+ python -m lidar_slam --no-model /working/fc071ed3-786a-4448-952c-097abdcf9849 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/fc071ed3-786a-4448-952c-097abdcf9849 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 0.00528557 Adjusted end_distance from 9.223372036854776e+18 to 42.00672557 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00528557 meters Centerline goodness [0,1] 0.9821519321854736 Centerline is valid? [0, True] SLAMing on 0.03528557 meters Centerline goodness [0,1] 0.9490929890504984 Centerline is valid? [True, False] Translation: X:-0.06, Y:-0.00, Z:0.00 [[ 0.99998747 -0.0048969 -0.00103578 -0.0625644 ] [ 0.00490091 0.99998036 0.00390772 -0.00395672] [ 0.00101662 -0.00391275 0.99999183 0.00420835] [ 0. 0. 0. 1. ]] SLAMing on 0.06528557 meters Centerline goodness [0,1] 0.9784761084804132 Centerline is valid? [False, True] Translation: X:-0.10, Y:-0.01, Z:0.01 [[ 0.9999791 -0.00560468 -0.00322353 -0.10246983] [ 0.00561978 0.99997319 0.00469476 -0.00779426] [ 0.00319713 -0.00471278 0.99998378 0.0068833 ] [ 0. 0. 0. 1. ]] SLAMing on 0.09528557000000001 meters Centerline goodness [0,1] 0.9750644356257415 Centerline is valid? [True, True] Translation: X:-0.13, Y:-0.02, Z:0.01 [[ 9.99975609e-01 -5.54942462e-03 -4.24089718e-03 -1.32233874e-01] [ 5.55112468e-03 9.99984517e-01 3.89206081e-04 -1.62562796e-02] [ 4.23867165e-03 -4.12738337e-04 9.99990932e-01 6.00080054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12528557 meters Centerline goodness [0,1] 0.9755258361152641 Centerline is valid? [True, True] Translation: X:-0.16, Y:-0.02, Z:0.00 [[ 9.99981371e-01 -4.25130310e-03 -4.38001358e-03 -1.62239747e-01] [ 4.25310332e-03 9.99990875e-01 4.01777372e-04 -2.16317487e-02] [ 4.37826553e-03 -4.20398537e-04 9.99990327e-01 4.64547183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15528557 meters Centerline goodness [0,1] 0.9696200458565346 Centerline is valid? [True, True] Translation: X:-0.19, Y:-0.03, Z:0.01 [[ 9.99996515e-01 -2.63959772e-03 4.32889893e-05 -1.93857089e-01] [ 2.63959789e-03 9.99996516e-01 -3.92367543e-06 -3.48966451e-02] [-4.32784816e-05 4.03792728e-06 9.99999999e-01 1.22328540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18528557 meters Centerline goodness [0,1] 0.9584492066088663 Centerline is valid? [True, True] Translation: X:-0.23, Y:-0.05, Z:0.02 [[ 9.99990589e-01 -3.86448197e-03 1.97169272e-03 -2.25254520e-01] [ 3.86484518e-03 9.99992515e-01 -1.80434866e-04 -4.57987655e-02] [-1.97098067e-03 1.88053455e-04 9.99998040e-01 1.73454285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21528557 meters Centerline goodness [0,1] 0.980443952983577 Centerline is valid? [True, True] Translation: X:-0.25, Y:-0.04, Z:0.02 [[ 9.99985568e-01 -5.07891869e-03 1.75165724e-03 -2.54863495e-01] [ 5.07920830e-03 9.99987088e-01 -1.60926519e-04 -3.51840105e-02] [-1.75081729e-03 1.69821229e-04 9.99998453e-01 2.23684570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24528557 meters Centerline goodness [0,1] 0.9683047337884658 Centerline is valid? [True, True] Translation: X:-0.29, Y:-0.05, Z:0.02 [[ 9.99965048e-01 -8.27726897e-03 1.17846751e-03 -2.86770141e-01] [ 8.27740207e-03 9.99965736e-01 -1.08107656e-04 -4.68968040e-02] [-1.17753229e-03 1.17858527e-04 9.99999300e-01 2.35893466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27528557000000003 meters Centerline goodness [0,1] 0.9489439853076217 Centerline is valid? [True, False] Translation: X:-0.33, Y:-0.05, Z:0.03 [[ 9.99957194e-01 -9.24299100e-03 4.20452962e-04 -3.29621066e-01] [ 9.24197572e-03 9.99954517e-01 2.35577482e-03 -5.40900444e-02] [-4.42208244e-04 -2.35178817e-03 9.99997137e-01 2.68640182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30528557000000006 meters Centerline goodness [0,1] 0.9725764263527873 Centerline is valid? [False, True] Translation: X:-0.36, Y:-0.06, Z:0.03 [[ 0.99998498 -0.00457773 0.00301522 -0.35538459] [ 0.00457454 0.99998897 0.00106516 -0.05909365] [-0.00302007 -0.00105135 0.99999489 0.03155522] [ 0. 