is valid? [True, True] Translation: X:-12.40, Y:-0.68, Z:0.68 [[ 9.95718868e-01 -8.92533628e-02 2.40369067e-02 -1.24002277e+01] [ 8.92226229e-02 9.96008935e-01 2.35045837e-03 -6.80274385e-01] [-2.41507601e-02 -1.95759885e-04 9.99708309e-01 6.83467361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.827806573999998 meters Centerline goodness [0,1] 0.9987285702567468 Centerline is valid? [True, True] Translation: X:-12.43, Y:-0.68, Z:0.69 [[ 9.95832095e-01 -8.79815952e-02 2.40349310e-02 -1.24330813e+01] [ 8.79503390e-02 9.96122073e-01 2.35651644e-03 -6.76631975e-01] [-2.41490554e-02 -2.32814366e-04 9.99708342e-01 6.89353949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.857806573999998 meters Centerline goodness [0,1] 0.9980704887410965 Centerline is valid? [True, True] Translation: X:-12.46, Y:-0.68, Z:0.69 [[ 9.96006389e-01 -8.55005783e-02 2.57084539e-02 -1.24648195e+01] [ 8.54638037e-02 9.96338069e-01 2.52782982e-03 -6.83263348e-01] [-2.58304422e-02 -3.20592395e-04 9.99666287e-01 6.87884030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.887806573999999 meters Centerline goodness [0,1] 0.9985821140884432 Centerline is valid? [True, True] Translation: X:-12.50, Y:-0.70, Z:0.69 [[ 9.96130721e-01 -8.46051884e-02 2.37812611e-02 -1.24967718e+01] [ 8.45733078e-02 9.96414500e-01 2.34497156e-03 -6.95989211e-01] [-2.38943901e-02 -3.24638299e-04 9.99714436e-01 6.93641757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.917806573999998 meters Centerline goodness [0,1] 0.9992369560734172 Centerline is valid? [True, True] Translation: X:-12.53, Y:-0.70, Z:0.70 [[ 9.95978842e-01 -8.67509046e-02 2.23702436e-02 -1.25274156e+01] [ 8.67230959e-02 9.96229999e-01 2.21209090e-03 -7.01416941e-01] [-2.24778087e-02 -2.63178949e-04 9.99747308e-01 6.98579724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.947806573999998 meters Centerline goodness [0,1] 0.998870033282656 Centerline is valid? [True, True] Translation: X:-12.56, Y:-0.70, Z:0.70 [[ 9.95708553e-01 -9.00332711e-02 2.14123217e-02 -1.25602579e+01] [ 9.00084331e-02 9.95938741e-01 2.12288991e-03 -7.00530317e-01] [-2.15164914e-02 -1.86490114e-04 9.99768476e-01 7.00365780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.977806573999999 meters Centerline goodness [0,1] 0.9989694333944803 Centerline is valid? [True, True] Translation: X:-12.59, Y:-0.71, Z:0.71 [[ 9.95191666e-01 -9.47728048e-02 2.47318325e-02 -1.25913988e+01] [ 9.47409396e-02 9.95498922e-01 2.45964563e-03 -7.06594541e-01] [-2.48536201e-02 -1.04701787e-04 9.99691096e-01 7.06124557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.007806573999998 meters Centerline goodness [0,1] 0.998438848034181 Centerline is valid? [True, True] Translation: X:-12.62, Y:-0.71, Z:0.71 [[ 9.95027488e-01 -9.65154377e-02 2.45981476e-02 -1.26234674e+01] [ 9.64842624e-02 9.95331485e-01 2.45387447e-03 -7.14566273e-01] [-2.47201476e-02 -6.83384197e-05 9.99694408e-01 7.09832720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.037806573999998 meters Centerline goodness [0,1] 0.9991384438655152 Centerline is valid? [True, True] Translation: X:-12.66, Y:-0.72, Z:0.71 [[ 9.94943339e-01 -9.82495374e-02 2.08514150e-02 -1.26554514e+01] [ 9.82273999e-02 9.95161810e-01 2.08572431e-03 -7.20313015e-01] [-2.09554533e-02 -2.69972355e-05 9.99780410e-01 7.08723041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.067806573999999 meters Centerline goodness [0,1] 0.998972863041558 Centerline is valid? [True, True] Translation: X:-12.69, Y:-0.73, Z:0.71 [[ 9.94634693e-01 -1.01863861e-01 1.80438719e-02 -1.26867408e+01] [ 1.01847799e-01 9.94798348e-01 1.80926907e-03 -7.27713303e-01] [-1.81343131e-02 3.81668626e-05 9.99835559e-01 7.06982504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.097806573999998 meters Centerline goodness [0,1] 0.9990215264187867 Centerline is valid? [True, True] Translation: X:-12.72, Y:-0.73, Z:0.71 [[ 9.94306869e-01 -1.04503335e-01 2.08063094e-02 -1.27187896e+01] [ 1.04482427e-01 9.94524532e-01 2.09244869e-03 -7.32745964e-01] [-2.09110530e-02 9.33575836e-05 9.99781336e-01 7.12412763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.127806573999997 meters Centerline goodness [0,1] 0.9987263501715319 Centerline is valid? [True, True] Translation: X:-12.75, Y:-0.73, Z:0.72 [[ 9.94112171e-01 -1.05465550e-01 2.48597735e-02 -1.27515031e+01] [ 1.05435813e-01 9.94422949e-01 2.50758062e-03 -7.31183506e-01] [-2.49855927e-02 1.28294029e-04 9.99687803e-01 7.22286063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.157806573999999 meters Centerline goodness [0,1] 0.9985987759896144 Centerline is valid? [True, True] Translation: X:-12.78, Y:-0.73, Z:0.72 [[ 9.94473933e-01 -1.02292147e-01 2.36201739e-02 -1.27838790e+01] [ 1.02264259e-01 9.94754399e-01 2.38878117e-03 -7.33642412e-01] [-2.37406254e-02 3.99189681e-05 9.99718151e-01 7.20566602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.187806573999998 meters Centerline goodness [0,1] 0.9988681730254764 Centerline is valid? [True, True] Translation: X:-12.82, Y:-0.74, Z:0.72 [[ 9.94732282e-01 -1.00476321e-01 2.03026039e-02 -1.28151055e+01] [ 1.00455240e-01 9.94939450e-01 2.05814468e-03 -7.39853827e-01] [-2.04066564e-02 -7.80002007e-06 9.99791762e-01 7.22830888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.217806573999997 meters Centerline goodness [0,1] 0.9989725042127328 Centerline is valid? [True, True] Translation: X:-12.85, Y:-0.74, Z:0.73 [[ 9.94883536e-01 -9.91569864e-02 1.93556808e-02 -1.28478270e+01] [ 9.91374780e-02 9.95071802e-01 1.96720065e-03 -7.38771630e-01] [-1.94553539e-02 -3.82621552e-05 9.99810726e-01 7.27253046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.247806573999998 meters Centerline goodness [0,1] 0.9989729685317558 Centerline is valid? [True, True] Translation: X:-12.88, Y:-0.73, Z:0.73 [[ 9.94964474e-01 -9.83963792e-02 1.90748083e-02 -1.28819246e+01] [ 9.83771818e-02 9.95147300e-01 1.94445885e-03 -7.31167866e-01] [-1.91735717e-02 -5.81415849e-05 9.99816168e-01 7.30308402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.277806573999998 meters Centerline goodness [0,1] 0.998933267688268 Centerline is valid? [True, True] Translation: X:-12.91, Y:-0.73, Z:0.73 [[ 9.95019184e-01 -9.73913229e-02 2.12544822e-02 -1.29143205e+01] [ 9.73671071e-02 9.95246161e-01 2.17369581e-03 -7.27286695e-01] [-2.13651410e-02 -9.33815803e-05 9.99771735e-01 7.32508222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.307806573999999 meters Centerline goodness [0,1] 0.9990716864363074 Centerline is valid? [True, True] Translation: X:-12.94, Y:-0.74, Z:0.74 [[ 9.95050062e-01 -9.66992824e-02 2.29046549e-02 -1.29448337e+01] [ 9.66708247e-02 9.95313636e-01 2.34905347e-03 -7.35610106e-01] [-2.30244671e-02 -1.23213917e-04 9.99734894e-01 7.37682706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.337806573999998 meters Centerline goodness [0,1] 0.9991129082169455 Centerline is valid? [True, True] Translation: X:-12.98, Y:-0.75, Z:0.74 [[ 9.95076932e-01 -9.66983101e-02 2.17102621e-02 -1.29771187e+01] [ 9.66726109e-02 9.95313730e-01 2.23261582e-03 -7.47769278e-01] [-2.18244121e-02 -1.22836779e-04 9.99761812e-01 7.41577826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.367806573999998 meters Centerline goodness [0,1] 0.9990080800148788 Centerline is valid? [True, True] Translation: X:-13.01, Y:-0.75, Z:0.75 [[ 9.94927162e-01 -9.90225614e-02 1.77334508e-02 -1.30079115e+01] [ 9.90057110e-02 9.95085186e-01 1.82778487e-03 -7.48101914e-01] [-1.78272861e-02 -6.27999026e-05 9.99841079e-01 7.46013248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.397806573999999 meters Centerline goodness [0,1] 0.9990080800148788 Centerline is valid? [True, True] Translation: X:-13.04, Y:-0.75, Z:0.75 [[ 9.94895545e-01 -9.93397737e-02 1.77331134e-02 -1.30403438e+01] [ 9.93229154e-02 9.95053569e-01 1.83105243e-03 -7.51285582e-01] [-1.78272942e-02 -6.04013814e-05 9.99841079e-01 7.46444524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.427806573999998 meters Centerline goodness [0,1] 0.9987831037043148 Centerline is valid? [True, True] Translation: X:-13.07, Y:-0.75, Z:0.75 [[ 9.94538165e-01 -1.02931941e-01 1.72873659e-02 -1.30742836e+01] [ 1.02916367e-01 9.94688401e-01 1.79048975e-03 -7.45858069e-01] [-1.73798410e-02 -1.55749065e-06 9.99848959e-01 7.46611382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.457806573999997 meters Centerline goodness [0,1] 0.9984723684482154 Centerline is valid? [True, True] Translation: X:-13.11, Y:-0.75, Z:0.75 [[ 9.94129645e-01 -1.06174355e-01 2.08147728e-02 -1.31060652e+01] [ 1.06152336e-01 9.94347526e-01 2.16304582e-03 -7.53484934e-01] [-2.09267779e-02 5.91887804e-05 9.99781009e-01 7.50292818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.487806573999999 meters Centerline goodness [0,1] 0.9989260857892237 Centerline is valid? [True, True] Translation: X:-13.14, Y:-0.77, Z:0.76 [[ 9.93607528e-01 -1.10709451e-01 2.20793367e-02 -1.31356836e+01] [ 1.10685658e-01 9.93852802e-01 2.30055767e-03 -7.67570048e-01] [-2.21983041e-02 1.58014482e-04 9.99753575e-01 7.58006218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.517806573999998 meters Centerline goodness [0,1] 0.9991551965713343 Centerline is valid? [True, True] Translation: X:-13.17, Y:-0.77, Z:0.76 [[ 9.93724538e-01 -1.09940663e-01 2.06056635e-02 -1.31669135e+01] [ 1.09919671e-01 9.93938144e-01 2.15205028e-03 -7.70347694e-01] [-2.07173528e-02 1.26422572e-04 9.99785365e-01 7.62575383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.547806573999997 meters Centerline goodness [0,1] 0.9991741338728992 Centerline is valid? [True, True] Translation: X:-13.20, Y:-0.77, Z:0.76 [[ 9.93676217e-01 -1.11164936e-01 1.58092465e-02 -1.31997309e+01] [ 1.11152681e-01 9.93801964e-01 1.65449117e-03 -7.70857592e-01] [-1.58951816e-02 1.13211612e-04 9.99873657e-01 7.59936402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.577806573999998 meters Centerline goodness [0,1] 0.9990269151138716 Centerline is valid? [True, True] Translation: X:-13.23, Y:-0.78, Z:0.76 [[ 9.93585790e-01 -1.12247216e-01 1.37055146e-02 -1.32316226e+01] [ 1.12238062e-01 9.93680306e-01 1.43772205e-03 -7.75124385e-01] [-1.37802803e-02 1.09780197e-04 9.99905041e-01 7.61843014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.607806573999998 meters Centerline goodness [0,1] 0.9987225713402699 Centerline is valid? [True, True] Translation: X:-13.26, Y:-0.78, Z:0.78 [[ 9.93352123e-01 -1.13046328e-01 2.17275546e-02 -1.32625505e+01] [ 1.13023321e-01 9.93589701e-01 2.28792498e-03 -7.83233030e-01] [-2.18469160e-02 1.83005247e-04 9.99761311e-01 7.77987125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.637806573999997 meters Centerline goodness [0,1] 0.9989044154126013 Centerline is valid? [True, True] Translation: X:-13.30, Y:-0.78, Z:0.79 [[ 9.93486632e-01 -1.11826937e-01 2.18871879e-02 -1.32960248e+01] [ 1.11803154e-01 9.93727686e-01 2.31115686e-03 -7.83611051e-01] [-2.20083541e-02 1.50953188e-04 9.99757775e-01 7.85521985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.667806573999998 meters Centerline goodness [0,1] 0.9992973319279972 Centerline is valid? [True, True] Translation: X:-13.33, Y:-0.78, Z:0.78 [[ 9.94082801e-01 -1.07232510e-01 1.73370478e-02 -1.33283359e+01] [ 1.07216814e-01 9.94233970e-01 1.83497999e-03 -7.80540028e-01] [-1.74338513e-02 3.47009849e-05 9.99848018e-01 7.76662264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.697806573999998 meters Centerline goodness [0,1] 0.9984709480122325 Centerline is valid? [True, True] Translation: X:-13.36, Y:-0.78, Z:0.78 [[ 9.94521312e-01 -1.03728571e-01 1.29516104e-02 -1.33613616e+01] [ 1.03719482e-01 9.94605642e-01 1.37326729e-03 -7.76303083e-01] [-1.30241918e-02 -2.24092637e-05 9.99915181e-01 7.77043504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.727806573999999 meters Centerline goodness [0,1] 0.9990487023058628 Centerline is valid? [True, True] Translation: X:-13.39, Y:-0.78, Z:0.78 [[ 9.94703679e-01 -1.02027002e-01 1.24531711e-02 -1.33944485e+01] [ 1.02018422e-01 9.94781629e-01 1.32391840e-03 -7.79725738e-01] [-1.25232613e-02 -4.64536315e-05 9.99921580e-01 7.78199199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.757806573999998 meters Centerline goodness [0,1] 0.9985674244783557 Centerline is valid? [True, True] Translation: X:-13.43, Y:-0.79, Z:0.79 [[ 9.94663989e-01 -1.01852771e-01 1.64183387e-02 -1.34255480e+01] [ 1.01837727e-01 9.94799481e-01 1.75193885e-03 -7.89370865e-01] [-1.65113947e-02 -7.05841906e-05 9.99863675e-01 7.91529515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.787806573999998 meters Centerline goodness [0,1] 0.9989169825467572 Centerline is valid? [True, True] Translation: X:-13.46, Y:-0.79, Z:0.80 [[ 9.94461355e-01 -1.02827546e-01 2.17510514e-02 -1.34575133e+01] [ 1.02801206e-01 9.94699195e-01 2.32866659e-03 -7.92073284e-01] [-2.18752044e-02 -7.97346244e-05 9.99760706e-01 8.03912284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.817806573999999 meters Centerline goodness [0,1] 0.9987930245140884 Centerline is valid? [True, True] Translation: X:-13.49, Y:-0.79, Z:0.80 [[ 9.94352822e-01 -1.03790670e-01 2.21350826e-02 -1.34907330e+01] [ 1.03763481e-01 9.94599162e-01 2.37644971e-03 -7.90487913e-01] [-2.22621879e-02 -6.62162456e-05 9.99752165e-01 8.03622515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.847806573999998 meters Centerline goodness [0,1] 0.9989050717901043 Centerline is valid? [True, True] Translation: X:-13.52, Y:-0.80, Z:0.79 [[ 9.94535066e-01 -1.03442015e-01 1.41333768e-02 -1.35226267e+01] [ 1.03430854e-01 9.94635484e-01 1.52034073e-03 -7.96992859e-01] [-1.42148252e-02 -5.02049380e-05 9.99898963e-01 7.89533542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.877806573999997 meters Centerline goodness [0,1] 0.9983747291215203 Centerline is valid? [True, True] Translation: X:-13.55, Y:-0.81, Z:0.80 [[ 9.94194824e-01 -1.07053475e-01 1.07798260e-02 -1.35547221e+01] [ 1.07047172e-01 9.94253264e-01 1.16165656e-03 -8.05400976e-01] [-1.08422365e-02 -9.63049753e-07 9.99941221e-01 7.96207469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.907806573999999 meters Centerline goodness [0,1] 0.9987803617571059 Centerline is valid? [True, True] Translation: X:-13.59, Y:-0.81, Z:0.81 [[ 9.93572087e-01 -1.12048524e-01 1.61132348e-02 -1.35874180e+01] [ 1.12034981e-01 9.93702734e-01 1.74358622e-03 -8.05948119e-01] [-1.62071317e-02 7.28673490e-05 9.99868653e-01 8.05835105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.937806573999998 meters Centerline goodness [0,1] 0.9993567397078353 Centerline is valid? [True, True] Translation: X:-13.62, Y:-0.81, Z:0.81 [[ 9.92995816e-01 -1.16273330e-01 2.09719304e-02 -1.36180292e+01] [ 1.16251186e-01 9.93217238e-01 2.27611563e-03 -8.14297289e-01] [-2.10943343e-02 1.77838482e-04 9.99777474e-01 8.09455498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.967806573999997 meters Centerline goodness [0,1] 0.9988363636363636 Centerline is valid? [True, True] Translation: X:-13.65, Y:-0.83, Z:0.81 [[ 9.92738905e-01 -1.18569692e-01 2.02656034e-02 -1.36488747e+01] [ 1.18549383e-01 9.92945710e-01 2.20484683e-03 -8.32185913e-01] [-2.03840719e-02 2.13637542e-04 9.99792200e-01 8.11571918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.997806573999998 meters Centerline goodness [0,1] 0.9990028253282367 Centerline is valid? [True, True] Translation: X:-13.68, Y:-0.84, Z:0.81 [[ 9.92584658e-01 -1.20518249e-01 1.58445088e-02 -1.36812588e+01] [ 1.20506022e-01 9.92711093e-01 1.72765748e-03 -8.38068742e-01] [-1.59372339e-02 1.94512413e-04 9.99872975e-01 8.13766747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.027806573999998 meters Centerline goodness [0,1] 0.9991039239794111 Centerline is valid? [True, True] Translation: X:-13.72, Y:-0.83, Z:0.81 [[ 9.92559358e-01 -1.20814592e-01 1.51576816e-02 -1.37158098e+01] [ 1.20803365e-01 9.92675073e-01 1.65751046e-03 -8.27181592e-01] [-1.52469042e-02 1.85921429e-04 9.99883742e-01 8.13891253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.057806573999997 meters Centerline goodness [0,1] 0.998984477005658 Centerline is valid? [True, True] Translation: X:-13.75, Y:-0.84, Z:0.82 [[ 9.92421294e-01 -1.21839959e-01 1.59686814e-02 -1.37455878e+01] [ 1.21827547e-01 9.92549737e-01 1.75141026e-03 -8.40219404e-01] [-1.60631023e-02 2.07288440e-04 9.99870959e-01 8.21815295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.087806573999998 meters Centerline goodness [0,1] 0.9983822797411648 Centerline is valid? [True, True] Translation: X:-13.78, Y:-0.85, Z:0.84 [[ 9.92745040e-01 -1.18931555e-01 1.76796629e-02 -1.37765870e+01] [ 1.18915790e-01 9.92902440e-01 1.94411777e-03 -8.50170559e-01] [-1.77853974e-02 1.72377796e-04 9.99841812e-01 8.35590328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.117806573999998 meters Centerline goodness [0,1] 0.999149800928998 Centerline is valid? [True, True] Translation: X:-13.81, Y:-0.84, Z:0.84 [[ 9.93232983e-01 -1.14752695e-01 1.78902363e-02 -1.38096508e+01] [ 1.14735782e-01 9.93394086e-01 1.97233121e-03 -8.40727652e-01] [-1.79983853e-02 9.36658524e-05 9.99838012e-01 8.36286137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.147806573999999 meters Centerline goodness [0,1] 0.9990648379052369 Centerline is valid? [True, True] Translation: X:-13.84, Y:-0.83, Z:0.83 [[ 9.93727520e-01 -1.10573549e-01 1.67064900e-02 -1.38433351e+01] [ 1.10558136e-01 9.93867944e-01 1.84616041e-03 -8.33524685e-01] [-1.68081814e-02 1.24579955e-05 9.99858732e-01 8.30171236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.177806573999998 meters Centerline goodness [0,1] 0.998978762426794 Centerline is valid? [True, True] Translation: X:-13.88, Y:-0.84, Z:0.84 [[ 9.93941174e-01 -1.08958053e-01 1.44598104e-02 -1.38758213e+01] [ 1.08946285e-01 9.94046348e-01 1.60142687e-03 -8.43595194e-01] [-1.45482101e-02 -1.63814774e-05 9.99894169e-01 8.35149785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.207806573999997 meters Centerline goodness [0,1] 0.9987272575529962 Centerline is valid? [True, True] Translation: X:-13.91, Y:-0.85, Z:0.84 [[ 9.94126489e-01 -1.07110844e-01 1.54852089e-02 -1.39058237e+01] [ 1.07097048e-01 9.94247084e-01 1.71979080e-03 -8.52422729e-01] [-1.55803320e-02 -5.12694205e-05 9.99878618e-01 8.42294685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.237806573999999 meters Centerline goodness [0,1] 0.9988551683943216 Centerline is valid? [True, True] Translation: X:-13.94, Y:-0.84, Z:0.85 [[ 9.94258037e-01 -1.05607289e-01 1.72643259e-02 -1.39396158e+01] [ 1.05589855e-01 9.94407911e-01 1.92086192e-03 -8.42033470e-01] [-1.73706393e-02 -8.68947395e-05 9.99849115e-01 8.49859400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.267806573999998 meters Centerline goodness [0,1] 0.9992919764269799 Centerline is valid? [True, True] Translation: X:-13.97, Y:-0.85, Z:0.85 [[ 9.94395306e-01 -1.04429979e-01 1.65031979e-02 -1.39707310e+01] [ 1.04413817e-01 9.94532236e-01 1.84029827e-03 -8.45772078e-01] [-1.66051446e-02 -1.06822081e-04 9.99862119e-01 8.47267889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.297806573999997 meters Centerline goodness [0,1] 0.9991017713903744 Centerline is valid? [True, True] Translation: X:-14.00, Y:-0.86, Z:0.85 [[ 9.94211948e-01 -1.06458810e-01 1.44611457e-02 -1.40014719e+01] [ 1.06446584e-01 9.94317111e-01 1.61477115e-03 -8.60065473e-01] [-1.45508712e-02 -6.60852167e-05 9.99894128e-01 8.52796580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.327806573999998 meters Centerline goodness [0,1] 0.9991063449508489 Centerline is valid? [True, True] Translation: X:-14.03, Y:-0.87, Z:0.86 [[ 9.93661305e-01 -1.11313402e-01 1.57014887e-02 -1.40325343e+01] [ 1.11299517e-01 9.93785352e-01 1.75807992e-03 -8.66173564e-01] [-1.57996073e-02 6.32114635e-07 9.99875178e-01 8.63870391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.357806573999998 meters Centerline goodness [0,1] 0.9994156074551792 Centerline is valid? [True, True] Translation: X:-14.07, Y:-0.86, Z:0.87 [[ 9.93349148e-01 -1.13896751e-01 1.68819256e-02 -1.40665388e+01] [ 1.13880981e-01 9.93492591e-01 1.89570737e-03 -8.63750423e-01] [-1.69879829e-02 3.94309437e-05 9.99855693e-01 8.65379156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.387806573999997 meters Centerline goodness [0,1] 0.9993952411736492 Centerline is valid? [True, True] Translation: X:-14.10, Y:-0.87, Z:0.86 [[ 9.93268158e-01 -1.14739350e-01 1.59137835e-02 -1.40995170e+01] [ 1.14725367e-01 9.93395631e-01 1.79187365e-03 -8.69979186e-01] [-1.60142814e-02 4.59036147e-05 9.99871762e-01 8.62815558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.417806573999998 meters Centerline goodness [0,1] 0.9992697684122679 Centerline is valid? [True, True] Translation: X:-14.13, Y:-0.89, Z:0.86 [[ 9.93108032e-01 -1.16387924e-01 1.37944983e-02 -1.41314080e+01] [ 1.16377522e-01 9.93203830e-01 1.55707982e-03 -8.85541594e-01] [-1.38819738e-02 5.90210575e-05 9.99903639e-01 8.64743399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.447806573999998 meters Centerline goodness [0,1] 0.9994383541697003 Centerline is valid? [True, True] Translation: X:-14.16, Y:-0.90, Z:0.87 [[ 9.92955857e-01 -1.17695678e-01 1.36525793e-02 -1.41638740e+01] [ 1.17685555e-01 9.93049708e-01 1.54536345e-03 -8.95088025e-01] [-1.37395725e-02 7.22336857e-05 9.99905605e-01 8.70008926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.477806573999997 meters Centerline goodness [0,1] 0.9989608446254884 Centerline is valid? [True, True] Translation: X:-14.20, Y:-0.89, Z:0.88 [[ 9.92865291e-01 -1.18425203e-01 1.39278584e-02 -1.41974525e+01] [ 1.18414675e-01 9.92962973e-01 1.58106129e-03 -8.94237962e-01] [-1.40170852e-02 7.94819559e-05 9.99901753e-01 8.80196268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.507806573999998 meters Centerline goodness [0,1] 0.999392670157068 Centerline is valid? [True, True] Translation: X:-14.23, Y:-0.89, Z:0.88 [[ 9.92846591e-01 -1.18360506e-01 1.56983092e-02 -1.42298219e+01] [ 1.18347037e-01 9.92970686e-01 1.78748547e-03 -8.90211507e-01] [-1.57995286e-02 8.31495400e-05 9.99875176e-01 8.83932843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.537806573999998 meters Centerline goodness [0,1] 0.9992080858601646 Centerline is valid? [True, True] Translation: X:-14.26, Y:-0.89, Z:0.88 [[ 9.93126494e-01 -1.15992645e-01 1.56675559e-02 -1.42614243e+01] [ 1.15978866e-01 9.93250071e-01 1.78834399e-03 -8.92406098e-01] [-1.57692358e-02 4.10535658e-05 9.99875657e-01 8.75958864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.567806573999999 meters Centerline goodness [0,1] 0.9995622081387592 Centerline is valid? [True, True] Translation: X:-14.29, Y:-0.91, Z:0.88 [[ 9.93404773e-01 -1.13910250e-01 1.30924372e-02 -1.42923085e+01] [ 1.13900424e-01 9.93491044e-01 1.49613873e-03 -9.10723895e-01] [-1.31776446e-02 4.96279318e-06 9.99913171e-01 8.81060368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.597806573999998 meters Centerline goodness [0,1] 0.9992284272427743 Centerline is valid? [True, True] Translation: X:-14.32, Y:-0.91, Z:0.89 [[ 9.93440099e-01 -1.13389886e-01 1.48156186e-02 -1.43249813e+01] [ 1.13377164e-01 9.93550569e-01 1.69856224e-03 -9.13238474e-01] [-1.49126661e-02 -7.66701387e-06 9.99888800e-01 8.90917822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.627806573999997 meters Centerline goodness [0,1] 0.999581887360455 Centerline is valid? [True, True] Translation: X:-14.36, Y:-0.91, Z:0.90 [[ 9.93661097e-01 -1.11368437e-01 1.53197874e-02 -1.43568967e+01] [ 1.11354520e-01 9.93779185e-01 1.76114744e-03 -9.06981070e-01] [-1.54206221e-02 -4.40561213e-05 9.99881094e-01 8.95525435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.657806573999999 meters Centerline goodness [0,1] 0.9998332151940958 Centerline is valid? [True, True] Translation: X:-14.39, Y:-0.91, Z:0.89 [[ 9.93791698e-01 -1.10274528e-01 1.47509406e-02 -1.43905842e+01] [ 1.10261467e-01 9.93901165e-01 1.69826685e-03 -9.08462897e-01] [-1.48482526e-02 -6.12631472e-05 9.99889757e-01 8.90889728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.687806573999998 meters Centerline goodness [0,1] 0.9996664025687002 Centerline is valid? [True, True] Translation: X:-14.42, Y:-0.92, Z:0.89 [[ 9.93662315e-01 -1.11628935e-01 1.31978826e-02 -1.44222453e+01] [ 1.11618548e-01 9.93749958e-01 1.52332742e-03 -9.18842257e-01] [-1.32854427e-02 -4.05445552e-05 9.99911744e-01 8.94031566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.717806573999997 meters Centerline goodness [0,1] 0.9994771733902169 Centerline is valid? [True, True] Translation: X:-14.45, Y:-0.93, Z:0.90 [[ 9.93753439e-01 -1.10671345e-01 1.43511406e-02 -1.44542678e+01] [ 1.10658891e-01 9.93857057e-01 1.66148656e-03 -9.25583597e-01] [-1.44468613e-02 -6.30266843e-05 9.99895637e-01 9.02193573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.747806573999998 meters Centerline goodness [0,1] 0.9995602462620933 Centerline is valid? [True, True] Translation: X:-14.49, Y:-0.93, Z:0.91 [[ 9.93695470e-01 -1.11114081e-01 1.49323024e-02 -1.44859750e+01] [ 1.11100574e-01 9.93807656e-01 1.73360388e-03 -9.26157917e-01] [-1.50324643e-02 -6.36869489e-05 9.99887004e-01 9.05950887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.777806573999998 meters Centerline goodness [0,1] 0.9992242048099301 Centerline is valid? [True, True] Translation: X:-14.52, Y:-0.93, Z:0.91 [[ 9.93446757e-01 -1.13520668e-01 1.32890891e-02 -1.45170964e+01] [ 1.13510139e-01 9.93535635e-01 1.54635741e-03 -9.32559871e-01] [-1.33787271e-02 -2.77774080e-05 9.99910500e-01 9.10155858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.807806573999997 meters Centerline goodness [0,1] 0.999581388534232 Centerline is valid? [True, True] Translation: X:-14.55, Y:-0.94, Z:0.91 [[ 9.93461118e-01 -1.13570992e-01 1.16891873e-02 -1.45483698e+01] [ 1.13562813e-01 9.93529883e-01 1.36324338e-03 -9.38872412e-01] [-1.17683818e-02 -2.68723090e-05 9.99930750e-01 9.09973373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.837806573999998 meters Centerline goodness [0,1] 0.9993915488229617 Centerline is valid? [True, True] Translation: X:-14.58, Y:-0.95, Z:0.92 [[ 9.93396407e-01 -1.14164300e-01 1.14057083e-02 -1.45802989e+01] [ 1.14156514e-01 9.93461882e-01 1.33354662e-03 -9.45758372e-01] [-1.14833799e-02 -2.27045187e-05 9.99934064e-01 9.16832473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.867806573999998 meters Centerline goodness [0,1] 0.9995809148628544 Centerline is valid? [True, True] Translation: X:-14.61, Y:-0.95, Z:0.92 [[ 9.93258949e-01 -1.15227969e-01 1.26164670e-02 -1.46128209e+01] [ 1.15218468e-01 9.93339073e-01 1.47972902e-03 -9.49960328e-01] [-1.27029358e-02 -1.61040905e-05 9.99919314e-01 9.20692256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.897806573999997 meters Centerline goodness [0,1] 0.9997488015741768 Centerline is valid? [True, True] Translation: X:-14.65, Y:-0.95, Z:0.93 [[ 9.93404236e-01 -1.14088767e-01 1.14794190e-02 -1.46456633e+01] [ 1.14080787e-01 9.93470559e-01 1.34974676e-03 -9.53383754e-01] [-1.15584558e-02 -3.12629969e-05 9.99933198e-01 9.25451916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.927806573999998 meters Centerline goodness [0,1] 0.9992054198728672 Centerline is valid? [True, True] Translation: X:-14.68, Y:-0.95, Z:0.92 [[ 9.93613737e-01 -1.12369013e-01 1.02443605e-02 -1.46783110e+01] [ 1.12362535e-01 9.93666545e-01 1.20756180e-03 -9.53276869e-01] [-1.03151709e-02 -4.87676641e-05 9.99946796e-01 9.21698343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.957806573999997 meters Centerline goodness [0,1] 0.9992657085912094 Centerline is valid? [True, True] Translation: X:-14.71, Y:-0.96, Z:0.92 [[ 9.93649131e-01 -1.12262445e-01 7.65160844e-03 -1.47099041e+01] [ 1.12258818e-01 9.93678591e-01 9.03210439e-04 -9.55124969e-01] [-7.70463611e-03 -3.85137451e-05 9.99970318e-01 9.24540383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.987806573999999 meters Centerline goodness [0,1] 0.9992673992673993 Centerline is valid? [True, True] Translation: X:-14.74, Y:-0.97, Z:0.92 [[ 9.93895592e-01 -1.10031466e-01 8.03921882e-03 -1.47411140e+01] [ 1.10027372e-01 9.93928102e-01 9.51146034e-04 -9.65468290e-01] [-8.09506150e-03 -6.08057336e-05 9.99967233e-01 9.23083531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.017806573999998 meters Centerline goodness [0,1] 0.9994541140901552 Centerline is valid? [True, True] Translation: X:-14.77, Y:-0.97, Z:0.93 [[ 9.94030280e-01 -1.08444280e-01 1.19849777e-02 -1.47726816e+01] [ 1.08435000e-01 9.94102522e-01 1.42330596e-03 -9.72761474e-01] [-1.20686460e-02 -1.15218165e-04 9.99927165e-01 9.34625390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.047806573999997 meters Centerline goodness [0,1] 0.9994738171409329 Centerline is valid? [True, True] Translation: X:-14.81, Y:-0.97, Z:0.94 [[ 9.94051489e-01 -1.08401787e-01 1.05208810e-02 -1.48066559e+01] [ 1.08394606e-01 9.94107158e-01 1.25212841e-03 -9.66677126e-01] [-1.05946160e-02 -1.04273370e-04 9.99943870e-01 9.35328258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.077806573999998 meters Centerline goodness [0,1] 0.9993505405178915 Centerline is valid? [True, True] Translation: X:-14.84, Y:-0.97, Z:0.92 [[ 9.94059639e-01 -1.08723919e-01 4.95413951e-03 -1.48387926e+01] [ 1.08722332e-01 9.94071983e-01 5.89345169e-04 -9.69892300e-01] [-4.98884720e-03 -4.72186466e-05 9.99987555e-01 9.24497646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.107806573999998 meters Centerline goodness [0,1] 0.9991193122247851 Centerline is valid? [True, True] Translation: X:-14.87, Y:-0.99, Z:0.92 [[ 9.93884096e-01 -1.10228934e-01 6.63211691e-03 -1.48671502e+01] [ 1.10226089e-01 9.93906222e-01 7.93992422e-04 -9.86861483e-01] [-6.67922320e-03 -5.81041305e-05 9.99977692e-01 9.22866822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.137806573999997 meters Centerline goodness [0,1] 0.9992459785522788 Centerline is valid? [True, True] Translation: X:-14.90, Y:-0.99, Z:0.94 [[ 9.93548787e-01 -1.12925483e-01 1.04231970e-02 -1.48970209e+01] [ 1.12918613e-01 9.93603458e-01 1.24713612e-03 -9.94748452e-01] [-1.04973580e-02 -6.21176334e-05 9.99944899e-01 9.39423084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.167806573999998 meters Centerline goodness [0,1] 0.9993303057572777 Centerline is valid? [True, True] Translation: X:-14.93, Y:-0.99, Z:0.94 [[ 9.93193571e-01 -1.15793769e-01 1.25830932e-02 -1.49298028e+01] [ 1.15783936e-01 9.93273276e-01 1.50960384e-03 -9.93790964e-01] [-1.26732530e-02 -4.24087652e-05 9.99919690e-01 9.41386436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.197806573999998 meters Centerline goodness [0,1] 0.9995187378376682 Centerline is valid? [True, True] Translation: X:-14.96, Y:-1.00, Z:0.94 [[ 9.92917771e-01 -1.18380649e-01 1.00161064e-02 -1.49613504e+01] [ 1.18374530e-01 9.92968288e-01 1.20367553e-03 -1.00174387e+00] [-1.00881679e-02 -9.49893434e-06 9.99949113e-01 9.35760716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.227806573999997 meters Centerline goodness [0,1] 0.9992458047891396 Centerline is valid? [True, True] Translation: X:-14.99, Y:-1.02, Z:0.94 [[ 9.92569272e-01 -1.21402641e-01 8.22425029e-03 -1.49920920e+01] [ 1.21398605e-01 9.92603344e-01 9.90042760e-04 -1.02319999e+00] [-8.28361215e-03 1.57264876e-05 9.99965690e-01 9.36473822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.257806573999998 meters Centerline goodness [0,1] 0.9991222570532915 Centerline is valid? [True, True] Translation: X:-15.02, Y:-1.03, Z:0.94 [[ 9.92541537e-01 -1.21626594e-01 8.26250523e-03 -1.50240586e+01] [ 1.21622503e-01 9.92575927e-01 9.97586496e-04 -1.02795972e+00] [-8.32249684e-03 1.47605356e-05 9.99965367e-01 9.37597856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.287806573999998 meters Centerline goodness [0,1] 0.9991614783137329 Centerline is valid? [True, True] Translation: X:-15.06, Y:-1.02, Z:0.94 [[ 9.92527877e-01 -1.21674085e-01 9.15586814e-03 -1.50576024e+01] [ 1.21669035e-01 9.92570107e-01 1.10858244e-03 -1.02304275e+00] [-9.22272677e-03 1.36866647e-05 9.99957470e-01 9.41083671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.317806573999997 meters Centerline goodness [0,1] 0.9991614783137329 Centerline is valid? [True, True] Translation: X:-15.09, Y:-1.03, Z:0.94 [[ 9.92488629e-01 -1.21993844e-01 9.15550890e-03 -1.50899574e+01] [ 1.21988781e-01 9.92530857e-01 1.11153967e-03 -1.02679054e+00] [-9.22272609e-03 1.36788840e-05 9.99957470e-01 9.41514387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.347806573999998 meters Centerline goodness [0,1] 0.9992473815148538 Centerline is valid? [True, True] Translation: X:-15.12, Y:-1.03, Z:0.94 [[ 9.92601331e-01 -1.21102105e-01 8.76801669e-03 -1.51230849e+01] [ 1.21097403e-01 9.92640056e-01 1.06718638e-03 -1.03163893e+00] [-8.83272309e-03 2.49343290e-06 9.99960991e-01 9.38359642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.377806573999997 meters Centerline goodness [0,1] 0.9992659703871482 Centerline is valid? [True, True] Translation: X:-15.16, Y:-1.04, Z:0.94 [[ 9.92898587e-01 -1.18679735e-01 8.21680274e-03 -1.51557756e+01] [ 1.18675503e-01 9.92932586e-01 1.00248560e-03 -1.03959202e+00] [-8.27770592e-03 -2.02333348e-05 9.99965739e-01 9.43524390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.407806573999999 meters Centerline goodness [0,1] 0.9993673021764805 Centerline is valid? [True, True] Translation: X:-15.19, Y:-1.04, Z:0.95 [[ 9.93260925e-01 -1.15577567e-01 8.63486055e-03 -1.51864599e+01] [ 1.15572747e-01 9.93298456e-01 1.05683972e-03 -1.04295979e+00] [-8.69914062e-03 -5.17630511e-05 9.99962160e-01 9.45569165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.437806573999998 meters Centerline goodness [0,1] 0.9990899125074979 Centerline is valid? [True, True] Translation: X:-15.22, Y:-1.05, Z:0.94 [[ 9.93722985e-01 -1.11509648e-01 8.95703164e-03 -1.52191116e+01] [ 1.11504274e-01 9.93763347e-01 1.09867191e-03 -1.04517597e+00] [-9.02368226e-03 -9.30282153e-05 9.99959281e-01 9.42684457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.467806573999997 meters Centerline goodness [0,1] 0.9990786690956299 Centerline is valid? [True, True] Translation: X:-15.25, Y:-1.05, Z:0.95 [[ 9.93895573e-01 -1.10166240e-01 5.91526865e-03 -1.52510795e+01] [ 1.10163870e-01 9.93913173e-01 7.26029854e-04 -1.05137966e+00] [-5.95924741e-03 -6.99489733e-05 9.99982241e-01 9.45072622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.497806573999998 meters Centerline goodness [0,1] 0.9992028529473463 Centerline is valid? [True, True] Translation: X:-15.28, Y:-1.05, Z:0.95 [[ 9.94220213e-01 -1.07298118e-01 3.64442425e-03 -1.52827564e+01] [ 1.07297200e-01 9.94226891e-01 4.47125706e-04 -1.04980162e+00] [-3.67136033e-03 -5.35048971e-05 9.99993259e-01 9.46741173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.527806573999998 meters Centerline goodness [0,1] 0.9992431091394571 Centerline is valid? [True, True] Translation: X:-15.31, Y:-1.05, Z:0.95 [[ 9.94582482e-01 -1.03831120e-01 4.97845972e-03 -1.53119410e+01] [ 1.03829338e-01 9.94594937e-01 6.15792393e-04 -1.04557255e+00] [-5.01548925e-03 -9.55461474e-05 9.99987418e-01 9.46779620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.557806573999997 meters Centerline goodness [0,1] 0.9988039281517542 Centerline is valid? [True, True] Translation: X:-15.34, Y:-1.06, Z:0.95 [[ 9.94931938e-01 -1.00396226e-01 5.57111131e-03 -1.53420036e+01] [ 1.00393946e-01 9.94947527e-01 6.88071510e-04 -1.06140820e+00] [-5.61204321e-03 -1.25278469e-04 9.99984245e-01 9.54093606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.587806573999998 meters Centerline goodness [0,1] 0.9990553561307387 Centerline is valid? [True, True] Translation: X:-15.37, Y:-1.07, Z:0.96 [[ 9.94972504e-01 -1.00063329e-01 4.12884212e-03 -1.53732177e+01] [ 1.00062082e-01 9.94981066e-01 5.07936281e-04 -1.07421359e+00] [-4.15894553e-03 -9.22420948e-05 9.99991347e-01 9.56944114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.617806573999998 meters Centerline goodness [0,1] 0.999094774956844 Centerline is valid? [True, True] Translation: X:-15.40, Y:-1.08, Z:0.96 [[ 9.94909785e-01 -1.00718700e-01 3.20374783e-03 -1.54034576e+01] [ 1.00717943e-01 9.94914940e-01 3.97079040e-04 -1.07514965e+00] [-3.22744987e-03 -7.23829306e-05 9.99994789e-01 9.57458827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.647806573999997 meters Centerline goodness [0,1] 0.9988470810187612 Centerline is valid? [True, True] Translation: X:-15.43, Y:-1.07, Z:0.95 [[ 9.94710629e-01 -1.02652228e-01 3.64488901e-03 -1.54329874e+01] [ 1.02651259e-01 9.94717304e-01 4.52336364e-04 -1.07428787e+00] [-3.67206750e-03 -7.57913424e-05 9.99993255e-01 9.52165004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.677806573999998 meters Centerline goodness [0,1] 0.9991592222806096 Centerline is valid? [True, True] Translation: X:-15.46, Y:-1.09, Z:0.94 [[ 9.94663340e-01 -1.03148525e-01 2.28527248e-03 -1.54611199e+01] [ 1.03148146e-01 9.94665964e-01 2.83327424e-04 -1.08734416e+00] [-2.30230756e-03 -4.60937815e-05 9.99997349e-01 9.44914370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.707806573999997 meters Centerline goodness [0,1] 0.9988473709579395 Centerline is valid? [True, True] Translation: X:-15.49, Y:-1.10, Z:0.95 [[ 9.94549312e-01 -1.04259840e-01 1.24579982e-03 -1.54893942e+01] [ 1.04259728e-01 9.94550092e-01 1.54803123e-04 -1.10050494e+00] [-1.25515008e-03 -2.40725883e-05 9.99999212e-01 9.45390890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.737806573999997 meters Centerline goodness [0,1] 0.9989729185880775 Centerline is valid? [True, True] Translation: X:-15.52, Y:-1.11, Z:0.95 [[ 9.94252119e-01 -1.07063146e-01 4.53678912e-04 -1.55164285e+01] [ 1.07063131e-01 9.94252223e-01 5.76383554e-05 -1.11210618e+00] [-4.57242211e-04 -8.73477224e-06 9.99999895e-01 9.54063489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.767806573999998 meters Centerline goodness [0,1] 0.9991648223159477 Centerline is valid? [True, True] Translation: X:-15.54, Y:-1.12, Z:0.95 [[ 9.94136992e-01 -1.08118499e-01 1.42505360e-03 -1.55443539e+01] [ 1.08118356e-01 9.94138013e-01 1.77460197e-04 -1.11733792e+00] [-1.43588668e-03 -2.23452942e-05 9.99998969e-01 9.49463525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.797806573999997 meters Centerline goodness [0,1] 0.9991379310344828 Centerline is valid? [True, True] Translation: X:-15.57, Y:-1.12, Z:0.95 [[ 9.94129242e-01 -1.08198503e-01 3.66628179e-04 -1.55737318e+01] [ 1.08198493e-01 9.94129310e-01 4.58309780e-05 -1.11868067e+00] [-3.69434661e-04 -5.89329899e-06 9.99999932e-01 9.51482826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.827806573999998 meters Centerline goodness [0,1] 0.9991642988467324 Centerline is valid? [True, True] Translation: X:-15.60, Y:-1.12, Z:0.95 [[ 9.94112060e-01 -1.08349956e-01 1.22410250e-03 -1.56013937e+01] [ 1.08349850e-01 9.94112814e-01 1.52561544e-04 -1.12355645e+00] [-1.23342602e-03 -1.90319480e-05 9.99999239e-01 9.51739942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.857806573999998 meters Centerline goodness [0,1] 0.998781512605042 Centerline is valid? [True, True] Translation: X:-15.63, Y:-1.14, Z:0.95 [[ 9.94464267e-01 -1.05075288e-01 6.72690314e-05 -1.56285379e+01] [ 1.05075288e-01 9.94464270e-01 9.11762718e-06 -1.14060876e+00] [-6.78546855e-05 -1.99884161e-06 9.99999998e-01 9.50824839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.887806573999997 meters Centerline goodness [0,1] 0.9995386583345566 Centerline is valid? [True, True] Translation: X:-15.66, Y:-1.15, Z:0.95 [[ 9.94796468e-01 -1.01880806e-01 5.37491002e-04 -1.56569511e+01] [ 1.01880784e-01 9.94796613e-01 6.73733299e-05 -1.14866936e+00] [-5.41558277e-04 -1.22627459e-05 9.99999853e-01 9.48153842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.917806573999998 meters Centerline goodness [0,1] 0.9994347680455535 Centerline is valid? [True, True] Translation: X:-15.69, Y:-1.14, Z:0.95 [[ 9.95137071e-01 -9.84962005e-02 -8.41703339e-04 -1.56873383e+01] [ 9.84961484e-02 9.95137427e-01 -1.03222085e-04 -1.14257050e+00] [ 8.47777478e-04 1.98155862e-05 9.99999640e-01 9.52650401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.947806573999998 meters Centerline goodness [0,1] 0.9992692805545117 Centerline is valid? [True, True] Translation: X:-15.72, Y:-1.14, Z:0.94 [[ 9.95469890e-01 -9.50478718e-02 -2.36648191e-03 -1.57169756e+01] [ 9.50474497e-02 9.95472701e-01 -2.90463406e-04 -1.13653482e+00] [ 2.38337606e-03 6.42195044e-05 9.99997158e-01 9.42365621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.977806573999997 meters Centerline goodness [0,1] 0.9989300100704934 Centerline is valid? [True, True] Translation: X:-15.74, Y:-1.15, Z:0.94 [[ 9.95691666e-01 -9.27246980e-02 -4.85714900e-04 -1.57434407e+01] [ 9.27246805e-02 9.95691785e-01 -5.84511276e-05 -1.14941177e+00] [ 4.89042199e-04 1.31615417e-05 9.99999880e-01 9.40800034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.007806573999998 meters Centerline goodness [0,1] 0.9989978286286955 Centerline is valid? [True, True] Translation: X:-15.77, Y:-1.17, Z:0.95 [[ 9.95847459e-01 -9.09592446e-02 3.77535236e-03 -1.57699837e+01] [ 9.09581329e-02 9.95854609e-01 4.65462384e-04 -1.16698263e+00] [-3.80204016e-03 -1.20130531e-04 9.99992765e-01 9.52372806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.037806573999998 meters Centerline goodness [0,1] 0.9987675210461449 Centerline is valid? [True, True] Translation: X:-15.80, Y:-1.17, Z:0.96 [[ 9.96028565e-01 -8.89677536e-02 3.44049809e-03 -1.58012580e+01] [ 8.89668317e-02 9.96034500e-01 4.20381150e-04 -1.17223226e+00] [-3.46425517e-03 -1.12621419e-04 9.99993993e-01 9.55142866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.067806573999997 meters Centerline goodness [0,1] 0.9988915148599753 Centerline is valid? [True, True] Translation: X:-15.83, Y:-1.17, Z:0.94 [[ 9.95913037e-01 -9.01696651e-02 -5.16284605e-03 -1.58339791e+01] [ 9.01675697e-02 9.95926404e-01 -6.37674753e-04 -1.16955828e+00] [ 5.19931362e-03 1.69547318e-04 9.99986469e-01 9.37930830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.097806573999998 meters Centerline goodness [0,1] 0.9991429586738854 Centerline is valid? [True, True] Translation: X:-15.86, Y:-1.18, Z:0.94 [[ 9.95639019e-01 -9.31856127e-02 -4.40297025e-03 -1.58616109e+01] [ 9.31841275e-02 9.95648746e-01 -5.41720538e-04 -1.18308759e+00] [ 4.43429237e-03 1.29071163e-04 9.99990160e-01 9.41044759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.127806573999997 meters Centerline goodness [0,1] 0.9992346199991725 Centerline is valid? [True, True] Translation: X:-15.89, Y:-1.19, Z:0.95 [[ 9.95540339e-01 -9.43345318e-02 -6.55509190e-04 -1.58901332e+01] [ 9.43344994e-02 9.95540555e-01 -8.02508662e-05 -1.19398199e+00] [ 6.60156410e-04 1.80558433e-05 9.99999782e-01 9.45638241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.157806573999997 meters Centerline goodness [0,1] 0.9990848776023793 Centerline is valid? [True, True] Translation: X:-15.92, Y:-1.20, Z:0.95 [[ 9.95222948e-01 -9.76277832e-02 -3.14798593e-04 -1.59180239e+01] [ 9.76277761e-02 9.95222998e-01 -3.79487370e-05 -1.20344154e+00] [ 3.16999650e-04 7.03436743e-06 9.99999950e-01 9.45028195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.187806573999998 meters Centerline goodness [0,1] 0.999539218766363 Centerline is valid? [True, True] Translation: X:-15.95, Y:-1.22, Z:0.94 [[ 9.94652509e-01 -1.03256827e-01 -2.10092677e-03 -1.59458521e+01] [ 1.03256512e-01 9.94654727e-01 -2.58127319e-04 -1.22274193e+00] [ 2.11635015e-03 3.98126157e-05 9.99997760e-01 9.37717914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.217806573999997 meters Centerline goodness [0,1] 0.998998936369893 Centerline is valid? [True, True] Translation: X:-15.97, Y:-1.24, Z:0.94 [[ 9.94334792e-01 -1.06249926e-01 -3.04555209e-03 -1.59733725e+01] [ 1.06249279e-01 9.94339455e-01 -3.73677309e-04 -1.23521713e+00] [ 3.06801579e-03 4.79726339e-05 9.99995292e-01 9.41737172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.247806573999998 meters Centerline goodness [0,1] 0.9994367959949937 Centerline is valid? [True, True] Translation: X:-16.00, Y:-1.23, Z:0.94 [[ 9.94228593e-01 -1.07228255e-01 -3.40670699e-03 -1.60018083e+01] [ 1.07227454e-01 9.94234429e-01 -4.17457374e-04 -1.23309502e+00] [ 3.43182860e-03 4.97555408e-05 9.99994110e-01 9.43457135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.277806573999998 meters Centerline goodness [0,1] 0.999353331386374 Centerline is valid? [True, True] Translation: X:-16.03, Y:-1.24, Z:0.94 [[ 9.94194267e-01 -1.07597115e-01 -7.88053364e-04 -1.60299396e+01] [ 1.07597073e-01 9.94194579e-01 -9.51639928e-05 -1.23628991e+00] [ 7.93717753e-04 9.81926066e-06 9.99999685e-01 9.40617860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.307806573999997 meters Centerline goodness [0,1] 0.9990176201325168 Centerline is valid? [True, True] Translation: X:-16.06, Y:-1.25, Z:0.94 [[ 9.94240710e-01 -1.07109810e-01 3.59148985e-03 -1.60578405e+01] [ 1.07108915e-01 9.94247195e-01 4.41295766e-04 -1.25378332e+00] [-3.61809582e-03 -5.40736355e-05 9.99993453e-01 9.43183198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.337806573999998 meters Centerline goodness [0,1] 0.9994552463962454 Centerline is valid? [True, True] Translation: X:-16.09, Y:-1.26, Z:0.94 [[ 9.94883210e-01 -1.01028098e-01 -8.49840449e-04 -1.60887590e+01] [ 1.01028045e-01 9.94883573e-01 -1.04934813e-04 -1.25586564e+00] [ 8.56093667e-04 1.85401642e-05 9.99999633e-01 9.44249087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.367806573999998 meters Centerline goodness [0,1] 0.9993526291609238 Centerline is valid? [True, True] Translation: X:-16.12, Y:-1.25, Z:0.93 [[ 9.95281136e-01 -9.68264117e-02 -6.33289774e-03 -1.61205184e+01] [ 9.68234231e-02 9.95301271e-01 -7.77528912e-04 -1.24765489e+00] [ 6.37842650e-03 1.60687021e-04 9.99979645e-01 9.33037236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.397806573999997 meters Centerline goodness [0,1] 0.9996417960766135 Centerline is valid? [True, True] Translation: X:-16.15, Y:-1.25, Z:0.93 [[ 9.95509365e-01 -9.45530600e-02 -4.56318467e-03 -1.61475391e+01] [ 9.45514962e-02 9.95519816e-01 -5.57720259e-04 -1.25217311e+00] [ 4.59547492e-03 1.23759803e-04 9.99989433e-01 9.31332397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.427806573999998 meters Centerline goodness [0,1] 0.9995379024974269 Centerline is valid? [True, True] Translation: X:-16.18, Y:-1.26, Z:0.94 [[ 9.95832902e-01 -9.11946463e-02 -6.06471163e-04 -1.61751797e+01] [ 9.11946193e-02 9.95833087e-01 -7.22016389e-05 -1.26164192e+00] [ 6.10528453e-04 1.65938608e-05 9.99999813e-01 9.36716057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.457806573999997 meters Centerline goodness [0,1] 0.9992028362248002 Centerline is valid? [True, True] Translation: X:-16.21, Y:-1.26, Z:0.93 [[ 9.96081074e-01 -8.84044962e-02 -2.67190647e-03 -1.62052705e+01] [ 8.84039377e-02 9.96084654e-01 -3.26678077e-04 -1.26179628e+00] [ 2.69032484e-03 8.91907967e-05 9.99996377e-01 9.33689612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.487806573999997 meters Centerline goodness [0,1] 0.999369231092702 Centerline is valid? [True, True] Translation: X:-16.23, Y:-1.27, Z:0.92 [[ 9.96029278e-01 -8.85507149e-02 -9.18952307e-03 -1.62341365e+01] [ 8.85441127e-02 9.96071623e-01 -1.12361928e-03 -1.26540321e+00] [ 9.25292044e-03 3.05479533e-04 9.99957144e-01 9.21324038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.517806573999998 meters Centerline goodness [0,1] 0.9987174635212985 Centerline is valid? [True, True] Translation: X:-16.26, Y:-1.27, Z:0.92 [[ 9.96081444e-01 -8.81252075e-02 -7.46353049e-03 -1.62617487e+01] [ 8.81208497e-02 9.96109374e-01 -9.11370402e-04 -1.27327813e+00] [ 7.51480740e-03 2.50106497e-04 9.99971732e-01 9.22050084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.547806573999997 meters Centerline goodness [0,1] 0.9991971095945403 Centerline is valid? [True, True] Translation: X:-16.29, Y:-1.28, Z:0.93 [[ 9.95978873e-01 -8.94624222e-02 -4.74968225e-03 -1.62895767e+01] [ 8.94606737e-02 9.95990187e-01 -5.79735957e-04 -1.27927991e+00] [ 4.78250150e-03 1.52494991e-04 9.99988552e-01 9.34674196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.577806573999998 meters Centerline goodness [0,1] 0.9987772999409731 Centerline is valid? [True, True] Translation: X:-16.32, Y:-1.28, Z:0.93 [[ 9.95678248e-01 -9.27699048e-02 -4.30931916e-03 -1.63193686e+01] [ 9.27684965e-02 9.95687566e-01 -5.25996295e-04 -1.28206507e+00] [ 4.33953214e-03 1.23954011e-04 9.99990577e-01 9.32851931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.607806573999998 meters Centerline goodness [0,1] 0.9991391437629916 Centerline is valid? [True, True] Translation: X:-16.35, Y:-1.30, Z:0.93 [[ 9.95519025e-01 -9.45171362e-02 -2.89504454e-03 -1.63454130e+01] [ 9.45165118e-02 9.95523232e-01 -3.52058228e-04 -1.29807991e+00] [ 2.91535963e-03 7.68511528e-05 9.99995747e-01 9.32829744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.637806573999997 meters Centerline goodness [0,1] 0.9995159321463147 Centerline is valid? [True, True] Translation: X:-16.37, Y:-1.31, Z:0.93 [[ 9.95585010e-01 -9.38595755e-02 -9.31998242e-04 -1.63722514e+01] [ 9.38595112e-02 9.95585446e-01 -1.12590834e-04 -1.31278955e+00] [ 9.38451613e-04 2.46168470e-05 9.99999559e-01 9.30545494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.667806573999998 meters Centerline goodness [0,1] 0.9992830634278003 Centerline is valid? [True, True] Translation: X:-16.40, Y:-1.32, Z:0.93 [[ 9.95422865e-01 -9.55292568e-02 -2.73526200e-03 -1.64018453e+01] [ 9.55287012e-02 9.95426620e-01 -3.33368098e-04 -1.31546526e+00] [ 2.75459902e-03 7.05462005e-05 9.99996204e-01 9.34881918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.697806573999998 meters Centerline goodness [0,1] 0.998926632150524 Centerline is valid? [True, True] Translation: X:-16.43, Y:-1.31, Z:0.93 [[ 9.95129895e-01 -9.84080237e-02 -5.68793859e-03 -1.64308934e+01] [ 9.84056737e-02 9.95146142e-01 -6.92233919e-04 -1.31422062e+00] [ 5.72845152e-03 1.29137238e-04 9.99983584e-01 9.25691289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.727806573999997 meters Centerline goodness [0,1] 0.9993518305559621 Centerline is valid? [True, True] Translation: X:-16.46, Y:-1.33, Z:0.92 [[ 9.95012614e-01 -9.96806517e-02 -3.69675813e-03 -1.64581359e+01] [ 9.96796703e-02 9.95019478e-01 -4.49220381e-04 -1.32768760e+00] [ 3.72312493e-03 7.84883135e-05 9.99993066e-01 9.22864182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.757806573999998 meters Centerline goodness [0,1] 0.9993061833778357 Centerline is valid? [True, True] Translation: X:-16.48, Y:-1.34, Z:0.93 [[ 9.95013764e-01 -9.97205460e-02 -1.85001129e-03 -1.64847570e+01] [ 9.97203025e-02 9.95015483e-01 -2.23603865e-04 -1.34105312e+00] [ 1.86308778e-03 3.80052377e-05 9.99998264e-01 9.26613426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.787806573999998 meters Centerline goodness [0,1] 0.9993469559721929 Centerline is valid? [True, True] Translation: X:-16.51, Y:-1.34, Z:0.92 [[ 9.95149838e-01 -9.83232221e-02 -3.05694352e-03 -1.65146390e+01] [ 9.83225451e-02 9.95154530e-01 -3.71338211e-04 -1.34022400e+00] [ 3.07864236e-03 6.89706928e-05 9.99995259e-01 9.22783731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.817806573999997 meters Centerline goodness [0,1] 0.9983830323393532 Centerline is valid? [True, True] Translation: X:-16.54, Y:-1.34, Z:0.92 [[ 9.95294594e-01 -9.67156529e-02 -5.89516422e-03 -1.65435125e+01] [ 9.67131074e-02 9.95312043e-01 -7.16014890e-04 -1.33980574e+00] [ 5.93677779e-03 1.42506099e-04 9.99982367e-01 9.20855261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.847806573999998 meters Centerline goodness [0,1] 0.9992685322577274 Centerline is valid? [True, True] Translation: X:-16.57, Y:-1.34, Z:0.91 [[ 9.95422786e-01 -9.53360454e-02 -6.67202367e-03 -1.65724675e+01] [ 9.53327586e-02 9.95445131e-01 -8.09660317e-04 -1.34175444e+00] [ 6.71882329e-03 1.69891906e-04 9.99977414e-01 9.10895888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.877806573999997 meters Centerline goodness [0,1] 0.9987636470317052 Centerline is valid? [True, True] Translation: X:-16.60, Y:-1.35, Z:0.91 [[ 9.95648164e-01 -9.30003358e-02 -5.97246982e-03 -1.65989920e+01] [ 9.29976665e-02 9.95666064e-01 -7.23712648e-04 -1.35164590e+00] [ 6.01389104e-03 1.65137412e-04 9.99981903e-01 9.13321489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.907806573999997 meters Centerline goodness [0,1] 0.9984716522904279 Centerline is valid? [True, True] Translation: X:-16.63, Y:-1.35, Z:0.91 [[ 9.95936817e-01 -8.99148965e-02 -5.01678584e-03 -1.66277433e+01] [ 8.99129760e-02 9.95949440e-01 -6.07512447e-04 -1.35118227e+00] [ 5.05108947e-03 1.53969868e-04 9.99987231e-01 9.11494697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.937806573999998 meters Centerline goodness [0,1] 0.9981881794327128 Centerline is valid? [True, True] Translation: X:-16.66, Y:-1.35, Z:0.91 [[ 9.96128218e-01 -8.77918796e-02 -4.59980590e-03 -1.66571635e+01] [ 8.77902445e-02 9.96138827e-01 -5.56573077e-04 -1.34954079e+00] [ 4.63090785e-03 1.50600063e-04 9.99989266e-01 9.08097588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.967806573999997 meters Centerline goodness [0,1] 0.9981149463806971 Centerline is valid? [True, True] Translation: X:-16.69, Y:-1.35, Z:0.90 [[ 9.96565897e-01 -8.25396902e-02 -6.60403445e-03 -1.66860603e+01] [ 8.25361967e-02 9.96587746e-01 -8.00266750e-04 -1.35381946e+00] [ 6.64755358e-03 2.52446664e-04 9.99977873e-01 8.98948977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.997806573999998 meters Centerline goodness [0,1] 0.9987901038841838 Centerline is valid? [True, True] Translation: X:-16.72, Y:-1.35, Z:0.90 [[ 9.96883898e-01 -7.83051261e-02 -9.52895099e-03 -1.67167260e+01] [ 7.82976601e-02 9.96929357e-01 -1.15462775e-03 -1.35326492e+00] [ 9.59010426e-03 4.04935249e-04 9.99953932e-01 8.96460132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.027806573999996 meters Centerline goodness [0,1] 0.9987185143169262 Centerline is valid? [True, True] Translation: X:-16.75, Y:-1.35, Z:0.89 [[ 9.97014023e-01 -7.65925438e-02 -9.82952839e-03 -1.67451170e+01] [ 7.65845367e-02 9.97062383e-01 -1.18897897e-03 -1.35223524e+00] [ 9.89171992e-03 4.32638831e-04 9.99950982e-01 8.94503270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.057806573999997 meters Centerline goodness [0,1] 0.9985956528118385 Centerline is valid? [True, True] Translation: X:-16.77, Y:-1.36, Z:0.90 [[ 9.97154621e-01 -7.51403033e-02 -6.04949783e-03 -1.67729466e+01] [ 7.51372508e-02 9.97172934e-01 -7.30608747e-04 -1.35772548e+00] [ 6.08729367e-03 2.73987252e-04 9.99981435e-01 8.96550580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.087806574 meters Centerline goodness [0,1] 0.9991439428738464 Centerline is valid? [True, True] Translation: X:-16.80, Y:-1.36, Z:0.89 [[ 9.97343838e-01 -7.26002354e-02 -5.87158715e-03 -1.68019414e+01] [ 7.25973150e-02 9.97361081e-01 -7.09272195e-04 -1.36429925e+00] [ 5.90758584e-03 2.81126791e-04 9.99982511e-01 8.85771756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.117806573999996 meters Centerline goodness [0,1] 0.9983620671552467 Centerline is valid? [True, True] Translation: X:-16.83, Y:-1.37, Z:0.89 [[ 9.97340275e-01 -7.22938637e-02 -9.27220390e-03 -1.68302837e+01] [ 7.22865725e-02 9.97383275e-01 -1.11952338e-03 -1.36827575e+00] [ 9.32887577e-03 4.46289920e-04 9.99956385e-01 8.86581486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.147806573999997 meters Centerline goodness [0,1] 0.9983980776932319 Centerline is valid? [True, True] Translation: X:-16.86, Y:-1.37, Z:0.88 [[ 9.97250523e-01 -7.33980682e-02 -1.02038694e-02 -1.68580467e+01] [ 7.33893083e-02 9.97302609e-01 -1.23079538e-03 -1.36889843e+00] [ 1.02666836e-02 4.78556417e-04 9.99947182e-01 8.79847878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.177806573999998 meters Centerline goodness [0,1] 0.9987443758501622 Centerline is valid? [True, True] Translation: X:-16.89, Y:-1.37, Z:0.88 [[ 9.97358984e-01 -7.21796608e-02 -8.07173110e-03 -1.68858049e+01] [ 7.21741876e-02 9.97391573e-01 -9.67696727e-04 -1.36904096e+00] [ 8.12052460e-03 3.82570390e-04 9.99966955e-01 8.82000598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.207806574 meters Centerline goodness [0,1] 0.9987443758501622 Centerline is valid? [True, True] Translation: X:-16.91, Y:-1.37, Z:0.88 [[ 9.97367747e-01 -7.20585039e-02 -8.07152812e-03 -1.69131125e+01] [ 7.20530131e-02 9.97400333e-01 -9.69380927e-04 -1.37246326e+00] [ 8.12039697e-03 3.85251349e-04 9.99966955e-01 8.82365424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.237806573999997 meters Centerline goodness [0,1] 0.9988276915991543 Centerline is valid? [True, True] Translation: X:-16.94, Y:-1.38, Z:0.87 [[ 9.97203272e-01 -7.43814322e-02 -7.28261885e-03 -1.69419799e+01] [ 7.43770196e-02 9.97229809e-01 -8.75257297e-04 -1.38187771e+00] [ 7.32754750e-03 3.31149955e-04 9.99973098e-01 8.71929202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.267806573999998 meters Centerline goodness [0,1] 0.9985159173094208 Centerline is valid? [True, True] Translation: X:-16.97, Y:-1.39, Z:0.87 [[ 9.97088023e-01 -7.56178546e-02 -9.86992099e-03 -1.69697940e+01] [ 7.56098299e-02 9.97136777e-01 -1.18420090e-03 -1.38691118e+00] [ 9.93120794e-03 4.34489489e-04 9.99950590e-01 8.69218363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.297806574 meters Centerline goodness [0,1] 0.998234552332913 Centerline is valid? [True, True] Translation: X:-17.00, Y:-1.39, Z:0.86 [[ 9.96998954e-01 -7.65841852e-02 -1.13113836e-02 -1.69982129e+01] [ 7.65737088e-02 9.97063000e-01 -1.35702269e-03 -1.38967311e+00] [ 1.13820885e-02 4.86795612e-04 9.99935103e-01 8.64022748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.327806573999997 meters Centerline goodness [0,1] 0.9991194045497431 Centerline is valid? [True, True] Translation: X:-17.03, Y:-1.40, Z:0.86 [[ 9.96780082e-01 -7.94622657e-02 -1.07339187e-02 -1.70263078e+01] [ 7.94530035e-02 9.96837782e-01 -1.28725685e-03 -1.39742377e+00] [ 1.08022641e-02 4.30269906e-04 9.99941561e-01 8.63931795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.357806573999998 meters Centerline goodness [0,1] 0.9984891089939985 Centerline is valid? [True, True] Translation: X:-17.05, Y:-1.40, Z:0.86 [[ 9.96701729e-01 -8.03303311e-02 -1.15195920e-02 -1.70545236e+01] [ 8.03197934e-02 9.96768197e-01 -1.37525504e-03 -1.40256406e+00] [ 1.15928376e-02 4.45467833e-04 9.99932702e-01 8.62667768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.387806574 meters Centerline goodness [0,1] 0.9993724768339365 Centerline is valid? [True, True] Translation: X:-17.08, Y:-1.41, Z:0.86 [[ 9.96457232e-01 -8.33876699e-02 -1.09307683e-02 -1.70820444e+01] [ 8.33783467e-02 9.96517107e-01 -1.30668271e-03 -1.40868887e+00] [ 1.10016588e-02 3.90664050e-04 9.99939404e-01 8.60609900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.417806573999997 meters Centerline goodness [0,1] 0.9990990613476366 Centerline is valid? [True, True] Translation: X:-17.11, Y:-1.42, Z:0.86 [[ 9.96285656e-01 -8.56546712e-02 -8.84137106e-03 -1.71112422e+01] [ 8.56486612e-02 9.96324842e-01 -1.05687137e-03 -1.41700152e+00] [ 8.89940359e-03 2.95694188e-04 9.99960356e-01 8.58478724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.447806573999998 meters Centerline goodness [0,1] 0.9989345032905046 Centerline is valid? [True, True] Translation: X:-17.14, Y:-1.43, Z:0.86 [[ 9.96243333e-01 -8.61662563e-02 -8.63701064e-03 -1.71368963e+01] [ 8.61605547e-02 9.96280732e-01 -1.03076110e-03 -1.43323641e+00] [ 8.69370411e-03 2.82719250e-04 9.99962169e-01 8.59271233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.477806574 meters Centerline goodness [0,1] 0.9990341207349082 Centerline is valid? [True, True] Translation: X:-17.17, Y:-1.43, Z:0.86 [[ 9.95895779e-01 -8.99659421e-02 -9.88562772e-03 -1.71668226e+01] [ 8.99586635e-02 9.95944802e-01 -1.17939594e-03 -1.42776988e+00] [ 9.95164500e-03 2.85257583e-04 9.99950440e-01 8.60750695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.507806573999996 meters Centerline goodness [0,1] 0.9991198105496992 Centerline is valid? [True, True] Translation: X:-17.20, Y:-1.42, Z:0.86 [[ 9.95575180e-01 -9.31826149e-02 -1.21268754e-02 -1.71962001e+01] [ 9.31719086e-02 9.95648986e-01 -1.44608118e-03 -1.42244401e+00] [ 1.22088608e-02 3.09798410e-04 9.99925421e-01 8.57324294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.537806573999998 meters Centerline goodness [0,1] 0.9987635952136465 Centerline is valid? [True, True] Translation: X:-17.22, Y:-1.44, Z:0.85 [[ 9.95436977e-01 -9.47822627e-02 -1.10248265e-02 -1.72226568e+01] [ 9.47735419e-02 9.95497993e-01 -1.31196574e-03 -1.43902658e+00] [ 1.10995438e-02 2.61117346e-04 9.99938364e-01 8.46911129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.567806574 meters Centerline goodness [0,1] 0.9988859929376156 Centerline is valid? [True, True] Translation: X:-17.25, Y:-1.46, Z:0.85 [[ 9.95500598e-01 -9.43623220e-02 -8.62046513e-03 -1.72480591e+01] [ 9.43569950e-02 9.95537900e-01 -1.02348682e-03 -1.45638671e+00] [ 8.67857834e-03 2.05480559e-04 9.99962319e-01 8.54623736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.597806573999996 meters Centerline goodness [0,1] 0.9988252076864983 Centerline is valid? [True, True] Translation: X:-17.28, Y:-1.45, Z:0.86 [[ 9.95613480e-01 -9.33197775e-02 -6.72438846e-03 -1.72774315e+01] [ 9.33165110e-02 9.95636174e-01 -7.98587048e-04 -1.45230929e+00] [ 6.76956836e-03 1.67587561e-04 9.99977072e-01 8.58393794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.627806573999997 meters Centerline goodness [0,1] 0.9985744234800839 Centerline is valid? [True, True] Translation: X:-17.31, Y:-1.45, Z:0.84 [[ 9.95810930e-01 -9.05809351e-02 -1.24774523e-02 -1.73087398e+01] [ 9.05694634e-02 9.95889037e-01 -1.48256679e-03 -1.44667208e+00] [ 1.25604503e-02 3.46280054e-04 9.99921054e-01 8.44669569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.657806574 meters Centerline goodness [0,1] 0.9980636470786328 Centerline is valid? [True, True] Translation: X:-17.34, Y:-1.45, Z:0.84 [[ 9.95831390e-01 -9.01051049e-02 -1.41743802e-02 -1.73372484e+01] [ 9.00903537e-02 9.95932184e-01 -1.67709746e-03 -1.45042623e+00] [ 1.42678365e-02 3.93131372e-04 9.99898132e-01 8.35972208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.687806573999996 meters Centerline goodness [0,1] 0.9989281661132361 Centerline is valid? [True, True] Translation: X:-17.37, Y:-1.45, Z:0.83 [[ 9.96177537e-01 -8.65451028e-02 -1.18431182e-02 -1.73663077e+01] [ 8.65345975e-02 9.96247866e-01 -1.39758126e-03 -1.45022237e+00] [ 1.19196350e-02 3.67399597e-04 9.99928891e-01 8.34860433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.717806573999997 meters Centerline goodness [0,1] 0.9990960119410516 Centerline is valid? [True, True] Translation: X:-17.39, Y:-1.45, Z:0.84 [[ 9.96546485e-01 -8.24529267e-02 -9.82946286e-03 -1.73941780e+01] [ 8.24454843e-02 9.96594900e-01 -1.16066034e-03 -1.44843534e+00] [ 9.89169240e-03 3.46257159e-04 9.99951016e-01 8.35570210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.747806574 meters Centerline goodness [0,1] 0.9979296932181769 Centerline is valid? [True, True] Translation: X:-17.42, Y:-1.45, Z:0.83 [[ 9.96762904e-01 -7.96713876e-02 -1.07788100e-02 -1.74231198e+01] [ 7.96622811e-02 9.96821098e-01 -1.27226351e-03 -1.45027065e+00] [ 1.08459082e-02 4.09480482e-04 9.99941098e-01 8.33652436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.777806573999996 meters Centerline goodness [0,1] 0.9986614519063853 Centerline is valid? [True, True] Translation: X:-17.45, Y:-1.46, Z:0.82 [[ 9.97086604e-01 -7.46595692e-02 -1.56285871e-02 -1.74535336e+01] [ 7.46397865e-02 9.97208852e-01 -1.84610529e-03 -1.45559692e+00] [ 1.57227948e-02 6.74212458e-04 9.99876162e-01 8.21386973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.807806573999997 meters Centerline goodness [0,1] 0.998909235835798 Centerline is valid? [True, True] Translation: X:-17.48, Y:-1.46, Z:0.83 [[ 9.97223348e-01 -7.31461523e-02 -1.39726225e-02 -1.74814491e+01] [ 7.31302295e-02 9.97321039e-01 -1.64781389e-03 -1.45852274e+00] [ 1.40557216e-02 6.21417395e-04 9.99901020e-01 8.25919920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.837806574 meters Centerline goodness [0,1] 0.9989924010243922 Centerline is valid? [True, True] Translation: X:-17.51, Y:-1.46, Z:0.83 [[ 9.97277870e-01 -7.29210158e-02 -1.09259437e-02 -1.75097579e+01] [ 7.29112823e-02 9.97337600e-01 -1.28708281e-03 -1.45937801e+00] [ 1.09907098e-02 4.86954642e-04 9.99939482e-01 8.26535750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.867806573999996 meters Centerline goodness [0,1] 0.9988876529477196 Centerline is valid? [True, True] Translation: X:-17.54, Y:-1.46, Z:0.82 [[ 9.97421788e-01 -7.10126679e-02 -1.03430183e-02 -1.75391857e+01] [ 7.10038663e-02 9.97475299e-01 -1.21617043e-03 -1.45963776e+00] [ 1.04032688e-02 4.78640596e-04 9.99945770e-01 8.22813050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.897806573999997 meters Centerline goodness [0,1] 0.9985938844466831 Centerline is valid? [True, True] Translation: X:-17.57, Y:-1.47, Z:0.82 [[ 9.97246631e-01 -7.27397685e-02 -1.44250669e-02 -1.75658737e+01] [ 7.27228279e-02 9.97350747e-01 -1.69616384e-03 -1.46936920e+00] [ 1.45102299e-02 6.42462014e-04 9.99894515e-01 8.18741432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.927806573999998 meters Centerline goodness [0,1] 0.997814896522744 Centerline is valid? [True, True] Translation: X:-17.59, Y:-1.47, Z:0.82 [[ 9.97222318e-01 -7.25518986e-02 -1.68484600e-02 -1.75943638e+01] [ 7.25288770e-02 9.97364359e-01 -1.97424086e-03 -1.47205458e+00] [ 1.69472884e-02 7.46757168e-04 9.99856106e-01 8.15305650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.957806573999996 meters Centerline goodness [0,1] 0.9985720285594288 Centerline is valid? [True, True] Translation: X:-17.62, Y:-1.48, Z:0.82 [[ 9.96885495e-01 -7.71312041e-02 -1.64343377e-02 -1.76232106e+01] [ 7.71098819e-02 9.97020736e-01 -1.92810483e-03 -1.47536773e+00] [ 1.65340925e-02 6.54849901e-04 9.99863088e-01 8.15234891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.987806573999997 meters Centerline goodness [0,1] 0.9991806722689076 Centerline is valid? [True, True] Translation: X:-17.65, Y:-1.49, Z:0.82 [[ 9.96785509e-01 -7.92222432e-02 -1.19367453e-02 -1.76513870e+01] [ 7.92111525e-02 9.96856877e-01 -1.39979691e-03 -1.48614917e+00] [ 1.20101217e-02 4.49773923e-04 9.99927775e-01 8.18920548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.017806573999998 meters Centerline goodness [0,1] 0.9988026970823618 Centerline is valid? [True, True] Translation: X:-17.68, Y:-1.50, Z:0.82 [[ 9.96522465e-01 -8.26258194e-02 -1.07680344e-02 -1.76791168e+01] [ 8.26170035e-02 9.96580573e-01 -1.26174514e-03 -1.49924875e+00] [ 1.08354666e-02 3.67734646e-04 9.99941227e-01 8.19197515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.047806574 meters Centerline goodness [0,1] 0.9985948281286047 Centerline is valid? [True, True] Translation: X:-17.71, Y:-1.50, Z:0.81 [[ 9.96206039e-01 -8.52818699e-02 -1.73358275e-02 -1.77085183e+01] [ 8.52594415e-02 9.96356716e-01 -2.03009827e-03 -1.49899676e+00] [ 1.74457987e-02 5.44353192e-04 9.99847662e-01 8.08162250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.077806573999997 meters Centerline goodness [0,1] 0.99888671833974 Centerline is valid? [True, True] Translation: X:-17.74, Y:-1.50, Z:0.81 [[ 9.96163421e-01 -8.56122646e-02 -1.81377952e-02 -1.77357348e+01] [ 8.55878716e-02 9.96328374e-01 -2.11830978e-03 -1.50110578e+00] [ 1.82525533e-02 5.57807424e-04 9.99833253e-01 8.06087103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.107806573999998 meters Centerline goodness [0,1] 0.9987427182431583 Centerline is valid? [True, True] Translation: X:-17.76, Y:-1.50, Z:0.81 [[ 9.95990565e-01 -8.82405960e-02 -1.47102807e-02 -1.77633361e+01] [ 8.82248364e-02 9.96099105e-01 -1.71811792e-03 -1.50495795e+00] [ 1.48045052e-02 4.13417126e-04 9.99890322e-01 8.11840164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.137806574 meters Centerline goodness [0,1] 0.9981998576631641 Centerline is valid? [True, True] Translation: X:-17.79, Y:-1.50, Z:0.81 [[ 9.95996283e-01 -8.86313610e-02 -1.16570299e-02 -1.77927455e+01] [ 8.86214998e-02 9.96064445e-01 -1.36081369e-03 -1.50473693e+00] [ 1.17317638e-02 3.22301903e-04 9.99931129e-01 8.08248580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.167806573999997 meters Centerline goodness [0,1] 0.9983927863240727 Centerline is valid? [True, True] Translation: X:-17.82, Y:-1.51, Z:0.80 [[ 9.96115359e-01 -8.70006551e-02 -1.36043045e-02 -1.78212201e+01] [ 8.69870884e-02 9.96208175e-01 -1.58692455e-03 -1.50922345e+00] [ 1.36907828e-02 3.97361077e-04 9.99906198e-01 8.04167353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.197806573999998 meters Centerline goodness [0,1] 0.9993104312938816 Centerline is valid? [True, True] Translation: X:-17.85, Y:-1.52, Z:0.80 [[ 9.96117483e-01 -8.61766114e-02 -1.79875185e-02 -1.78499643e+01] [ 8.61527446e-02 9.96279729e-01 -2.09900456e-03 -1.52231726e+00] [ 1.81014852e-02 5.41181051e-04 9.99836008e-01 7.95356136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.227806574 meters Centerline goodness [0,1] 0.9991611441993121 Centerline is valid? [True, True] Translation: X:-17.88, Y:-1.52, Z:0.80 [[ 9.95997092e-01 -8.76253396e-02 -1.76520117e-02 -1.78788651e+01] [ 8.76027293e-02 9.96153378e-01 -2.05157684e-03 -1.52185646e+00] [ 1.77638812e-02 4.97000163e-04 9.99842086e-01 7.97484805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.257806573999996 meters Centerline goodness [0,1] 0.9991441037095797 Centerline is valid? [True, True] Translation: X:-17.91, Y:-1.51, Z:0.80 [[ 9.95749690e-01 -9.09586220e-02 -1.44597360e-02 -1.79105023e+01] [ 9.09437584e-02 9.95854607e-01 -1.68354353e-03 -1.51482571e+00] [ 1.45529275e-02 3.61365207e-04 9.99894035e-01 8.01427502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.287806573999998 meters Centerline goodness [0,1] 0.9991605456453305 Centerline is valid? [True, True] Translation: X:-17.94, Y:-1.52, Z:0.79 [[ 9.95622735e-01 -9.20554957e-02 -1.61602921e-02 -1.79376199e+01] [ 9.20371244e-02 9.95753804e-01 -1.87846509e-03 -1.52388314e+00] [ 1.62645953e-02 3.82895743e-04 9.99867649e-01 7.91526490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.317806574 meters Centerline goodness [0,1] 0.998426353336131 Centerline is valid? [True, True] Translation: X:-17.97, Y:-1.53, Z:0.79 [[ 9.95918091e-01 -8.84816191e-02 -1.78370181e-02 -1.79662892e+01] [ 8.84587125e-02 9.96077692e-01 -2.07068719e-03 -1.53186409e+00] [ 1.79502735e-02 4.84395180e-04 9.99838764e-01 7.90929773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.347806573999996 meters Centerline goodness [0,1] 0.9988623915058565 Centerline is valid? [True, True] Translation: X:-17.99, Y:-1.54, Z:0.79 [[ 9.95896425e-01 -8.84555869e-02 -1.91290142e-02 -1.79938269e+01] [ 8.84292632e-02 9.96079987e-01 -2.21928684e-03 -1.53760351e+00] [ 1.92503365e-02 5.18615203e-04 9.99814561e-01 7.90136928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.377806573999997 meters Centerline goodness [0,1] 0.9984462920970858 Centerline is valid? [True, True] Translation: X:-18.02, Y:-1.53, Z:0.79 [[ 9.95809612e-01 -8.99305141e-02 -1.66047790e-02 -1.80245075e+01] [ 8.99108859e-02 9.95947951e-01 -1.92636311e-03 -1.52949014e+00] [ 1.67107344e-02 4.25340514e-04 9.99860275e-01 7.89439137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.407806574 meters Centerline goodness [0,1] 0.9991637922023623 Centerline is valid? [True, True] Translation: X:-18.05, Y:-1.53, Z:0.79 [[ 9.95892766e-01 -8.93106944e-02 -1.48727717e-02 -1.80515140e+01] [ 8.92949462e-02 9.96003740e-01 -1.72091548e-03 -1.53416430e+00] [ 1.49670324e-02 3.85783923e-04 9.99887913e-01 7.87323786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.437806573999996 meters Centerline goodness [0,1] 0.99880810488677 Centerline is valid? [True, True] Translation: X:-18.08, Y:-1.54, Z:0.78 [[ 9.96105791e-01 -8.65073020e-02 -1.70217625e-02 -1.80801873e+01] [ 8.64862501e-02 9.96251096e-01 -1.97041360e-03 -1.53688071e+00] [ 1.71284047e-02 4.90591995e-04 9.99853178e-01 7.81583047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.467806573999997 meters Centerline goodness [0,1] 0.9983612756838522 Centerline is valid? [True, True] Translation: X:-18.11, Y:-1.53, Z:0.78 [[ 9.96202607e-01 -8.43052923e-02 -2.17482032e-02 -1.81116065e+01] [ 8.42704110e-02 9.96439743e-01 -2.51702540e-03 -1.52971072e+00] [ 2.18829726e-02 6.74737249e-04 9.99760311e-01 7.75634381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.497806574 meters Centerline goodness [0,1] 0.9992664780467359 Centerline is valid? [True, True] Translation: X:-18.14, Y:-1.53, Z:0.77 [[ 9.96262192e-01 -8.41482333e-02 -1.95120559e-02 -1.81399533e+01] [ 8.41202973e-02 9.96453067e-01 -2.24955493e-03 -1.53292874e+00] [ 1.96321440e-02 5.99786578e-04 9.99807091e-01 7.71656075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.527806573999996 meters Centerline goodness [0,1] 0.9984223479669324 Centerline is valid? [True, True] Translation: X:-18.17, Y:-1.54, Z:0.78 [[ 9.96540560e-01 -8.10819588e-02 -1.82380965e-02 -1.81672475e+01] [ 8.10570354e-02 9.96707246e-01 -2.10287705e-03 -1.53813632e+00] [ 1.83485483e-02 6.17276235e-04 9.99831461e-01 7.75801607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.557806573999997 meters Centerline goodness [0,1] 0.9983181263928016 Centerline is valid? [True, True] Translation: X:-18.20, Y:-1.53, Z:0.77 [[ 9.96584072e-01 -8.05656278e-02 -1.81484772e-02 -1.81961517e+01] [ 8.05410327e-02 9.96749117e-01 -2.08326286e-03 -1.53077349e+00] [ 1.82573180e-02 6.14449486e-04 9.99833132e-01 7.74905504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.587806574 meters Centerline goodness [0,1] 0.9986627384608956 Centerline is valid? [True, True] Translation: X:-18.23, Y:-1.52, Z:0.77 [[ 9.96627058e-01 -7.97375260e-02 -1.94019298e-02 -1.82262023e+01] [ 7.97093476e-02 9.96815670e-01 -2.22260470e-03 -1.52484071e+00] [ 1.95173726e-02 6.68592815e-04 9.99809294e-01 7.68752231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.617806573999996 meters Centerline goodness [0,1] 0.9985557299843014 Centerline is valid? [True, True] Translation: X:-18.26, Y:-1.53, Z:0.76 [[ 9.96639695e-01 -7.94078438e-02 -2.00926183e-02 -1.82550858e+01] [ 7.93776549e-02 9.96841970e-01 -2.29684587e-03 -1.53138964e+00] [ 2.02115528e-02 6.94222845e-04 9.99795485e-01 7.59059995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.647806573999997 meters Centerline goodness [0,1] 0.9983334036538543 Centerline is valid? [True, True] Translation: X:-18.28, Y:-1.54, Z:0.76 [[ 9.96684249e-01 -7.88514450e-02 -2.00738071e-02 -1.82823780e+01] [ 7.88211962e-02 9.96886128e-01 -2.29487946e-03 -1.53974508e+00] [ 2.01922544e-02 7.05028728e-04 9.99795867e-01 7.61367622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.677806573999998 meters Centerline goodness [0,1] 0.9984101083636668 Centerline is valid? [True, True] Translation: X:-18.31, Y:-1.53, Z:0.76 [[ 9.96535553e-01 -8.08452395e-02 -1.95176449e-02 -1.83126922e+01] [ 8.08171811e-02 9.96726462e-01 -2.22338760e-03 -1.53087801e+00] [ 1.96335035e-02 6.38323746e-04 9.99807040e-01 7.63175368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.707806573999996 meters Centerline goodness [0,1] 0.9989941745945267 Centerline is valid? [True, True] Translation: X:-18.34, Y:-1.52, Z:0.76 [[ 9.96560703e-01 -8.03710453e-02 -2.01806827e-02 -1.83428649e+01] [ 8.03410644e-02 9.96764794e-01 -2.29332079e-03 -1.52209643e+00] [ 2.02997106e-02 6.64095855e-04 9.99793719e-01 7.61591743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.737806573999997 meters Centerline goodness [0,1] 0.998619015734851 Centerline is valid? [True, True] Translation: X:-18.37, Y:-1.53, Z:0.75 [[ 9.96473104e-01 -8.13865336e-02 -2.04349069e-02 -1.83696180e+01] [ 8.13559990e-02 9.96682400e-01 -2.32253651e-03 -1.53209540e+00] [ 2.05561352e-02 6.51842906e-04 9.99788488e-01 7.52711209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.767806573999998 meters Centerline goodness [0,1] 0.9986220143644563 Centerline is valid? [True, True] Translation: X:-18.40, Y:-1.54, Z:0.75 [[ 9.96430218e-01 -8.18481626e-02 -2.06808982e-02 -1.83973591e+01] [ 8.18171620e-02 9.96644604e-01 -2.34211864e-03 -1.54463308e+00] [ 2.08032037e-02 6.41705391e-04 9.99783384e-01 7.48021333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.797806573999996 meters Centerline goodness [0,1] 0.998537706287863 Centerline is valid? [True, True] Translation: X:-18.43, Y:-1.55, Z:0.75 [[ 9.96488690e-01 -8.12508013e-02 -2.02138289e-02 -1.84254413e+01] [ 8.12212033e-02 9.96693487e-01 -2.28229932e-03 -1.54580980e+00] [ 2.03324302e-02 6.32493954e-04 9.99793075e-01 7.52492960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.827806573999997 meters Centerline goodness [0,1] 0.998602915111454 Centerline is valid? [True, True] Translation: X:-18.46, Y:-1.53, Z:0.75 [[ 9.96281818e-01 -8.38837584e-02 -1.96482848e-02 -1.84573438e+01] [ 8.38562509e-02 9.96475386e-01 -2.22118636e-03 -1.52975371e+00] [ 1.97653536e-02 5.65296090e-04 9.99804487e-01 7.53422094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.857806573999998 meters Centerline goodness [0,1] 0.9988323846458581 Centerline is valid? [True, True] Translation: X:-18.49, Y:-1.53, Z:0.74 [[ 9.96373481e-01 -8.24202417e-02 -2.11373989e-02 -1.84862103e+01] [ 8.23881231e-02 9.96597460e-01 -2.38735709e-03 -1.53018743e+00] [ 2.12622446e-02 6.37228674e-04 9.99773730e-01 7.43560154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.887806574 meters Centerline goodness [0,1] 0.9992479946524064 Centerline is valid? [True, True] Translation: X:-18.51, Y:-1.54, Z:0.74 [[ 9.96489526e-01 -8.05924374e-02 -2.26601814e-02 -1.85129200e+01] [ 8.05551444e-02 9.96746878e-01 -2.55526428e-03 -1.53892879e+00] [ 2.27924001e-02 7.20899900e-04 9.99739960e-01 7.40445215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.917806573999997 meters Centerline goodness [0,1] 0.9985352890711641 Centerline is valid? [True, True] Translation: X:-18.54, Y:-1.54, Z:0.74 [[ 9.96520201e-01 -8.05423456e-02 -2.14573683e-02 -1.85415300e+01] [ 8.05090704e-02 9.96750959e-01 -2.41153058e-03 -1.54284497e+00] [ 2.15818827e-02 6.75626166e-04 9.99766856e-01 7.42128895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.947806573999998 meters Centerline goodness [0,1] 0.9987022229664672 Centerline is valid? [True, True] Translation: X:-18.57, Y:-1.54, Z:0.74 [[ 9.96640300e-01 -7.96734427e-02 -1.89803818e-02 -1.85695043e+01] [ 7.96472499e-02 9.96820829e-01 -2.13316162e-03 -1.54062651e+00] [ 1.90899963e-02 6.14259628e-04 9.99817581e-01 7.44313160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.977806574 meters Centerline goodness [0,1] 0.9983570760112301 Centerline is valid? [True, True] Translation: X:-18.60, Y:-1.53, Z:0.74 [[ 9.96764773e-01 -7.76430051e-02 -2.07738170e-02 -1.86002408e+01] [ 7.76112150e-02 9.96980970e-01 -2.33339063e-03 -1.52802878e+00] [ 2.08922717e-02 7.13560404e-04 9.99781478e-01 7.37385341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.007806573999996 meters Centerline goodness [0,1] 0.9981943773751286 Centerline is valid? [True, True] Translation: X:-18.63, Y:-1.53, Z:0.73 [[ 9.96636448e-01 -7.83848611e-02 -2.39082218e-02 -1.86300453e+01] [ 7.83431721e-02 9.96922857e-01 -2.67685599e-03 -1.52650261e+00] [ 2.40444778e-02 7.94806310e-04 9.99710574e-01 7.32981595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.037806573999998 meters Centerline goodness [0,1] 0.9978087108959242 Centerline is valid? [True, True] Translation: X:-18.66, Y:-1.53, Z:0.73 [[ 9.96700903e-01 -7.75757522e-02 -2.38602561e-02 -1.86581264e+01] [ 7.75341648e-02 9.96986135e-01 -2.66456774e-03 -1.53075555e+00] [ 2.39950504e-02 8.05792045e-04 9.99711753e-01 7.28354783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.067806574 meters Centerline goodness [0,1] 0.9983323953056927 Centerline is valid? [True, True] Translation: X:-18.69, Y:-1.54, Z:0.74 [[ 9.96812541e-01 -7.72241240e-02 -2.00298206e-02 -1.86859051e+01] [ 7.71947268e-02 9.97013524e-01 -2.23787465e-03 -1.53755346e+00] [ 2.01428199e-02 6.84544987e-04 9.99796878e-01 7.36133115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.097806573999996 meters Centerline goodness [0,1] 0.9983510060950155 Centerline is valid? [True, True] Translation: X:-18.72, Y:-1.53, Z:0.73 [[ 9.96951162e-01 -7.58649440e-02 -1.82452880e-02 -1.87152378e+01] [ 7.58404766e-02 9.97117897e-01 -2.03023080e-03 -1.53290718e+00] [ 1.83467265e-02 6.40309618e-04 9.99831480e-01 7.34668624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.127806573999997 meters Centerline goodness [0,1] 0.9983510060950155 Centerline is valid? [True, True] Translation: X:-18.74, Y:-1.54, Z:0.74 [[ 9.96975374e-01 -7.55459293e-02 -1.82459912e-02 -1.87425209e+01] [ 7.55215241e-02 9.97142118e-01 -2.02390806e-03 -1.53614199e+00] [ 1.83467444e-02 6.39821432e-04 9.99831480e-01 7.35032997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.157806574 meters Centerline goodness [0,1] 0.9983454804389713 Centerline is valid? [True, True] Translation: X:-18.77, Y:-1.52, Z:0.72 [[ 9.96838443e-01 -7.54991408e-02 -2.47588079e-02 -1.87732918e+01] [ 7.54540793e-02 9.97145484e-01 -2.75055181e-03 -1.52358747e+00] [ 2.48957978e-02 8.73702732e-04 9.99689670e-01 7.24102371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.187806573999996 meters Centerline goodness [0,1] 0.999287166907772 Centerline is valid? [True, True] Translation: X:-18.80, Y:-1.52, Z:0.71 [[ 9.96646104e-01 -7.74604091e-02 -2.63899300e-02 -1.88022276e+01] [ 7.74101933e-02 9.96995051e-01 -2.92069475e-03 -1.52284612e+00] [ 2.65368678e-02 8.68049462e-04 9.99647458e-01 7.09225880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.217806573999997 meters Centerline goodness [0,1] 0.997988344843319 Centerline is valid? [True, True] Translation: X:-18.83, Y:-1.54, Z:0.72 [[ 9.96771726e-01 -7.70124629e-02 -2.26981870e-02 -1.88288014e+01] [ 7.69751996e-02 9.97029843e-01 -2.51214942e-03 -1.53750964e+00] [ 2.28242366e-02 7.56842042e-04 9.99739207e-01 7.16462017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.247806574 meters Centerline goodness [0,1] 0.9975982122344981 Centerline is valid? [True, True] Translation: X:-18.86, Y:-1.53, Z:0.72 [[ 9.96879399e-01 -7.68010986e-02 -1.82498193e-02 -1.88583044e+01] [ 7.67769924e-02 9.97046246e-01 -2.01892770e-03 -1.53360517e+00] [ 1.83509697e-02 6.11461196e-04 9.99831420e-01 7.23653403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.277806573999996 meters Centerline goodness [0,1] 0.9986000250741778 Centerline is valid? [True, True] Translation: X:-18.89, Y:-1.53, Z:0.73 [[ 9.96917466e-01 -7.61611031e-02 -1.88428190e-02 -1.88872821e+01] [ 7.61354501e-02 9.97095323e-01 -2.07610332e-03 -1.52867096e+00] [ 1.89462050e-02 6.35097156e-04 9.99820303e-01 7.25438864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.307806573999997 meters Centerline goodness [0,1] 0.9986056481654908 Centerline is valid? [True, True] Translation: X:-18.92, Y:-1.53, Z:0.72 [[ 9.96897033e-01 -7.57479482e-02 -2.14138508e-02 -1.89165952e+01] [ 7.57146899e-02 9.97126728e-01 -2.36080888e-03 -1.52894943e+00] [ 2.15311494e-02 7.32140292e-04 9.99767910e-01 7.18987201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.337806574 meters Centerline goodness [0,1] 0.9981844741235393 Centerline is valid? [True, True] Translation: X:-18.95, Y:-1.53, Z:0.71 [[ 9.96883050e-01 -7.51349830e-02 -2.40607186e-02 -1.89452225e+01] [ 7.50928592e-02 9.97173022e-01 -2.65077398e-03 -1.53354080e+00] [ 2.41918654e-02 8.35723494e-04 9.99706985e-01 7.13015971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.367806573999996 meters Centerline goodness [0,1] 0.9985024023961562 Centerline is valid? [True, True] Translation: X:-18.97, Y:-1.53, Z:0.71 [[ 9.96774531e-01 -7.68884935e-02 -2.29933551e-02 -1.89748405e+01] [ 7.68505180e-02 9.97039411e-01 -2.53200257e-03 -1.53190965e+00] [ 2.31199631e-02 7.56784425e-04 9.99732411e-01 7.13868341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.397806573999997 meters Centerline goodness [0,1] 0.9983802977760242 Centerline is valid? [True, True] Translation: X:-19.01, Y:-1.53, Z:0.71 [[ 9.96861719e-01 -7.66990033e-02 -1.95953213e-02 -1.90050345e+01] [ 7.66714004e-02 9.97054082e-01 -2.15716924e-03 -1.53156201e+00] [ 1.97030478e-02 6.47998708e-04 9.99805666e-01 7.14240149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.427806573999998 meters Centerline goodness [0,1] 0.9983985358041638 Centerline is valid? [True, True] Translation: X:-19.03, Y:-1.54, Z:0.72 [[ 9.97001339e-01 -7.49961988e-02 -1.90761480e-02 -1.90326478e+01] [ 7.49698953e-02 9.97183605e-01 -2.09129766e-03 -1.53861287e+00] [ 1.91792614e-02 6.54889744e-04 9.99815847e-01 7.16843273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.457806573999996 meters Centerline goodness [0,1] 0.9988751406074241 Centerline is valid? [True, True] Translation: X:-19.06, Y:-1.53, Z:0.71 [[ 9.96852187e-01 -7.60538803e-02 -2.23947294e-02 -1.90610244e+01] [ 7.60178768e-02 9.97103431e-01 -2.45585623e-03 -1.53369117e+00] [ 2.25166389e-02 7.45725873e-04 9.99746190e-01 7.14083180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.487806573999997 meters Centerline goodness [0,1] 0.9986060252996005 Centerline is valid? [True, True] Translation: X:-19.09, Y:-1.52, Z:0.71 [[ 9.96961834e-01 -7.47951841e-02 -2.17435472e-02 -1.90906692e+01] [ 7.47611718e-02 9.97198642e-01 -2.37408727e-03 -1.51963848e+00] [ 2.18602060e-02 7.41301330e-04 9.99760762e-01 7.14402796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.517806573999998 meters Centerline goodness [0,1] 0.9984621459298821 Centerline is valid? [True, True] Translation: X:-19.12, Y:-1.53, Z:0.71 [[ 9.97082471e-01 -7.40032659e-02 -1.87099407e-02 -1.91172319e+01] [ 7.39779453e-02 9.97257785e-01 -2.04279378e-03 -1.52923262e+00] [ 1.88098075e-02 6.52710894e-04 9.99822867e-01 7.08344007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.547806573999996 meters Centerline goodness [0,1] 0.9991673951958703 Centerline is valid? [True, True] Translation: X:-19.14, Y:-1.54, Z:0.71 [[ 9.97218606e-01 -7.24325860e-02 -1.75662206e-02 -1.91445090e+01] [ 7.24101735e-02 9.97373110e-01 -1.90942118e-03 -1.53693475e+00] [ 1.76583804e-02 6.32137250e-04 9.99843879e-01 7.14302922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.577806573999997 meters Centerline goodness [0,1] 0.9991063263779201 Centerline is valid? [True, True] Translation: X:-19.17, Y:-1.54, Z:0.72 [[ 9.97279312e-01 -7.14271448e-02 -1.82246432e-02 -1.91730973e+01] [ 7.14029359e-02 9.97445595e-01 -1.97645171e-03 -1.53503092e+00] [ 1.83192624e-02 6.69781364e-04 9.99831964e-01 7.20361541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.607806573999998 meters Centerline goodness [0,1] 0.9989578556838551 Centerline is valid? [True, True] Translation: X:-19.20, Y:-1.52, Z:0.72 [[ 9.97263187e-01 -7.14648467e-02 -1.89449871e-02 -1.92022200e+01] [ 7.14387143e-02 9.97442877e-01 -2.05344432e-03 -1.52478159e+00] [ 1.90432916e-02 6.94418907e-04 9.99818419e-01 7.16381484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.637806573999995 meters Centerline goodness [0,1] 0.9985444564584546 Centerline is valid? [True, True] Translation: X:-19.23, Y:-1.52, Z:0.71 [[ 9.97467653e-01 -6.83094704e-02 -1.98014693e-02 -1.92324314e+01] [ 6.82804381e-02 9.97663874e-01 -2.13936205e-03 -1.51704895e+00] [ 1.99013492e-02 7.81891444e-04 9.99801643e-01 7.12451043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.667806573999997 meters Centerline goodness [0,1] 0.9981689935706706 Centerline is valid? [True, True] Translation: X:-19.26, Y:-1.53, Z:0.71 [[ 9.97758866e-01 -6.45298852e-02 -1.76957250e-02 -1.92599745e+01] [ 6.45062073e-02 9.97915485e-01 -1.90618956e-03 -1.52834182e+00] [ 1.77818442e-02 7.60433430e-04 9.99841601e-01 7.09636073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.697806573999998 meters Centerline goodness [0,1] 0.9981929212362911 Centerline is valid? [True, True] Translation: X:-19.29, Y:-1.53, Z:0.72 [[ 9.97950385e-01 -6.23000613e-02 -1.46195229e-02 -1.92860972e+01] [ 6.22836751e-02 9.98057246e-01 -1.57392585e-03 -1.53404138e+00] [ 1.46891765e-02 6.60142292e-04 9.99891890e-01 7.18971385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.727806574 meters Centerline goodness [0,1] 0.9985465418076868 Centerline is valid? [True, True] Translation: X:-19.32, Y:-1.52, Z:0.73 [[ 9.98074324e-01 -6.05031558e-02 -1.36752299e-02 -1.93169162e+01] [ 6.04887249e-02 9.98167803e-01 -1.46680240e-03 -1.52028185e+00] [ 1.37389204e-02 6.36780596e-04 9.99905414e-01 7.26556340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.757806573999996 meters Centerline goodness [0,1] 0.9978972789540524 Centerline is valid? [True, True] Translation: X:-19.35, Y:-1.51, Z:0.72 [[ 9.98170108e-01 -5.75282783e-02 -1.86261450e-02 -1.93490334e+01] [ 5.75009034e-02 9.98343446e-01 -2.00238345e-03 -1.50943342e+00] [ 1.87104835e-02 9.27699136e-04 9.99824513e-01 7.19095080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.787806573999998 meters Centerline goodness [0,1] 0.998640963452371 Centerline is valid? [True, True] Translation: X:-19.38, Y:-1.51, Z:0.71 [[ 9.98136419e-01 -5.69699162e-02 -2.18658840e-02 -1.93777923e+01] [ 5.69320826e-02 9.98375289e-01 -2.34938920e-03 -1.51327506e+00] [ 2.19642027e-02 1.10014062e-03 9.99758152e-01 7.14836474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.817806574 meters Centerline goodness [0,1] 0.998868778280543 Centerline is valid? [True, True] Translation: X:-19.41, Y:-1.52, Z:0.72 [[ 9.98248460e-01 -5.64511462e-02 -1.76997428e-02 -1.94065450e+01] [ 5.64262914e-02 9.98404958e-01 -1.90092049e-03 -1.52161108e+00] [ 1.77788201e-02 8.98860107e-04 9.99841540e-01 7.24336630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.847806573999996 meters Centerline goodness [0,1] 0.9990170859736077 Centerline is valid? [True, True] Translation: X:-19.44, Y:-1.52, Z:0.74 [[ 9.98308962e-01 -5.67557990e-02 -1.25696700e-02 -1.94361455e+01] [ 5.67433129e-02 9.98387890e-01 -1.34805832e-03 -1.51825141e+00] [ 1.26259164e-02 6.32533988e-04 9.99920090e-01 7.40697553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.877806573999997 meters Centerline goodness [0,1] 0.9988104182319059 Centerline is valid? [True, True] Translation: X:-19.47, Y:-1.51, Z:0.74 [[ 9.98343366e-01 -5.60178304e-02 -1.31349491e-02 -1.94660070e+01] [ 5.60042140e-02 9.98429547e-01 -1.40248534e-03 -1.51039952e+00] [ 1.31928854e-02 6.64549439e-04 9.99912749e-01 7.39925504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.907806574 meters Centerline goodness [0,1] 0.9984788497603667 Centerline is valid? [True, True] Translation: X:-19.49, Y:-1.51, Z:0.74 [[ 9.98300321e-01 -5.62264774e-02 -1.53313951e-02 -1.94932726e+01] [ 5.62079285e-02 9.98417740e-01 -1.63843451e-03 -1.51373003e+00] [ 1.53992602e-02 7.73903740e-04 9.99881125e-01 7.35554213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.937806573999996 meters Centerline goodness [0,1] 0.9989564418842485 Centerline is valid? [True, True] Translation: X:-19.52, Y:-1.52, Z:0.74 [[ 9.98144335e-01 -5.83519109e-02 -1.74052177e-02 -1.95202018e+01] [ 5.83283542e-02 9.98295722e-01 -1.85844584e-03 -1.52066577e+00] [ 1.74839983e-02 8.39779479e-04 9.99846791e-01 7.38925294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.967806573999997 meters Centerline goodness [0,1] 0.9988954421357564 Centerline is valid? [True, True] Translation: X:-19.55, Y:-1.53, Z:0.74 [[ 9.98094751e-01 -5.96164038e-02 -1.58981981e-02 -1.95478004e+01] [ 5.95969293e-02 9.98221082e-01 -1.69634189e-03 -1.52700625e+00] [ 1.59710463e-02 7.45626146e-04 9.99872177e-01 7.41194563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.997806574 meters Centerline goodness [0,1] 0.9989380530973452 Centerline is valid? [True, True] Translation: X:-19.58, Y:-1.53, Z:0.75 [[ 9.98124695e-01 -5.96817803e-02 -1.36080097e-02 -1.95764495e+01] [ 5.96676148e-02 9.98217255e-01 -1.44496360e-03 -1.52806047e+00] [ 1.36699881e-02 6.30296371e-04 9.99906363e-01 7.48746920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.027806573999996 meters Centerline goodness [0,1] 0.9989175236271285 Centerline is valid? [True, True] Translation: X:-19.61, Y:-1.52, Z:0.75 [[ 9.98163962e-01 -5.89998396e-02 -1.37012012e-02 -1.96059852e+01] [ 5.89854699e-02 9.98257787e-01 -1.45089538e-03 -1.52159665e+00] [ 1.37629334e-02 6.40059691e-04 9.99905081e-01 7.45853027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.057806573999997 meters Centerline goodness [0,1] 0.998416402733789 Centerline is valid? [True, True] Translation: X:-19.64, Y:-1.52, Z:0.74 [[ 9.98178362e-01 -5.83300388e-02 -1.54131052e-02 -1.96350016e+01] [ 5.83118338e-02 9.98297089e-01 -1.62830348e-03 -1.52047524e+00] [ 1.54818370e-02 7.26570879e-04 9.99879885e-01 7.41636786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.087806574 meters Centerline goodness [0,1] 0.9985678704856787 Centerline is valid? [True, True] Translation: X:-19.66, Y:-1.53, Z:0.74 [[ 9.98141194e-01 -5.90062377e-02 -1.52453473e-02 -1.96636455e+01] [ 5.89885697e-02 9.98257366e-01 -1.60639568e-03 -1.52553163e+00] [ 1.53135676e-02 7.04108465e-04 9.99882493e-01 7.44391334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.117806573999996 meters Centerline goodness [0,1] 0.9991023526710227 Centerline is valid? [True, True] Translation: X:-19.69, Y:-1.53, Z:0.75 [[ 9.98236991e-01 -5.82741907e-02 -1.12706569e-02 -1.96912035e+01] [ 5.82644860e-02 9.98300475e-01 -1.18778774e-03 -1.53191923e+00] [ 1.13207195e-02 5.29014632e-04 9.99935779e-01 7.53020096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.147806573999997 meters Centerline goodness [0,1] 0.9987911629845769 Centerline is valid? [True, True] Translation: X:-19.72, Y:-1.54, Z:0.76 [[ 9.98331477e-01 -5.70928364e-02 -8.64121030e-03 -1.97197922e+01] [ 5.70871333e-02 9.98368789e-01 -9.05406943e-04 -1.53556362e+00] [ 8.67880692e-03 4.10594326e-04 9.99962254e-01 7.58029496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.177806573999998 meters Centerline goodness [0,1] 0.9985824473629352 Centerline is valid? [True, True] Translation: X:-19.75, Y:-1.53, Z:0.75 [[ 9.98255169e-01 -5.75338763e-02 -1.32842314e-02 -1.97486795e+01] [ 5.75204607e-02 9.98343360e-01 -1.39007558e-03 -1.53112593e+00] [ 1.33422006e-02 6.23535028e-04 9.99910794e-01 7.52995058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.207806573999996 meters Centerline goodness [0,1] 0.9992671845229372 Centerline is valid? [True, True] Translation: X:-19.78, Y:-1.53, Z:0.75 [[ 9.98208488e-01 -5.77609264e-02 -1.56041807e-02 -1.97776669e+01] [ 5.77425046e-02 9.98330181e-01 -1.62891311e-03 -1.52904727e+00] [ 1.56722121e-02 7.24970418e-04 9.99876921e-01 7.49059730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.237806573999997 meters Centerline goodness [0,1] 0.9990416866315285 Centerline is valid? [True, True] Translation: X:-19.81, Y:-1.53, Z:0.75 [[ 9.98291309e-01 -5.71190476e-02 -1.23238645e-02 -1.98061369e+01] [ 5.71075205e-02 9.98367206e-01 -1.28552208e-03 -1.52946513e+00] [ 1.23771699e-02 5.79540173e-04 9.99923232e-01 7.52930047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.267806573999998 meters Centerline goodness [0,1] 0.9983934905069893 Centerline is valid? [True, True] Translation: X:-19.84, Y:-1.53, Z:0.76 [[ 9.98318014e-01 -5.74769211e-02 -7.58589269e-03 -1.98354421e+01] [ 5.74725608e-02 9.98346772e-01 -7.91711589e-04 -1.53262052e+00] [ 7.61885662e-03 3.54399263e-04 9.99970913e-01 7.62344421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.297806573999996 meters Centerline goodness [0,1] 0.9991673605328892 Centerline is valid? [True, True] Translation: X:-19.86, Y:-1.54, Z:0.76 [[ 9.98297751e-01 -5.74887545e-02 -9.83078650e-03 -1.98620915e+01] [ 5.74814591e-02 9.98346050e-01 -1.02327852e-03 -1.54123343e+00] [ 9.87335387e-03 4.56448692e-04 9.99951153e-01 7.58789654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.327806573999997 meters Centerline goodness [0,1] 0.9987073099537134 Centerline is valid? [True, True] Translation: X:-19.89, Y:-1.54, Z:0.75 [[ 9.98095340e-01 -5.95900217e-02 -1.59600250e-02 -1.98913159e+01] [ 5.95711413e-02 9.98222689e-01 -1.65621253e-03 -1.53915255e+00] [ 1.60303528e-02 7.02301107e-04 9.99871259e-01 7.53752734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.357806573999998 meters Centerline goodness [0,1] 0.9985967410882587 Centerline is valid? [True, True] Translation: X:-19.92, Y:-1.54, Z:0.76 [[ 9.98114057e-01 -5.97416915e-02 -1.41159599e-02 -1.99196576e+01] [ 5.97269300e-02 9.98213678e-01 -1.46537998e-03 -1.53702836e+00] [ 1.41782885e-02 6.19513410e-04 9.99899291e-01 7.55746163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.387806573999995 meters Centerline goodness [0,1] 0.9984947944976377 Centerline is valid? [True, True] Translation: X:-19.95, Y:-1.54, Z:0.76 [[ 9.98167616e-01 -5.93460340e-02 -1.18092243e-02 -1.99471402e+01] [ 5.93356927e-02 9.98237335e-01 -1.22445547e-03 -1.54004139e+00] [ 1.18610752e-02 5.21503289e-04 9.99929519e-01 7.61900787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.417806573999997 meters Centerline goodness [0,1] 0.9991864491635029 Centerline is valid? [True, True] Translation: X:-19.98, Y:-1.55, Z:0.76 [[ 9.98225753e-01 -5.84474419e-02 -1.13685195e-02 -1.99751786e+01] [ 5.84378664e-02 9.98290359e-01 -1.17293999e-03 -1.54819075e+00] [ 1.14176388e-02 5.06506880e-04 9.99934688e-01 7.64387926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.447806573999998 meters Centerline goodness [0,1] 0.9985271542961457 Centerline is valid? [True, True] Translation: X:-20.00, Y:-1.55, Z:0.76 [[ 9.98315125e-01 -5.72071351e-02 -9.70851824e-03 -2.00035333e+01] [ 5.72001360e-02 9.98362234e-01 -9.97306275e-04 -1.54915645e+00] [ 9.74967099e-03 4.40297375e-04 9.99952374e-01 7.64290331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.477806573999995 meters Centerline goodness [0,1] 0.9990425443343601 Centerline is valid? [True, True] Translation: X:-20.03, Y:-1.55, Z:0.76 [[ 9.98197404e-01 -5.90597165e-02 -1.06719998e-02 -2.00310767e+01] [ 5.90513517e-02 9.98254343e-01 -1.09750536e-03 -1.55066499e+00] [ 1.07181885e-02 4.65330987e-04 9.99942450e-01 7.59190910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.507806573999996 meters Centerline goodness [0,1] 0.9985779710993539 Centerline is valid? [True, True] Translation: X:-20.06, Y:-1.55, Z:0.76 [[ 9.98176055e-01 -5.87906558e-02 -1.37194329e-02 -2.00597232e+01] [ 5.87768745e-02 9.98270155e-01 -1.40591351e-03 -1.55107212e+00] [ 1.37783550e-02 5.96963817e-04 9.99904896e-01 7.58536099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.537806573999998 meters Centerline goodness [0,1] 0.9991587979222308 Centerline is valid? [True, True] Translation: X:-20.09, Y:-1.56, Z:0.76 [[ 9.98086246e-01 -6.04019671e-02 -1.32456881e-02 -2.00872019e+01] [ 6.03892512e-02 9.98173980e-01 -1.35824585e-03 -1.55735820e+00] [ 1.33035419e-02 5.55749317e-04 9.99911350e-01 7.60573077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.567806574 meters Centerline goodness [0,1] 0.998365499465644 Centerline is valid? [True, True] Translation: X:-20.12, Y:-1.56, Z:0.76 [[ 9.98141327e-01 -6.04036992e-02 -8.07988589e-03 -2.01163287e+01] [ 6.03989764e-02 9.98173972e-01 -8.27472621e-04 -1.55940031e+00] [ 8.11511420e-03 3.37917783e-04 9.99967015e-01 7.64079807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.597806573999996 meters Centerline goodness [0,1] 0.9983130623125624 Centerline is valid? [True, True] Translation: X:-20.14, Y:-1.56, Z:0.76 [[ 9.98045932e-01 -6.15430461e-02 -1.08060814e-02 -2.01441447e+01] [ 6.15347314e-02 9.98104336e-01 -1.10057085e-03 -1.56211408e+00] [ 1.08533292e-02 4.33470939e-04 9.99941007e-01 7.60931912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.627806573999997 meters Centerline goodness [0,1] 0.9993320112723098 Centerline is valid? [True, True] Translation: X:-20.17, Y:-1.57, Z:0.76 [[ 9.97820967e-01 -6.45688242e-02 -1.35714839e-02 -2.01708263e+01] [ 6.45559535e-02 9.97913128e-01 -1.38477058e-03 -1.57246023e+00] [ 1.36325750e-02 5.05633031e-04 9.99906944e-01 7.60945850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.657806574 meters Centerline goodness [0,1] 0.9991273633908165 Centerline is valid? [True, True] Translation: X:-20.20, Y:-1.58, Z:0.76 [[ 9.97674858e-01 -6.72509285e-02 -1.10539970e-02 -2.01984507e+01] [ 6.72425690e-02 9.97736021e-01 -1.12659454e-03 -1.58014276e+00] [ 1.11047356e-02 3.80675887e-04 9.99938268e-01 7.63260451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.687806573999996 meters Centerline goodness [0,1] 0.9990853151505072 Centerline is valid? [True, True] Translation: X:-20.23, Y:-1.59, Z:0.77 [[ 9.97628024e-01 -6.81094913e-02 -9.97113678e-03 -2.02266412e+01] [ 6.81027880e-02 9.97677798e-01 -1.01067459e-03 -1.58526268e+00] [ 1.00168183e-02 3.29215078e-04 9.99949776e-01 7.67939847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.717806573999997 meters Centerline goodness [0,1] 0.9988725572072824 Centerline is valid? [True, True] Translation: X:-20.26, Y:-1.59, Z:0.76 [[ 9.97568320e-01 -6.84224112e-02 -1.32597107e-02 -2.02560450e+01] [ 6.84105692e-02 9.97656346e-01 -1.34513603e-03 -1.58547569e+00] [ 1.33206720e-02 4.34760738e-04 9.99911181e-01 7.60328637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.747806574 meters Centerline goodness [0,1] 0.9991864321922523 Centerline is valid? [True, True] Translation: X:-20.28, Y:-1.59, Z:0.76 [[ 9.97308371e-01 -7.22592780e-02 -1.24342475e-02 -2.02848977e+01] [ 7.22491583e-02 9.97385817e-01 -1.26173063e-03 -1.59009437e+00] [ 1.24929138e-02 3.59970608e-04 9.99921896e-01 7.62084984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.777806573999996 meters Centerline goodness [0,1] 0.9993715829824672 Centerline is valid? [True, True] Translation: X:-20.31, Y:-1.60, Z:0.76 [[ 9.97307746e-01 -7.26242548e-02 -1.01477770e-02 -2.03119313e+01] [ 7.26175642e-02 9.97359331e-01 -1.02672059e-03 -1.59799266e+00] [ 1.01955449e-02 2.87049555e-04 9.99947983e-01 7.63314886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.807806573999997 meters Centerline goodness [0,1] 0.9994799900158083 Centerline is valid? [True, True] Translation: X:-20.34, Y:-1.60, Z:0.77 [[ 9.96940401e-01 -7.77113845e-02 -8.41293116e-03 -2.03403184e+01] [ 7.77069639e-02 9.96975879e-01 -8.51562543e-04 -1.60395851e+00] [ 8.45366554e-03 1.95213765e-04 9.99964248e-01 7.72662182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.837806574 meters Centerline goodness [0,1] 0.9991663540494352 Centerline is valid? [True, True] Translation: X:-20.37, Y:-1.61, Z:0.77 [[ 9.96831161e-01 -7.87766860e-02 -1.10395163e-02 -2.03694915e+01] [ 7.87692051e-02 9.96892259e-01 -1.11150112e-03 -1.60615541e+00] [ 1.10927688e-02 2.38405020e-04 9.99938445e-01 7.67103388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.867806573999996 meters Centerline goodness [0,1] 0.9996468486434833 Centerline is valid? [True, True] Translation: X:-20.40, Y:-1.61, Z:0.76 [[ 9.96739347e-01 -7.96253826e-02 -1.30565161e-02 -2.03982139e+01] [ 7.96150287e-02 9.96824822e-01 -1.31169872e-03 -1.61206926e+00] [ 1.31195038e-02 2.67926824e-04 9.99913900e-01 7.63152316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.897806573999997 meters Centerline goodness [0,1] 0.9988930197585529 Centerline is valid? [True, True] Translation: X:-20.43, Y:-1.62, Z:0.76 [[ 9.96734026e-01 -7.97779813e-02 -1.25201851e-02 -2.04254218e+01] [ 7.97684607e-02 9.96812624e-01 -1.25876318e-03 -1.61863245e+00] [ 1.25807002e-02 2.55936200e-04 9.99920827e-01 7.62190582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.927806573999998 meters Centerline goodness [0,1] 0.9990419460990544 Centerline is valid? [True, True] Translation: X:-20.45, Y:-1.62, Z:0.76 [[ 9.96585408e-01 -8.13738602e-02 -1.39935837e-02 -2.04525539e+01] [ 8.13622284e-02 9.96683615e-01 -1.39947110e-03 -1.62307836e+00] [ 1.40610559e-02 2.56143325e-04 9.99901106e-01 7.63081186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.957806573999996 meters Centerline goodness [0,1] 0.9991654496140204 Centerline is valid? [True, True] Translation: X:-20.48, Y:-1.62, Z:0.77 [[ 9.96575325e-01 -8.17489203e-02 -1.24392503e-02 -2.04800868e+01] [ 8.17397423e-02 9.96652930e-01 -1.24531014e-03 -1.62293074e+00] [ 1.24994180e-02 2.24264253e-04 9.99921854e-01 7.72126437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.987806573999997 meters Centerline goodness [0,1] 0.9991607217792698 Centerline is valid? [True, True] Translation: X:-20.51, Y:-1.62, Z:0.77 [[ 9.96801095e-01 -7.91917493e-02 -1.07816644e-02 -2.05076456e+01] [ 7.91847790e-02 9.96859378e-01 -1.07251486e-03 -1.62249829e+00] [ 1.08327376e-02 2.15340279e-04 9.99941301e-01 7.74447893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.017806573999998 meters Centerline goodness [0,1] 0.9991607217792698 Centerline is valid? [True, True] Translation: X:-20.53, Y:-1.63, Z:0.77 [[ 9.96827448e-01 -7.88592848e-02 -1.07820264e-02 -2.05349090e+01] [ 7.88523345e-02 9.96885734e-01 -1.06887752e-03 -1.62542113e+00] [ 1.08327392e-02 2.15298499e-04 9.99941301e-01 7.74812082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.047806573999996 meters Centerline goodness [0,1] 0.9989997916232548 Centerline is valid? [True, True] Translation: X:-20.56, Y:-1.63, Z:0.77 [[ 9.96902990e-01 -7.78874658e-02 -1.08614722e-02 -2.05633821e+01] [ 7.78803835e-02 9.96962132e-01 -1.07414693e-03 -1.62715586e+00] [ 1.09121390e-02 2.24924669e-04 9.99940436e-01 7.71878522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.077806573999997 meters Centerline goodness [0,1] 0.9993976028748883 Centerline is valid? [True, True] Translation: X:-20.59, Y:-1.63, Z:0.77 [[ 9.96951824e-01 -7.67915454e-02 -1.37883816e-02 -2.05915148e+01] [ 7.67799884e-02 9.97047123e-01 -1.36636085e-03 -1.63453130e+00] [ 1.38525912e-02 3.03524164e-04 9.99904002e-01 7.67323312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.107806573999998 meters Centerline goodness [0,1] 0.9990835433546479 Centerline is valid? [True, True] Translation: X:-20.62, Y:-1.64, Z:0.77 [[ 9.96947647e-01 -7.69186749e-02 -1.33755962e-02 -2.06192990e+01] [ 7.69078336e-02 9.97037328e-01 -1.32378207e-03 -1.63956513e+00] [ 1.34377922e-02 2.91053291e-04 9.99909666e-01 7.72533746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.137806573999995 meters Centerline goodness [0,1] 0.9991671524943783 Centerline is valid? [True, True] Translation: X:-20.65, Y:-1.63, Z:0.77 [[ 9.97236361e-01 -7.37519602e-02 -8.96043295e-03 -2.06492343e+01] [ 7.37470161e-02 9.97276592e-01 -8.81388747e-04 -1.62697331e+00] [ 9.00103419e-03 2.18147713e-04 9.99959466e-01 7.73725156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.167806573999997 meters Centerline goodness [0,1] 0.9993142714653811 Centerline is valid? [True, True] Translation: X:-20.68, Y:-1.63, Z:0.77 [[ 9.97120908e-01 -7.49672657e-02 -1.13931878e-02 -2.06782774e+01] [ 7.49593757e-02 9.97185961e-01 -1.11856933e-03 -1.63024339e+00] [ 1.14449830e-02 2.61322617e-04 9.99934470e-01 7.66406636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.197806573999998 meters Centerline goodness [0,1] 0.9990648184708742 Centerline is valid? [True, True] Translation: X:-20.70, Y:-1.65, Z:0.76 [[ 9.97080865e-01 -7.50142836e-02 -1.42339521e-02 -2.07044292e+01] [ 7.50019459e-02 9.97182406e-01 -1.39937666e-03 -1.64505334e+00] [ 1.42988198e-02 3.27717584e-04 9.99897713e-01 7.64754674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.227806573999995 meters Centerline goodness [0,1] 0.9991854976818011 Centerline is valid? [True, True] Translation: X:-20.73, Y:-1.65, Z:0.77 [[ 9.97176253e-01 -7.36465629e-02 -1.46868885e-02 -2.07321453e+01] [ 7.36333013e-02 9.97284341e-01 -1.44240300e-03 -1.64801362e+00] [ 1.47532319e-02 3.56885932e-04 9.99891101e-01 7.71277538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.257806573999996 meters Centerline goodness [0,1] 0.9991431019708654 Centerline is valid? [True, True] Translation: X:-20.76, Y:-1.64, Z:0.77 [[ 9.97151024e-01 -7.42087817e-02 -1.35237757e-02 -2.07610978e+01] [ 7.41976097e-02 9.97242676e-01 -1.32666524e-03 -1.64176195e+00] [ 1.35849365e-02 3.19453772e-04 9.99907669e-01 7.74815388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.287806573999998 meters Centerline goodness [0,1] 0.9987924465449397 Centerline is valid? [True, True] Translation: X:-20.79, Y:-1.64, Z:0.77 [[ 9.97227519e-01 -7.33703292e-02 -1.24125150e-02 -2.07894560e+01] [ 7.33609298e-02 9.97304721e-01 -1.21149486e-03 -1.64405767e+00] [ 1.24679476e-02 2.97542365e-04 9.99922228e-01 7.71725450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.317806573999995 meters Centerline goodness [0,1] 0.9993727523626328 Centerline is valid? [True, True] Translation: X:-20.82, Y:-1.66, Z:0.78 [[ 9.97219831e-01 -7.35568561e-02 -1.19163039e-02 -2.08150727e+01] [ 7.35481937e-02 9.97290985e-01 -1.16413051e-03 -1.66246546e+00] [ 1.19696522e-02 2.84471400e-04 9.99928321e-01 7.78834748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.347806573999996 meters Centerline goodness [0,1] 0.9993337219955026 Centerline is valid? [True, True] Translation: X:-20.84, Y:-1.66, Z:0.78 [[ 9.97234585e-01 -7.34570014e-02 -1.12805694e-02 -2.08440010e+01] [ 7.34492983e-02 9.97298350e-01 -1.09620643e-03 -1.66373402e+00] [ 1.13306173e-02 2.64625062e-04 9.99935771e-01 7.80932440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.377806573999997 meters Centerline goodness [0,1] 0.998993478579966 Centerline is valid? [True, True] Translation: X:-20.87, Y:-1.66, Z:0.78 [[ 9.97171831e-01 -7.41408686e-02 -1.23073771e-02 -2.08720030e+01] [ 7.41317327e-02 9.97247739e-01 -1.19748383e-03 -1.65909231e+00] [ 1.23622865e-02 2.81729952e-04 9.99923544e-01 7.77815388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.407806574 meters Centerline goodness [0,1] 0.9993327912262047 Centerline is valid? [True, True] Translation: X:-20.90, Y:-1.66, Z:0.77 [[ 9.97172869e-01 -7.39612328e-02 -1.32667142e-02 -2.09009721e+01] [ 7.39506859e-02 9.97261072e-01 -1.28447303e-03 -1.65868340e+00] [ 1.33253788e-02 2.99759040e-04 9.99911168e-01 7.74330532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.437806573999996 meters Centerline goodness [0,1] 0.9992067302674154 Centerline is valid? [True, True] Translation: X:-20.93, Y:-1.66, Z:0.77 [[ 9.97198282e-01 -7.33934718e-02 -1.44562852e-02 -2.09296651e+01] [ 7.33809450e-02 9.97303007e-01 -1.39578600e-03 -1.66416634e+00] [ 1.45197383e-02 3.31059536e-04 9.99894528e-01 7.72706866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.467806573999997 meters Centerline goodness [0,1] 0.9986789960369881 Centerline is valid? [True, True] Translation: X:-20.96, Y:-1.67, Z:0.77 [[ 9.97176203e-01 -7.36756213e-02 -1.45438275e-02 -2.09574699e+01] [ 7.36629574e-02 9.97282204e-01 -1.40525939e-03 -1.66865225e+00] [ 1.46078337e-02 3.29949881e-04 9.99893245e-01 7.74722281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.497806574 meters Centerline goodness [0,1] 0.9994966337381237 Centerline is valid? [True, True] Translation: X:-20.99, Y:-1.67, Z:0.78 [[ 9.97060807e-01 -7.54153073e-02 -1.35010457e-02 -2.09866044e+01] [ 7.54046429e-02 9.97152173e-01 -1.29793381e-03 -1.66924709e+00] [ 1.35604811e-02 2.76077404e-04 9.99908014e-01 7.77401234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.527806573999996 meters Centerline goodness [0,1] 0.9994562034635657 Centerline is valid? [True, True] Translation: X:-21.01, Y:-1.67, Z:0.77 [[ 9.97148949e-01 -7.43939278e-02 -1.26300214e-02 -2.10147699e+01] [ 7.43845777e-02 9.97228897e-01 -1.20910767e-03 -1.67162118e+00] [ 1.26849726e-02 2.66181639e-04 9.99919507e-01 7.71875366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.557806573999997 meters Centerline goodness [0,1] 0.9992682722863355 Centerline is valid? [True, True] Translation: X:-21.04, Y:-1.68, Z:0.77 [[ 9.97135462e-01 -7.43387021e-02 -1.39508719e-02 -2.10425115e+01] [ 7.43272784e-02 9.97233007e-01 -1.33628555e-03 -1.67584288e+00] [ 1.40116077e-02 2.95527368e-04 9.99901789e-01 7.74128654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.587806574 meters Centerline goodness [0,1] 0.9992469879518072 Centerline is valid? [True, True] Translation: X:-21.07, Y:-1.68, Z:0.77 [[ 9.96904835e-01 -7.70472837e-02 -1.56354169e-02 -2.10711334e+01] [ 7.70333629e-02 9.97027400e-01 -1.49155143e-03 -1.67689934e+00] [ 1.57038590e-02 2.82486084e-04 9.99876647e-01 7.68956861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.617806573999996 meters Centerline goodness [0,1] 0.9994132193302318 Centerline is valid? [True, True] Translation: X:-21.10, Y:-1.68, Z:0.78 [[ 9.96883603e-01 -7.72655983e-02 -1.59094024e-02 -2.10978042e+01] [ 7.72512193e-02 9.97010505e-01 -1.51730188e-03 -1.68092367e+00] [ 1.59790765e-02 2.83552640e-04 9.99872286e-01 7.78370533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.647806573999997 meters Centerline goodness [0,1] 0.9994562262098967 Centerline is valid? [True, True] Translation: X:-21.13, Y:-1.68, Z:0.78 [[ 9.96980287e-01 -7.64726669e-02 -1.34995827e-02 -2.11271511e+01] [ 7.64623256e-02 9.97071648e-01 -1.28127676e-03 -1.68026644e+00] [ 1.35580338e-02 2.45198190e-04 9.99908056e-01 7.78118777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.677806573999998 meters Centerline goodness [0,1] 0.9989745950696857 Centerline is valid? [True, True] Translation: X:-21.16, Y:-1.68, Z:0.77 [[ 9.97034213e-01 -7.53574661e-02 -1.56214789e-02 -2.11553337e+01] [ 7.53435397e-02 9.97156539e-01 -1.47894304e-03 -1.68367525e+00] [ 1.56885092e-02 2.97579293e-04 9.99876883e-01 7.71969812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.707806573999996 meters Centerline goodness [0,1] 0.9994355125337124 Centerline is valid? [True, True] Translation: X:-21.18, Y:-1.69, Z:0.77 [[ 9.97044724e-01 -7.49330104e-02 -1.69369974e-02 -2.11839160e+01] [ 7.49166565e-02 9.97188517e-01 -1.59888930e-03 -1.68648247e+00] [ 1.70091889e-02 3.25300918e-04 9.99855280e-01 7.70532931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.737806573999997 meters Centerline goodness [0,1] 0.999328168629674 Centerline is valid? [True, True] Translation: X:-21.21, Y:-1.69, Z:0.77 [[ 9.96958220e-01 -7.60926513e-02 -1.68586862e-02 -2.12125797e+01] [ 7.60766950e-02 9.97100706e-01 -1.58671123e-03 -1.69142497e+00] [ 1.69305449e-02 2.99331680e-04 9.99856623e-01 7.72740815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.767806573999998 meters Centerline goodness [0,1] 0.9994758690091827 Centerline is valid? [True, True] Translation: X:-21.24, Y:-1.69, Z:0.78 [[ 9.97022527e-01 -7.56029087e-02 -1.51749890e-02 -2.12413712e+01] [ 7.55899963e-02 9.97137967e-01 -1.42349326e-03 -1.69220704e+00] [ 1.52391779e-02 2.72177487e-04 9.99883840e-01 7.75694391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.797806573999996 meters Centerline goodness [0,1] 0.998448702360488 Centerline is valid? [True, True] Translation: X:-21.27, Y:-1.70, Z:0.77 [[ 9.97248985e-01 -7.25383399e-02 -1.52529240e-02 -2.12691730e+01] [ 7.25249225e-02 9.97365573e-01 -1.43170232e-03 -1.69657164e+00] [ 1.53165946e-02 3.21546552e-04 9.99882642e-01 7.73067954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.827806573999997 meters Centerline goodness [0,1] 0.9991640543364682 Centerline is valid? [True, True] Translation: X:-21.30, Y:-1.70, Z:0.78 [[ 9.97173592e-01 -7.32504837e-02 -1.67091126e-02 -2.12967887e+01] [ 7.32345343e-02 9.97313518e-01 -1.56525127e-03 -1.70114852e+00] [ 1.67788793e-02 3.37143157e-04 9.99859168e-01 7.76270328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.857806573999998 meters Centerline goodness [0,1] 0.9988908653343099 Centerline is valid? [True, True] Translation: X:-21.33, Y:-1.70, Z:0.78 [[ 9.97351618e-01 -7.09489406e-02 -1.59999295e-02 -2.13260431e+01] [ 7.09341255e-02 9.97479886e-01 -1.49227580e-03 -1.69725562e+00] [ 1.60654833e-02 3.53382675e-04 9.99870879e-01 7.78251551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.887806573999995 meters Centerline goodness [0,1] 0.9985593485750078 Centerline is valid? [True, True] Translation: X:-21.35, Y:-1.70, Z:0.78 [[ 9.97397690e-01 -7.05747184e-02 -1.47328541e-02 -2.13538412e+01] [ 7.05621066e-02 9.97506441e-01 -1.37475207e-03 -1.69554594e+00] [ 1.47931396e-02 3.31593320e-04 9.99890521e-01 7.80596102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.917806573999997 meters Centerline goodness [0,1] 0.9990968853044336 Centerline is valid? [True, True] Translation: X:-21.38, Y:-1.70, Z:0.78 [[ 9.97650798e-01 -6.69143211e-02 -1.46751322e-02 -2.13824843e+01] [ 6.69015118e-02 9.97758654e-01 -1.36259576e-03 -1.69800167e+00] [ 1.47334173e-02 3.77606221e-04 9.99891386e-01 7.80229109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.947806573999998 meters Centerline goodness [0,1] 0.999287600050287 Centerline is valid? [True, True] Translation: X:-21.41, Y:-1.71, Z:0.78 [[ 9.97563668e-01 -6.79544976e-02 -1.57770519e-02 -2.14091876e+01] [ 6.79398628e-02 9.97688346e-01 -1.46235948e-03 -1.70681955e+00] [ 1.58399547e-02 3.86905940e-04 9.99874465e-01 7.78832302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.977806573999995 meters Centerline goodness [0,1] 0.9991617419003311 Centerline is valid? [True, True] Translation: X:-21.44, Y:-1.71, Z:0.78 [[ 9.97583770e-01 -6.74932419e-02 -1.64707305e-02 -2.14377416e+01] [ 6.74773216e-02 9.97719649e-01 -1.52104709e-03 -1.70988744e+00] [ 1.65358319e-02 4.05971112e-04 9.99863191e-01 7.83924559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.007806573999996 meters Centerline goodness [0,1] 0.9988697490424263 Centerline is valid? [True, True] Translation: X:-21.47, Y:-1.71, Z:0.78 [[ 9.97749721e-01 -6.51374480e-02 -1.58936354e-02 -2.14674575e+01] [ 6.51224023e-02 9.97876211e-01 -1.46291750e-03 -1.70541290e+00] [ 1.59551713e-02 4.24593809e-04 9.99872618e-01 7.78373814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.037806573999998 meters Centerline goodness [0,1] 0.9990771424975879 Centerline is valid? [True, True] Translation: X:-21.49, Y:-1.71, Z:0.78 [[ 9.97628472e-01 -6.69243197e-02 -1.60800242e-02 -2.14945654e+01] [ 6.69091358e-02 9.97757974e-01 -1.48101167e-03 -1.70997430e+00] [ 1.61430881e-02 4.01598883e-04 9.99869611e-01 7.83320791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.067806573999995 meters Centerline goodness [0,1] 0.9995390643005301 Centerline is valid? [True, True] Translation: X:-21.52, Y:-1.71, Z:0.78 [[ 9.97533936e-01 -6.81948128e-02 -1.65985973e-02 -2.15238074e+01] [ 6.81789302e-02 9.97671949e-01 -1.52152881e-03 -1.71012282e+00] [ 1.66637153e-02 3.86102021e-04 9.99861076e-01 7.79450541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.097806573999996 meters Centerline goodness [0,1] 0.9989514522386495 Centerline is valid? [True, True] Translation: X:-21.55, Y:-1.71, Z:0.78 [[ 9.97501199e-01 -6.85853246e-02 -1.69532241e-02 -2.15505108e+01] [ 6.85688615e-02 9.97645180e-01 -1.55114801e-03 -1.71357059e+00] [ 1.70196883e-02 3.84808720e-04 9.99855081e-01 7.82048283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.127806573999997 meters Centerline goodness [0,1] 0.9992294877134528 Centerline is valid? [True, True] Translation: X:-21.58, Y:-1.73, Z:0.78 [[ 9.97461308e-01 -6.93871265e-02 -1.60114518e-02 -2.15778847e+01] [ 6.93725484e-02 9.97589747e-01 -1.46477367e-03 -1.72624942e+00] [ 1.60744966e-02 3.50299846e-04 9.99870736e-01 7.78235693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.157806573999995 meters Centerline goodness [0,1] 0.9983590080203483 Centerline is valid? [True, True] Translation: X:-21.61, Y:-1.73, Z:0.77 [[ 9.97377437e-01 -7.06311966e-02 -1.57950215e-02 -2.16063142e+01] [ 7.06172742e-02 9.97502447e-01 -1.43814196e-03 -1.73093536e+00] [ 1.58571503e-02 3.18968972e-04 9.99874217e-01 7.71697022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.187806573999996 meters Centerline goodness [0,1] 0.9990594628487826 Centerline is valid? [True, True] Translation: X:-21.63, Y:-1.74, Z:0.78 [[ 9.97269746e-01 -7.21939473e-02 -1.55270239e-02 -2.16333720e+01] [ 7.21806699e-02 9.97390570e-01 -1.41456441e-03 -1.73550800e+00] [ 1.55886302e-02 2.89951297e-04 9.99878448e-01 7.84598594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.217806573999997 meters Centerline goodness [0,1] 0.9993545028630921 Centerline is valid? [True, True] Translation: X:-21.66, Y:-1.73, Z:0.78 [[ 9.97168466e-01 -7.39060061e-02 -1.38907756e-02 -2.16621828e+01] [ 7.38955674e-02 9.97265184e-01 -1.26395405e-03 -1.73263217e+00] [ 1.39462007e-02 2.33908380e-04 9.99902720e-01 7.81897334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.247806574 meters Centerline goodness [0,1] 0.9990803060072739 Centerline is valid? [True, True] Translation: X:-21.69, Y:-1.74, Z:0.78 [[ 9.97197468e-01 -7.32720391e-02 -1.51134881e-02 -2.16895435e+01] [ 7.32596322e-02 9.97311957e-01 -1.37366826e-03 -1.73524811e+00] [ 1.51735138e-02 2.62609935e-04 9.99884841e-01 7.83476230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.277806573999996 meters Centerline goodness [0,1] 0.9991434600037604 Centerline is valid? [True, True] Translation: X:-21.72, Y:-1.74, Z:0.78 [[ 9.97255110e-01 -7.17040401e-02 -1.84601048e-02 -2.17183588e+01] [ 7.16853918e-02 9.97425894e-01 -1.67079000e-03 -1.74102138e+00] [ 1.85323890e-02 3.42884017e-04 9.99828202e-01 7.80865389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.307806573999997 meters Centerline goodness [0,1] 0.9984998437337222 Centerline is valid? [True, True] Translation: X:-21.75, Y:-1.75, Z:0.78 [[ 9.97289419e-01 -7.11467536e-02 -1.87604318e-02 -2.17469029e+01] [ 7.11274993e-02 9.97465796e-01 -1.69243088e-03 -1.74970059e+00] [ 1.88333000e-02 3.53460805e-04 9.99822575e-01 7.76914105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.337806574 meters Centerline goodness [0,1] 0.9991257285595337 Centerline is valid? [True, True] Translation: X:-21.78, Y:-1.75, Z:0.79 [[ 9.97309641e-01 -7.18675294e-02 -1.44408417e-02 -2.17758665e+01] [ 7.18561793e-02 9.97414151e-01 -1.30396725e-03 -1.75271780e+00] [ 1.44972128e-02 2.62795396e-04 9.99894875e-01 7.89630289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.367806573999996 meters Centerline goodness [0,1] 0.9996871349908226 Centerline is valid? [True, True] Translation: X:-21.81, Y:-1.75, Z:0.79 [[ 9.97343905e-01 -7.17433596e-02 -1.25707853e-02 -2.18051621e+01] [ 7.17348350e-02 9.97423100e-01 -1.12830355e-03 -1.75247343e+00] [ 1.26193400e-02 2.23543460e-04 9.99920348e-01 7.86865644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.397806573999997 meters Centerline goodness [0,1] 0.9986853911483003 Centerline is valid? [True, True] Translation: X:-21.83, Y:-1.76, Z:0.78 [[ 9.97437498e-01 -6.98187981e-02 -1.56132131e-02 -2.18339153e+01] [ 6.98053741e-02 9.97559642e-01 -1.40378019e-03 -1.75549739e+00] [ 1.56731215e-02 3.10296824e-04 9.99877121e-01 7.80127631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.427806573999998 meters Centerline goodness [0,1] 0.9990379185577144 Centerline is valid? [True, True] Translation: X:-21.86, Y:-1.76, Z:0.78 [[ 9.97303132e-01 -7.09097154e-02 -1.89281388e-02 -2.18620827e+01] [ 7.08903253e-02 9.97482677e-01 -1.69426295e-03 -1.76470864e+00] [ 1.90006303e-02 3.47871833e-04 9.99819411e-01 7.76518612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.457806573999996 meters Centerline goodness [0,1] 0.9990168803731672 Centerline is valid? [True, True] Translation: X:-21.89, Y:-1.77, Z:0.79 [[ 9.97086512e-01 -7.47654106e-02 -1.51201856e-02 -2.18902265e+01] [ 7.47534636e-02 9.97201126e-01 -1.35456760e-03 -1.77002473e+00] [ 1.51791409e-02 2.20334846e-04 9.99884766e-01 7.89662782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.487806573999997 meters Centerline goodness [0,1] 0.9990408873876692 Centerline is valid? [True, True] Translation: X:-21.92, Y:-1.76, Z:0.79 [[ 9.97189274e-01 -7.42345139e-02 -1.01384617e-02 -2.19201304e+01] [ 7.42291245e-02 9.97240800e-01 -9.07363400e-04 -1.76493852e+00] [ 1.01778453e-02 1.52243914e-04 9.99948193e-01 7.89890017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.517806573999998 meters Centerline goodness [0,1] 0.9990197918621869 Centerline is valid? [True, True] Translation: X:-21.95, Y:-1.78, Z:0.79 [[ 9.97133814e-01 -7.43150495e-02 -1.41926445e-02 -2.19467748e+01] [ 7.43045203e-02 9.97234791e-01 -1.26848380e-03 -1.77570707e+00] [ 1.42476663e-02 2.10270447e-04 9.99898475e-01 7.89106402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.547806573999996 meters Centerline goodness [0,1] 0.9988938053097345 Centerline is valid? [True, True] Translation: X:-21.97, Y:-1.78, Z:0.78 [[ 9.97112475e-01 -7.40779040e-02 -1.67085433e-02 -2.19747944e+01] [ 7.40633989e-02 9.97252428e-01 -1.48610290e-03 -1.78389148e+00] [ 1.67727228e-02 2.44320238e-04 9.99859298e-01 7.84746700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.577806573999997 meters Centerline goodness [0,1] 0.999185344557475 Centerline is valid? [True, True] Translation: X:-22.00, Y:-1.79, Z:0.79 [[ 9.96824560e-01 -7.82264168e-02 -1.48803100e-02 -2.20036574e+01] [ 7.82153478e-02 9.96935606e-01 -1.32528343e-03 -1.79033299e+00] [ 1.49383830e-02 1.57206452e-04 9.99888404e-01 7.85247229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.607806573999998 meters Centerline goodness [0,1] 0.9986812634751847 Centerline is valid? [True, True] Translation: X:-22.03, Y:-1.79, Z:0.79 [[ 9.96743372e-01 -7.93178399e-02 -1.45371988e-02 -2.20324368e+01] [ 7.93074938e-02 9.96849368e-01 -1.28772152e-03 -1.79023856e+00] [ 1.45935368e-02 1.30619090e-04 9.99893500e-01 7.89508740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.637806573999995 meters Centerline goodness [0,1] 0.9992926392876461 Centerline is valid? [True, True] Translation: X:-22.06, Y:-1.79, Z:0.79 [[ 9.96795796e-01 -7.88417831e-02 -1.34949666e-02 -2.20604295e+01] [ 7.88328146e-02 9.96887133e-01 -1.19607495e-03 -1.78964666e+00] [ 1.35472593e-02 1.28396285e-04 9.99908223e-01 7.89479852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.667806573999997 meters Centerline goodness [0,1] 0.9994982018901062 Centerline is valid? [True, True] Translation: X:-22.09, Y:-1.80, Z:0.79 [[ 9.96755373e-01 -7.95366925e-02 -1.23548217e-02 -2.20882284e+01] [ 7.95292464e-02 9.96831933e-01 -1.09360975e-03 -1.79600476e+00] [ 1.24026629e-02 1.07491737e-04 9.99923078e-01 7.94977327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.697806573999998 meters Centerline goodness [0,1] 0.9990201596931223 Centerline is valid? [True, True] Translation: X:-22.12, Y:-1.81, Z:0.80 [[ 9.96941248e-01 -7.77191924e-02 -8.23863138e-03 -2.21159773e+01] [ 7.77158632e-02 9.96975286e-01 -7.23960041e-04 -1.80630577e+00] [ 8.26997747e-03 8.14732771e-05 9.99965800e-01 8.00638046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.727806573999995 meters Centerline goodness [0,1] 0.9992727121602527 Centerline is valid? [True, True] Translation: X:-22.14, Y:-1.81, Z:0.80 [[ 9.97020874e-01 -7.65137811e-02 -9.74768943e-03 -2.21444948e+01] [ 7.65090832e-02 9.97068518e-01 -8.54499829e-04 -1.81097768e+00] [ 9.78449527e-03 1.06167385e-04 9.99952125e-01 7.99677548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.757806573999996 meters Centerline goodness [0,1] 0.9991681743506561 Centerline is valid? [True, True] Translation: X:-22.17, Y:-1.80, Z:0.80 [[ 9.97019555e-01 -7.59652887e-02 -1.34641099e-02 -2.21744693e+01] [ 7.59562341e-02 9.97110450e-01 -1.18333102e-03 -1.79867932e+00] [ 1.35150968e-02 1.57121078e-04 9.99908655e-01 7.95691720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.787806573999998 meters Centerline goodness [0,1] 0.9991195522294195 Centerline is valid? [True, True] Translation: X:-22.20, Y:-1.80, Z:0.79 [[ 9.97147834e-01 -7.44658833e-02 -1.22893939e-02 -2.22033459e+01] [ 7.44583055e-02 9.97223550e-01 -1.07365000e-03 -1.80099423e+00] [ 1.23352233e-02 1.55540323e-04 9.99923906e-01 7.91038676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.817806573999995 meters Centerline goodness [0,1] 0.9993095945437047 Centerline is valid? [True, True] Translation: X:-22.23, Y:-1.81, Z:0.80 [[ 9.97353823e-01 -7.17961426e-02 -1.14308644e-02 -2.22307159e+01] [ 7.17894624e-02 9.97419312e-01 -9.94181780e-04 -1.81058939e+00] [ 1.14727433e-02 1.70935388e-04 9.99934171e-01 7.99162774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.847806573999996 meters Centerline goodness [0,1] 0.9992061502465113 Centerline is valid? [True, True] Translation: X:-22.26, Y:-1.81, Z:0.81 [[ 9.97444884e-01 -7.04277176e-02 -1.19849804e-02 -2.22585497e+01] [ 7.04202690e-02 9.97516866e-01 -1.04289852e-03 -1.81426504e+00] [ 1.20286691e-02 1.96248250e-04 9.99927634e-01 8.07366038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.877806573999997 meters Centerline goodness [0,1] 0.9991869918699187 Centerline is valid? [True, True] Translation: X:-22.29, Y:-1.81, Z:0.80 [[ 9.97548137e-01 -6.88243518e-02 -1.26855339e-02 -2.22881226e+01] [ 6.88159473e-02 9.97628768e-01 -1.09835954e-03 -1.80722411e+00] [ 1.27310474e-02 2.22699487e-04 9.99918932e-01 8.01751567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.907806573999995 meters Centerline goodness [0,1] 0.9992510454157738 Centerline is valid? [True, True] Translation: X:-22.32, Y:-1.81, Z:0.81 [[ 9.97515930e-01 -6.98941666e-02 -8.76210544e-03 -2.23164748e+01] [ 6.98901862e-02 9.97554402e-01 -7.60029152e-04 -1.81026688e+00] [ 8.79379846e-03 1.45756006e-04 9.99961323e-01 8.07988728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.937806573999996 meters Centerline goodness [0,1] 0.9992510454157738 Centerline is valid? [True, True] Translation: X:-22.34, Y:-1.81, Z:0.81 [[ 9.97538637e-01 -6.95692779e-02 -8.76265577e-03 -2.23437763e+01] [ 6.95653408e-02 9.97577112e-01 -7.53677909e-04 -1.81283222e+00] [ 8.79385766e-03 1.42245700e-04 9.99961323e-01 8.08352147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.967806573999997 meters Centerline goodness [0,1] 0.999226022382596 Centerline is valid? [True, True] Translation: X:-22.37, Y:-1.82, Z:0.81 [[ 9.97569300e-01 -6.91542485e-02 -8.55462754e-03 -2.23714882e+01] [ 6.91505060e-02 9.97605970e-01 -7.32851105e-04 -1.81615672e+00] [ 8.58482727e-03 1.39512941e-04 9.99963140e-01 8.12238673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.997806573999995 meters Centerline goodness [0,1] 0.998898747065057 Centerline is valid? [True, True] Translation: X:-22.40, Y:-1.82, Z:0.81 [[ 9.97603852e-01 -6.84526745e-02 -1.00391966e-02 -2.23990868e+01] [ 6.84474576e-02 9.97654350e-01 -8.62725648e-04 -1.82147889e+00] [ 1.00747040e-02 1.73500946e-04 9.99949234e-01 8.11380664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.027806573999996 meters Centerline goodness [0,1] 0.9989953745369304 Centerline is valid? [True, True] Translation: X:-22.43, Y:-1.82, Z:0.81 [[ 9.97642461e-01 -6.76970705e-02 -1.12528316e-02 -2.24282538e+01] [ 6.76905313e-02 9.97705902e-01 -9.61407858e-04 -1.82230918e+00] [ 1.12921010e-02 1.97431155e-04 9.99936223e-01 8.10661416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.057806573999997 meters Centerline goodness [0,1] 0.9991836051160746 Centerline is valid? [True, True] Translation: X:-22.46, Y:-1.83, Z:0.82 [[ 9.97585983e-01 -6.88171205e-02 -9.29571880e-03 -2.24563747e+01] [ 6.88127356e-02 9.97629281e-01 -7.91109861e-04 -1.82949188e+00] [ 9.32812317e-03 1.49536268e-04 9.99956481e-01 8.20213494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.087806574 meters Centerline goodness [0,1] 0.999123886605895 Centerline is valid? [True, True] Translation: X:-22.48, Y:-1.83, Z:0.83 [[ 9.97495223e-01 -7.02949661e-02 -7.86750687e-03 -2.24846836e+01] [ 7.02918933e-02 9.97526243e-01 -6.66755112e-04 -1.83242632e+00] [ 7.89491409e-03 1.12063086e-04 9.99968828e-01 8.25462934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.117806573999996 meters Centerline goodness [0,1] 0.9993950014603413 Centerline is valid? [True, True] Translation: X:-22.51, Y:-1.83, Z:0.83 [[ 9.97383537e-01 -7.19588087e-02 -6.92889590e-03 -2.25138502e+01] [ 7.19564823e-02 9.97407601e-01 -5.84787530e-04 -1.82683848e+00] [ 6.95301405e-03 8.46784802e-05 9.99975824e-01 8.30117314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.147806573999997 meters Centerline goodness [0,1] 0.9996042078950109 Centerline is valid? [True, True] Translation: X:-22.54, Y:-1.83, Z:0.83 [[ 9.97488342e-01 -7.03889680e-02 -7.89941822e-03 -2.25417352e+01] [ 7.03858785e-02 9.97519614e-01 -6.68776760e-04 -1.82781351e+00] [ 7.92689912e-03 1.11089531e-04 9.99968575e-01 8.25572296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.177806573999998 meters Centerline goodness [0,1] 0.9994171038387876 Centerline is valid? [True, True] Translation: X:-22.57, Y:-1.85, Z:0.83 [[ 9.97459077e-01 -7.05196861e-02 -1.01174976e-02 -2.25686680e+01] [ 7.05146755e-02 9.97510379e-01 -8.51556072e-04 -1.84607684e+00] [ 1.01523603e-02 1.35960276e-04 9.99948454e-01 8.30574566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.207806573999996 meters Centerline goodness [0,1] 0.9994398921273727 Centerline is valid? [True, True] Translation: X:-22.60, Y:-1.85, Z:0.84 [[ 9.97325565e-01 -7.24481583e-02 -9.64272853e-03 -2.25971104e+01] [ 7.24437262e-02 9.97372174e-01 -8.08587618e-04 -1.84968271e+00] [ 9.67596979e-03 1.07869918e-04 9.99953181e-01 8.36306055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.237806573999997 meters Centerline goodness [0,1] 0.9993964494578451 Centerline is valid? [True, True] Translation: X:-22.63, Y:-1.85, Z:0.84 [[ 9.97213196e-01 -7.42962961e-02 -6.77516467e-03 -2.26259183e+01] [ 7.42941465e-02 9.97236209e-01 -5.68768174e-04 -1.84510133e+00] [ 6.79869690e-03 6.38280526e-05 9.99976887e-01 8.42517424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.267806573999998 meters Centerline goodness [0,1] 0.9991639320276738 Centerline is valid? [True, True] Translation: X:-22.65, Y:-1.84, Z:0.85 [[ 9.97168269e-01 -7.50557649e-02 -4.69840171e-03 -2.26534975e+01] [ 7.50547439e-02 9.97179337e-01 -3.93499518e-04 -1.84419644e+00] [ 4.71468351e-03 3.97478959e-05 9.99988885e-01 8.52000255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.297806573999996 meters Centerline goodness [0,1] 0.998873145385113 Centerline is valid? [True, True] Translation: X:-22.68, Y:-1.84, Z:0.85 [[ 9.97343557e-01 -7.22587902e-02 -9.19220454e-03 -2.26829016e+01] [ 7.22547949e-02 9.97385912e-01 -7.66427486e-04 -1.84390333e+00] [ 9.22355643e-03 1.00210661e-04 9.99957457e-01 8.46521136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.327806573999997 meters Centerline goodness [0,1] 0.9996658452027902 Centerline is valid? [True, True] Translation: X:-22.71, Y:-1.85, Z:0.84 [[ 9.97225185e-01 -7.32838208e-02 -1.30924292e-02 -2.27118727e+01] [ 7.32758321e-02 9.97311118e-01 -1.08948038e-03 -1.84749058e+00] [ 1.31370665e-02 1.27098628e-04 9.99913697e-01 8.38587069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.357806573999998 meters Centerline goodness [0,1] 0.9989725524732129 Centerline is valid? [True, True] Translation: X:-22.74, Y:-1.86, Z:0.86 [[ 9.97251879e-01 -7.34946353e-02 -9.33965132e-03 -2.27397408e+01] [ 7.34905677e-02 9.97295608e-01 -7.78435151e-04 -1.85914097e+00] [ 9.37160405e-03 8.99196392e-05 9.99956082e-01 8.59328701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.387806573999995 meters Centerline goodness [0,1] 0.9991186469131658 Centerline is valid? [True, True] Translation: X:-22.77, Y:-1.86, Z:0.87 [[ 9.97329568e-01 -7.28275254e-02 -5.46669234e-03 -2.27687321e+01] [ 7.28261485e-02 9.97344549e-01 -4.50789550e-04 -1.85659497e+00] [ 5.48500569e-03 5.14675994e-05 9.99984956e-01 8.73818311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.417806573999997 meters Centerline goodness [0,1] 0.9992671538348793 Centerline is valid? [True, True] Translation: X:-22.80, Y:-1.85, Z:0.87 [[ 9.97350511e-01 -7.22752710e-02 -8.26094926e-03 -2.27981562e+01] [ 7.22721109e-02 9.97384719e-01 -6.80807442e-04 -1.85194643e+00] [ 8.28855010e-03 8.19674092e-05 9.99965646e-01 8.66524998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.447806573999998 meters Centerline goodness [0,1] 0.9991454950918072 Centerline is valid? [True, True] Translation: X:-22.83, Y:-1.86, Z:0.86 [[ 9.97451669e-01 -7.06083168e-02 -1.02290323e-02 -2.28261144e+01] [ 7.06034050e-02 9.97504111e-01 -8.40948200e-04 -1.85641838e+00] [ 1.02628797e-02 1.16600679e-04 9.99947328e-01 8.63392598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.477806573999995 meters Centerline goodness [0,1] 0.9992861791690286 Centerline is valid? [True, True] Translation: X:-22.85, Y:-1.86, Z:0.86 [[ 9.97507393e-01 -6.99146501e-02 -9.53634482e-03 -2.28544384e+01] [ 6.99103783e-02 9.97552971e-01 -7.80978491e-04 -1.86374814e+00] [ 9.56761094e-03 1.12342345e-04 9.99954223e-01 8.63966383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.507806573999996 meters Centerline goodness [0,1] 0.9990970749427798 Centerline is valid? [True, True] Translation: X:-22.88, Y:-1.86, Z:0.88 [[ 9.97588818e-01 -6.88704121e-02 -8.56832627e-03 -2.28825932e+01] [ 6.88669149e-02 9.97625608e-01 -7.02880448e-04 -1.86346074e+00] [ 8.59638937e-03 1.11111480e-04 9.99963044e-01 8.76170223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.537806573999998 meters Centerline goodness [0,1] 0.999286748201137 Centerline is valid? [True, True] Translation: X:-22.91, Y:-1.87, Z:0.87 [[ 9.97506624e-01 -6.99686276e-02 -9.21550402e-03 -2.29107971e+01] [ 6.99646839e-02 9.97549187e-01 -7.50031238e-04 -1.86581084e+00] [ 9.24539720e-03 1.03401302e-04 9.99957255e-01 8.66827666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.567806573999995 meters Centerline goodness [0,1] 0.9994963273871983 Centerline is valid? [True, True] Translation: X:-22.94, Y:-1.87, Z:0.88 [[ 9.97472603e-01 -7.06047903e-02 -7.96051499e-03 -2.29395254e+01] [ 7.06018856e-02 9.97504364e-01 -6.45667498e-04 -1.86907811e+00] [ 7.98623566e-03 8.20082712e-05 9.99968106e-01 8.75142567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.597806573999996 meters Centerline goodness [0,1] 0.9989295609100831 Centerline is valid? [True, True] Translation: X:-22.97, Y:-1.87, Z:0.88 [[ 9.97583095e-01 -6.90637189e-02 -7.62695868e-03 -2.29676227e+01] [ 6.90610318e-02 9.97612247e-01 -6.15433818e-04 -1.86740484e+00] [ 7.65125153e-03 8.72207368e-05 9.99970725e-01 8.76609659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.627806573999997 meters Centerline goodness [0,1] 0.9989744663038929 Centerline is valid? [True, True] Translation: X:-23.00, Y:-1.87, Z:0.88 [[ 9.97559116e-01 -6.91413340e-02 -9.76143861e-03 -2.29956595e+01] [ 6.91369475e-02 9.97606868e-01 -7.86509183e-04 -1.87043136e+00] [ 9.79245850e-03 1.09713337e-04 9.99952047e-01 8.81282601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.657806573999995 meters Centerline goodness [0,1] 0.9994335347432024 Centerline is valid? [True, True] Translation: X:-23.02, Y:-1.88, Z:0.87 [[ 9.97403165e-01 -7.09622274e-02 -1.22999339e-02 -2.30241450e+01] [ 7.09554335e-02 9.97478997e-01 -9.88423619e-04 -1.87904882e+00] [ 1.23390665e-02 1.13109702e-04 9.99923864e-01 8.72633024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.687806573999996 meters Centerline goodness [0,1] 0.9993706205681199 Centerline is valid? [True, True] Translation: X:-23.05, Y:-1.89, Z:0.88 [[ 9.97320677e-01 -7.24113595e-02 -1.03953239e-02 -2.30523408e+01] [ 7.24066225e-02 9.97374849e-01 -8.31820024e-04 -1.88555182e+00] [ 1.04282678e-02 7.69010154e-05 9.99945621e-01 8.82021961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.717806573999997 meters Centerline goodness [0,1] 0.9991782900004214 Centerline is valid? [True, True] Translation: X:-23.08, Y:-1.88, Z:0.89 [[ 9.97254551e-01 -7.37236574e-02 -6.94133553e-03 -2.30818730e+01] [ 7.37215995e-02 9.97278708e-01 -5.52208424e-04 -1.87955145e+00] [ 6.96315696e-03 3.89660054e-05 9.99975756e-01 8.94093511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.747806573999995 meters Centerline goodness [0,1] 0.9992468304113142 Centerline is valid? [True, True] Translation: X:-23.11, Y:-1.88, Z:0.89 [[ 9.97269467e-01 -7.33708933e-02 -8.38582339e-03 -2.31100736e+01] [ 7.33678572e-02 9.97304722e-01 -6.69521556e-04 -1.88065958e+00] [ 8.41234467e-03 5.24435121e-05 9.99964614e-01 8.88149006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.777806573999996 meters Centerline goodness [0,1] 0.9992861941551898 Centerline is valid? [True, True] Translation: X:-23.14, Y:-1.89, Z:0.89 [[ 9.97153932e-01 -7.46511166e-02 -1.05473377e-02 -2.31379578e+01] [ 7.46464384e-02 9.97209711e-01 -8.37067769e-04 -1.88976173e+00] [ 1.05803956e-02 4.73642248e-05 9.99944025e-01 8.86390039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.807806573999997 meters Centerline goodness [0,1] 0.9994768342192274 Centerline is valid? [True, True] Translation: X:-23.17, Y:-1.90, Z:0.89 [[ 9.97025903e-01 -7.63513921e-02 -1.04792107e-02 -2.31653002e+01] [ 7.63468537e-02 9.97080972e-01 -8.33025027e-04 -1.89957369e+00] [ 1.05122242e-02 3.04927612e-05 9.99944745e-01 8.91665177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.837806573999995 meters Centerline goodness [0,1] 0.9994969924339279 Centerline is valid? [True, True] Translation: X:-23.19, Y:-1.90, Z:0.90 [[ 9.96913927e-01 -7.79470611e-02 -9.32086267e-03 -2.31926020e+01] [ 7.79435504e-02 9.96957499e-01 -7.39869530e-04 -1.90139919e+00] [ 9.35017459e-03 1.10851092e-05 9.99956286e-01 9.01636425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.867806573999996 meters Centerline goodness [0,1] 0.9991609506429215 Centerline is valid? [True, True] Translation: X:-23.22, Y:-1.89, Z:0.90 [[ 9.97013904e-01 -7.65667350e-02 -1.00403917e-02 -2.32221843e+01] [ 7.65626431e-02 9.97064459e-01 -7.91845885e-04 -1.89116381e+00] [ 1.00715467e-02 2.07624337e-05 9.99949280e-01 9.02538940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.897806573999997 meters Centerline goodness [0,1] 0.9991408214585079 Centerline is valid? [True, True] Translation: X:-23.25, Y:-1.89, Z:0.90 [[ 9.97018078e-01 -7.63679324e-02 -1.10856613e-02 -2.32501893e+01] [ 7.63629275e-02 9.97079705e-01 -8.74672437e-04 -1.89484681e+00] [ 1.11200849e-02 2.55306779e-05 9.99938170e-01 9.01543693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.927806573999998 meters Centerline goodness [0,1] 0.9995802552048355 Centerline is valid? [True, True] Translation: X:-23.28, Y:-1.90, Z:0.89 [[ 9.97180814e-01 -7.38149499e-02 -1.34825103e-02 -2.32789506e+01] [ 7.38073765e-02 9.97271954e-01 -1.05911208e-03 -1.90354698e+00] [ 1.35239077e-02 6.10175281e-05 9.99908546e-01 8.91969936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.957806573999996 meters Centerline goodness [0,1] 0.999264597734961 Centerline is valid? [True, True] Translation: X:-23.31, Y:-1.91, Z:0.91 [[ 9.97096246e-01 -7.51905902e-02 -1.20603134e-02 -2.33065465e+01] [ 7.51846220e-02 9.97169180e-01 -9.48129394e-04 -1.91035762e+00] [ 1.20974633e-02 3.86261519e-05 9.99926822e-01 9.06644112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.987806573999997 meters Centerline goodness [0,1] 0.9994322602350864 Centerline is valid? [True, True] Translation: X:-23.33, Y:-1.90, Z:0.91 [[ 9.97096488e-01 -7.53610954e-02 -1.09224213e-02 -2.33345581e+01] [ 7.53562245e-02 9.97156309e-01 -8.57403043e-04 -1.90307463e+00] [ 1.09559761e-02 3.18411337e-05 9.99939981e-01 9.09548468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.017806573999998 meters Centerline goodness [0,1] 0.9993682880606444 Centerline is valid? [True, True] Translation: X:-23.36, Y:-1.90, Z:0.91 [[ 9.97188608e-01 -7.39601176e-02 -1.20325262e-02 -2.33640380e+01] [ 7.39541724e-02 9.97261199e-01 -9.38897064e-04 -1.89528208e+00] [ 1.20690125e-02 4.64019381e-05 9.99927166e-01 9.07175678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.047806573999996 meters Centerline goodness [0,1] 0.9995564473545253 Centerline is valid? [True, True] Translation: X:-23.39, Y:-1.90, Z:0.91 [[ 9.97114305e-01 -7.45977814e-02 -1.40795751e-02 -2.33910366e+01] [ 7.45896999e-02 9.97213703e-01 -1.09897727e-03 -1.90417557e+00] [ 1.41223265e-02 4.56146775e-05 9.99900274e-01 9.07773134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.077806573999997 meters Centerline goodness [0,1] 0.9994939377965208 Centerline is valid? [True, True] Translation: X:-23.42, Y:-1.91, Z:0.91 [[ 9.97143944e-01 -7.43761359e-02 -1.31204023e-02 -2.34186192e+01] [ 7.43691100e-02 9.97230258e-01 -1.02325161e-03 -1.91339101e+00] [ 1.31601677e-02 4.45764978e-05 9.99913400e-01 9.11567188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.107806573999998 meters Centerline goodness [0,1] 0.9995356102503483 Centerline is valid? [True, True] Translation: X:-23.45, Y:-1.91, Z:0.92 [[ 9.97187027e-01 -7.39640157e-02 -1.21391262e-02 -2.34469599e+01] [ 7.39580442e-02 9.97260910e-01 -9.40714863e-04 -1.91494487e+00] [ 1.21754551e-02 4.02826258e-05 9.99925876e-01 9.16729644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.137806573999995 meters Centerline goodness [0,1] 0.9993716487935657 Centerline is valid? [True, True] Translation: X:-23.48, Y:-1.91, Z:0.92 [[ 9.97165829e-01 -7.43602701e-02 -1.14394077e-02 -2.34766856e+01] [ 7.43550323e-02 9.97231442e-01 -8.83086495e-04 -1.90887257e+00] [ 1.14734036e-02 3.00061482e-05 9.99934178e-01 9.19817878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.167806573999997 meters Centerline goodness [0,1] 0.9997265115496277 Centerline is valid? [True, True] Translation: X:-23.50, Y:-1.91, Z:0.92 [[ 9.97140387e-01 -7.46551122e-02 -1.17330226e-02 -2.35039164e+01] [ 7.46496187e-02 9.97209413e-01 -9.06069902e-04 -1.90534799e+00] [ 1.17679233e-02 2.76132313e-05 9.99930755e-01 9.16674582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.197806573999998 meters Centerline goodness [0,1] 0.999495512160259 Centerline is valid? [True, True] Translation: X:-23.53, Y:-1.92, Z:0.91 [[ 9.97121472e-01 -7.43277774e-02 -1.49716778e-02 -2.35323020e+01] [ 7.43187942e-02 9.97233864e-01 -1.15625759e-03 -1.91569520e+00] [ 1.50162061e-02 4.02522349e-05 9.99887250e-01 9.09983005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.227806573999995 meters Centerline goodness [0,1] 0.9994524471400893 Centerline is valid? [True, True] Translation: X:-23.56, Y:-1.92, Z:0.92 [[ 9.97129444e-01 -7.41738853e-02 -1.52021691e-02 -2.35594501e+01] [ 7.41646312e-02 9.97245322e-01 -1.17237955e-03 -1.92076516e+00] [ 1.52472520e-02 4.15509015e-05 9.99883753e-01 9.20461023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.257806573999996 meters Centerline goodness [0,1] 0.9993255490452304 Centerline is valid? [True, True] Translation: X:-23.59, Y:-1.92, Z:0.92 [[ 9.97163983e-01 -7.39150222e-02 -1.41619424e-02 -2.35880811e+01] [ 7.39070556e-02 9.97264543e-01 -1.08579354e-03 -1.91838420e+00] [ 1.42034594e-02 3.60467463e-05 9.99899125e-01 9.23634143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.287806573999998 meters Centerline goodness [0,1] 0.9996622548709181 Centerline is valid? [True, True] Translation: X:-23.62, Y:-1.91, Z:0.93 [[ 9.97171258e-01 -7.42914820e-02 -1.14130159e-02 -2.36164723e+01] [ 7.42863273e-02 9.97236569e-01 -8.75506823e-04 -1.91496225e+00] [ 1.14465195e-02 2.51992097e-05 9.99934486e-01 9.29783000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.317806573999995 meters Centerline goodness [0,1] 0.9993691780389848 Centerline is valid? [True, True] Translation: X:-23.65, Y:-1.91, Z:0.93 [[ 9.97223684e-01 -7.34960430e-02 -1.19689544e-02 -2.36453237e+01] [ 7.34903860e-02 9.97295508e-01 -9.12366917e-04 -1.91494547e+00] [ 1.20036398e-02 3.02308228e-05 9.99927953e-01 9.28633544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.347806573999996 meters Centerline goodness [0,1] 0.9993898076842149 Centerline is valid? [True, True] Translation: X:-23.67, Y:-1.92, Z:0.93 [[ 9.97244514e-01 -7.26725121e-02 -1.49025385e-02 -2.36732476e+01] [ 7.26636226e-02 9.97355856e-01 -1.13782631e-03 -1.91896240e+00] [ 1.49458228e-02 5.18186056e-05 9.99888304e-01 9.26788046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.377806573999997 meters Centerline goodness [0,1] 0.999265523681615 Centerline is valid? [True, True] Translation: X:-23.70, Y:-1.92, Z:0.93 [[ 9.97217160e-01 -7.26334038e-02 -1.68025403e-02 -2.37002593e+01] [ 7.26221238e-02 9.97358704e-01 -1.28132123e-03 -1.92493389e+00] [ 1.68512266e-02 5.75193527e-05 9.99858006e-01 9.29716184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.407806573999995 meters Centerline goodness [0,1] 0.9993797423863378 Centerline is valid? [True, True] Translation: X:-23.73, Y:-1.92, Z:0.93 [[ 9.97145815e-01 -7.41544915e-02 -1.41892600e-02 -2.37292198e+01] [ 7.41466976e-02 9.97246765e-01 -1.07528720e-03 -1.92497490e+00] [ 1.42299311e-02 2.01313535e-05 9.99898749e-01 9.25788715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.437806573999996 meters Centerline goodness [0,1] 0.999580756734095 Centerline is valid? [True, True] Translation: X:-23.76, Y:-1.92, Z:0.94 [[ 9.97002129e-01 -7.62762630e-02 -1.29879693e-02 -2.37571541e+01] [ 7.62699021e-02 9.97086722e-01 -9.85086345e-04 -1.92437928e+00] [ 1.30252705e-02 -8.45796447e-06 9.99915168e-01 9.38213413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.467806573999997 meters Centerline goodness [0,1] 0.9994953424311879 Centerline is valid? [True, True] Translation: X:-23.79, Y:-1.93, Z:0.94 [[ 9.96957528e-01 -7.70002173e-02 -1.21100491e-02 -2.37850975e+01] [ 7.69947570e-02 9.97031076e-01 -9.17154105e-04 -1.93039422e+00] [ 1.21447164e-02 -1.80466009e-05 9.99926250e-01 9.38054878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.497806573999995 meters Centerline goodness [0,1] 0.999329604257013 Centerline is valid? [True, True] Translation: X:-23.81, Y:-1.94, Z:0.94 [[ 9.96919644e-01 -7.74738501e-02 -1.22076009e-02 -2.38121951e+01] [ 7.74684180e-02 9.96994384e-01 -9.17930135e-04 -1.93697484e+00] [ 1.22420251e-02 -3.06009475e-05 9.99925063e-01 9.37658040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.527806573999996 meters Centerline goodness [0,1] 0.9996218805142425 Centerline is valid? [True, True] Translation: X:-23.84, Y:-1.94, Z:0.94 [[ 9.96777218e-01 -7.90601153e-02 -1.35895632e-02 -2.38397581e+01] [ 7.90535214e-02 9.96869849e-01 -1.02255326e-03 -1.94074537e+00] [ 1.36278690e-02 -5.50450309e-05 9.99907135e-01 9.37707553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.557806573999997 meters Centerline goodness [0,1] 0.9996013763007721 Centerline is valid? [True, True] Translation: X:-23.87, Y:-1.95, Z:0.94 [[ 9.96603086e-01 -8.14646831e-02 -1.20745482e-02 -2.38677185e+01] [ 8.14597183e-02 9.96676225e-01 -9.03242138e-04 -1.94720711e+00] [ 1.21079975e-02 -8.34153949e-05 9.99926692e-01 9.42253354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.587806573999995 meters Centerline goodness [0,1] 0.9992249523450428 Centerline is valid? [True, True] Translation: X:-23.89, Y:-1.95, Z:0.95 [[ 9.96538526e-01 -8.22918402e-02 -1.17906277e-02 -2.38945497e+01] [ 8.22871637e-02 9.96608270e-01 -8.82034525e-04 -1.94573471e+00] [ 1.18232214e-02 -9.12359295e-05 9.99930099e-01 9.47664341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.617806573999996 meters Centerline goodness [0,1] 0.9991611617909196 Centerline is valid? [True, True] Translation: X:-23.92, Y:-1.94, Z:0.94 [[ 9.96589463e-01 -8.11277626e-02 -1.50906784e-02 -2.39240065e+01] [ 8.11200532e-02 9.96703705e-01 -1.12329859e-03 -1.94307019e+00] [ 1.51320657e-02 -1.04689089e-04 9.99885498e-01 9.36395914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.647806573999997 meters Centerline goodness [0,1] 0.9995379413185475 Centerline is valid? [True, True] Translation: X:-23.95, Y:-1.95, Z:0.94 [[ 9.96517543e-01 -8.19310602e-02 -1.54947735e-02 -2.39517157e+01] [ 8.19230352e-02 9.96637992e-01 -1.15300534e-03 -1.94689294e+00] [ 1.55371469e-02 -1.20388830e-04 9.99879284e-01 9.37887406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.677806573999998 meters Centerline goodness [0,1] 0.9992617902640681 Centerline is valid? [True, True] Translation: X:-23.98, Y:-1.95, Z:0.95 [[ 9.96690428e-01 -8.02362311e-02 -1.30513846e-02 -2.39801510e+01] [ 8.02304662e-02 9.96775873e-01 -9.65539568e-04 -1.95321702e+00] [ 1.30867765e-02 -8.47746234e-05 9.99914361e-01 9.47286411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.707806573999996 meters Centerline goodness [0,1] 0.9991371327552825 Centerline is valid? [True, True] Translation: X:-24.01, Y:-1.95, Z:0.95 [[ 9.96631747e-01 -8.08750610e-02 -1.35788849e-02 -2.40077952e+01] [ 8.08688646e-02 9.96724242e-01 -1.00568902e-03 -1.95002230e+00] [ 1.36157389e-02 -9.58073997e-05 9.99907297e-01 9.47619905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.737806573999997 meters Centerline goodness [0,1] 0.9995366762841438 Centerline is valid? [True, True] Translation: X:-24.04, Y:-1.95, Z:0.94 [[ 9.96760030e-01 -7.85585118e-02 -1.72627516e-02 -2.40373096e+01] [ 7.85482586e-02 9.96909501e-01 -1.27223164e-03 -1.94763988e+00] [ 1.73093457e-02 -8.78494365e-05 9.99850178e-01 9.42674571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.767806573999998 meters Centerline goodness [0,1] 0.9993506221458796 Centerline is valid? [True, True] Translation: X:-24.07, Y:-1.95, Z:0.94 [[ 9.96850758e-01 -7.75222045e-02 -1.66995255e-02 -2.40660121e+01] [ 7.75125503e-02 9.96990623e-01 -1.22557400e-03 -1.94858864e+00] [ 1.67442796e-02 -7.27084416e-05 9.99859802e-01 9.41221402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.797806573999996 meters Centerline goodness [0,1] 0.9992855641941585 Centerline is valid? [True, True] Translation: X:-24.09, Y:-1.95, Z:0.95 [[ 9.96991921e-01 -7.61284098e-02 -1.45456278e-02 -2.40941421e+01] [ 7.61209302e-02 9.97098021e-01 -1.06797965e-03 -1.94709132e+00] [ 1.45847203e-02 -4.24596346e-05 9.99893636e-01 9.52606920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.827806573999997 meters Centerline goodness [0,1] 0.9992855641941585 Centerline is valid? [True, True] Translation: X:-24.12, Y:-1.95, Z:0.95 [[ 9.97016404e-01 -7.58069786e-02 -1.45461871e-02 -2.41214724e+01] [ 7.57995760e-02 9.97122510e-01 -1.06035159e-03 -1.94928861e+00] [ 1.45847127e-02 -4.54068861e-05 9.99893636e-01 9.52970425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.857806573999998 meters Centerline goodness [0,1] 0.9996860676838074 Centerline is valid? [True, True] Translation: X:-24.15, Y:-1.95, Z:0.95 [[ 9.97316184e-01 -7.19058706e-02 -1.37831043e-02 -2.41494191e+01] [ 7.18988335e-02 9.97411422e-01 -1.00603847e-03 -1.94789248e+00] [ 1.38197657e-02 1.23493246e-05 9.99904502e-01 9.53116593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.887806573999995 meters Centerline goodness [0,1] 0.9991417566775517 Centerline is valid? [True, True] Translation: X:-24.18, Y:-1.95, Z:0.94 [[ 9.97341711e-01 -7.07028334e-02 -1.76244154e-02 -2.41780328e+01] [ 7.06911535e-02 9.97497423e-01 -1.28560804e-03 -1.95005959e+00] [ 1.76712051e-02 3.63002695e-05 9.99843851e-01 9.42116343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.917806573999997 meters Centerline goodness [0,1] 0.9992237002223994 Centerline is valid? [True, True] Translation: X:-24.21, Y:-1.95, Z:0.94 [[ 9.97433707e-01 -6.90021493e-02 -1.90972030e-02 -2.42069762e+01] [ 6.89882715e-02 9.97616509e-01 -1.38532560e-03 -1.94697028e+00] [ 1.91472754e-02 6.42874218e-05 9.99816672e-01 9.44948176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.947806573999998 meters Centerline goodness [0,1] 0.9994345076027311 Centerline is valid? [True, True] Translation: X:-24.24, Y:-1.94, Z:0.95 [[ 9.97670508e-01 -6.61107934e-02 -1.68202357e-02 -2.42350617e+01] [ 6.60996126e-02 9.97812283e-01 -1.22041085e-03 -1.94440032e+00] [ 1.68641202e-02 1.05756846e-04 9.99857785e-01 9.45713056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.977806573999995 meters Centerline goodness [0,1] 0.9996229892761395 Centerline is valid? [True, True] Translation: X:-24.26, Y:-1.95, Z:0.95 [[ 9.97649122e-01 -6.72309200e-02 -1.32752335e-02 -2.42635631e+01] [ 6.72240625e-02 9.97737440e-01 -9.62628591e-04 -1.95057563e+00] [ 1.33099159e-02 6.79504440e-05 9.99911417e-01 9.49923542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.007806573999996 meters Centerline goodness [0,1] 0.9993281545244593 Centerline is valid? [True, True] Translation: X:-24.29, Y:-1.96, Z:0.96 [[ 9.97653386e-01 -6.71308725e-02 -1.34598219e-02 -2.42896067e+01] [ 6.71238550e-02 9.97744176e-01 -9.72956845e-04 -1.95848930e+00] [ 1.34947744e-02 6.71985562e-05 9.99908939e-01 9.58576028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.037806573999998 meters Centerline goodness [0,1] 0.9992039884368846 Centerline is valid? [True, True] Translation: X:-24.32, Y:-1.95, Z:0.95 [[ 9.97539729e-01 -6.82796835e-02 -1.58862999e-02 -2.43188868e+01] [ 6.82701516e-02 9.97666218e-01 -1.14218269e-03 -1.95426903e+00] [ 1.59272126e-02 5.48125070e-05 9.99873152e-01 9.54319874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.067806573999995 meters Centerline goodness [0,1] 0.9993310197767279 Centerline is valid? [True, True] Translation: X:-24.35, Y:-1.96, Z:0.94 [[ 9.97595970e-01 -6.78657612e-02 -1.40184938e-02 -2.43479269e+01] [ 6.78583591e-02 9.97694460e-01 -1.00355937e-03 -1.95509500e+00] [ 1.40542810e-02 4.98747915e-05 9.99901232e-01 9.44283167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.097806573999996 meters Centerline goodness [0,1] 0.9992470352011044 Centerline is valid? [True, True] Translation: X:-24.38, Y:-1.96, Z:0.96 [[ 9.97524053e-01 -6.91927478e-02 -1.25749057e-02 -2.43755982e+01] [ 6.91869440e-02 9.97603309e-01 -8.96502574e-04 -1.96323216e+00] [ 1.26067990e-02 2.42635832e-05 9.99920531e-01 9.59198273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.127806573999997 meters Centerline goodness [0,1] 0.9992670771034887 Centerline is valid? [True, True] Translation: X:-24.40, Y:-1.96, Z:0.95 [[ 9.97424140e-01 -6.99116186e-02 -1.60452699e-02 -2.44035820e+01] [ 6.99022343e-02 9.97553189e-01 -1.14564398e-03 -1.96308979e+00] [ 1.60861040e-02 2.10927434e-05 9.99870610e-01 9.52688529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.157806573999995 meters Centerline goodness [0,1] 0.9995604395604396 Centerline is valid? [True, True] Translation: X:-24.43, Y:-1.97, Z:0.94 [[ 9.97337164e-01 -7.05355254e-02 -1.85289475e-02 -2.44326870e+01] [ 7.05232431e-02 9.97509268e-01 -1.31627248e-03 -1.96656712e+00] [ 1.85756408e-02 6.04599104e-06 9.99827458e-01 9.44321111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.187806573999996 meters Centerline goodness [0,1] 0.999205951186894 Centerline is valid? [True, True] Translation: X:-24.46, Y:-1.98, Z:0.95 [[ 9.97288421e-01 -7.16201287e-02 -1.69222286e-02 -2.44609920e+01] [ 7.16101323e-02 9.97431981e-01 -1.19671274e-03 -1.97697510e+00] [ 1.69644807e-02 -1.83352700e-05 9.99856093e-01 9.46016270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.217806573999997 meters Centerline goodness [0,1] 0.9994147034846046 Centerline is valid? [True, True] Translation: X:-24.49, Y:-1.98, Z:0.96 [[ 9.97238886e-01 -7.29962751e-02 -1.36435808e-02 -2.44895043e+01] [ 7.29898937e-02 9.97332213e-01 -9.65745883e-04 -1.98140240e+00] [ 1.36776784e-02 -3.27641605e-05 9.99906456e-01 9.55583280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.247806573999995 meters Centerline goodness [0,1] 0.999812108559499 Centerline is valid? [True, True] Translation: X:-24.52, Y:-1.97, Z:0.96 [[ 9.97247910e-01 -7.28600683e-02 -1.37118818e-02 -2.45172964e+01] [ 7.28536475e-02 9.97342173e-01 -9.67850222e-04 -1.97088749e+00] [ 1.37459557e-02 -3.37739942e-05 9.99905519e-01 9.59308929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.277806573999996 meters Centerline goodness [0,1] 0.9991836734693877 Centerline is valid? [True, True] Translation: X:-24.55, Y:-1.97, Z:0.94 [[ 9.97418676e-01 -6.95375013e-02 -1.79030722e-02 -2.45466666e+01] [ 6.95260507e-02 9.97579338e-01 -1.26196915e-03 -1.97224700e+00] [ 1.79474891e-02 1.39816868e-05 9.99838931e-01 9.44368218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.307806573999997 meters Centerline goodness [0,1] 0.9993952285618952 Centerline is valid? [True, True] Translation: X:-24.57, Y:-1.98, Z:0.94 [[ 9.97469773e-01 -6.84780796e-02 -1.90998614e-02 -2.45739971e+01] [ 6.84648758e-02 9.97652621e-01 -1.34511021e-03 -1.98212124e+00] [ 1.91471374e-02 3.40371355e-05 9.99816676e-01 9.44061007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.337806573999995 meters Centerline goodness [0,1] 0.9992880028479886 Centerline is valid? [True, True] Translation: X:-24.60, Y:-1.98, Z:0.95 [[ 9.97651102e-01 -6.59742357e-02 -1.84303992e-02 -2.46022595e+01] [ 6.59615504e-02 9.97821324e-01 -1.29599807e-03 -1.98115133e+00] [ 1.84757478e-02 7.72561908e-05 9.99829306e-01 9.52749713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.367806573999996 meters Centerline goodness [0,1] 0.999457009794708 Centerline is valid? [True, True] Translation: X:-24.63, Y:-1.98, Z:0.96 [[ 9.97677500e-01 -6.64787170e-02 -1.48386666e-02 -2.46324664e+01] [ 6.64705512e-02 9.97787842e-01 -1.04336685e-03 -1.97700138e+00] [ 1.48752028e-02 5.46092803e-05 9.99889357e-01 9.56079001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.397806573999997 meters Centerline goodness [0,1] 0.9991399924487142 Centerline is valid? [True, True] Translation: X:-24.66, Y:-1.97, Z:0.96 [[ 9.97963584e-01 -6.22348112e-02 -1.39826069e-02 -2.46598614e+01] [ 6.22271904e-02 9.98061529e-01 -9.79855917e-04 -1.97498867e+00] [ 1.40164832e-02 1.07762179e-04 9.99901758e-01 9.55560863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.427806573999995 meters Centerline goodness [0,1] 0.9996418489023722 Centerline is valid? [True, True] Translation: X:-24.69, Y:-1.98, Z:0.95 [[ 9.98058833e-01 -6.00664955e-02 -1.64493869e-02 -2.46890947e+01] [ 6.00556849e-02 9.98194365e-01 -1.15083901e-03 -1.97559837e+00] [ 1.64888122e-02 1.60725839e-04 9.99864037e-01 9.50393842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.457806573999996 meters Centerline goodness [0,1] 0.9996228075689948 Centerline is valid? [True, True] Translation: X:-24.72, Y:-1.98, Z:0.94 [[ 9.98123507e-01 -5.80774314e-02 -1.94030273e-02 -2.47181439e+01] [ 5.80621368e-02 9.98312057e-01 -1.35115063e-03 -1.97881119e+00] [ 1.94487474e-02 2.22033979e-04 9.99810831e-01 9.43463265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.487806573999997 meters Centerline goodness [0,1] 0.9994348272036506 Centerline is valid? [True, True] Translation: X:-24.75, Y:-1.98, Z:0.95 [[ 9.98071252e-01 -5.90906418e-02 -1.90282013e-02 -2.47455704e+01] [ 5.90761451e-02 9.98252602e-01 -1.32355208e-03 -1.98332420e+00] [ 1.90731610e-02 1.96886500e-04 9.99818071e-01 9.51150693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.517806573999998 meters Centerline goodness [0,1] 0.9989524627600511 Centerline is valid? [True, True] Translation: X:-24.77, Y:-1.99, Z:0.96 [[ 9.97981843e-01 -6.14997493e-02 -1.58120518e-02 -2.47738450e+01] [ 6.14900435e-02 9.98107091e-01 -1.09972376e-03 -1.99090810e+00] [ 1.58497538e-02 1.25220593e-04 9.99874377e-01 9.55692267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.547806573999996 meters Centerline goodness [0,1] 0.9992672612318385 Centerline is valid? [True, True] Translation: X:-24.80, Y:-1.99, Z:0.95 [[ 9.97983512e-01 -6.09491719e-02 -1.77231177e-02 -2.48028603e+01] [ 6.09370325e-02 9.98140861e-01 -1.22468261e-03 -1.98808470e+00] [ 1.77648114e-02 1.42218853e-04 9.99842183e-01 9.53310892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.577806573999997 meters Centerline goodness [0,1] 0.9993691515087794 Centerline is valid? [True, True] Translation: X:-24.83, Y:-1.99, Z:0.95 [[ 9.97879610e-01 -6.20483959e-02 -1.96540453e-02 -2.48324976e+01] [ 6.20336925e-02 9.98073133e-01 -1.35747969e-03 -1.98510193e+00] [ 1.97004040e-02 1.35388295e-04 9.99805919e-01 9.47273337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.607806573999998 meters Centerline goodness [0,1] 0.9985864382463395 Centerline is valid? [True, True] Translation: X:-24.86, Y:-1.99, Z:0.94 [[ 9.97909146e-01 -6.17273175e-02 -1.91591850e-02 -2.48604535e+01] [ 6.17134238e-02 9.98093042e-01 -1.31613568e-03 -1.99379943e+00] [ 1.92038908e-02 1.31004931e-04 9.99815580e-01 9.44107697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.637806573999995 meters Centerline goodness [0,1] 0.9993291967130639 Centerline is valid? [True, True] Translation: X:-24.89, Y:-2.01, Z:0.95 [[ 9.97865217e-01 -6.29825913e-02 -1.72685466e-02 -2.48880565e+01] [ 6.29715839e-02 9.98014622e-01 -1.18097739e-03 -2.00822933e+00] [ 1.73086431e-02 9.10285210e-05 9.99850190e-01 9.47936304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.667806573999997 meters Centerline goodness [0,1] 0.9989927604658483 Centerline is valid? [True, True] Translation: X:-24.92, Y:-2.01, Z:0.96 [[ 9.97640219e-01 -6.62995235e-02 -1.78428111e-02 -2.49152257e+01] [ 6.62884123e-02 9.97799766e-01 -1.21409276e-03 -2.01057139e+00] [ 1.78840465e-02 2.84561515e-05 9.99840067e-01 9.55745609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.697806573999998 meters Centerline goodness [0,1] 0.9995605039554644 Centerline is valid? [True, True] Translation: X:-24.94, Y:-2.01, Z:0.95 [[ 9.97691080e-01 -6.56125333e-02 -1.75358174e-02 -2.49438661e+01] [ 6.56017970e-02 9.97845176e-01 -1.18740147e-03 -2.00598999e+00] [ 1.75759392e-02 3.42787170e-05 9.99845531e-01 9.47514308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.727806573999995 meters Centerline goodness [0,1] 0.9992659088048995 Centerline is valid? [True, True] Translation: X:-24.97, Y:-2.01, Z:0.95 [[ 9.97693107e-01 -6.57307679e-02 -1.69684977e-02 -2.49729588e+01] [ 6.57208030e-02 9.97837394e-01 -1.14482961e-03 -2.00798458e+00] [ 1.70070520e-02 2.70053160e-05 9.99855369e-01 9.51479721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.757806573999996 meters Centerline goodness [0,1] 0.9995167356544029 Centerline is valid? [True, True] Translation: X:-25.00, Y:-2.01, Z:0.94 [[ 9.97545516e-01 -6.72512463e-02 -1.94990766e-02 -2.50010635e+01] [ 6.72384719e-02 9.97736072e-01 -1.31073636e-03 -2.01485979e+00] [ 1.95430807e-02 -3.56893304e-06 9.99809016e-01 9.43826496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.787806573999998 meters Centerline goodness [0,1] 0.9993912550641282 Centerline is valid? [True, True] Translation: X:-25.03, Y:-2.02, Z:0.94 [[ 9.97559507e-01 -6.69024651e-02 -1.99772453e-02 -2.50283225e+01] [ 6.68889793e-02 9.97759520e-01 -1.34324279e-03 -2.01894790e+00] [ 2.00223529e-02 3.70706670e-06 9.99799533e-01 9.43541308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.817806573999995 meters Centerline goodness [0,1] 0.9991807066929961 Centerline is valid? [True, True] Translation: X:-25.06, Y:-2.02, Z:0.95 [[ 9.97659260e-01 -6.53005916e-02 -2.02936617e-02 -2.50561875e+01] [ 6.52865397e-02 9.97865638e-01 -1.35488626e-03 -2.02188604e+00] [ 2.03388225e-02 2.68118795e-05 9.99793144e-01 9.45400849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.847806573999996 meters Centerline goodness [0,1] 0.9992852938703439 Centerline is valid? [True, True] Translation: X:-25.08, Y:-2.02, Z:0.94 [[ 9.97608079e-01 -6.59842221e-02 -2.05962119e-02 -2.50844063e+01] [ 6.59700281e-02 9.97820666e-01 -1.36857611e-03 -2.02409267e+00] [ 2.06416303e-02 6.56990311e-06 9.99786939e-01 9.40672872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.877806573999997 meters Centerline goodness [0,1] 0.9993268684658911 Centerline is valid? [True, True] Translation: X:-25.11, Y:-2.03, Z:0.94 [[ 9.97596509e-01 -6.60392784e-02 -2.09766264e-02 -2.51123467e+01] [ 6.60245469e-02 9.97817024e-01 -1.39482474e-03 -2.02738298e+00] [ 2.10229481e-02 6.50003494e-06 9.99778993e-01 9.43402897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.907806573999995 meters Centerline goodness [0,1] 0.999222231564786 Centerline is valid? [True, True] Translation: X:-25.14, Y:-2.03, Z:0.94 [[ 9.97516360e-01 -6.75595591e-02 -1.99202898e-02 -2.51404924e+01] [ 6.75466186e-02 9.97715243e-01 -1.32251091e-03 -2.03057440e+00] [ 1.99641250e-02 -2.63219436e-05 9.99800697e-01 9.41855487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.937806573999996 meters Centerline goodness [0,1] 0.999118147269406 Centerline is valid? [True, True] Translation: X:-25.17, Y:-2.03, Z:0.94 [[ 9.97608586e-01 -6.63344713e-02 -1.94125354e-02 -2.51691284e+01] [ 6.63219888e-02 9.97797443e-01 -1.28681754e-03 -2.02733227e+00] [ 1.94551386e-02 -3.73773225e-06 9.99810731e-01 9.39444403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.967806573999997 meters Centerline goodness [0,1] 0.9989716252518469 Centerline is valid? [True, True] Translation: X:-25.20, Y:-2.03, Z:0.94 [[ 9.97695174e-01 -6.47548946e-02 -2.02766573e-02 -2.51966853e+01] [ 6.47410227e-02 9.97901199e-01 -1.34050613e-03 -2.02639659e+00] [ 2.03209050e-02 2.46849591e-05 9.99793509e-01 9.40832686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.997806573999995 meters Centerline goodness [0,1] 0.9988684701297068 Centerline is valid? [True, True] Translation: X:-25.22, Y:-2.03, Z:0.94 [[ 9.97693766e-01 -6.46408447e-02 -2.07053452e-02 -2.52247980e+01] [ 6.46265101e-02 9.97908593e-01 -1.36140158e-03 -2.03467045e+00] [ 2.07500441e-02 2.01476681e-05 9.99784694e-01 9.36181199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.027806573999996 meters Centerline goodness [0,1] 0.9992654620243867 Centerline is valid? [True, True] Translation: X:-25.25, Y:-2.04, Z:0.94 [[ 9.97782495e-01 -6.34993179e-02 -1.99481458e-02 -2.52535549e+01] [ 6.34858941e-02 9.97981881e-01 -1.30613184e-03 -2.03801337e+00] [ 1.99908265e-02 3.68096188e-05 9.99800163e-01 9.39568807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.057806573999997 meters Centerline goodness [0,1] 0.998802042832223 Centerline is valid? [True, True] Translation: X:-25.28, Y:-2.03, Z:0.95 [[ 9.97770040e-01 -6.38232415e-02 -1.95330810e-02 -2.52826980e+01] [ 6.38105390e-02 9.97961218e-01 -1.27352174e-03 -2.03298709e+00] [ 1.95745376e-02 2.42654096e-05 9.99808400e-01 9.45603518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.087806573999995 meters Centerline goodness [0,1] 0.9993072902453872 Centerline is valid? [True, True] Translation: X:-25.31, Y:-2.04, Z:0.94 [[ 9.98073636e-01 -5.90290063e-02 -1.90943111e-02 -2.53106299e+01] [ 5.90161170e-02 9.98256262e-01 -1.23831183e-03 -2.03718445e+00] [ 1.91341119e-02 1.09054297e-04 9.99816920e-01 9.36204004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.117806573999996 meters Centerline goodness [0,1] 0.9991387097451842 Centerline is valid? [True, True] Translation: X:-25.34, Y:-2.04, Z:0.94 [[ 9.98086882e-01 -5.81797280e-02 -2.09211506e-02 -2.53379929e+01] [ 5.81640445e-02 9.98306115e-01 -1.35787962e-03 -2.04276677e+00] [ 2.09647136e-02 1.38423107e-04 9.99780207e-01 9.36697536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.147806573999997 meters Centerline goodness [0,1] 0.9994965492647522 Centerline is valid? [True, True] Translation: X:-25.37, Y:-2.04, Z:0.94 [[ 9.98001158e-01 -5.99890655e-02 -1.98746015e-02 -2.53665777e+01] [ 5.99754325e-02 9.98199030e-01 -1.28183166e-03 -2.04081415e+00] [ 1.99157039e-02 8.72816592e-05 9.99801659e-01 9.39481358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.177806573999995 meters Centerline goodness [0,1] 0.9986811806573163 Centerline is valid? [True, True] Translation: X:-25.40, Y:-2.04, Z:0.94 [[ 9.98090863e-01 -5.90956643e-02 -1.79536149e-02 -2.53954368e+01] [ 5.90844903e-02 9.98252320e-01 -1.15264091e-03 -2.03843894e+00] [ 1.79903538e-02 8.96601702e-05 9.99838156e-01 9.36335385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.207806573999996 meters Centerline goodness [0,1] 0.9987776091721463 Centerline is valid? [True, True] Translation: X:-25.42, Y:-2.05, Z:0.93 [[ 9.98095310e-01 -5.83326411e-02 -2.00762531e-02 -2.54234111e+01] [ 5.83186163e-02 9.98297196e-01 -1.28383602e-03 -2.04655848e+00] [ 2.01169567e-02 1.10571411e-04 9.99797627e-01 9.30535205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.237806573999997 meters Centerline goodness [0,1] 0.998821201532438 Centerline is valid? [True, True] Translation: X:-25.45, Y:-2.05, Z:0.93 [[ 9.98028519e-01 -5.88711302e-02 -2.17546536e-02 -2.54510631e+01] [ 5.88547785e-02 9.98265585e-01 -1.39169657e-03 -2.05254993e+00] [ 2.17988528e-02 1.08587550e-04 9.99762371e-01 9.32106606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.267806573999994 meters Centerline goodness [0,1] 0.9993488215771121 Centerline is valid? [True, True] Translation: X:-25.48, Y:-2.05, Z:0.93 [[ 9.98002595e-01 -5.95669208e-02 -2.10381271e-02 -2.54799982e+01] [ 5.95519557e-02 9.98224311e-01 -1.33767464e-03 -2.05219279e+00] [ 2.10804511e-02 8.21411551e-05 9.99777779e-01 9.31811667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.297806573999996 meters Centerline goodness [0,1] 0.9990499514419626 Centerline is valid? [True, True] Translation: X:-25.51, Y:-2.05, Z:0.94 [[ 9.97912105e-01 -6.19673215e-02 -1.82066588e-02 -2.55094513e+01] [ 6.19564784e-02 9.98078178e-01 -1.15955607e-03 -2.05341106e+00] [ 1.82435234e-02 2.91145719e-05 9.99833573e-01 9.36418133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.327806573999997 meters Centerline goodness [0,1] 0.999410389774474 Centerline is valid? [True, True] Translation: X:-25.54, Y:-2.06, Z:0.93 [[ 9.97881600e-01 -6.26330693e-02 -1.75900789e-02 -2.55372219e+01] [ 6.26230967e-02 9.98036622e-01 -1.11772729e-03 -2.05847049e+00] [ 1.76255496e-02 1.38142845e-05 9.99844658e-01 9.34223134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.357806573999998 meters Centerline goodness [0,1] 0.9993273778244877 Centerline is valid? [True, True] Translation: X:-25.57, Y:-2.06, Z:0.93 [[ 9.97769695e-01 -6.35176382e-02 -2.05218235e-02 -2.55663034e+01] [ 6.35043144e-02 9.97980716e-01 -1.30093955e-03 -2.06297128e+00] [ 2.05630167e-02 -5.18627724e-06 9.99788559e-01 9.29274888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.387806573999995 meters Centerline goodness [0,1] 0.9992641957659723 Centerline is valid? [True, True] Translation: X:-25.59, Y:-2.06, Z:0.93 [[ 9.97753267e-01 -6.38370714e-02 -2.03284649e-02 -2.55942087e+01] [ 6.38240943e-02 9.97960334e-01 -1.28718135e-03 -2.06387474e+00] [ 2.03691715e-02 -1.31564670e-05 9.99792527e-01 9.32855828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.417806573999997 meters Centerline goodness [0,1] 0.9989100360526536 Centerline is valid? [True, True] Translation: X:-25.62, Y:-2.07, Z:0.93 [[ 9.97742318e-01 -6.46678797e-02 -1.81199310e-02 -2.56229650e+01] [ 6.46578428e-02 9.97906841e-01 -1.13983033e-03 -2.06536394e+00] [ 1.81557135e-02 -3.43386966e-05 9.99835171e-01 9.25291119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.447806573999998 meters Centerline goodness [0,1] 0.9987574762025103 Centerline is valid? [True, True] Translation: X:-25.65, Y:-2.07, Z:0.92 [[ 9.97833540e-01 -6.26662926e-02 -2.00290147e-02 -2.56506153e+01] [ 6.26536102e-02 9.98034536e-01 -1.26069887e-03 -2.07136235e+00] [ 2.00686517e-02 3.07754254e-06 9.99798604e-01 9.23189327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.477806573999995 meters Centerline goodness [0,1] 0.9990533490407271 Centerline is valid? [True, True] Translation: X:-25.68, Y:-2.07, Z:0.92 [[ 9.97820150e-01 -6.28065330e-02 -2.02555801e-02 -2.56783422e+01] [ 6.27937796e-02 9.98025721e-01 -1.26566894e-03 -2.07267785e+00] [ 2.02950822e-02 -9.01446009e-06 9.99794034e-01 9.22937411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.507806573999996 meters Centerline goodness [0,1] 0.998383269993911 Centerline is valid? [True, True] Translation: X:-25.71, Y:-2.07, Z:0.93 [[ 9.97857602e-01 -6.26884898e-02 -1.87178936e-02 -2.57074775e+01] [ 6.26776660e-02 9.98033142e-01 -1.16492900e-03 -2.06887929e+00] [ 1.87541058e-02 -1.07606243e-05 9.99824126e-01 9.27649510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.537806573999998 meters Centerline goodness [0,1] 0.9992038383372792 Centerline is valid? [True, True] Translation: X:-25.74, Y:-2.07, Z:0.93 [[ 9.97932247e-01 -6.13936109e-02 -1.90277338e-02 -2.57350728e+01] [ 6.13821816e-02 9.98113633e-01 -1.18467202e-03 -2.07387544e+00] [ 1.90645718e-02 1.42585976e-05 9.99818254e-01 9.26159022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.567806573999995 meters Centerline goodness [0,1] 0.9990752416981925 Centerline is valid? [True, True] Translation: X:-25.76, Y:-2.08, Z:0.93 [[ 9.97896914e-01 -6.15495758e-02 -2.03322064e-02 -2.57628219e+01] [ 6.15365972e-02 9.98104027e-01 -1.26395647e-03 -2.07682326e+00] [ 2.03714530e-02 1.01234719e-05 9.99792480e-01 9.26972502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.597806573999996 meters Centerline goodness [0,1] 0.9989271740502335 Centerline is valid? [True, True] Translation: X:-25.79, Y:-2.07, Z:0.93 [[ 9.97983287e-01 -6.11556342e-02 -1.70102132e-02 -2.57932319e+01] [ 6.11464953e-02 9.98128242e-01 -1.05732519e-03 -2.07071359e+00] [ 1.70430356e-02 1.50779502e-05 9.99854757e-01 9.27005056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.627806573999997 meters Centerline goodness [0,1] 0.9990092331042624 Centerline is valid? [True, True] Translation: X:-25.82, Y:-2.07, Z:0.92 [[ 9.98167408e-01 -5.81344453e-02 -1.67991732e-02 -2.58218001e+01] [ 5.81252556e-02 9.98308761e-01 -1.03519348e-03 -2.06634165e+00] [ 1.68309421e-02 5.68401576e-05 9.99858348e-01 9.24225597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.657806573999995 meters Centerline goodness [0,1] 0.9987935486602041 Centerline is valid? [True, True] Translation: X:-25.85, Y:-2.07, Z:0.92 [[ 9.98182755e-01 -5.72395221e-02 -1.88368156e-02 -2.58499378e+01] [ 5.72278892e-02 9.98360472e-01 -1.15646810e-03 -2.07310661e+00] [ 1.88721278e-02 7.63753237e-05 9.99821903e-01 9.17681996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.687806573999996 meters Centerline goodness [0,1] 0.9990138480906421 Centerline is valid? [True, True] Translation: X:-25.88, Y:-2.08, Z:0.92 [[ 9.98203047e-01 -5.71320364e-02 -1.80723010e-02 -2.58777283e+01] [ 5.71213022e-02 9.98366628e-01 -1.11002167e-03 -2.07922555e+00] [ 1.81062000e-02 7.57136520e-05 9.99836066e-01 9.20812431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.717806573999997 meters Centerline goodness [0,1] 0.9992632354489002 Centerline is valid? [True, True] Translation: X:-25.91, Y:-2.08, Z:0.93 [[ 9.98211630e-01 -5.78017594e-02 -1.52479197e-02 -2.59059730e+01] [ 5.77942451e-02 9.98328079e-01 -9.33365697e-04 -2.07902591e+00] [ 1.52763766e-02 5.04544857e-05 9.99883308e-01 9.26440897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.747806573999995 meters Centerline goodness [0,1] 0.9992632354489002 Centerline is valid? [True, True] Translation: X:-25.93, Y:-2.08, Z:0.93 [[ 9.98229712e-01 -5.74885142e-02 -1.52483450e-02 -2.59333308e+01] [ 5.74810696e-02 9.98346167e-01 -9.26410156e-04 -2.08089591e+00] [ 1.52763847e-02 4.82789656e-05 9.99883308e-01 9.26804586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.777806573999996 meters Centerline goodness [0,1] 0.9993082196088297 Centerline is valid? [True, True] Translation: X:-25.96, Y:-2.08, Z:0.92 [[ 9.98200886e-01 -5.77570985e-02 -1.60968687e-02 -2.59625367e+01] [ 5.77488966e-02 9.98330665e-01 -9.74271839e-04 -2.08184658e+00] [ 1.61262687e-02 4.29426085e-05 9.99869962e-01 9.18863943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.807806573999997 meters Centerline goodness [0,1] 0.9992657394004237 Centerline is valid? [True, True] Translation: X:-25.99, Y:-2.08, Z:0.92 [[ 9.98246792e-01 -5.64814732e-02 -1.76970514e-02 -2.59901103e+01] [ 5.64713698e-02 9.98403645e-01 -1.07051850e-03 -2.08384729e+00] [ 1.77292651e-02 6.92649198e-05 9.99842822e-01 9.21961111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.837806573999995 meters Centerline goodness [0,1] 0.999162864677075 Centerline is valid? [True, True] Translation: X:-26.02, Y:-2.09, Z:0.92 [[ 9.98208470e-01 -5.75375627e-02 -1.64097236e-02 -2.60185747e+01] [ 5.75291260e-02 9.98343341e-01 -9.86112176e-04 -2.08699157e+00] [ 1.64392768e-02 4.03084697e-05 9.99864865e-01 9.24366201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.867806573999996 meters Centerline goodness [0,1] 0.9994547094230406 Centerline is valid? [True, True] Translation: X:-26.05, Y:-2.09, Z:0.93 [[ 9.98299169e-01 -5.65154160e-02 -1.43100468e-02 -2.60464249e+01] [ 5.65088881e-02 9.98401725e-01 -8.60429752e-04 -2.08737744e+00] [ 1.43358029e-02 5.03214746e-05 9.99897236e-01 9.30591196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.897806573999997 meters Centerline goodness [0,1] 0.9993117256914028 Centerline is valid? [True, True] Translation: X:-26.07, Y:-2.09, Z:0.93 [[ 9.98258342e-01 -5.69020194e-02 -1.55705435e-02 -2.60738860e+01] [ 5.68943611e-02 9.98379766e-01 -9.34730308e-04 -2.09076865e+00] [ 1.55985036e-02 4.72262039e-05 9.99878335e-01 9.32460170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.927806573999995 meters Centerline goodness [0,1] 0.99918682235196 Centerline is valid? [True, True] Translation: X:-26.10, Y:-2.09, Z:0.93 [[ 9.98294904e-01 -5.64386929e-02 -1.48982522e-02 -2.61023122e+01] [ 5.64317319e-02 9.98406066e-01 -8.87551377e-04 -2.09494276e+00] [ 1.49245976e-02 4.53038443e-05 9.99888621e-01 9.27207872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.957806573999996 meters Centerline goodness [0,1] 0.9996008906440365 Centerline is valid? [True, True] Translation: X:-26.13, Y:-2.10, Z:0.93 [[ 9.98303629e-01 -5.65771919e-02 -1.37435632e-02 -2.61302655e+01] [ 5.65712689e-02 9.98398227e-01 -8.19665440e-04 -2.09648033e+00] [ 1.37679235e-02 4.07841767e-05 9.99905217e-01 9.33294177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.987806573999997 meters Centerline goodness [0,1] 0.9992721222834564 Centerline is valid? [True, True] Translation: X:-26.16, Y:-2.09, Z:0.93 [[ 9.98359709e-01 -5.58163169e-02 -1.27448056e-02 -2.61590398e+01] [ 5.58112366e-02 9.98441053e-01 -7.54212644e-04 -2.08996182e+00] [ 1.27670345e-02 4.16721571e-05 9.99918497e-01 9.33953905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.017806573999994 meters Centerline goodness [0,1] 0.999105080230598 Centerline is valid? [True, True] Translation: X:-26.19, Y:-2.09, Z:0.93 [[ 9.98331009e-01 -5.55491464e-02 -1.57952398e-02 -2.61873919e+01] [ 5.55412849e-02 9.98455952e-01 -9.36290270e-04 -2.08605927e+00] [ 1.58228613e-02 5.74396956e-05 9.99874809e-01 9.33941216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.047806573999996 meters Centerline goodness [0,1] 0.9990560694732867 Centerline is valid? [True, True] Translation: X:-26.22, Y:-2.09, Z:0.93 [[ 9.98321480e-01 -5.53404699e-02 -1.70779128e-02 -2.62154362e+01] [ 5.53313705e-02 9.98467540e-01 -1.00522767e-03 -2.09314663e+00] [ 1.71073714e-02 5.85960528e-05 9.99853656e-01 9.33730988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.077806573999997 meters Centerline goodness [0,1] 0.9986218417206097 Centerline is valid? [True, True] Translation: X:-26.24, Y:-2.10, Z:0.93 [[ 9.98353773e-01 -5.53807990e-02 -1.49234986e-02 -2.62438096e+01] [ 5.53739234e-02 9.98465305e-01 -8.73858249e-04 -2.10375099e+00] [ 1.49489906e-02 4.60470112e-05 9.99888257e-01 9.33820454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.107806573999994 meters Centerline goodness [0,1] 0.9991411993883664 Centerline is valid? [True, True] Translation: X:-26.27, Y:-2.10, Z:0.94 [[ 9.98307348e-01 -5.62649762e-02 -1.47204321e-02 -2.62715575e+01] [ 5.62584597e-02 9.98415871e-01 -8.56734971e-04 -2.10451885e+00] [ 1.47453172e-02 2.71359819e-05 9.99891282e-01 9.40941899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.137806573999995 meters Centerline goodness [0,1] 0.9992466885684991 Centerline is valid? [True, True] Translation: X:-26.30, Y:-2.10, Z:0.94 [[ 9.98255257e-01 -5.68265144e-02 -1.60371341e-02 -2.63009767e+01] [ 5.68189093e-02 9.98384068e-01 -9.29824642e-04 -2.09899078e+00] [ 1.60640578e-02 1.69898710e-05 9.99870965e-01 9.43648043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.167806573999997 meters Centerline goodness [0,1] 0.9994792968424561 Centerline is valid? [True, True] Translation: X:-26.33, Y:-2.10, Z:0.94 [[ 9.98279770e-01 -5.68854945e-02 -1.41965559e-02 -2.63284019e+01] [ 5.68795544e-02 9.98380709e-01 -8.22163782e-04 -2.10191805e+00] [ 1.42203368e-02 1.32556962e-05 9.99898886e-01 9.43077659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.197806573999998 meters Centerline goodness [0,1] 0.9989965086864717 Centerline is valid? [True, True] Translation: X:-26.36, Y:-2.11, Z:0.95 [[ 9.98243562e-01 -5.80776096e-02 -1.16953722e-02 -2.63556219e+01] [ 5.80736703e-02 9.98312071e-01 -6.76444283e-04 -2.10934076e+00] [ 1.17149175e-02 -3.93703817e-06 9.99931378e-01 9.48183190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.227806573999995 meters Centerline goodness [0,1] 0.9988698673140514 Centerline is valid? [True, True] Translation: X:-26.38, Y:-2.11, Z:0.95 [[ 9.98280481e-01 -5.71149828e-02 -1.31893603e-02 -2.63844159e+01] [ 5.71099683e-02 9.98367607e-01 -7.56822655e-04 -2.10835509e+00] [ 1.32110560e-02 2.27733607e-06 9.99912730e-01 9.48820235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.257806573999996 meters Centerline goodness [0,1] 0.9990806134815495 Centerline is valid? [True, True] Translation: X:-26.41, Y:-2.11, Z:0.95 [[ 9.98227001e-01 -5.75881157e-02 -1.50487330e-02 -2.64126473e+01] [ 5.75816192e-02 9.98340427e-01 -8.64991981e-04 -2.10636192e+00] [ 1.50735718e-02 -3.07206201e-06 9.99886387e-01 9.52967131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.287806573999998 meters Centerline goodness [0,1] 0.9993140006236358 Centerline is valid? [True, True] Translation: X:-26.44, Y:-2.11, Z:0.95 [[ 9.98241227e-01 -5.76199813e-02 -1.39423761e-02 -2.64405554e+01] [ 5.76144292e-02 9.98338589e-01 -7.99880090e-04 -2.11438094e+00] [ 1.39653012e-02 -4.80875875e-06 9.99902480e-01 9.51544350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.317806573999995 meters Centerline goodness [0,1] 0.9988096481152762 Centerline is valid? [True, True] Translation: X:-26.47, Y:-2.12, Z:0.96 [[ 9.98282183e-01 -5.71635062e-02 -1.28458956e-02 -2.64681364e+01] [ 5.71587906e-02 9.98364830e-01 -7.34233907e-04 -2.11666647e+00] [ 1.28668618e-02 -1.28322915e-06 9.99917219e-01 9.57465513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.347806573999996 meters Centerline goodness [0,1] 0.999395190723477 Centerline is valid? [True, True] Translation: X:-26.50, Y:-2.11, Z:0.96 [[ 9.98246496e-01 -5.76756529e-02 -1.33211543e-02 -2.64959976e+01] [ 5.76707145e-02 9.98335374e-01 -7.54876292e-04 -2.11401998e+00] [ 1.33425175e-02 -1.46878726e-05 9.99910985e-01 9.58921869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.377806573999997 meters Centerline goodness [0,1] 0.9994978449177722 Centerline is valid? [True, True] Translation: X:-26.53, Y:-2.11, Z:0.96 [[ 9.98404747e-01 -5.43260472e-02 -1.53831878e-02 -2.65254411e+01] [ 5.43190508e-02 9.98523249e-01 -8.72574495e-04 -2.11310285e+00] [ 1.54078742e-02 3.55823556e-05 9.99881291e-01 9.57746318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.407806573999995 meters Centerline goodness [0,1] 0.9995206735578526 Centerline is valid? [True, True] Translation: X:-26.55, Y:-2.12, Z:0.96 [[ 9.98447774e-01 -5.34937327e-02 -1.55068456e-02 -2.65535253e+01] [ 5.34866355e-02 9.98568184e-01 -8.72348439e-04 -2.11782787e+00] [ 1.55313078e-02 4.15853596e-05 9.99879381e-01 9.56507140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.437806573999996 meters Centerline goodness [0,1] 0.9990017261818106 Centerline is valid? [True, True] Translation: X:-26.58, Y:-2.12, Z:0.96 [[ 9.98416193e-01 -5.43565556e-02 -1.45076117e-02 -2.65822302e+01] [ 5.43504881e-02 9.98521589e-01 -8.12465497e-04 -2.11936308e+00] [ 1.45303263e-02 2.26829329e-05 9.99894429e-01 9.61026696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.467806573999997 meters Centerline goodness [0,1] 0.9994141891750529 Centerline is valid? [True, True] Translation: X:-26.61, Y:-2.11, Z:0.97 [[ 9.98449329e-01 -5.36011354e-02 -1.50284963e-02 -2.66106529e+01] [ 5.35945466e-02 9.98562425e-01 -8.41118054e-04 -2.10939552e+00] [ 1.50519766e-02 3.43683140e-05 9.99886712e-01 9.68117311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.497806573999995 meters Centerline goodness [0,1] 0.9992914157097306 Centerline is valid? [True, True] Translation: X:-26.64, Y:-2.11, Z:0.97 [[ 9.98509983e-01 -5.24078063e-02 -1.52064406e-02 -2.66387757e+01] [ 5.24010307e-02 9.98625766e-01 -8.43946486e-04 -2.11312027e+00] [ 1.52297728e-02 4.58558299e-05 9.99884019e-01 9.67642294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.527806573999996 meters Centerline goodness [0,1] 0.9991212469923633 Centerline is valid? [True, True] Translation: X:-26.67, Y:-2.12, Z:0.96 [[ 9.98515123e-01 -5.22118012e-02 -1.55395418e-02 -2.66664343e+01] [ 5.22047776e-02 9.98636033e-01 -8.57560213e-04 -2.11742402e+00] [ 1.55631211e-02 4.50485173e-05 9.99878886e-01 9.61902315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.557806573999997 meters Centerline goodness [0,1] 0.9989957528715191 Centerline is valid? [True, True] Translation: X:-26.70, Y:-2.12, Z:0.97 [[ 9.98457552e-01 -5.26688284e-02 -1.75644634e-02 -2.66953458e+01] [ 5.26599929e-02 9.98612033e-01 -9.65485853e-04 -2.12078367e+00] [ 1.75909355e-02 3.90521241e-05 9.99845267e-01 9.66091241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.587806573999995 meters Centerline goodness [0,1] 0.998805607359135 Centerline is valid? [True, True] Translation: X:-26.72, Y:-2.12, Z:0.97 [[ 9.98446031e-01 -5.32708644e-02 -1.63626819e-02 -2.67241160e+01] [ 5.32633559e-02 9.98580099e-01 -8.94640526e-04 -2.11628183e+00] [ 1.63871068e-02 2.17189333e-05 9.99865722e-01 9.71014801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.617806573999996 meters Centerline goodness [0,1] 0.9995188485837413 Centerline is valid? [True, True] Translation: X:-26.75, Y:-2.12, Z:0.98 [[ 9.98491374e-01 -5.32106234e-02 -1.35501210e-02 -2.67521734e+01] [ 5.32054637e-02 9.98583311e-01 -7.41246462e-04 -2.12055674e+00] [ 1.35703669e-02 1.91877290e-05 9.99907918e-01 9.75253029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.647806573999997 meters Centerline goodness [0,1] 0.9990575916230366 Centerline is valid? [True, True] Translation: X:-26.78, Y:-2.12, Z:0.98 [[ 9.98513162e-01 -5.31286969e-02 -1.21986393e-02 -2.67803198e+01] [ 5.31245789e-02 9.98587673e-01 -6.61590797e-04 -2.12453744e+00] [ 1.22165603e-02 1.25595412e-05 9.99925375e-01 9.76136213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.677806573999995 meters Centerline goodness [0,1] 0.9990151086523753 Centerline is valid? [True, True] Translation: X:-26.81, Y:-2.12, Z:0.97 [[ 9.98434061e-01 -5.41509375e-02 -1.40392798e-02 -2.68087444e+01] [ 5.41456333e-02 9.98532762e-01 -7.57913587e-04 -2.12370958e+00] [ 1.40597226e-02 -3.43895641e-06 9.99901157e-01 9.73957459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.707806573999996 meters Centerline goodness [0,1] 0.9992065977659463 Centerline is valid? [True, True] Translation: X:-26.84, Y:-2.12, Z:0.97 [[ 9.98508379e-01 -5.25741980e-02 -1.47299547e-02 -2.68381365e+01] [ 5.25682460e-02 9.98617020e-01 -7.91232805e-04 -2.12168634e+00] [ 1.47511819e-02 1.57247012e-05 9.99891195e-01 9.70088746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.737806573999997 meters Centerline goodness [0,1] 0.9986613959130743 Centerline is valid? [True, True] Translation: X:-26.87, Y:-2.13, Z:0.97 [[ 9.98581088e-01 -5.06090720e-02 -1.65690006e-02 -2.68659913e+01] [ 5.06012732e-02 9.98718539e-01 -8.89852735e-04 -2.12513769e+00] [ 1.65928027e-02 5.01775842e-05 9.99862329e-01 9.72614544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.767806573999994 meters Centerline goodness [0,1] 0.9989978704747589 Centerline is valid? [True, True] Translation: X:-26.89, Y:-2.13, Z:0.97 [[ 9.98660278e-01 -4.84144909e-02 -1.82670947e-02 -2.68944834e+01] [ 4.84047650e-02 9.98827327e-01 -9.74457871e-04 -2.12534965e+00] [ 1.82928512e-02 8.89379430e-05 9.99832668e-01 9.73972440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.797806573999996 meters Centerline goodness [0,1] 0.9990995330136326 Centerline is valid? [True, True] Translation: X:-26.92, Y:-2.12, Z:0.98 [[ 9.98570595e-01 -5.09992260e-02 -1.59951605e-02 -2.69218192e+01] [ 5.09921042e-02 9.98698692e-01 -8.53032831e-04 -2.12349633e+00] [ 1.60178499e-02 3.61866101e-05 9.99871705e-01 9.83211002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.827806573999997 meters Centerline goodness [0,1] 0.9989541061791407 Centerline is valid? [True, True] Translation: X:-26.95, Y:-2.12, Z:0.98 [[ 9.98620917e-01 -5.07381136e-02 -1.34873077e-02 -2.69507088e+01] [ 5.07331091e-02 9.98711992e-01 -7.13161301e-04 -2.12463666e+00] [ 1.35061204e-02 2.79247391e-05 9.99908788e-01 9.80970536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.857806573999994 meters Centerline goodness [0,1] 0.9988511269400289 Centerline is valid? [True, True] Translation: X:-26.98, Y:-2.13, Z:0.98 [[ 9.98631216e-01 -5.06065444e-02 -1.32163416e-02 -2.69780584e+01] [ 5.06017142e-02 9.98718667e-01 -6.99831329e-04 -2.12937519e+00] [ 1.32348231e-02 3.01038734e-05 9.99912415e-01 9.83511609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.887806573999995 meters Centerline goodness [0,1] 0.9992670157068063 Centerline is valid? [True, True] Translation: X:-27.01, Y:-2.13, Z:0.98 [[ 9.98735315e-01 -4.71192626e-02 -1.75369723e-02 -2.70071898e+01] [ 4.71103289e-02 9.98889266e-01 -9.22418457e-04 -2.12843955e+00] [ 1.75609571e-02 9.50793550e-05 9.99845790e-01 9.82173033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.917806573999997 meters Centerline goodness [0,1] 0.9993300393601876 Centerline is valid? [True, True] Translation: X:-27.04, Y:-2.13, Z:0.97 [[ 9.98672837e-01 -4.77446829e-02 -1.93134507e-02 -2.70367312e+01] [ 4.77340533e-02 9.98859568e-01 -1.01125861e-03 -2.12769968e+00] [ 1.93397072e-02 8.80072193e-05 9.99812966e-01 9.71884916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.947806573999994 meters Centerline goodness [0,1] 0.9990344045844791 Centerline is valid? [True, True] Translation: X:-27.06, Y:-2.13, Z:0.98 [[ 9.98632157e-01 -4.94177025e-02 -1.70793780e-02 -2.70639395e+01] [ 4.94096712e-02 9.98778198e-01 -8.92143194e-04 -2.13002905e+00] [ 1.71025980e-02 4.70364329e-05 9.99853739e-01 9.80955970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.977806573999995 meters Centerline goodness [0,1] 0.9990752805682821 Centerline is valid? [True, True] Translation: X:-27.09, Y:-2.13, Z:0.99 [[ 9.98620092e-01 -5.02236248e-02 -1.53459808e-02 -2.70917066e+01] [ 5.02172723e-02 9.98737997e-01 -7.99254589e-04 -2.13187278e+00] [ 1.53667556e-02 2.75183948e-05 9.99881924e-01 9.93133860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.007806573999996 meters Centerline goodness [0,1] 0.9989967603720347 Centerline is valid? [True, True] Translation: X:-27.12, Y:-2.13, Z:0.99 [[ 9.98663653e-01 -4.97820921e-02 -1.38798655e-02 -2.71201664e+01] [ 4.97769337e-02 9.98760103e-01 -7.17077703e-04 -2.13446462e+00] [ 1.38983535e-02 2.52222945e-05 9.99903413e-01 9.88429331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.037806573999998 meters Centerline goodness [0,1] 0.9990809015520231 Centerline is valid? [True, True] Translation: X:-27.15, Y:-2.14, Z:0.99 [[ 9.98688284e-01 -4.88524972e-02 -1.53344176e-02 -2.71480341e+01] [ 4.88460697e-02 9.98806003e-01 -7.93632033e-04 -2.13815588e+00] [ 1.53548792e-02 4.35649847e-05 9.99882106e-01 9.89687676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.067806573999995 meters Centerline goodness [0,1] 0.9989513422818792 Centerline is valid? [True, True] Translation: X:-27.18, Y:-2.14, Z:0.98 [[ 9.98700516e-01 -4.83741248e-02 -1.60382038e-02 -2.71773893e+01] [ 4.83671276e-02 9.98829286e-01 -8.24108372e-04 -2.13867590e+00] [ 1.60592932e-02 4.73156063e-05 9.99871040e-01 9.81830463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.097806573999996 meters Centerline goodness [0,1] 0.9991976181929517 Centerline is valid? [True, True] Translation: X:-27.20, Y:-2.14, Z:0.99 [[ 9.98589649e-01 -5.04631456e-02 -1.64980008e-02 -2.72048907e+01] [ 5.04560180e-02 9.98725924e-01 -8.48246009e-04 -2.14000120e+00] [ 1.65197862e-02 1.46262600e-05 9.99863539e-01 9.93490531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.127806573999997 meters Centerline goodness [0,1] 0.9989715820845402 Centerline is valid? [True, True] Translation: X:-27.23, Y:-2.14, Z:0.99 [[ 9.98659323e-01 -4.98450445e-02 -1.39652314e-02 -2.72331752e+01] [ 4.98398992e-02 9.98756963e-01 -7.16437443e-04 -2.14388130e+00] [ 1.39835830e-02 1.94512041e-05 9.99902225e-01 9.92304185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.157806573999995 meters Centerline goodness [0,1] 0.9987597746573614 Centerline is valid? [True, True] Translation: X:-27.26, Y:-2.14, Z:0.99 [[ 9.98653357e-01 -4.99408249e-02 -1.40494394e-02 -2.72615158e+01] [ 4.99357267e-02 9.98752178e-01 -7.13659139e-04 -2.14483114e+00] [ 1.40675489e-02 1.11291283e-05 9.99901047e-01 9.93145670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.187806573999996 meters Centerline goodness [0,1] 0.998570317263419 Centerline is valid? [True, True] Translation: X:-27.29, Y:-2.14, Z:0.99 [[ 9.98569397e-01 -5.07788544e-02 -1.67531419e-02 -2.72896846e+01] [ 5.07716880e-02 9.98709922e-01 -8.53089480e-04 -2.14235766e+00] [ 1.67748480e-02 1.28375240e-06 9.99859292e-01 9.88876049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.217806573999997 meters Centerline goodness [0,1] 0.9982097725358046 Centerline is valid? [True, True] Translation: X:-27.32, Y:-2.14, Z:0.99 [[ 9.98595471e-01 -4.93635767e-02 -1.92437644e-02 -2.73189586e+01] [ 4.93539130e-02 9.98780875e-01 -9.77059196e-04 -2.14345731e+00] [ 1.92685349e-02 2.59318163e-05 9.99814344e-01 9.85135309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.247806573999995 meters Centerline goodness [0,1] 0.9990551776266062 Centerline is valid? [True, True] Translation: X:-27.35, Y:-2.15, Z:0.99 [[ 9.98690256e-01 -4.85206886e-02 -1.62331559e-02 -2.73486192e+01] [ 4.85136946e-02 9.98822177e-01 -8.24592746e-04 -2.14759516e+00] [ 1.62540459e-02 3.59823741e-05 9.99867894e-01 9.92940944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.277806573999996 meters Centerline goodness [0,1] 0.9990116083445492 Centerline is valid? [True, True] Translation: X:-27.38, Y:-2.15, Z:1.00 [[ 9.98734986e-01 -4.81355633e-02 -1.45394603e-02 -2.73757951e+01] [ 4.81299489e-02 9.98840811e-01 -7.36019610e-04 -2.14738315e+00] [ 1.45580351e-02 3.53050518e-05 9.99894026e-01 1.00051757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.307806573999997 meters Centerline goodness [0,1] 0.9983427037005957 Centerline is valid? [True, True] Translation: X:-27.40, Y:-2.14, Z:1.00 [[ 9.98731597e-01 -4.80221706e-02 -1.51349825e-02 -2.74043413e+01] [ 4.80160938e-02 9.98846269e-01 -7.64842957e-04 -2.14083666e+00] [ 1.51542503e-02 3.71500866e-05 9.99885167e-01 1.00344593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.337806573999995 meters Centerline goodness [0,1] 0.9983248178239383 Centerline is valid? [True, True] Translation: X:-27.43, Y:-2.15, Z:0.99 [[ 9.98782466e-01 -4.58172592e-02 -1.82856298e-02 -2.74333513e+01] [ 4.58080363e-02 9.98949834e-01 -9.23126135e-04 -2.14531939e+00] [ 1.83087219e-02 8.43734048e-05 9.99832378e-01 9.89675928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.367806573999996 meters Centerline goodness [0,1] 0.9984695054196281 Centerline is valid? [True, True] Translation: X:-27.46, Y:-2.15, Z:1.00 [[ 9.98784765e-01 -4.58839099e-02 -1.79905647e-02 -2.74604065e+01] [ 4.58750570e-02 9.98946776e-01 -9.04688503e-04 -2.15455214e+00] [ 1.80131273e-02 7.82709119e-05 9.99837747e-01 1.00356141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.397806573999997 meters Centerline goodness [0,1] 0.9989371678649578 Centerline is valid? [True, True] Translation: X:-27.49, Y:-2.16, Z:1.01 [[ 9.98743767e-01 -4.75717245e-02 -1.57422647e-02 -2.74886766e+01] [ 4.75651733e-02 9.98867824e-01 -7.90515075e-04 -2.15508073e+00] [ 1.57620479e-02 4.07384532e-05 9.99875770e-01 1.00608569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.427806573999995 meters Centerline goodness [0,1] 0.9985757372654156 Centerline is valid? [True, True] Translation: X:-27.52, Y:-2.15, Z:1.01 [[ 9.98732488e-01 -4.77381455e-02 -1.59526759e-02 -2.75171718e+01] [ 4.77315595e-02 9.98859884e-01 -7.93557373e-04 -2.14970222e+00] [ 1.59723710e-02 3.11054289e-05 9.99872433e-01 1.00944241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.457806573999996 meters Centerline goodness [0,1] 0.9987003186315613 Centerline is valid? [True, True] Translation: X:-27.55, Y:-2.15, Z:1.00 [[ 9.98765384e-01 -4.63349819e-02 -1.79102440e-02 -2.75458100e+01] [ 4.63265226e-02 9.98925956e-01 -8.87145362e-04 -2.14784804e+00] [ 1.79321135e-02 5.63307563e-05 9.99839205e-01 1.00253178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.487806573999997 meters Centerline goodness [0,1] 0.9985520324008982 Centerline is valid? [True, True] Translation: X:-27.57, Y:-2.15, Z:1.00 [[ 9.98728244e-01 -4.68579852e-02 -1.86070988e-02 -2.75738173e+01] [ 4.68489338e-02 9.98901560e-01 -9.22289399e-04 -2.15223749e+00] [ 1.86298767e-02 4.93937320e-05 9.99826448e-01 1.00147521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.517806573999994 meters Centerline goodness [0,1] 0.9986179168237216 Centerline is valid? [True, True] Translation: X:-27.60, Y:-2.16, Z:1.00 [[ 9.98737282e-01 -4.64259986e-02 -1.91955191e-02 -2.76025964e+01] [ 4.64164279e-02 9.98921731e-01 -9.44068005e-04 -2.16041396e+00] [ 1.92186504e-02 5.18884862e-05 9.99815303e-01 9.99853512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.547806573999996 meters Centerline goodness [0,1] 0.9989690287830332 Centerline is valid? [True, True] Translation: X:-27.63, Y:-2.16, Z:1.01 [[ 9.98731511e-01 -4.74539718e-02 -1.68371317e-02 -2.76310209e+01] [ 4.74468355e-02 9.98873425e-01 -8.23278801e-04 -2.16156543e+00] [ 1.68572312e-02 2.33658656e-05 9.99857907e-01 1.00925528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.577806573999997 meters Centerline goodness [0,1] 0.9987650444793302 Centerline is valid? [True, True] Translation: X:-27.66, Y:-2.16, Z:1.01 [[ 9.98842526e-01 -4.61366268e-02 -1.36021972e-02 -2.76600957e+01] [ 4.61319057e-02 9.98935138e-01 -6.60806115e-04 -2.15917571e+00] [ 1.36182001e-02 3.25459694e-05 9.99907267e-01 1.01078597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.607806573999994 meters Centerline goodness [0,1] 0.9984098422396117 Centerline is valid? [True, True] Translation: X:-27.69, Y:-2.16, Z:1.01 [[ 9.98861056e-01 -4.50685162e-02 -1.56658620e-02 -2.76877103e+01] [ 4.50621030e-02 9.98983897e-01 -7.62308633e-04 -2.16213812e+00] [ 1.56843000e-02 5.55037184e-05 9.99876992e-01 1.00666232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.637806573999995 meters Centerline goodness [0,1] 0.9984098422396117 Centerline is valid? [True, True] Translation: X:-27.72, Y:-2.16, Z:1.01 [[ 9.98874994e-01 -4.47584124e-02 -1.56662358e-02 -2.77150833e+01] [ 4.47520817e-02 9.98997839e-01 -7.54611718e-04 -2.16366455e+00] [ 1.56843109e-02 5.26661101e-05 9.99876992e-01 1.00702580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.667806573999997 meters Centerline goodness [0,1] 0.9987028745972635 Centerline is valid? [True, True] Translation: X:-27.74, Y:-2.17, Z:1.01 [[ 9.98871823e-01 -4.44611060e-02 -1.66820841e-02 -2.77433844e+01] [ 4.44539488e-02 9.99011114e-01 -7.99792088e-04 -2.16526479e+00] [ 1.67011471e-02 5.73052674e-05 9.99860524e-01 1.01091793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.697806573999994 meters Centerline goodness [0,1] 0.9987270982012437 Centerline is valid? [True, True] Translation: X:-27.77, Y:-2.17, Z:1.01 [[ 9.98809411e-01 -4.58209641e-02 -1.67391951e-02 -2.77718181e+01] [ 4.58140432e-02 9.98949668e-01 -7.96899780e-04 -2.16551214e+00] [ 1.67581280e-02 2.90607945e-05 9.99859572e-01 1.00710869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.727806573999995 meters Centerline goodness [0,1] 0.9990766389658357 Centerline is valid? [True, True] Translation: X:-27.80, Y:-2.16, Z:1.01 [[ 9.98926799e-01 -4.27800879e-02 -1.77514844e-02 -2.78006744e+01] [ 4.27718960e-02 9.99084510e-01 -8.41056329e-04 -2.16269064e+00] [ 1.77712136e-02 8.08890602e-05 9.99842076e-01 1.00842344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.757806573999996 meters Centerline goodness [0,1] 0.9983323953056927 Centerline is valid? [True, True] Translation: X:-27.83, Y:-2.16, Z:1.01 [[ 9.98950434e-01 -4.21389515e-02 -1.79537916e-02 -2.78281914e+01] [ 4.21304566e-02 9.99111755e-01 -8.51292581e-04 -2.16432176e+00] [ 1.79737168e-02 9.39976553e-05 9.99838455e-01 1.00929963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.787806573999994 meters Centerline goodness [0,1] 0.9988275934261489 Centerline is valid? [True, True] Translation: X:-27.86, Y:-2.17, Z:1.01 [[ 9.98897029e-01 -4.29062606e-02 -1.90729631e-02 -2.78565595e+01] [ 4.28969537e-02 9.99079099e-01 -8.97005920e-04 -2.16544856e+00] [ 1.90938859e-02 7.78445344e-05 9.99817692e-01 1.00559527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.817806573999995 meters Centerline goodness [0,1] 0.998182539848336 Centerline is valid? [True, True] Translation: X:-27.88, Y:-2.17, Z:1.01 [[ 9.98947606e-01 -4.23423100e-02 -1.76297660e-02 -2.78844276e+01] [ 4.23342647e-02 9.99103159e-01 -8.29466062e-04 -2.16745833e+00] [ 1.76490765e-02 8.22499554e-05 9.99844240e-01 1.01230473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.847806573999996 meters Centerline goodness [0,1] 0.9984731866477035 Centerline is valid? [True, True] Translation: X:-27.91, Y:-2.17, Z:1.01 [[ 9.99034268e-01 -4.10435529e-02 -1.56830554e-02 -2.79130303e+01] [ 4.10371312e-02 9.99157355e-01 -7.31197870e-04 -2.17138219e+00] [ 1.56998511e-02 8.69041271e-05 9.99876746e-01 1.01488692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.877806573999997 meters Centerline goodness [0,1] 0.9984928725430683 Centerline is valid? [True, True] Translation: X:-27.94, Y:-2.17, Z:1.02 [[ 9.99027201e-01 -4.09229851e-02 -1.64304787e-02 -2.79409897e+01] [ 4.09159062e-02 9.99162299e-01 -7.66903440e-04 -2.17259127e+00] [ 1.64480988e-02 9.38894731e-05 9.99864716e-01 1.01672482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.907806573999995 meters Centerline goodness [0,1] 0.9987062309586411 Centerline is valid? [True, True] Translation: X:-27.97, Y:-2.17, Z:1.01 [[ 9.98989061e-01 -4.13479037e-02 -1.76410653e-02 -2.79702749e+01] [ 4.13399343e-02 9.99144806e-01 -8.16339080e-04 -2.17078040e+00] [ 1.76597327e-02 8.62333303e-05 9.99844051e-01 1.01208713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.937806573999996 meters Centerline goodness [0,1] 0.9986005806545941 Centerline is valid? [True, True] Translation: X:-28.00, Y:-2.17, Z:1.01 [[ 9.98961368e-01 -4.21832565e-02 -1.72266503e-02 -2.79987956e+01] [ 4.21758633e-02 9.99109888e-01 -7.92404849e-04 -2.17103096e+00] [ 1.72447429e-02 6.50329837e-05 9.99851296e-01 1.01499332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.967806573999997 meters Centerline goodness [0,1] 0.9986013110099787 Centerline is valid? [True, True] Translation: X:-28.03, Y:-2.18, Z:1.02 [[ 9.99041142e-01 -4.08521375e-02 -1.57448356e-02 -2.80275010e+01] [ 4.08458682e-02 9.99165200e-01 -7.19686636e-04 -2.17501269e+00] [ 1.57610926e-02 7.58850772e-05 9.99875783e-01 1.01811896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.997806573999995 meters Centerline goodness [0,1] 0.9989362589687969 Centerline is valid? [True, True] Translation: X:-28.05, Y:-2.18, Z:1.02 [[ 9.99105814e-01 -3.97656245e-02 -1.43620498e-02 -2.80548478e+01] [ 3.97602870e-02 9.99209031e-01 -6.57091423e-04 -2.17944955e+00] [ 1.43768195e-02 8.54646382e-05 9.99896645e-01 1.01741012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.027806573999996 meters Centerline goodness [0,1] 0.9990847253135856 Centerline is valid? [True, True] Translation: X:-28.08, Y:-2.18, Z:1.02 [[ 9.99130312e-01 -3.93039005e-02 -1.39220521e-02 -2.80831638e+01] [ 3.92989257e-02 9.99227300e-01 -6.30830341e-04 -2.18241059e+00] [ 1.39360886e-02 8.31600241e-05 9.99902885e-01 1.01828119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.057806573999997 meters Centerline goodness [0,1] 0.9985455149915847 Centerline is valid? [True, True] Translation: X:-28.11, Y:-2.19, Z:1.02 [[ 9.99110995e-01 -3.92884076e-02 -1.52853033e-02 -2.81106102e+01] [ 3.92823911e-02 9.99227908e-01 -6.93766613e-04 -2.18520340e+00] [ 1.53007586e-02 9.27065887e-05 9.99882932e-01 1.01641456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.087806573999995 meters Centerline goodness [0,1] 0.9985952700436095 Centerline is valid? [True, True] Translation: X:-28.14, Y:-2.18, Z:1.02 [[ 9.99106071e-01 -3.87446812e-02 -1.69088605e-02 -2.81399950e+01] [ 3.87373464e-02 9.99249137e-01 -7.61216741e-04 -2.18293748e+00] [ 1.69256574e-02 1.05531880e-04 9.99856745e-01 1.01725865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.117806573999996 meters Centerline goodness [0,1] 0.9987470503476935 Centerline is valid? [True, True] Translation: X:-28.17, Y:-2.18, Z:1.02 [[ 9.99125241e-01 -3.85355370e-02 -1.62408658e-02 -2.81683702e+01] [ 3.85288212e-02 9.99257225e-01 -7.26315824e-04 -2.18231295e+00] [ 1.62567914e-02 9.99390594e-05 9.99867845e-01 1.01868832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.147806573999997 meters Centerline goodness [0,1] 0.998833503447414 Centerline is valid? [True, True] Translation: X:-28.20, Y:-2.19, Z:1.02 [[ 9.99147156e-01 -3.87099075e-02 -1.43702588e-02 -2.81969116e+01] [ 3.87047286e-02 9.99250487e-01 -6.38426981e-04 -2.18576235e+00] [ 1.43842016e-02 8.16855334e-05 9.99896539e-01 1.02036624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.177806573999995 meters Centerline goodness [0,1] 0.9982557415175048 Centerline is valid? [True, True] Translation: X:-28.22, Y:-2.19, Z:1.02 [[ 9.99122730e-01 -3.94556927e-02 -1.40363486e-02 -2.82248843e+01] [ 3.94508336e-02 9.99221319e-01 -6.23007192e-04 -2.18790343e+00] [ 1.40499999e-02 6.87149944e-05 9.99901292e-01 1.02127308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.207806573999996 meters Centerline goodness [0,1] 0.9983881771749141 Centerline is valid? [True, True] Translation: X:-28.25, Y:-2.19, Z:1.02 [[ 9.99098564e-01 -3.94295173e-02 -1.57280880e-02 -2.82537706e+01] [ 3.94235041e-02 9.99222352e-01 -6.92309450e-04 -2.18644197e+00] [ 1.57431545e-02 7.16290381e-05 9.99876066e-01 1.02470491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.237806573999997 meters Centerline goodness [0,1] 0.998474686056959 Centerline is valid? [True, True] Translation: X:-28.28, Y:-2.19, Z:1.03 [[ 9.99066651e-01 -4.07485902e-02 -1.43310627e-02 -2.82808318e+01] [ 4.07437253e-02 9.99169430e-01 -6.31393115e-04 -2.19346321e+00] [ 1.43448881e-02 4.69029233e-05 9.99897106e-01 1.02865581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.267806573999994 meters Centerline goodness [0,1] 0.9985998787954778 Centerline is valid? [True, True] Translation: X:-28.31, Y:-2.20, Z:1.03 [[ 9.98990664e-01 -4.25493733e-02 -1.43945645e-02 -2.83080791e+01] [ 4.25447619e-02 9.99094365e-01 -6.26569426e-04 -2.20190033e+00] [ 1.44081884e-02 1.35236883e-05 9.99896197e-01 1.03010038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.297806573999996 meters Centerline goodness [0,1] 0.9987513007284079 Centerline is valid? [True, True] Translation: X:-28.34, Y:-2.20, Z:1.03 [[ 9.98938058e-01 -4.37531119e-02 -1.44367940e-02 -2.83354612e+01] [ 4.37486599e-02 9.99042374e-01 -6.24198602e-04 -2.20189994e+00] [ 1.44502796e-02 -8.05465106e-06 9.99895589e-01 1.03492994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.327806573999997 meters Centerline goodness [0,1] 0.9981072817654277 Centerline is valid? [True, True] Translation: X:-28.36, Y:-2.20, Z:1.03 [[ 9.98983070e-01 -4.26663561e-02 -1.45742480e-02 -2.83637562e+01] [ 4.26617676e-02 9.99089376e-01 -6.25731035e-04 -2.19737517e+00] [ 1.45876740e-02 3.33152970e-06 9.99893594e-01 1.02875228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.357806573999994 meters Centerline goodness [0,1] 0.998337869564314 Centerline is valid? [True, True] Translation: X:-28.39, Y:-2.20, Z:1.03 [[ 9.98958904e-01 -4.31133318e-02 -1.49113375e-02 -2.83912201e+01] [ 4.31085552e-02 9.99070188e-01 -6.41751812e-04 -2.19916173e+00] [ 1.49251408e-02 -1.72252988e-06 9.99888614e-01 1.03165585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.387806573999995 meters Centerline goodness [0,1] 0.9984151147999083 Centerline is valid? [True, True] Translation: X:-28.42, Y:-2.20, Z:1.03 [[ 9.99058939e-01 -4.08121206e-02 -1.46835445e-02 -2.84189823e+01] [ 4.08072627e-02 9.99166838e-01 -6.30429487e-04 -2.20380120e+00] [ 1.46970399e-02 3.06409570e-05 9.99891992e-01 1.03349209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.417806573999997 meters Centerline goodness [0,1] 0.9985142402745516 Centerline is valid? [True, True] Translation: X:-28.45, Y:-2.21, Z:1.03 [[ 9.99042720e-01 -4.13777297e-02 -1.41959906e-02 -2.84478767e+01] [ 4.13733358e-02 9.99143575e-01 -6.03182472e-04 -2.20595634e+00] [ 1.42087911e-02 1.52695729e-05 9.99899050e-01 1.03489038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.447806573999994 meters Centerline goodness [0,1] 0.9987269388095834 Centerline is valid? [True, True] Translation: X:-28.48, Y:-2.20, Z:1.04 [[ 9.99028357e-01 -4.17838611e-02 -1.40160912e-02 -2.84752837e+01] [ 4.17796051e-02 9.99126673e-01 -5.96448729e-04 -2.20494816e+00] [ 1.40287725e-02 1.02824369e-05 9.99901592e-01 1.03796602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.477806573999995 meters Centerline goodness [0,1] 0.9984764051510029 Centerline is valid? [True, True] Translation: X:-28.50, Y:-2.21, Z:1.04 [[ 9.99097244e-01 -4.04276270e-02 -1.30500869e-02 -2.85026788e+01] [ 4.04238402e-02 9.99182469e-01 -5.53928999e-04 -2.20665892e+00] [ 1.30618121e-02 2.58943080e-05 9.99914691e-01 1.04033241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.507806573999996 meters Centerline goodness [0,1] 0.9976968174204355 Centerline is valid? [True, True] Translation: X:-28.53, Y:-2.21, Z:1.05 [[ 9.99094764e-01 -4.07904654e-02 -1.20743578e-02 -2.85307589e+01] [ 4.07872663e-02 9.99167722e-01 -5.11180167e-04 -2.20975842e+00] [ 1.20851599e-02 1.82373814e-05 9.99926972e-01 1.04588304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.537806573999994 meters Centerline goodness [0,1] 0.9981399042782202 Centerline is valid? [True, True] Translation: X:-28.56, Y:-2.21, Z:1.05 [[ 9.99140906e-01 -3.94488412e-02 -1.26980192e-02 -2.85592580e+01] [ 3.94452710e-02 9.99221591e-01 -5.31583851e-04 -2.20865100e+00] [ 1.27091054e-02 3.02503598e-05 9.99919236e-01 1.04543310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.567806573999995 meters Centerline goodness [0,1] 0.9984372069763081 Centerline is valid? [True, True] Translation: X:-28.59, Y:-2.20, Z:1.04 [[ 9.99137438e-01 -3.83029217e-02 -1.60395289e-02 -2.85884524e+01] [ 3.82970393e-02 9.99266172e-01 -6.73850259e-04 -2.20486302e+00] [ 1.60535691e-02 5.90025517e-05 9.99871131e-01 1.04290805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.597806573999996 meters Centerline goodness [0,1] 0.9979034769071095 Centerline is valid? [True, True] Translation: X:-28.62, Y:-2.20, Z:1.04 [[ 9.99180115e-01 -3.68594104e-02 -1.67475862e-02 -2.86170626e+01] [ 3.68529101e-02 9.99320458e-01 -6.96688495e-04 -2.20392619e+00] [ 1.67618850e-02 7.89200028e-05 9.99859507e-01 1.04086554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.627806573999994 meters Centerline goodness [0,1] 0.9978534511503835 Centerline is valid? [True, True] Translation: X:-28.64, Y:-2.21, Z:1.05 [[ 9.99208957e-01 -3.72072388e-02 -1.40385588e-02 -2.86446745e+01] [ 3.72027207e-02 9.99307569e-01 -5.82936771e-04 -2.20720240e+00] [ 1.40505275e-02 6.02030602e-05 9.99901285e-01 1.04785270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.657806573999995 meters Centerline goodness [0,1] 0.9976091476091477 Centerline is valid? [True, True] Translation: X:-28.67, Y:-2.21, Z:1.05 [[ 9.99256035e-01 -3.67262873e-02 -1.17710173e-02 -2.86724991e+01] [ 3.67231036e-02 9.99325361e-01 -4.86568088e-04 -2.20898210e+00] [ 1.17809460e-02 5.39378095e-05 9.99930601e-01 1.05269849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.687806573999996 meters Centerline goodness [0,1] 0.9982090049564747 Centerline is valid? [True, True] Translation: X:-28.70, Y:-2.21, Z:1.05 [[ 9.99347854e-01 -3.42178087e-02 -1.15329259e-02 -2.87009030e+01] [ 3.42146557e-02 9.99414396e-01 -4.70643241e-04 -2.20966818e+00] [ 1.15422766e-02 7.57412241e-05 9.99933383e-01 1.04925888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.717806573999997 meters Centerline goodness [0,1] 0.9974404860995505 Centerline is valid? [True, True] Translation: X:-28.73, Y:-2.21, Z:1.05 [[ 9.99367615e-01 -3.31355006e-02 -1.28999430e-02 -2.87295217e+01] [ 3.31314962e-02 9.99450864e-01 -5.24062215e-04 -2.21325652e+00] [ 1.29102242e-02 9.63363941e-05 9.99916655e-01 1.05207407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.747806573999995 meters Centerline goodness [0,1] 0.9984118028127809 Centerline is valid? [True, True] Translation: X:-28.76, Y:-2.21, Z:1.05 [[ 9.99359722e-01 -3.28937492e-02 -1.40764600e-02 -2.87578247e+01] [ 3.28890064e-02 9.99458849e-01 -5.68351933e-04 -2.21467914e+00] [ 1.40875378e-02 1.05027246e-04 9.99900760e-01 1.04901731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.777806573999996 meters Centerline goodness [0,1] 0.9982362575064041 Centerline is valid? [True, True] Translation: X:-28.79, Y:-2.21, Z:1.06 [[ 9.99405665e-01 -3.18745281e-02 -1.31275354e-02 -2.87855532e+01] [ 3.18703044e-02 9.99491872e-01 -5.30870088e-04 -2.21027507e+00] [ 1.31377862e-02 1.12176024e-04 9.99913689e-01 1.05742958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.807806573999997 meters Centerline goodness [0,1] 0.998834862576202 Centerline is valid? [True, True] Translation: X:-28.81, Y:-2.21, Z:1.06 [[ 9.99437002e-01 -3.20875150e-02 -9.80151394e-03 -2.88145754e+01] [ 3.20852232e-02 9.99485060e-01 -3.91022820e-04 -2.21144994e+00] [ 9.80901370e-03 7.63189127e-05 9.99951888e-01 1.05924184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.837806573999995 meters Centerline goodness [0,1] 0.9982259512032226 Centerline is valid? [True, True] Translation: X:-28.84, Y:-2.22, Z:1.06 [[ 9.99410717e-01 -3.26584729e-02 -1.05661614e-02 -2.88424719e+01] [ 3.26558781e-02 9.99466567e-01 -4.18058023e-04 -2.22031617e+00] [ 1.05741782e-02 7.27643904e-05 9.99944089e-01 1.06105422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.867806573999996 meters Centerline goodness [0,1] 0.9987246498013799 Centerline is valid? [True, True] Translation: X:-28.87, Y:-2.23, Z:1.06 [[ 9.99376261e-01 -3.35104906e-02 -1.11416685e-02 -2.88697352e+01] [ 3.35076366e-02 9.99438363e-01 -4.42782863e-04 -2.22507766e+00] [ 1.11502488e-02 6.91757013e-05 9.99937832e-01 1.06031108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.897806573999997 meters Centerline goodness [0,1] 0.9981381532153466 Centerline is valid? [True, True] Translation: X:-28.90, Y:-2.23, Z:1.07 [[ 9.99349042e-01 -3.41555886e-02 -1.16141282e-02 -2.88973593e+01] [ 3.41526056e-02 9.99416526e-01 -4.55136325e-04 -2.22684717e+00] [ 1.16228971e-02 5.81873114e-05 9.99932450e-01 1.06751007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.927806573999995 meters Centerline goodness [0,1] 0.9983099649474211 Centerline is valid? [True, True] Translation: X:-28.93, Y:-2.23, Z:1.07 [[ 9.99264210e-01 -3.71578318e-02 -9.50440834e-03 -2.89255589e+01] [ 3.71559702e-02 9.99309409e-01 -3.72433877e-04 -2.22645699e+00] [ 9.51168352e-03 1.90143310e-05 9.99954763e-01 1.07218514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.957806573999996 meters Centerline goodness [0,1] 0.9979003825045735 Centerline is valid? [True, True] Translation: X:-28.95, Y:-2.23, Z:1.07 [[ 9.99259594e-01 -3.69676584e-02 -1.06609243e-02 -2.89528449e+01] [ 3.69653063e-02 9.99316462e-01 -4.17659640e-04 -2.23171760e+00] [ 1.06690770e-02 2.32660722e-05 9.99943084e-01 1.07199659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.987806573999997 meters Centerline goodness [0,1] 0.9978646345803588 Centerline is valid? [True, True] Translation: X:-28.98, Y:-2.24, Z:1.07 [[ 9.99152267e-01 -3.92077948e-02 -1.25497788e-02 -2.89809964e+01] [ 3.92047814e-02 9.99231079e-01 -4.86138254e-04 -2.24072904e+00] [ 1.25591894e-02 -6.28519638e-06 9.99921130e-01 1.07413666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.017806573999994 meters Centerline goodness [0,1] 0.9986414463371304 Centerline is valid? [True, True] Translation: X:-29.01, Y:-2.24, Z:1.08 [[ 9.99223278e-01 -3.74280601e-02 -1.23280643e-02 -2.90083416e+01] [ 3.74250711e-02 9.99299325e-01 -4.73145576e-04 -2.24317281e+00] [ 1.23371352e-02 1.13993911e-05 9.99923895e-01 1.07749293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.047806573999996 meters Centerline goodness [0,1] 0.9979947780678852 Centerline is valid? [True, True] Translation: X:-29.04, Y:-2.24, Z:1.09 [[ 9.99385012e-01 -3.37953277e-02 -9.35277561e-03 -2.90375348e+01] [ 3.37934768e-02 9.99428774e-01 -3.55908249e-04 -2.23612133e+00] [ 9.35946110e-03 3.96265644e-05 9.99956198e-01 1.09384551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.077806573999997 meters Centerline goodness [0,1] 0.9982488325550367 Centerline is valid? [True, True] Translation: X:-29.07, Y:-2.23, Z:1.10 [[ 9.99451707e-01 -3.21026115e-02 -8.10608121e-03 -2.90653133e+01] [ 3.21011569e-02 9.99484577e-01 -3.09517970e-04 -2.22821787e+00] [ 8.11183948e-03 4.91336790e-05 9.99967097e-01 1.09544648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.107806573999994 meters Centerline goodness [0,1] 0.998661311914324 Centerline is valid? [True, True] Translation: X:-29.09, Y:-2.23, Z:1.09 [[ 9.99534091e-01 -2.92784159e-02 -8.62407613e-03 -2.90939520e+01] [ 2.92767045e-02 9.99571293e-01 -3.24655372e-04 -2.22998104e+00] [ 8.62988432e-03 7.20195844e-05 9.99962759e-01 1.09168738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.137806573999995 meters Centerline goodness [0,1] 0.9987652253986857 Centerline is valid? [True, True] Translation: X:-29.12, Y:-2.24, Z:1.10 [[ 9.99587061e-01 -2.78144286e-02 -7.21565385e-03 -2.91224195e+01] [ 2.78132109e-02 9.99613102e-01 -2.69060263e-04 -2.24059731e+00] [ 7.22034589e-03 6.82586546e-05 9.99973931e-01 1.09655435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.167806573999997 meters Centerline goodness [0,1] 0.9990179895948684 Centerline is valid? [True, True] Translation: X:-29.15, Y:-2.25, Z:1.11 [[ 9.99595410e-01 -2.80309094e-02 -4.82534185e-03 -2.91503718e+01] [ 2.80303643e-02 9.99607056e-01 -1.80563148e-04 -2.24572785e+00] [ 4.82850711e-03 4.52340034e-05 9.99988342e-01 1.10571273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.197806573999994 meters Centerline goodness [0,1] 0.9983101764926774 Centerline is valid? [True, True] Translation: X:-29.18, Y:-2.24, Z:1.12 [[ 9.99676136e-01 -2.48803197e-02 -5.34716832e-03 -2.91779738e+01] [ 2.48796074e-02 9.99690435e-01 -1.99700573e-04 -2.23895551e+00] [ 5.35048164e-03 6.66004486e-05 9.99985684e-01 1.11652915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.227806573999995 meters Centerline goodness [0,1] 0.9983495247048992 Centerline is valid? [True, True] Translation: X:-29.21, Y:-2.23, Z:1.12 [[ 9.99691668e-01 -2.37445120e-02 -7.26406646e-03 -2.92074447e+01] [ 2.37431664e-02 9.99718054e-01 -2.71433217e-04 -2.23053166e+00] [ 7.26846344e-03 9.88775866e-05 9.99973579e-01 1.11927084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.257806573999996 meters Centerline goodness [0,1] 0.9989355707219335 Centerline is valid? [True, True] Translation: X:-29.23, Y:-2.23, Z:1.12 [[ 9.99693564e-01 -2.26511916e-02 -9.98505634e-03 -2.92349987e+01] [ 2.26486034e-02 9.99743418e-01 -3.72225834e-04 -2.23246297e+00] [ 9.99092572e-03 1.45964190e-04 9.99950079e-01 1.11958099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.287806573999994 meters Centerline goodness [0,1] 0.9984339437472594 Centerline is valid? [True, True] Translation: X:-29.26, Y:-2.24, Z:1.13 [[ 9.99714338e-01 -2.20361214e-02 -9.25487297e-03 -2.92636564e+01] [ 2.20339198e-02 9.99757166e-01 -3.39794965e-04 -2.23857502e+00] [ 9.26011334e-03 1.35776769e-04 9.99957115e-01 1.12779989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.317806573999995 meters Centerline goodness [0,1] 0.9991032138313625 Centerline is valid? [True, True] Translation: X:-29.29, Y:-2.24, Z:1.13 [[ 9.99749829e-01 -2.15331974e-02 -6.04981161e-03 -2.92914378e+01] [ 2.15322440e-02 9.99768130e-01 -2.22694461e-04 -2.24444704e+00] [ 6.05320416e-03 9.23727301e-05 9.99981675e-01 1.13466136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.347806573999996 meters Centerline goodness [0,1] 0.9984133942923947 Centerline is valid? [True, True] Translation: X:-29.32, Y:-2.24, Z:1.15 [[ 9.99737330e-01 -2.24442378e-02 -4.63981591e-03 -2.93199707e+01] [ 2.24437054e-02 9.99748094e-01 -1.66786152e-04 -2.24488712e+00] [ 4.64239051e-03 6.26076804e-05 9.99989222e-01 1.15191024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.377806573999994 meters Centerline goodness [0,1] 0.9992682263898471 Centerline is valid? [True, True] Translation: X:-29.35, Y:-2.25, Z:1.15 [[ 9.99723570e-01 -2.27109685e-02 -6.08244783e-03 -2.93479591e+01] [ 2.27100408e-02 9.99742069e-01 -2.21567571e-04 -2.24699294e+00] [ 6.08591100e-03 8.33736849e-05 9.99981477e-01 1.14997955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.407806573999995 meters Centerline goodness [0,1] 0.999538996689158 Centerline is valid? [True, True] Translation: X:-29.38, Y:-2.25, Z:1.16 [[ 9.99671770e-01 -2.43902627e-02 -7.84010610e-03 -2.93761737e+01] [ 2.43888135e-02 9.99702509e-01 -2.80416618e-04 -2.24983272e+00] [ 7.84461318e-03 8.91136912e-05 9.99969227e-01 1.15524081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.437806573999996 meters Centerline goodness [0,1] 0.9992264916168416 Centerline is valid? [True, True] Translation: X:-29.40, Y:-2.25, Z:1.17 [[ 9.99678340e-01 -2.49808366e-02 -4.37896578e-03 -2.94034896e+01] [ 2.49803874e-02 9.99687929e-01 -1.57238850e-04 -2.25381378e+00] [ 4.38152719e-03 4.78000109e-05 9.99990400e-01 1.17360063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.467806573999994 meters Centerline goodness [0,1] 0.9991252915694768 Centerline is valid? [True, True] Translation: X:-29.43, Y:-2.25, Z:1.18 [[ 9.99707425e-01 -2.41592910e-02 -1.18045875e-03 -2.94319637e+01] [ 2.41592587e-02 9.99708122e-01 -4.15656330e-05 -2.25370000e+00] [ 1.18111839e-03 1.30344637e-05 9.99999302e-01 1.18227702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.497806573999995 meters Centerline goodness [0,1] 0.9989819028028839 Centerline is valid? [True, True] Translation: X:-29.46, Y:-2.26, Z:1.18 [[ 9.99696553e-01 -2.43134339e-02 -3.95715683e-03 -2.94607242e+01] [ 2.43130638e-02 9.99704384e-01 -1.41600083e-04 -2.25714059e+00] [ 3.95942981e-03 4.53465083e-05 9.99992160e-01 1.18455388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.527806573999996 meters Centerline goodness [0,1] 0.9990232751454696 Centerline is valid? [True, True] Translation: X:-29.49, Y:-2.26, Z:1.19 [[ 9.99682346e-01 -2.32069106e-02 -9.83084923e-03 -2.94896383e+01] [ 2.32045558e-02 9.99730676e-01 -3.53541121e-04 -2.26252326e+00] [ 9.83640614e-03 1.25308328e-04 9.99951614e-01 1.18688267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.557806573999997 meters Centerline goodness [0,1] 0.9990232751454696 Centerline is valid? [True, True] Translation: X:-29.52, Y:-2.26, Z:1.19 [[ 9.99689574e-01 -2.28933325e-02 -9.83109020e-03 -2.95170309e+01] [ 2.28910287e-02 9.99737906e-01 -3.46818728e-04 -2.26369510e+00] [ 9.83645336e-03 1.21667299e-04 9.99951614e-01 1.18724598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.587806573999995 meters Centerline goodness [0,1] 0.9992479632337581 Centerline is valid? [True, True] Translation: X:-29.54, Y:-2.26, Z:1.20 [[ 9.99730262e-01 -2.14587360e-02 -8.88405758e-03 -2.95446387e+01] [ 2.14568271e-02 9.99769728e-01 -3.10136228e-04 -2.26313092e+00] [ 8.88866696e-03 1.19428885e-04 9.99960488e-01 1.19818849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.617806573999996 meters Centerline goodness [0,1] 0.9993100131724758 Centerline is valid? [True, True] Translation: X:-29.57, Y:-2.26, Z:1.22 [[ 9.99761402e-01 -2.17312388e-02 -2.21181085e-03 -2.95724972e+01] [ 2.17311215e-02 9.99763848e-01 -7.70568507e-05 -2.26323416e+00] [ 2.21296307e-03 2.89733347e-05 9.99997551e-01 1.21911390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.647806573999997 meters Centerline goodness [0,1] 0.9990829321161342 Centerline is valid? [True, True] Translation: X:-29.60, Y:-2.26, Z:1.24 [[ 9.99822813e-01 -1.86141291e-02 -2.80284563e-03 -2.96008986e+01] [ 1.86139284e-02 9.99826741e-01 -9.76958742e-05 -2.26031771e+00] [ 2.80417853e-03 4.55065961e-05 9.99996067e-01 1.23609697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.677806573999995 meters Centerline goodness [0,1] 0.998872133338903 Centerline is valid? [True, True] Translation: X:-29.63, Y:-2.26, Z:1.23 [[ 9.99829180e-01 -1.74046467e-02 -6.22005559e-03 -2.96296994e+01] [ 1.74036296e-02 9.99848522e-01 -2.17603492e-04 -2.26027183e+00] [ 6.22290070e-03 1.09314777e-04 9.99980632e-01 1.22812712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.707806573999996 meters Centerline goodness [0,1] 0.9991836734693877 Centerline is valid? [True, True] Translation: X:-29.66, Y:-2.26, Z:1.24 [[ 9.99827463e-01 -1.60000445e-02 -9.43625449e-03 -2.96573087e+01] [ 1.59976563e-02 9.99871975e-01 -3.28517355e-04 -2.26018043e+00] [ 9.44030271e-03 1.77502717e-04 9.99955424e-01 1.24305204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.737806573999997 meters Centerline goodness [0,1] 0.9991252004748912 Centerline is valid? [True, True] Translation: X:-29.69, Y:-2.26, Z:1.25 [[ 9.99865594e-01 -1.55592826e-02 -5.16743373e-03 -2.96855504e+01] [ 1.55585650e-02 9.99878942e-01 -1.79037673e-04 -2.26274079e+00] [ 5.16959387e-03 9.86157553e-05 9.99986633e-01 1.25393115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.767806573999994 meters Centerline goodness [0,1] 0.9997282608695652 Centerline is valid? [True, True] Translation: X:-29.71, Y:-2.26, Z:1.27 [[ 9.99881729e-01 -1.48067026e-02 -4.15810139e-03 -2.97136227e+01] [ 1.48062506e-02 9.99890372e-01 -1.39467783e-04 -2.26120955e+00] [ 4.15971060e-03 7.78853963e-05 9.99991345e-01 1.27249284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.797806573999996 meters Centerline goodness [0,1] 0.9991845439718982 Centerline is valid? [True, True] Translation: X:-29.74, Y:-2.27, Z:1.29 [[ 9.99871563e-01 -1.47048076e-02 -6.37379255e-03 -2.97412753e+01] [ 1.47037135e-02 9.99891871e-01 -2.18471329e-04 -2.26543178e+00] [ 6.37631594e-03 1.24724849e-04 9.99979663e-01 1.28792059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.827806573999997 meters Centerline goodness [0,1] 0.9995174555219872 Centerline is valid? [True, True] Translation: X:-29.77, Y:-2.26, Z:1.29 [[ 9.99883030e-01 -1.30097136e-02 -8.04197080e-03 -2.97706098e+01] [ 1.30079482e-02 9.99915356e-01 -2.71790422e-04 -2.26135614e+00] [ 8.04482601e-03 1.67149091e-04 9.99967626e-01 1.29422284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.857806573999994 meters Centerline goodness [0,1] 0.9995175769779344 Centerline is valid? [True, True] Translation: X:-29.80, Y:-2.27, Z:1.30 [[ 9.99875855e-01 -1.39282108e-02 -7.36753074e-03 -2.97984025e+01] [ 1.39267462e-02 9.99902987e-01 -2.50057621e-04 -2.26719942e+00] [ 7.37029885e-03 1.47420847e-04 9.99972828e-01 1.30425956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.887806573999995 meters Centerline goodness [0,1] 0.9989307055246881 Centerline is valid? [True, True] Translation: X:-29.83, Y:-2.27, Z:1.32 [[ 9.99840409e-01 -1.64348642e-02 -7.00367523e-03 -2.98265728e+01] [ 1.64336077e-02 9.99864931e-01 -2.36921888e-04 -2.26578217e+00] [ 7.00662303e-03 1.21788426e-04 9.99975446e-01 1.32342501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.917806573999997 meters Centerline goodness [0,1] 0.9994141401460465 Centerline is valid? [True, True] Translation: X:-29.85, Y:-2.27, Z:1.32 [[ 9.99837935e-01 -1.63909781e-02 -7.44580652e-03 -2.98547971e+01] [ 1.63895917e-02 9.99865651e-01 -2.47180600e-04 -2.27042144e+00] [ 7.44885772e-03 1.25106812e-04 9.99972249e-01 1.32159203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.947806573999994 meters Centerline goodness [0,1] 0.9995810377694451 Centerline is valid? [True, True] Translation: X:-29.88, Y:-2.28, Z:1.32 [[ 9.99785306e-01 -1.92883706e-02 -7.56975392e-03 -2.98827830e+01] [ 1.92870051e-02 9.99813956e-01 -2.53351255e-04 -2.28099559e+00] [ 7.57323235e-03 1.07298979e-04 9.99971317e-01 1.32259086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.977806573999995 meters Centerline goodness [0,1] 0.9995589995589995 Centerline is valid? [True, True] Translation: X:-29.91, Y:-2.29, Z:1.34 [[ 9.99784473e-01 -1.94291916e-02 -7.31539372e-03 -2.99098990e+01] [ 1.94279257e-02 9.99811230e-01 -2.44080262e-04 -2.28836165e+00] [ 7.31875508e-03 1.01904730e-04 9.99973212e-01 1.33668328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.007806573999996 meters Centerline goodness [0,1] 0.9992242536061724 Centerline is valid? [True, True] Translation: X:-29.94, Y:-2.28, Z:1.35 [[ 9.99751302e-01 -2.07005675e-02 -8.29585674e-03 -2.99364619e+01] [ 2.06989953e-02 9.99785715e-01 -2.75335422e-04 -2.28471142e+00] [ 8.29977866e-03 1.03551047e-04 9.99965551e-01 1.34891868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.037806573999994 meters Centerline goodness [0,1] 0.9991850892222826 Centerline is valid? [True, True] Translation: X:-29.97, Y:-2.28, Z:1.35 [[ 9.99706092e-01 -2.26807748e-02 -8.56224122e-03 -2.99650540e+01] [ 2.26792071e-02 9.99742754e-01 -2.80155929e-04 -2.28176669e+00] [ 8.56639278e-03 8.58887470e-05 9.99963304e-01 1.35474433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.067806573999995 meters Centerline goodness [0,1] 0.9991017150974535 Centerline is valid? [True, True] Translation: X:-29.99, Y:-2.29, Z:1.36 [[ 9.99648521e-01 -2.48674882e-02 -9.18927980e-03 -2.99929881e+01] [ 2.48658024e-02 9.99690754e-01 -2.97684867e-04 -2.29216229e+00] [ 9.19384072e-03 6.90814217e-05 9.99957733e-01 1.35618393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.097806573999996 meters Centerline goodness [0,1] 0.9990351741930071 Centerline is valid? [True, True] Translation: X:-30.02, Y:-2.30, Z:1.37 [[ 9.99589628e-01 -2.76473486e-02 -7.49662975e-03 -3.00210583e+01] [ 2.76463215e-02 9.99617738e-01 -2.40613499e-04 -2.30432109e+00] [ 7.50041640e-03 3.32605220e-05 9.99971871e-01 1.37433366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.127806573999994 meters Centerline goodness [0,1] 0.9994964330675619 Centerline is valid? [True, True] Translation: X:-30.05, Y:-2.30, Z:1.37 [[ 9.99581602e-01 -2.77082978e-02 -8.29891623e-03 -3.00496491e+01] [ 2.77070566e-02 9.99616051e-01 -2.64520534e-04 -2.30092480e+00] [ 8.30305928e-03 3.44713173e-05 9.99965528e-01 1.37320877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.157806573999995 meters Centerline goodness [0,1] 0.9993559244561717 Centerline is valid? [True, True] Translation: X:-30.08, Y:-2.29, Z:1.38 [[ 9.99582809e-01 -2.76627159e-02 -8.30552166e-03 -3.00775125e+01] [ 2.76614965e-02 9.99617313e-01 -2.61675559e-04 -2.29055862e+00] [ 8.30958191e-03 3.18232320e-05 9.99965474e-01 1.38308887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.187806573999996 meters Centerline goodness [0,1] 0.9992671231442511 Centerline is valid? [True, True] Translation: X:-30.10, Y:-2.29, Z:1.39 [[ 9.99516861e-01 -2.97914518e-02 -8.86077331e-03 -3.01043842e+01] [ 2.97901357e-02 9.99556136e-01 -2.80499903e-04 -2.29499153e+00] [ 8.86519684e-03 1.64007427e-05 9.99960703e-01 1.38721835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.217806573999994 meters Centerline goodness [0,1] 0.9989908334034143 Centerline is valid? [True, True] Translation: X:-30.13, Y:-2.32, Z:1.40 [[ 9.99443901e-01 -3.17012351e-02 -1.03402078e-02 -3.01320276e+01] [ 3.16995895e-02 9.99497390e-01 -3.23049303e-04 -2.31835873e+00] [ 1.03452518e-02 -4.91068721e-06 9.99946486e-01 1.39502778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.247806573999995 meters Centerline goodness [0,1] 0.9993090018217224 Centerline is valid? [True, True] Translation: X:-30.16, Y:-2.32, Z:1.40 [[ 9.99413317e-01 -3.22974170e-02 -1.13973064e-02 -3.01607836e+01] [ 3.22954863e-02 9.99478302e-01 -3.53457481e-04 -2.31868877e+00] [ 1.14027762e-02 -1.48314375e-05 9.99934986e-01 1.39519042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.277806573999996 meters Centerline goodness [0,1] 0.9994314472825286 Centerline is valid? [True, True] Translation: X:-30.19, Y:-2.31, Z:1.41 [[ 9.99457544e-01 -3.11182014e-02 -1.07830622e-02 -3.01893163e+01] [ 3.11164371e-02 9.99515711e-01 -3.31395599e-04 -2.30717135e+00] [ 1.07881525e-02 -4.31464531e-06 9.99941806e-01 1.41204983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.307806573999994 meters Centerline goodness [0,1] 0.9994747237046686 Centerline is valid? [True, True] Translation: X:-30.22, Y:-2.30, Z:1.42 [[ 9.99486026e-01 -3.07732338e-02 -8.98283757e-03 -3.02179883e+01] [ 3.07719883e-02 9.99526392e-01 -2.76860128e-04 -2.29629751e+00] [ 8.98710310e-03 2.98056260e-07 9.99959615e-01 1.41563980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.337806573999995 meters Centerline goodness [0,1] 0.9994966337381237 Centerline is valid? [True, True] Translation: X:-30.24, Y:-2.31, Z:1.42 [[ 9.99566463e-01 -2.81168893e-02 -8.73654157e-03 -3.02448028e+01] [ 2.81156256e-02 9.99604642e-01 -2.67461203e-04 -2.30890869e+00] [ 8.74060768e-03 2.17119174e-05 9.99961800e-01 1.42322225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.367806573999996 meters Centerline goodness [0,1] 0.9992450456118276 Centerline is valid? [True, True] Translation: X:-30.27, Y:-2.31, Z:1.43 [[ 9.99639433e-01 -2.51287302e-02 -9.46316069e-03 -3.02735638e+01] [ 2.51271546e-02 9.99684222e-01 -2.85369202e-04 -2.31108165e+00] [ 9.46734340e-03 4.74840052e-05 9.99955183e-01 1.42859611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.397806573999997 meters Centerline goodness [0,1] 0.9996464814506738 Centerline is valid? [True, True] Translation: X:-30.30, Y:-2.30, Z:1.43 [[ 9.99694470e-01 -2.17205638e-02 -1.17976547e-02 -3.03019491e+01] [ 2.17179028e-02 9.99764076e-01 -3.53636054e-04 -2.30266729e+00] [ 1.18025525e-02 9.73076902e-05 9.99930343e-01 1.42922951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.427806573999995 meters Centerline goodness [0,1] 0.9992858493142053 Centerline is valid? [True, True] Translation: X:-30.33, Y:-2.29, Z:1.43 [[ 9.99709045e-01 -2.02469616e-02 -1.31105182e-02 -3.03307737e+01] [ 2.02435911e-02 9.99795002e-01 -3.89754215e-04 -2.29466898e+00] [ 1.31157219e-02 1.24236845e-04 9.99913978e-01 1.42642061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.457806573999996 meters Centerline goodness [0,1] 0.9991640019227955 Centerline is valid? [True, True] Translation: X:-30.36, Y:-2.30, Z:1.44 [[ 9.99758775e-01 -1.81371932e-02 -1.23868477e-02 -3.03578902e+01] [ 1.81340230e-02 9.99835497e-01 -3.68214572e-04 -2.29724599e+00] [ 1.23914884e-02 1.43502369e-04 9.99923212e-01 1.43560741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.487806573999997 meters Centerline goodness [0,1] 0.9994752419134779 Centerline is valid? [True, True] Translation: X:-30.39, Y:-2.30, Z:1.44 [[ 9.99803332e-01 -1.65900277e-02 -1.08659006e-02 -3.03863720e+01] [ 1.65875502e-02 9.99862367e-01 -3.18102418e-04 -2.29673330e+00] [ 1.08696824e-02 1.37801187e-04 9.99940914e-01 1.44274923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.517806573999994 meters Centerline goodness [0,1] 0.9995580250031569 Centerline is valid? [True, True] Translation: X:-30.42, Y:-2.29, Z:1.45 [[ 9.99848896e-01 -1.29545386e-02 -1.15915839e-02 -3.04156431e+01] [ 1.29514964e-02 9.99916069e-01 -3.37479880e-04 -2.29347621e+00] [ 1.15949829e-02 1.87300528e-04 9.99932758e-01 1.44885806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.547806573999996 meters Centerline goodness [0,1] 0.9993491360305696 Centerline is valid? [True, True] Translation: X:-30.44, Y:-2.29, Z:1.45 [[ 9.99820295e-01 -1.06771317e-02 -1.56644847e-02 -3.04446963e+01] [ 1.06712487e-02 9.99942955e-01 -4.59100208e-04 -2.29107745e+00] [ 1.56684930e-02 2.91858093e-04 9.99877199e-01 1.44534000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.577806573999997 meters Centerline goodness [0,1] 0.9993476293693049 Centerline is valid? [True, True] Translation: X:-30.47, Y:-2.29, Z:1.46 [[ 9.99787649e-01 -1.27340706e-02 -1.62018330e-02 -3.04721969e+01] [ 1.27280821e-02 9.99918883e-01 -4.72687642e-04 -2.29049174e+00] [ 1.62065380e-02 2.66369006e-04 9.99868630e-01 1.45748431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.607806573999994 meters Centerline goodness [0,1] 0.9992665702730454 Centerline is valid? [True, True] Translation: X:-30.50, Y:-2.29, Z:1.46 [[ 9.99780703e-01 -1.52991571e-02 -1.42997167e-02 -3.05017692e+01] [ 1.52947539e-02 9.99882941e-01 -4.17241606e-04 -2.28769650e+00] [ 1.43044263e-02 1.98439458e-04 9.99897667e-01 1.45858898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.637806573999995 meters Centerline goodness [0,1] 0.9995176882588546 Centerline is valid? [True, True] Translation: X:-30.53, Y:-2.30, Z:1.47 [[ 9.99667751e-01 -2.35407254e-02 -1.04986959e-02 -3.05317853e+01] [ 2.35387983e-02 9.99722877e-01 -3.07100970e-04 -2.29967351e+00] [ 1.05030159e-02 5.98722501e-05 9.99944840e-01 1.46584146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.667806573999997 meters Centerline goodness [0,1] 0.9992647367757658 Centerline is valid? [True, True] Translation: X:-30.56, Y:-2.31, Z:1.47 [[ 9.99505471e-01 -2.97523687e-02 -1.01788710e-02 -3.05592658e+01] [ 2.97509053e-02 9.99557300e-01 -2.95185323e-04 -2.31465587e+00] [ 1.01831473e-02 -7.79128289e-06 9.99948150e-01 1.47091757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.697806573999994 meters Centerline goodness [0,1] 0.999222231564786 Centerline is valid? [True, True] Translation: X:-30.59, Y:-2.33, Z:1.47 [[ 9.99081874e-01 -4.06598182e-02 -1.34977461e-02 -3.05884748e+01] [ 4.06582307e-02 9.99173035e-01 -3.92113654e-04 -2.32719639e+00] [ 1.35025272e-02 -1.57040830e-04 9.99908824e-01 1.46959893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.727806573999995 meters Centerline goodness [0,1] 0.99895112229914 Centerline is valid? [True, True] Translation: X:-30.62, Y:-2.33, Z:1.48 [[ 9.98532500e-01 -5.26285948e-02 -1.27701670e-02 -3.06170856e+01] [ 5.26281572e-02 9.98614110e-01 -3.70547295e-04 -2.33274491e+00] [ 1.27719704e-02 -3.02066841e-04 9.99918389e-01 1.48022413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.757806573999996 meters Centerline goodness [0,1] 0.9984476610027271 Centerline is valid? [True, True] Translation: X:-30.65, Y:-2.34, Z:1.48 [[ 9.97846153e-01 -6.49159233e-02 -9.43284475e-03 -3.06469456e+01] [ 6.49162274e-02 9.97890679e-01 -2.74261331e-04 -2.33818619e+00] [ 9.43075179e-03 -3.38674082e-04 9.99955472e-01 1.47853385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.787806573999994 meters Centerline goodness [0,1] 0.9974758098443416 Centerline is valid? [True, True] Translation: X:-30.68, Y:-2.35, Z:1.49 [[ 9.97306917e-01 -7.27162457e-02 -9.55305119e-03 -3.06770547e+01] [ 7.27169179e-02 9.97352582e-01 -2.77414789e-04 -2.34507391e+00] [ 9.54793284e-03 -4.18000752e-04 9.99954330e-01 1.48665681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.817806573999995 meters Centerline goodness [0,1] 0.9977140220628329 Centerline is valid? [True, True] Translation: X:-30.71, Y:-2.35, Z:1.47 [[ 9.96855732e-01 -7.78931701e-02 -1.45363125e-02 -3.07069957e+01] [ 7.78952841e-02 9.96961457e-01 -4.21556507e-04 -2.35027356e+00] [ 1.45249797e-02 -7.12079173e-04 9.99894253e-01 1.46787180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.847806573999996 meters Centerline goodness [0,1] 0.9968011448534209 Centerline is valid? [True, True] Translation: X:-30.74, Y:-2.35, Z:1.47 [[ 9.96401880e-01 -8.34000548e-02 -1.50905477e-02 -3.07365521e+01] [ 8.34029696e-02 9.96515807e-01 -4.37175189e-04 -2.34889301e+00] [ 1.50744298e-02 -8.22994312e-04 9.99886036e-01 1.47421947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.877806573999994 meters Centerline goodness [0,1] 0.9969727547931383 Centerline is valid? [True, True] Translation: X:-30.77, Y:-2.34, Z:1.49 [[ 9.96495741e-01 -8.31696005e-02 -8.89128512e-03 -3.07667542e+01] [ 8.31706046e-02 9.96535290e-01 -2.57409579e-04 -2.33842560e+00] [ 8.88188805e-03 -4.82986010e-04 9.99960439e-01 1.48631329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.907806573999995 meters Centerline goodness [0,1] 0.9973161453930685 Centerline is valid? [True, True] Translation: X:-30.80, Y:-2.33, Z:1.48 [[ 9.96568840e-01 -8.22115285e-02 -9.58187621e-03 -3.07952351e+01] [ 8.22126673e-02 9.96614771e-01 -2.75633116e-04 -2.33393060e+00] [ 9.57209958e-03 -5.13064227e-04 9.99954055e-01 1.48418242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.937806573999996 meters Centerline goodness [0,1] 0.9972830665543386 Centerline is valid? [True, True] Translation: X:-30.82, Y:-2.32, Z:1.48 [[ 9.96945998e-01 -7.67794437e-02 -1.42686502e-02 -3.08244255e+01] [ 7.67814116e-02 9.97047866e-01 -4.10651854e-04 -2.32023050e+00] [ 1.42580568e-02 -6.86169380e-04 9.99898113e-01 1.48068529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.967806573999994 meters Centerline goodness [0,1] 0.9982529993685539 Centerline is valid? [True, True] Translation: X:-30.86, Y:-2.30, Z:1.48 [[ 9.97615259e-01 -6.73893790e-02 -1.49153310e-02 -3.08551633e+01] [ 6.73904708e-02 9.97726586e-01 -4.29963722e-04 -2.30218639e+00] [ 1.49103972e-02 -5.76212807e-04 9.99888668e-01 1.47761587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.997806573999995 meters Centerline goodness [0,1] 0.9989441675817214 Centerline is valid? [True, True] Translation: X:-30.88, Y:-2.27, Z:1.49 [[ 9.98164435e-01 -5.94708756e-02 -1.14444201e-02 -3.08848784e+01] [ 5.94709950e-02 9.98229979e-01 -3.30186281e-04 -2.27458950e+00] [ 1.14437997e-02 -3.51030849e-04 9.99934456e-01 1.48641110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.027806573999996 meters Centerline goodness [0,1] 0.9990928078651449 Centerline is valid? [True, True] Translation: X:-30.92, Y:-2.26, Z:1.49 [[ 9.98505017e-01 -5.38225766e-02 -9.53212251e-03 -3.09154052e+01] [ 5.38224072e-02 9.98550486e-01 -2.74482671e-04 -2.25797618e+00] [ 9.53307893e-03 -2.38969455e-04 9.99954531e-01 1.48801349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.057806573999994 meters Centerline goodness [0,1] 0.9997041732699419 Centerline is valid? [True, True] Translation: X:-30.94, Y:-2.25, Z:1.47 [[ 9.98702026e-01 -4.96743046e-02 -1.12573262e-02 -3.09441309e+01] [ 4.96738256e-02 9.98765442e-01 -3.22327779e-04 -2.25257349e+00] [ 1.12594398e-02 -2.37285052e-04 9.99936582e-01 1.47470420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.087806573999995 meters Centerline goodness [0,1] 0.9994497703849491 Centerline is valid? [True, True] Translation: X:-30.97, Y:-2.24, Z:1.48 [[ 9.98754176e-01 -4.80472813e-02 -1.34742518e-02 -3.09725043e+01] [ 4.80464612e-02 9.98845028e-01 -3.84754271e-04 -2.24389546e+00] [ 1.34771759e-02 -2.63115184e-04 9.99909144e-01 1.47834410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.117806573999996 meters Centerline goodness [0,1] 0.9991753187710135 Centerline is valid? [True, True] Translation: X:-31.00, Y:-2.23, Z:1.48 [[ 9.98770746e-01 -4.77609649e-02 -1.32622498e-02 -3.10004095e+01] [ 4.77602321e-02 9.98858760e-01 -3.72149072e-04 -2.22712952e+00] [ 1.32648886e-02 -2.61716523e-04 9.99911983e-01 1.48039329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.147806573999997 meters Centerline goodness [0,1] 0.9992577984180503 Centerline is valid? [True, True] Translation: X:-31.03, Y:-2.21, Z:1.48 [[ 9.98648308e-01 -5.04845318e-02 -1.23640416e-02 -3.10292538e+01] [ 5.04841397e-02 9.98724804e-01 -3.44011778e-04 -2.21452411e+00] [ 1.23656422e-02 -2.80641221e-04 9.99923503e-01 1.48060508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.177806573999995 meters Centerline goodness [0,1] 0.9986201040229276 Centerline is valid? [True, True] Translation: X:-31.06, Y:-2.22, Z:1.47 [[ 9.98501242e-01 -5.32424427e-02 -1.26693177e-02 -3.10575954e+01] [ 5.32422321e-02 9.98581564e-01 -3.54143397e-04 -2.22281341e+00] [ 1.26702025e-02 -3.20930131e-04 9.99919678e-01 1.47023595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.207806573999996 meters Centerline goodness [0,1] 0.9983854177731512 Centerline is valid? [True, True] Translation: X:-31.09, Y:-2.22, Z:1.47 [[ 9.98435782e-01 -5.43238926e-02 -1.32251018e-02 -3.10861945e+01] [ 5.43238180e-02 9.98523304e-01 -3.65139794e-04 -2.22404679e+00] [ 1.32254082e-02 -3.53869387e-04 9.99912478e-01 1.47360588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.237806573999997 meters Centerline goodness [0,1] 0.998341307814992 Centerline is valid? [True, True] Translation: X:-31.12, Y:-2.21, Z:1.48 [[ 9.98189764e-01 -5.88955986e-02 -1.21861712e-02 -3.11151092e+01] [ 5.88958562e-02 9.98264075e-01 -3.38043917e-04 -2.21482520e+00] [ 1.21849262e-02 -3.80283007e-04 9.99925689e-01 1.48333392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.267806573999994 meters Centerline goodness [0,1] 0.9977487044431229 Centerline is valid? [True, True] Translation: X:-31.14, Y:-2.20, Z:1.48 [[ 9.98144476e-01 -5.93981604e-02 -1.33963909e-02 -3.11440475e+01] [ 5.93985840e-02 9.98234278e-01 -3.66610392e-04 -2.19530585e+00] [ 1.33945125e-02 -4.29796510e-04 9.99910197e-01 1.48394435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.297806573999996 meters Centerline goodness [0,1] 0.9980458793542906 Centerline is valid? [True, True] Translation: X:-31.17, Y:-2.18, Z:1.49 [[ 9.98031160e-01 -6.10579049e-02 -1.43435112e-02 -3.11722221e+01] [ 6.10585493e-02 9.98134109e-01 -3.93396664e-04 -2.18113880e+00] [ 1.43407677e-02 -4.83171856e-04 9.99897049e-01 1.48763526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.327806573999997 meters Centerline goodness [0,1] 0.9983746444534742 Centerline is valid? [True, True] Translation: X:-31.20, Y:-2.17, Z:1.49 [[ 9.98151446e-01 -5.91508092e-02 -1.39596787e-02 -3.11996529e+01] [ 5.91512722e-02 9.98248958e-01 -3.80080581e-04 -2.17220449e+00] [ 1.39577168e-02 -4.46354774e-04 9.99902487e-01 1.48734399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.357806573999994 meters Centerline goodness [0,1] 0.9974236133290748 Centerline is valid? [True, True] Translation: X:-31.23, Y:-2.17, Z:1.49 [[ 9.98342283e-01 -5.54541447e-02 -1.54118395e-02 -3.12280526e+01] [ 5.54542724e-02 9.98461140e-01 -4.19391577e-04 -2.16788188e+00] [ 1.54113798e-02 -4.35956000e-04 9.99881143e-01 1.49329248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.387806573999995 meters Centerline goodness [0,1] 0.9975957446808511 Centerline is valid? [True, True] Translation: X:-31.26, Y:-2.16, Z:1.48 [[ 9.98373494e-01 -5.41619512e-02 -1.78002420e-02 -3.12572009e+01] [ 5.41620140e-02 9.98532046e-01 -4.78913867e-04 -2.16134990e+00] [ 1.78000509e-02 -4.85962044e-04 9.99841448e-01 1.48353294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.417806573999997 meters Centerline goodness [0,1] 0.9976765502099632 Centerline is valid? [True, True] Translation: X:-31.29, Y:-2.14, Z:1.49 [[ 9.98457625e-01 -5.17983127e-02 -1.99826194e-02 -3.12858396e+01] [ 5.17979070e-02 9.98657442e-01 -5.38233221e-04 -2.14173047e+00] [ 1.99836711e-02 -4.97654797e-04 9.99800183e-01 1.49000547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.447806573999994 meters Centerline goodness [0,1] 0.9976765502099632 Centerline is valid? [True, True] Translation: X:-31.31, Y:-2.14, Z:1.49 [[ 9.98470602e-01 -5.15474923e-02 -1.99828157e-02 -3.13132235e+01] [ 5.15471826e-02 9.98670419e-01 -5.30921328e-04 -2.14268184e+00] [ 1.99836146e-02 -4.99948509e-04 9.99800183e-01 1.49036886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.477806573999995 meters Centerline goodness [0,1] 0.9972780435938331 Centerline is valid? [True, True] Translation: X:-31.34, Y:-2.12, Z:1.49 [[ 9.98542923e-01 -5.01096210e-02 -2.00264051e-02 -3.13412110e+01] [ 5.01090064e-02 9.98743613e-01 -5.32807387e-04 -2.12444973e+00] [ 2.00279430e-02 -4.71472216e-04 9.99799309e-01 1.49084316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.507806573999996 meters Centerline goodness [0,1] 0.9973491245697672 Centerline is valid? [True, True] Translation: X:-31.37, Y:-2.11, Z:1.49 [[ 9.98752999e-01 -4.70179453e-02 -1.67857100e-02 -3.13705154e+01] [ 4.70170782e-02 9.98893986e-01 -4.46508905e-04 -2.10881714e+00] [ 1.67881387e-02 -3.43262930e-04 9.99859010e-01 1.49478570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.537806573999994 meters Centerline goodness [0,1] 0.9966319200187589 Centerline is valid? [True, True] Translation: X:-31.40, Y:-2.10, Z:1.49 [[ 9.98799785e-01 -4.44115574e-02 -2.06543798e-02 -3.13981522e+01] [ 4.44097336e-02 9.99013251e-01 -5.47195021e-04 -2.10444608e+00] [ 2.06583009e-02 -3.70717237e-04 9.99786526e-01 1.48857793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.567806573999995 meters Centerline goodness [0,1] 0.9972899146108016 Centerline is valid? [True, True] Translation: X:-31.43, Y:-2.10, Z:1.49 [[ 9.98773328e-01 -4.34949206e-02 -2.36649853e-02 -3.14268414e+01] [ 4.34922974e-02 9.99053566e-01 -6.25775534e-04 -2.10084173e+00] [ 2.36698061e-02 -4.04236667e-04 9.99719749e-01 1.48608470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.597806573999996 meters Centerline goodness [0,1] 0.9960459019211759 Centerline is valid? [True, True] Translation: X:-31.46, Y:-2.09, Z:1.48 [[ 9.98728023e-01 -4.29374069e-02 -2.64332030e-02 -3.14555506e+01] [ 4.29339821e-02 9.99077668e-01 -6.97352404e-04 -2.09256193e+00] [ 2.64387653e-02 -4.38417276e-04 9.99650339e-01 1.47853865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.627806573999994 meters Centerline goodness [0,1] 0.9969261854606423 Centerline is valid? [True, True] Translation: X:-31.48, Y:-2.08, Z:1.49 [[ 9.98842231e-01 -4.17641216e-02 -2.38737286e-02 -3.14848556e+01] [ 4.17610177e-02 9.99127430e-01 -6.28785820e-04 -2.08223741e+00] [ 2.38791578e-02 -3.68933370e-04 9.99714784e-01 1.48810197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.657806573999995 meters Centerline goodness [0,1] 0.9967351147005756 Centerline is valid? [True, True] Translation: X:-31.51, Y:-2.06, Z:1.50 [[ 9.99070165e-01 -3.75104312e-02 -2.12549659e-02 -3.15136812e+01] [ 3.75070435e-02 9.99296207e-01 -5.58151922e-04 -2.05860435e+00] [ 2.12609434e-02 -2.39578000e-04 9.99773932e-01 1.50069194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.687806573999996 meters Centerline goodness [0,1] 0.9971916180600562 Centerline is valid? [True, True] Translation: X:-31.54, Y:-2.05, Z:1.49 [[ 9.99140576e-01 -3.42528469e-02 -2.33420692e-02 -3.15426393e+01] [ 3.42480483e-02 9.99413180e-01 -6.05429581e-04 -2.04644443e+00] [ 2.33491093e-02 -1.94511052e-04 9.99727353e-01 1.48941330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.717806573999994 meters Centerline goodness [0,1] 0.9963238455585175 Centerline is valid? [True, True] Translation: X:-31.57, Y:-2.04, Z:1.48 [[ 9.99210910e-01 -3.03134066e-02 -2.56642596e-02 -3.15712989e+01] [ 3.03064538e-02 9.99540436e-01 -6.59920909e-04 -2.04107518e+00] [ 2.56724697e-02 -1.18392526e-04 9.99670401e-01 1.47779857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.747806573999995 meters Centerline goodness [0,1] 0.9963221851812023 Centerline is valid? [True, True] Translation: X:-31.60, Y:-2.04, Z:1.48 [[ 9.99230466e-01 -3.03108389e-02 -2.48943536e-02 -3.15987644e+01] [ 3.03043015e-02 9.99540514e-01 -6.39913387e-04 -2.03732522e+00] [ 2.49023114e-02 -1.14985046e-04 9.99689883e-01 1.48363513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.777806573999996 meters Centerline goodness [0,1] 0.9960112117291936 Centerline is valid? [True, True] Translation: X:-31.63, Y:-2.03, Z:1.48 [[ 9.99269239e-01 -2.96054976e-02 -2.41764670e-02 -3.16279132e+01] [ 2.95993142e-02 9.99561656e-01 -6.13655371e-04 -2.03331165e+00] [ 2.41840370e-02 -1.02399907e-04 9.99707518e-01 1.48415302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.807806573999994 meters Centerline goodness [0,1] 0.9954012565580672 Centerline is valid? [True, True] Translation: X:-31.66, Y:-2.02, Z:1.50 [[ 9.99308546e-01 -2.90083748e-02 -2.32582228e-02 -3.16562140e+01] [ 2.90024926e-02 9.99579165e-01 -5.90260980e-04 -2.02180128e+00] [ 2.32655574e-02 -8.46935910e-05 9.99729317e-01 1.49617900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.837806573999995 meters Centerline goodness [0,1] 0.9954035390591282 Centerline is valid? [True, True] Translation: X:-31.69, Y:-2.02, Z:1.48 [[ 9.99303652e-01 -2.81307225e-02 -2.45127315e-02 -3.16857537e+01] [ 2.81241019e-02 9.99604250e-01 -6.14868680e-04 -2.01713626e+00] [ 2.45203272e-02 -7.49580385e-05 9.99699329e-01 1.48343946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.867806573999996 meters Centerline goodness [0,1] 0.9953014203504537 Centerline is valid? [True, True] Translation: X:-31.71, Y:-2.01, Z:1.47 [[ 9.99282429e-01 -2.68783305e-02 -2.66867455e-02 -3.17134472e+01] [ 2.68700436e-02 9.99638711e-01 -6.69142265e-04 -2.01294144e+00] [ 2.66950893e-02 -4.84119063e-05 9.99643621e-01 1.47438233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.897806573999993 meters Centerline goodness [0,1] 0.994166791307878 Centerline is valid? [True, True] Translation: X:-31.74, Y:-2.01, Z:1.47 [[ 9.99260966e-01 -2.78610491e-02 -2.64817649e-02 -3.17419412e+01] [ 2.78534980e-02 9.99611802e-01 -6.54042035e-04 -2.00652036e+00] [ 2.64897070e-02 -8.40511098e-05 9.99649083e-01 1.47001241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.927806573999995 meters Centerline goodness [0,1] 0.995036471146791 Centerline is valid? [True, True] Translation: X:-31.77, Y:-2.00, Z:1.47 [[ 9.99252004e-01 -2.83872724e-02 -2.62601488e-02 -3.17693726e+01] [ 2.83800420e-02 9.99596995e-01 -6.48067668e-04 -1.99830898e+00] [ 2.62679627e-02 -9.76812099e-05 9.99654933e-01 1.47465707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.957806573999996 meters Centerline goodness [0,1] 0.9946278655008918 Centerline is valid? [True, True] Translation: X:-31.80, Y:-1.99, Z:1.47 [[ 9.99243106e-01 -2.74430269e-02 -2.75698163e-02 -3.17970199e+01] [ 2.74347577e-02 9.99623366e-01 -6.78222603e-04 -1.99315491e+00] [ 2.75780450e-02 -7.86619680e-05 9.99619650e-01 1.46959434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.987806573999997 meters Centerline goodness [0,1] 0.9943945460448004 Centerline is valid? [True, True] Translation: X:-31.83, Y:-1.99, Z:1.46 [[ 9.99298644e-01 -2.16880895e-02 -3.05261721e-02 -3.18267267e+01] [ 2.16755393e-02 9.99764783e-01 -7.42022766e-04 -1.98798301e+00] [ 3.05350849e-02 7.98311012e-05 9.99533692e-01 1.45513895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.017806574 meters Centerline goodness [0,1] 0.99295331844496 Centerline is valid? [True, True] Translation: X:-31.86, Y:-1.98, Z:1.45 [[ 9.99293420e-01 -1.76750458e-02 -3.31700553e-02 -3.18554351e+01] [ 1.76579894e-02 9.99843760e-01 -8.07100447e-04 -1.97673213e+00] [ 3.31791383e-02 2.20813682e-04 9.99449396e-01 1.45123913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04780657399999 meters Centerline goodness [0,1] 0.9924358338900502 Centerline is valid? [True, True] Translation: X:-31.88, Y:-1.97, Z:1.43 [[ 9.99387301e-01 -1.49078184e-02 -3.16666798e-02 -3.18841886e+01] [ 1.48909947e-02 9.99888829e-01 -7.67054951e-04 -1.96658549e+00] [ 3.16745945e-02 2.95036618e-04 9.99498191e-01 1.43381096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07780657399999 meters Centerline goodness [0,1] 0.9921180978923533 Centerline is valid? [True, True] Translation: X:-31.91, Y:-1.96, Z:1.44 [[ 9.99484226e-01 -9.55146575e-03 -3.06602657e-02 -3.19123492e+01] [ 9.53326436e-03 9.99954284e-01 -7.39776481e-04 -1.95949561e+00] [ 3.06659299e-02 4.47102506e-04 9.99529590e-01 1.43863592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.107806573999994 meters Centerline goodness [0,1] 0.991928094594005 Centerline is valid? [True, True] Translation: X:-31.94, Y:-1.96, Z:1.43 [[ 9.99534220e-01 -4.17377222e-03 -3.02311390e-02 -3.19408400e+01] [ 4.15392739e-03 9.99991114e-01 -7.19210577e-04 -1.95542037e+00] [ 3.02338722e-02 5.93297627e-04 9.99542676e-01 1.43191981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.137806573999995 meters Centerline goodness [0,1] 0.9908374684425872 Centerline is valid? [True, True] Translation: X:-31.97, Y:-1.95, Z:1.43 [[ 9.99438231e-01 1.56555984e-03 -3.34779275e-02 -3.19702147e+01] [-1.59318662e-03 9.99998412e-01 -7.98564080e-04 -1.95081458e+00] [ 3.34766242e-02 8.51452057e-04 9.99439138e-01 1.43035251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.167806574 meters Centerline goodness [0,1] 0.9910035506567626 Centerline is valid? [True, True] Translation: X:-32.00, Y:-1.94, Z:1.41 [[ 9.99348075e-01 4.03103315e-03 -3.58772442e-02 -3.20010209e+01] [-4.06428307e-03 9.99991376e-01 -8.53885943e-04 -1.94230502e+00] [ 3.58734928e-02 9.99144549e-04 9.99355840e-01 1.40936855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.197806574 meters Centerline goodness [0,1] 0.9899916961671256 Centerline is valid? [True, True] Translation: X:-32.03, Y:-1.94, Z:1.40 [[ 9.99275726e-01 5.13609841e-03 -3.77046910e-02 -3.20297075e+01] [-5.17348356e-03 9.99986218e-01 -8.94024501e-04 -1.93591068e+00] [ 3.76995796e-02 1.08844158e-03 9.99288525e-01 1.40076883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22780657399999 meters Centerline goodness [0,1] 0.9876672560190339 Centerline is valid? [True, True] Translation: X:-32.06, Y:-1.93, Z:1.38 [[ 9.99281897e-01 7.31530119e-03 -3.71776264e-02 -3.20589234e+01] [-7.35266896e-03 9.99972592e-01 -8.68487353e-04 -1.93483035e+00] [ 3.71702542e-02 1.14121847e-03 9.99308296e-01 1.38396359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.25780657399999 meters Centerline goodness [0,1] 0.9866599601985697 Centerline is valid? [True, True] Translation: X:-32.09, Y:-1.93, Z:1.37 [[ 9.99198615e-01 1.18130120e-02 -3.82436898e-02 -3.20896220e+01] [-1.18559522e-02 9.99929314e-01 -8.96200685e-04 -1.92981111e+00] [ 3.82303997e-02 1.34889784e-03 9.99268041e-01 1.37184263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.287806573999994 meters Centerline goodness [0,1] 0.9861008073314423 Centerline is valid? [True, True] Translation: X:-32.12, Y:-1.92, Z:1.36 [[ 9.99118390e-01 1.27136012e-02 -4.00100806e-02 -3.21184964e+01] [-1.27612177e-02 9.99918135e-01 -9.34934228e-04 -1.92246812e+00] [ 3.99949188e-02 1.44468733e-03 9.99198839e-01 1.36186355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.317806573999995 meters Centerline goodness [0,1] 0.986197121674662 Centerline is valid? [True, True] Translation: X:-32.15, Y:-1.92, Z:1.35 [[ 9.99142948e-01 1.13540183e-02 -3.98052253e-02 -3.21464117e+01] [-1.13998928e-02 9.99934591e-01 -9.25678825e-04 -1.92250450e+00] [ 3.97921114e-02 1.37866077e-03 9.99207029e-01 1.35267912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.347806573999996 meters Centerline goodness [0,1] 0.9854179815874813 Centerline is valid? [True, True] Translation: X:-32.18, Y:-1.92, Z:1.35 [[ 9.99086994e-01 1.40906532e-02 -4.03315218e-02 -3.21750516e+01] [-1.41398579e-02 9.99899590e-01 -9.34994593e-04 -1.92250575e+00] [ 4.03142975e-02 1.50442293e-03 9.99185916e-01 1.34551289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.377806574 meters Centerline goodness [0,1] 0.9843181917736212 Centerline is valid? [True, True] Translation: X:-32.20, Y:-1.92, Z:1.35 [[ 9.99072277e-01 1.78837670e-02 -3.91759673e-02 -3.22035555e+01] [-1.79325789e-02 9.99838798e-01 -8.94893978e-04 -1.92315154e+00] [ 3.91536480e-02 1.59658989e-03 9.99231926e-01 1.34513968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.407806574 meters Centerline goodness [0,1] 0.9819394336941074 Centerline is valid? [True, True] Translation: X:-32.23, Y:-1.91, Z:1.33 [[ 9.99015889e-01 2.21622447e-02 -3.84198900e-02 -3.22330523e+01] [-2.22119775e-02 9.99752907e-01 -8.68038971e-04 -1.91261934e+00] [ 3.83911590e-02 1.72056646e-03 9.99261306e-01 1.33014302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43780657399999 meters Centerline goodness [0,1] 0.9813816971130679 Centerline is valid? [True, True] Translation: X:-32.26, Y:-1.91, Z:1.33 [[ 9.98943169e-01 2.54742942e-02 -3.82571028e-02 -3.22618711e+01] [-2.55260417e-02 9.99673784e-01 -8.64700004e-04 -1.90882130e+00] [ 3.82225951e-02 1.84033856e-03 9.99267555e-01 1.33217119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.467806573999994 meters Centerline goodness [0,1] 0.9788982625945545 Centerline is valid? [True, True] Translation: X:-32.29, Y:-1.90, Z:1.31 [[ 9.98780008e-01 2.71183479e-02 -4.12685169e-02 -3.22923420e+01] [-2.71799166e-02 9.99630124e-01 -9.31457485e-04 -1.90051026e+00] [ 4.12279931e-02 2.05199596e-03 9.99147658e-01 1.31183344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.497806573999995 meters Centerline goodness [0,1] 0.9781495762804174 Centerline is valid? [True, True] Translation: X:-32.32, Y:-1.90, Z:1.31 [[ 9.98736897e-01 2.86630676e-02 -4.12679028e-02 -3.23204049e+01] [-2.87253790e-02 9.99586920e-01 -9.17624060e-04 -1.89871686e+00] [ 4.12245539e-02 2.10190115e-03 9.99147696e-01 1.31412654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.527806573999996 meters Centerline goodness [0,1] 0.9732041298451308 Centerline is valid? [True, True] Translation: X:-32.35, Y:-1.89, Z:1.31 [[ 9.98486213e-01 3.97959966e-02 -3.79678983e-02 -3.23510208e+01] [-3.98568420e-02 9.99205042e-01 -8.46681706e-04 -1.88985625e+00] [ 3.79040209e-02 2.35868053e-03 9.99278601e-01 1.31158787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.557806574 meters Centerline goodness [0,1] 0.9739307446482511 Centerline is valid? [True, True] Translation: X:-32.38, Y:-1.90, Z:1.31 [[ 9.98386042e-01 4.12268985e-02 -3.90596093e-02 -3.23802560e+01] [-4.12923147e-02 9.99146731e-01 -8.69178315e-04 -1.89618068e+00] [ 3.89904474e-02 2.48063718e-03 9.99236504e-01 1.30569455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.587806574 meters Centerline goodness [0,1] 0.9724938475945728 Centerline is valid? [True, True] Translation: X:-32.41, Y:-1.90, Z:1.30 [[ 9.98349735e-01 4.09165295e-02 -4.02944727e-02 -3.24092577e+01] [-4.09853210e-02 9.99159359e-01 -8.82278410e-04 -1.89566180e+00] [ 4.02244997e-02 2.53230431e-03 9.99187458e-01 1.29775354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61780657399999 meters Centerline goodness [0,1] 0.9742650266073454 Centerline is valid? [True, True] Translation: X:-32.44, Y:-1.90, Z:1.28 [[ 9.98242386e-01 3.72427043e-02 -4.60990121e-02 -3.24369323e+01] [-3.73287859e-02 9.99302530e-01 -1.00756331e-03 -1.89899731e+00] [ 4.60293351e-02 2.72661256e-03 9.98936367e-01 1.28441759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64780657399999 meters Centerline goodness [0,1] 0.9690618545494075 Centerline is valid? [True, True] Translation: X:-32.47, Y:-1.88, Z:1.27 [[ 9.98362691e-01 3.65998526e-02 -4.39589328e-02 -3.24672237e+01] [-3.66774504e-02 9.99326695e-01 -9.59722422e-04 -1.88484796e+00] [ 4.38942093e-02 2.57045264e-03 9.99032878e-01 1.27101192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.677806573999995 meters Centerline goodness [0,1] 0.9705761361422045 Centerline is valid? [True, True] Translation: X:-32.50, Y:-1.89, Z:1.28 [[ 9.98516154e-01 3.57486872e-02 -4.10794633e-02 -3.24965365e+01] [-3.58157024e-02 9.99358010e-01 -8.96324167e-04 -1.89268772e+00] [ 4.10210482e-02 2.36628399e-03 9.99155481e-01 1.27584757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.707806573999996 meters Centerline goodness [0,1] 0.9668836927602691 Centerline is valid? [True, True] Translation: X:-32.53, Y:-1.89, Z:1.27 [[ 9.98496094e-01 3.67842091e-02 -4.06506232e-02 -3.25251126e+01] [-3.68500978e-02 9.99320424e-01 -8.72491875e-04 -1.88524199e+00] [ 4.05909041e-02 2.36915917e-03 9.99173041e-01 1.26597961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.737806574 meters Centerline goodness [0,1] 0.9672569040541122 Centerline is valid? [True, True] Translation: X:-32.56, Y:-1.89, Z:1.25 [[ 9.98661789e-01 3.18216659e-02 -4.07677872e-02 -3.25552483e+01] [-3.18838997e-02 9.99491194e-01 -8.77102303e-04 -1.89088593e+00] [ 4.07191335e-02 2.17576460e-03 9.99168263e-01 1.25212024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.767806574 meters Centerline goodness [0,1] 0.9664012807753883 Centerline is valid? [True, True] Translation: X:-32.58, Y:-1.90, Z:1.25 [[ 9.98622037e-01 3.12749038e-02 -4.21415175e-02 -3.25825765e+01] [-3.13407247e-02 9.99508352e-01 -9.01978608e-04 -1.89693507e+00] [ 4.20925894e-02 2.22148141e-03 9.99111245e-01 1.25428110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.79780657399999 meters Centerline goodness [0,1] 0.965995506394746 Centerline is valid? [True, True] Translation: X:-32.61, Y:-1.90, Z:1.25 [[ 9.98613210e-01 3.21382316e-02 -4.16988045e-02 -3.26099811e+01] [-3.22032623e-02 9.99480945e-01 -8.88586651e-04 -1.89628843e+00] [ 4.16486030e-02 2.23019191e-03 9.99129831e-01 1.24784969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82780657399999 meters Centerline goodness [0,1] 0.9641761375912882 Centerline is valid? [True, True] Translation: X:-32.64, Y:-1.89, Z:1.25 [[ 9.98619858e-01 3.19068951e-02 -4.17172538e-02 -3.26382185e+01] [-3.19712286e-02 9.99488406e-01 -8.75706295e-04 -1.89444661e+00] [ 4.16679704e-02 2.20824955e-03 9.99129073e-01 1.24848665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.857806573999994 meters Centerline goodness [0,1] 0.963849451709503 Centerline is valid? [True, True] Translation: X:-32.67, Y:-1.90, Z:1.24 [[ 9.98760802e-01 2.86201825e-02 -4.07154109e-02 -3.26680764e+01] [-2.86788344e-02 9.99588310e-01 -8.57066704e-04 -1.89612431e+00] [ 4.06741194e-02 2.02367516e-03 9.99170416e-01 1.24079297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.887806573999995 meters Centerline goodness [0,1] 0.9587487483129435 Centerline is valid? [True, True] Translation: X:-32.70, Y:-1.89, Z:1.24 [[ 9.98581408e-01 3.13803032e-02 -4.30168270e-02 -3.26981503e+01] [-3.14482693e-02 9.99504972e-01 -9.04018236e-04 -1.88882710e+00] [ 4.29671641e-02 2.25554056e-03 9.99073939e-01 1.23778650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.917806574 meters Centerline goodness [0,1] 0.9575624272221503 Centerline is valid? [True, True] Translation: X:-32.73, Y:-1.89, Z:1.23 [[ 9.98650706e-01 3.16134794e-02 -4.11989779e-02 -3.27268516e+01] [-3.16759043e-02 9.99497820e-01 -8.63137965e-04 -1.89333569e+00] [ 4.11510018e-02 2.16698822e-03 9.99150589e-01 1.22807717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.947806574 meters Centerline goodness [0,1] 0.954422440826496 Centerline is valid? [True, True] Translation: X:-32.76, Y:-1.89, Z:1.23 [[ 9.98665486e-01 3.30374445e-02 -3.96960337e-02 -3.27551419e+01] [-3.30963434e-02 9.99451824e-01 -8.27330432e-04 -1.89325815e+00] [ 3.96469404e-02 2.14001991e-03 9.99211459e-01 1.22715897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.97780657399999 meters Centerline goodness [0,1] 0.9519509138832476 Centerline is valid? [True, True] Translation: X:-32.79, Y:-1.89, Z:1.22 [[ 9.98519470e-01 3.44093844e-02 -4.21291035e-02 -3.27856478e+01] [-3.44769626e-02 9.99405107e-01 -8.78346696e-04 -1.88834250e+00] [ 4.20738178e-02 2.32952980e-03 9.99111789e-01 1.22010146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00780657399999 meters Centerline goodness [0,1] 0.9522352687708715 Centerline is valid? [True, True] Translation: X:-32.81, Y:-1.89, Z:1.22 [[ 9.98595474e-01 2.99116157e-02 -4.37307134e-02 -3.28142652e+01] [-2.99800527e-02 9.99550083e-01 -9.09817056e-04 -1.88931086e+00] [ 4.36838242e-02 2.21958829e-03 9.99042940e-01 1.22012257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.037806573999994 meters Centerline goodness [0,1] 0.9490698122497913 Centerline is valid? [True, False] Translation: X:-32.85, Y:-1.89, Z:1.22 [[ 9.98548150e-01 3.17897780e-02 -4.34856490e-02 -3.28524355e+01] [-3.18343434e-02 9.99493104e-01 -3.32544992e-04 -1.88725429e+00] [ 4.34530347e-02 1.71639927e-03 9.99053996e-01 1.22083843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.067806573999995 meters Centerline goodness [0,1] 0.9474330261004393 Centerline is valid? [False, False] Translation: X:-32.88, Y:-1.89, Z:1.22 [[ 9.98787478e-01 2.84671587e-02 -4.01645867e-02 -3.28836684e+01] [-2.84364995e-02 9.99594710e-01 1.33455039e-03 -1.88662161e+00] [ 4.01862992e-02 -1.90791972e-04 9.99192186e-01 1.22455041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.097806573999996 meters Centerline goodness [0,1] 0.9435461358414395 Centerline is valid? [False, False] Translation: X:-32.92, Y:-1.88, Z:1.22 [[ 9.98802632e-01 2.90327813e-02 -3.93751275e-02 -3.29193739e+01] [-2.90499208e-02 9.99577953e-01 1.36909401e-04 -1.88481404e+00] [ 3.93624842e-02 1.00709886e-03 9.99224490e-01 1.22437581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.127806574 meters Centerline goodness [0,1] 0.9395641042191097 Centerline is valid? [False, False] Translation: X:-32.95, Y:-1.88, Z:1.22 [[ 9.98737549e-01 2.77910663e-02 -4.18445255e-02 -3.29538455e+01] [-2.79319390e-02 9.99605946e-01 -2.78557629e-03 -1.88458690e+00] [ 4.17506223e-02 3.95085837e-03 9.99120251e-01 1.22404547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.15780657399999 meters Centerline goodness [0,1] 0.9391073075520666 Centerline is valid? [False, False] Translation: X:-32.99, Y:-1.88, Z:1.22 [[ 9.98612572e-01 2.91048382e-02 -4.38843847e-02 -3.29882154e+01] [-2.92094319e-02 9.99571792e-01 -1.74391417e-03 -1.88265685e+00] [ 4.38148367e-02 3.02333255e-03 9.99035094e-01 1.22183029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18780657399999 meters Centerline goodness [0,1] 0.9355625067414518 Centerline is valid? [False, False] Translation: X:-33.02, Y:-1.88, Z:1.22 [[ 9.98510569e-01 3.14465167e-02 -4.45843080e-02 -3.30209718e+01] [-3.15662219e-02 9.99499695e-01 -1.98326099e-03 -1.88411014e+00] [ 4.44996356e-02 3.38766522e-03 9.99003657e-01 1.22271338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.217806573999994 meters Centerline goodness [0,1] 0.9334093304368399 Centerline is valid? [False, False] Translation: X:-33.05, Y:-1.88, Z:1.22 [[ 9.98505218e-01 3.29498805e-02 -4.36077324e-02 -3.30543342e+01] [-3.31436793e-02 9.99443643e-01 -3.72842484e-03 -1.88417451e+00] [ 4.34606197e-02 5.16817236e-03 9.99041773e-01 1.22306091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.247806573999995 meters Centerline goodness [0,1] 0.9294300116324157 Centerline is valid? [False, False] Translation: X:-33.09, Y:-1.88, Z:1.22 [[ 9.98486240e-01 3.29562742e-02 -4.40353549e-02 -3.30890323e+01] [-3.32586171e-02 9.99427852e-01 -6.15081052e-03 -1.88327685e+00] [ 4.38074524e-02 7.60605467e-03 9.99011039e-01 1.22376756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.277806573999996 meters Centerline goodness [0,1] 0.9266385007041491 Centerline is valid? [False, False] Translation: X:-33.12, Y:-1.88, Z:1.22 [[ 9.98455968e-01 3.34487815e-02 -4.43492879e-02 -3.31231960e+01] [-3.38528221e-02 9.99391606e-01 -8.39068219e-03 -1.88399205e+00] [ 4.40416479e-02 9.87907526e-03 9.98980849e-01 1.22431458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.307806574 meters Centerline goodness [0,1] 0.9200838719439701 Centerline is valid? [False, False] Translation: X:-33.17, Y:-1.88, Z:1.22 [[ 9.98384272e-01 3.40510220e-02 -4.54903581e-02 -3.31714621e+01] [-3.44410078e-02 9.99376164e-01 -7.81661754e-03 -1.88070164e+00] [ 4.51958158e-02 9.37072180e-03 9.98934196e-01 1.22438564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.337806574 meters Centerline goodness [0,1] 0.9185948901181687 Centerline is valid? [False, False] Translation: X:-33.18, Y:-1.88, Z:1.23 [[ 9.98538120e-01 3.00624390e-02 -4.49207327e-02 -3.31842602e+01] [-3.04614888e-02 9.99502097e-01 -8.22530941e-03 -1.87913462e+00] [ 4.46510937e-02 9.58163740e-03 9.98956692e-01 1.22652260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36780657399999 meters Centerline goodness [0,1] 0.9185948901181687 Centerline is valid? [False, False] Translation: X:-33.18, Y:-1.88, Z:1.23 [[ 9.98538120e-01 3.00624390e-02 -4.49207327e-02 -3.31842602e+01] [-3.04614888e-02 9.99502097e-01 -8.22530941e-03 -1.87913462e+00] [ 4.46510937e-02 9.58163740e-03 9.98956692e-01 1.22652260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.39780657399999 meters Centerline goodness [0,1] 0.9137515994014443 Centerline is valid? [False, False] Translation: X:-33.22, Y:-1.88, Z:1.23 [[ 9.98432535e-01 3.03345460e-02 -4.70349779e-02 -3.32195635e+01] [-3.07986589e-02 9.99483506e-01 -9.17412269e-03 -1.87966064e+00] [ 4.67323917e-02 1.06083568e-02 9.98851113e-01 1.22661988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.427806573999995 meters Centerline goodness [0,1] 0.9129123918183198 Centerline is valid? [False, False] Translation: X:-33.25, Y:-1.88, Z:1.23 [[ 9.98357255e-01 3.09190175e-02 -4.82369679e-02 -3.32536729e+01] [-3.14264473e-02 9.99458055e-01 -9.79664754e-03 -1.87989434e+00] [ 4.79079234e-02 1.12964707e-02 9.98787876e-01 1.22644243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.457806573999996 meters Centerline goodness [0,1] 0.9120251790753202 Centerline is valid? [False, False] Translation: X:-33.30, Y:-1.88, Z:1.23 [[ 9.98593040e-01 2.96884155e-02 -4.39379009e-02 -3.33014524e+01] [-3.01216714e-02 9.99503609e-01 -9.23150326e-03 -1.87977477e+00] [ 4.36420218e-02 1.05419979e-02 9.98991612e-01 1.22653568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.487806574 meters Centerline goodness [0,1] 0.9067429363841221 Centerline is valid? [False, False] Translation: X:-33.33, Y:-1.88, Z:1.23 [[ 9.98568831e-01 3.07514541e-02 -4.37565675e-02 -3.33306769e+01] [-3.13121081e-02 9.99435371e-01 -1.21856983e-02 -1.88099382e+00] [ 4.33571333e-02 1.35383689e-02 9.98967903e-01 1.22700164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.517806574 meters Centerline goodness [0,1] 0.9040932372601789 Centerline is valid? [False, False] Translation: X:-33.34, Y:-1.88, Z:1.23 [[ 9.98589641e-01 2.80894092e-02 -4.50523476e-02 -3.33373635e+01] [-2.87478773e-02 9.99488161e-01 -1.40347967e-02 -1.88125331e+00] [ 4.46350589e-02 1.53101619e-02 9.98886035e-01 1.23011243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54780657399999 meters Centerline goodness [0,1] 0.900384632006569 Centerline is valid? [False, False] Translation: X:-33.38, Y:-1.88, Z:1.23 [[ 9.98439975e-01 2.63864205e-02 -4.92074490e-02 -3.33814963e+01] [-2.71230939e-02 9.99528903e-01 -1.43635018e-02 -1.88000756e+00] [ 4.88052661e-02 1.56757527e-02 9.98685294e-01 1.22937669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.57780657399999 meters Centerline goodness [0,1] 0.8999008492477476 Centerline is valid? [False, False] Translation: X:-33.41, Y:-1.88, Z:1.23 [[ 9.98621847e-01 2.15899574e-02 -4.78359846e-02 -3.34079730e+01] [-2.22607086e-02 9.99660592e-01 -1.35337516e-02 -1.87853675e+00] [ 4.75275556e-02 1.45799629e-02 9.98763514e-01 1.23250049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.607806573999994 meters Centerline goodness [0,1] 0.8992605085625325 Centerline is valid? [False, False] Translation: X:-33.43, Y:-1.88, Z:1.24 [[ 9.98761409e-01 1.79376471e-02 -4.64099991e-02 -3.34343980e+01] [-1.86124276e-02 9.99726662e-01 -1.41484665e-02 -1.87769205e+00] [ 4.61435233e-02 1.49947451e-02 9.98822273e-01 1.23554448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.637806573999995 meters Centerline goodness [0,1] 0.8970956867490708 Centerline is valid? [False, False] Translation: X:-33.47, Y:-1.88, Z:1.24 [[ 9.98715036e-01 1.91106942e-02 -4.69367566e-02 -3.34659072e+01] [-1.98737396e-02 9.99676943e-01 -1.58443461e-02 -1.87995870e+00] [ 4.66187969e-02 1.67567956e-02 9.98772195e-01 1.23568954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.667806574 meters Centerline goodness [0,1] 0.8928210747974816 Centerline is valid? [False, False] Translation: X:-33.50, Y:-1.88, Z:1.23 [[ 9.98602651e-01 1.39689187e-02 -5.09668016e-02 -3.34972707e+01] [-1.46953278e-02 9.99795317e-01 -1.39057933e-02 -1.87591234e+00] [ 5.07621207e-02 1.46353359e-02 9.98603532e-01 1.23461231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.697806574 meters Centerline goodness [0,1] 0.8919146183699871 Centerline is valid? [False, False] Translation: X:-33.53, Y:-1.88, Z:1.23 [[ 9.98520405e-01 1.46650115e-02 -5.23635231e-02 -3.35296673e+01] [-1.54467109e-02 9.99774751e-01 -1.45549363e-02 -1.87756491e+00] [ 5.21382800e-02 1.53422451e-02 9.98522015e-01 1.23338084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72780657399999 meters Centerline goodness [0,1] 0.8929882129441734 Centerline is valid? [False, False] Translation: X:-33.56, Y:-1.88, Z:1.23 [[ 9.98551841e-01 1.55342487e-02 -5.15063791e-02 -3.35624730e+01] [-1.64427593e-02 9.99715786e-01 -1.72622092e-02 -1.87951136e+00] [ 5.12235848e-02 1.80841177e-02 9.98523464e-01 1.23450344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75780657399999 meters Centerline goodness [0,1] 0.896143903489875 Centerline is valid? [False, False] Translation: X:-33.60, Y:-1.88, Z:1.24 [[ 9.98614435e-01 1.70277903e-02 -4.97922166e-02 -3.35970265e+01] [-1.79780356e-02 9.99663512e-01 -1.86990108e-02 -1.88003328e+00] [ 4.94570593e-02 1.95682683e-02 9.98584539e-01 1.23512088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.787806573999994 meters Centerline goodness [0,1] 0.8989071038251366 Centerline is valid? [False, False] Translation: X:-33.63, Y:-1.88, Z:1.23 [[ 9.98590727e-01 1.75207848e-02 -5.00957338e-02 -3.36347932e+01] [-1.84995130e-02 9.99645639e-01 -1.91406721e-02 -1.87969800e+00] [ 4.97426222e-02 2.00404443e-02 9.98560991e-01 1.23386961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.817806573999995 meters Centerline goodness [0,1] 0.9036243289277937 Centerline is valid? [False, False] Translation: X:-33.67, Y:-1.88, Z:1.23 [[ 9.98446132e-01 1.67883110e-02 -5.31363710e-02 -3.36727663e+01] [-1.79213430e-02 9.99620540e-01 -2.09189124e-02 -1.87929713e+00] [ 5.27650147e-02 2.18386823e-02 9.98368131e-01 1.23258042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.847806573999996 meters Centerline goodness [0,1] 0.9063757082918811 Centerline is valid? [False, False] Translation: X:-33.71, Y:-1.88, Z:1.23 [[ 9.98361115e-01 1.59351823e-02 -5.49650255e-02 -3.37121693e+01] [-1.72193860e-02 9.99587849e-01 -2.29700758e-02 -1.88082148e+00] [ 5.45763393e-02 2.38788945e-02 9.98224034e-01 1.23241117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.877806574 meters Centerline goodness [0,1] 0.9126611199724102 Centerline is valid? [False, False] Translation: X:-33.75, Y:-1.88, Z:1.23 [[ 9.98477038e-01 1.65777778e-02 -5.26192173e-02 -3.37526306e+01] [-1.77643803e-02 9.99596517e-01 -2.21637051e-02 -1.88190352e+00] [ 5.22305614e-02 2.30646984e-02 9.98368663e-01 1.23301475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90780657399999 meters Centerline goodness [0,1] 0.915825569358178 Centerline is valid? [False, False] Translation: X:-33.79, Y:-1.89, Z:1.23 [[ 9.98586915e-01 1.71589842e-02 -5.02965492e-02 -3.37903881e+01] [-1.83650360e-02 9.99552416e-01 -2.36155467e-02 -1.88502573e+00] [ 4.98688185e-02 2.45058739e-02 9.98455088e-01 1.23481444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.93780657399999 meters Centerline goodness [0,1] 0.9233255057414309 Centerline is valid? [False, False] Translation: X:-33.83, Y:-1.88, Z:1.23 [[ 9.98578318e-01 1.63084890e-02 -5.07481666e-02 -3.38274772e+01] [-1.76855300e-02 9.99484221e-01 -2.68050947e-02 -1.88457177e+00] [ 5.02848412e-02 2.76644946e-02 9.98351697e-01 1.23483795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.967806573999994 meters Centerline goodness [0,1] 0.9280377252858466 Centerline is valid? [False, False] Translation: X:-33.86, Y:-1.89, Z:1.24 [[ 9.98597109e-01 1.70413322e-02 -5.01338895e-02 -3.38621421e+01] [-1.85668313e-02 9.99373779e-01 -3.01218110e-02 -1.88693711e+00] [ 4.95891788e-02 3.10103809e-02 9.98288170e-01 1.23591321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.997806573999995 meters Centerline goodness [0,1] 0.9314493564633464 Centerline is valid? [False, False] Translation: X:-33.90, Y:-1.89, Z:1.24 [[ 9.98662043e-01 1.99021001e-02 -4.77287086e-02 -3.38950314e+01] [-2.13609117e-02 9.99314032e-01 -3.02518944e-02 -1.88878071e+00] [ 4.70938920e-02 3.12309474e-02 9.98402120e-01 1.23795125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.027806573999996 meters Centerline goodness [0,1] 0.9367230180238311 Centerline is valid? [False, False] Translation: X:-33.93, Y:-1.89, Z:1.24 [[ 9.98626785e-01 2.20992811e-02 -4.74991249e-02 -3.39284903e+01] [-2.35274683e-02 9.99281276e-01 -2.97218582e-02 -1.88839624e+00] [ 4.68081545e-02 3.07985778e-02 9.98428988e-01 1.23747672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.057806574 meters Centerline goodness [0,1] 0.9416625528535554 Centerline is valid? [False, False] Translation: X:-33.96, Y:-1.89, Z:1.24 [[ 9.98406539e-01 2.21510651e-02 -5.19009927e-02 -3.39558440e+01] [-2.39257855e-02 9.99141302e-01 -3.38262633e-02 -1.89064875e+00] [ 5.11071376e-02 3.50141345e-02 9.98079191e-01 1.23609693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.087806574 meters Centerline goodness [0,1] 0.9451432263622658 Centerline is valid? [False, False] Translation: X:-33.98, Y:-1.89, Z:1.24 [[ 9.98136877e-01 2.42808346e-02 -5.59751387e-02 -3.39774058e+01] [-2.64910599e-02 9.98884556e-01 -3.90879446e-02 -1.89311375e+00] [ 5.49636136e-02 4.04979597e-02 9.97666736e-01 1.23732479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.11780657399999 meters Centerline goodness [0,1] 0.948325976961998 Centerline is valid? [False, False] Translation: X:-33.99, Y:-1.89, Z:1.24 [[ 9.98190548e-01 2.37229395e-02 -5.52526225e-02 -3.39914513e+01] [-2.58493869e-02 9.98939743e-01 -3.80946000e-02 -1.89156295e+00] [ 5.42903246e-02 3.94539160e-02 9.97745433e-01 1.24107282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14780657399999 meters Centerline goodness [0,1] 0.9504777892561983 Centerline is valid? [False, True] Translation: X:-34.01, Y:-1.89, Z:1.24 [[ 9.98371943e-01 2.24907521e-02 -5.24178312e-02 -3.40080874e+01] [-2.43873869e-02 9.99060337e-01 -3.58287336e-02 -1.89016798e+00] [ 5.15627609e-02 3.70487363e-02 9.97982301e-01 1.24452694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.177806573999995 meters Centerline goodness [0,1] 0.9524444540038285 Centerline is valid? [True, True] Translation: X:-34.04, Y:-1.80, Z:1.22 [[ 9.98410601e-01 2.31999878e-02 -5.13617773e-02 -3.40377411e+01] [-2.32754490e-02 9.99728710e-01 -8.71486175e-04 -1.80238554e+00] [ 5.13276249e-02 2.06556946e-03 9.98679733e-01 1.21938975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.207806573999996 meters Centerline goodness [0,1] 0.9592407678402342 Centerline is valid? [True, True] Translation: X:-34.07, Y:-1.80, Z:1.22 [[ 9.98264621e-01 2.47806016e-02 -5.34197424e-02 -3.40660446e+01] [-2.48639803e-02 9.99690441e-01 -8.96696645e-04 -1.80269529e+00] [ 5.33809852e-02 2.22336796e-03 9.98571744e-01 1.21690640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.237806574 meters Centerline goodness [0,1] 0.9627260083449235 Centerline is valid? [True, True] Translation: X:-34.09, Y:-1.81, Z:1.21 [[ 9.98166965e-01 2.42885999e-02 -5.54326073e-02 -3.40942299e+01] [-2.43771172e-02 9.99702410e-01 -9.21139442e-04 -1.80636987e+00] [ 5.53937379e-02 2.27073812e-03 9.98462006e-01 1.21474519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.267806574 meters Centerline goodness [0,1] 0.9663396226415094 Centerline is valid? [True, True] Translation: X:-34.12, Y:-1.81, Z:1.22 [[ 9.98147133e-01 2.33477413e-02 -5.61888242e-02 -3.41227213e+01] [-2.34363683e-02 9.99724908e-01 -9.18781490e-04 -1.81353370e+00] [ 5.61519157e-02 2.23394109e-03 9.98419737e-01 1.21657425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.29780657399999 meters Centerline goodness [0,1] 0.9705175521414471 Centerline is valid? [True, True] Translation: X:-34.15, Y:-1.80, Z:1.22 [[ 9.98281993e-01 2.20057027e-02 -5.43029602e-02 -3.41528953e+01] [-2.20860413e-02 9.99755687e-01 -8.79711920e-04 -1.80462279e+00] [ 5.42703346e-02 2.07753799e-03 9.98524118e-01 1.21769897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32780657399999 meters Centerline goodness [0,1] 0.9748704663212435 Centerline is valid? [True, True] Translation: X:-34.18, Y:-1.81, Z:1.23 [[ 9.98310772e-01 2.31039138e-02 -5.33086501e-02 -3.41804056e+01] [-2.31827088e-02 9.99730875e-01 -8.60122119e-04 -1.81379625e+00] [ 5.32744312e-02 2.09450809e-03 9.98577713e-01 1.23046038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.357806573999994 meters Centerline goodness [0,1] 0.9784262591866204 Centerline is valid? [True, True] Translation: X:-34.21, Y:-1.81, Z:1.22 [[ 9.98358172e-01 2.11769713e-02 -5.32211925e-02 -3.42090487e+01] [-2.12522688e-02 9.99773784e-01 -8.49200561e-04 -1.81302465e+00] [ 5.31911695e-02 1.97887741e-03 9.98582387e-01 1.22284141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.387806573999995 meters Centerline goodness [0,1] 0.9823987605973232 Centerline is valid? [True, True] Translation: X:-34.24, Y:-1.81, Z:1.22 [[ 9.98290876e-01 1.89879424e-02 -5.52701153e-02 -3.42372601e+01] [-1.90652238e-02 9.99817862e-01 -8.71266491e-04 -1.81420590e+00] [ 5.52435049e-02 1.92351451e-03 9.98471059e-01 1.22131688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.417806574 meters Centerline goodness [0,1] 0.9850582384222878 Centerline is valid? [True, True] Translation: X:-34.27, Y:-1.81, Z:1.22 [[ 9.98063487e-01 2.04484364e-02 -5.87463780e-02 -3.42669954e+01] [-2.05380537e-02 9.99788647e-01 -9.22046565e-04 -1.81479485e+00] [ 5.87151074e-02 2.12679728e-03 9.98272514e-01 1.22383194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.447806574 meters Centerline goodness [0,1] 0.98595089256944 Centerline is valid? [True, True] Translation: X:-34.29, Y:-1.82, Z:1.22 [[ 9.98033125e-01 2.04165269e-02 -5.92709693e-02 -3.42949298e+01] [-2.05074652e-02 9.99789271e-01 -9.26339957e-04 -1.81601311e+00] [ 5.92395666e-02 2.14001530e-03 9.98241501e-01 1.22469682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.47780657399999 meters Centerline goodness [0,1] 0.9895281189398837 Centerline is valid? [True, True] Translation: X:-34.32, Y:-1.82, Z:1.23 [[ 9.97982853e-01 2.16146469e-02 -5.96911445e-02 -3.43235991e+01] [-2.17083701e-02 9.99763920e-01 -9.22030207e-04 -1.81576410e+00] [ 5.96571233e-02 2.21596779e-03 9.98216468e-01 1.22731889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50780657399999 meters Centerline goodness [0,1] 0.9906993727983504 Centerline is valid? [True, True] Translation: X:-34.35, Y:-1.82, Z:1.23 [[ 9.97910616e-01 2.28111228e-02 -6.04487878e-02 -3.43527620e+01] [-2.29085072e-02 9.99737144e-01 -9.18393341e-04 -1.81878254e+00] [ 6.04119489e-02 2.30126595e-03 9.98170877e-01 1.23151190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.537806573999994 meters Centerline goodness [0,1] 0.9944064636420137 Centerline is valid? [True, True] Translation: X:-34.38, Y:-1.82, Z:1.24 [[ 9.97662095e-01 2.48876409e-02 -6.36470750e-02 -3.43813422e+01] [-2.49992516e-02 9.99687011e-01 -9.57693903e-04 -1.82154560e+00] [ 6.36033195e-02 2.54658415e-03 9.97972010e-01 1.23848511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.567806573999995 meters Centerline goodness [0,1] 0.9958275382475661 Centerline is valid? [True, True] Translation: X:-34.41, Y:-1.82, Z:1.24 [[ 9.97523919e-01 2.48037559e-02 -6.58088548e-02 -3.44090017e+01] [-2.49225679e-02 9.99688899e-01 -9.84945533e-04 -1.82050730e+00] [ 6.57639513e-02 2.62263238e-03 9.97831762e-01 1.23756937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.597806573999996 meters Centerline goodness [0,1] 0.9967077657994965 Centerline is valid? [True, True] Translation: X:-34.44, Y:-1.82, Z:1.24 [[ 9.97514478e-01 2.49955153e-02 -6.58793616e-02 -3.44364618e+01] [-2.51140541e-02 9.99684120e-01 -9.71666634e-04 -1.81527310e+00] [ 6.58342643e-02 2.62374938e-03 9.97827122e-01 1.23812981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.627806574 meters Centerline goodness [0,1] 0.9974884080370943 Centerline is valid? [True, True] Translation: X:-34.46, Y:-1.82, Z:1.24 [[ 9.97730605e-01 2.45170141e-02 -6.27101004e-02 -3.44648227e+01] [-2.46227620e-02 9.99696396e-01 -9.13929405e-04 -1.81855794e+00] [ 6.26686545e-02 2.45595122e-03 9.98031366e-01 1.24477577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.65780657399999 meters Centerline goodness [0,1] 0.9984323999312833 Centerline is valid? [True, True] Translation: X:-34.49, Y:-1.83, Z:1.25 [[ 9.97861925e-01 2.31723370e-02 -6.11115514e-02 -3.44928002e+01] [-2.32699442e-02 9.99728826e-01 -8.85889691e-04 -1.82807529e+00] [ 6.10744514e-02 2.30605798e-03 9.98130549e-01 1.24711263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68780657399999 meters Centerline goodness [0,1] 0.9982564146719477 Centerline is valid? [True, True] Translation: X:-34.52, Y:-1.83, Z:1.24 [[ 9.97738446e-01 2.06499738e-02 -6.39653938e-02 -3.45205800e+01] [-2.07508821e-02 9.99784260e-01 -9.13526800e-04 -1.82863337e+00] [ 6.39327296e-02 2.23879916e-03 9.97951699e-01 1.23568041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.717806573999994 meters Centerline goodness [0,1] 0.9986097743556839 Centerline is valid? [True, True] Translation: X:-34.55, Y:-1.83, Z:1.22 [[ 9.97564924e-01 1.82642436e-02 -6.73100207e-02 -3.45490633e+01] [-1.83692476e-02 9.99830828e-01 -9.41363597e-04 -1.82533606e+00] [ 6.72814404e-02 2.17550574e-03 9.97731665e-01 1.22291414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.747806573999995 meters Centerline goodness [0,1] 0.9984940731019942 Centerline is valid? [True, True] Translation: X:-34.58, Y:-1.82, Z:1.21 [[ 9.97650419e-01 1.40193904e-02 -6.70604131e-02 -3.45777928e+01] [-1.41133853e-02 9.99899971e-01 -9.28069060e-04 -1.82347909e+00] [ 6.70406941e-02 1.87233794e-03 9.97748485e-01 1.21181594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.777806573999996 meters Centerline goodness [0,1] 0.9989837618110662 Centerline is valid? [True, True] Translation: X:-34.61, Y:-1.83, Z:1.22 [[ 9.97957842e-01 1.36093046e-02 -6.24093938e-02 -3.46074866e+01] [-1.36896397e-02 9.99905923e-01 -8.59791616e-04 -1.82616289e+00] [ 6.23918213e-02 1.71239790e-03 9.98050263e-01 1.22091349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.807806574 meters Centerline goodness [0,1] 0.9994824797843666 Centerline is valid? [True, True] Translation: X:-34.64, Y:-1.83, Z:1.22 [[ 9.98168952e-01 1.42809841e-02 -5.87775266e-02 -3.46369559e+01] [-1.43532060e-02 9.99896662e-01 -8.06706311e-04 -1.82882888e+00] [ 5.87599321e-02 1.64887514e-03 9.98270781e-01 1.21840062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 786.90 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%| | 0/1161 [00:00