0. 0. 1. ]] SLAMing on 0.33528557000000003 meters Centerline goodness [0,1] 0.9614021429595788 Centerline is valid? [True, True] Translation: X:-0.39, Y:-0.07, Z:0.04 [[ 9.99989440e-01 -4.93049632e-04 4.56912624e-03 -3.86707790e-01] [ 4.95063446e-04 9.99999781e-01 -4.39623335e-04 -6.92434348e-02] [-4.56890848e-03 4.41880700e-04 9.99989465e-01 3.73267268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36528557000000006 meters Centerline goodness [0,1] 0.970294195817063 Centerline is valid? [True, True] Translation: X:-0.42, Y:-0.07, Z:0.04 [[ 9.99966882e-01 6.01006170e-03 5.48770000e-03 -4.16056418e-01] [-6.00725669e-03 9.99981817e-01 -5.27484551e-04 -7.04644115e-02] [-5.49077044e-03 4.94501059e-04 9.99984803e-01 3.53477634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39528557000000003 meters Centerline goodness [0,1] 0.9876717082032127 Centerline is valid? [True, True] Translation: X:-0.44, Y:-0.06, Z:0.04 [[ 9.99907468e-01 1.24186800e-02 5.55265158e-03 -4.44489825e-01] [-1.24158986e-02 9.99922777e-01 -5.35101442e-04 -6.23442931e-02] [-5.55886804e-03 4.66110769e-04 9.99984441e-01 3.82809374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42528557000000006 meters Centerline goodness [0,1] 0.9857924389646444 Centerline is valid? [True, True] Translation: X:-0.48, Y:-0.07, Z:0.04 [[ 9.99862622e-01 1.56198982e-02 5.54584740e-03 -4.75186173e-01] [-1.56171786e-02 9.99877902e-01 -5.33348294e-04 -6.58935482e-02] [-5.55350111e-03 4.46664534e-04 9.99984479e-01 4.21935625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45528557000000003 meters Centerline goodness [0,1] 0.9842445379013232 Centerline is valid? [True, True] Translation: X:-0.51, Y:-0.08, Z:0.04 [[ 9.99825123e-01 1.80654038e-02 4.83377538e-03 -5.07039792e-01] [-1.80633665e-02 9.99836736e-01 -4.64812034e-04 -7.62913888e-02] [-4.84138321e-03 3.77416493e-04 9.99988209e-01 3.97838507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48528557000000005 meters Centerline goodness [0,1] 0.9754861737917453 Centerline is valid? [True, True] Translation: X:-0.54, Y:-0.09, Z:0.04 [[ 9.99819152e-01 1.86167806e-02 3.88318169e-03 -5.37939786e-01] [-1.86154731e-02 9.99826648e-01 -3.72579884e-04 -9.22773288e-02] [-3.88944477e-03 3.00225239e-04 9.99992391e-01 3.87963526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.51528557 meters Centerline goodness [0,1] 0.9805982049761822 Centerline is valid? [True, True] Translation: X:-0.57, Y:-0.09, Z:0.04 [[ 9.99833488e-01 1.73801804e-02 5.56103170e-03 -5.66237502e-01] [-1.73774817e-02 9.99848858e-01 -5.33248054e-04 -9.47837423e-02] [-5.56945914e-03 4.36522535e-04 9.99984395e-01 4.42299592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.54528557 meters Centerline goodness [0,1] 0.980120543467157 Centerline is valid? [True, True] Translation: X:-0.60, Y:-0.10, Z:0.05 [[ 9.99874038e-01 1.42646889e-02 6.95892024e-03 -5.95892559e-01] [-1.42603687e-02 9.99898091e-01 -6.70037260e-04 -1.01495427e-01] [-6.96776894e-03 5.70716092e-04 9.99975562e-01 4.83555695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.57528557 meters Centerline goodness [0,1] 0.9769431850671895 Centerline is valid? [True, True] Translation: X:-0.63, Y:-0.11, Z:0.05 [[ 9.99910812e-01 1.17025518e-02 6.43564896e-03 -6.27940876e-01] [-1.16988001e-02 9.99931374e-01 -6.20297591e-04 -1.09457306e-01] [-6.44246637e-03 5.44952897e-04 9.99979099e-01 5.13806045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.60528557 meters Centerline goodness [0,1] 0.9747359786732287 Centerline is valid? [True, True] Translation: X:-0.66, Y:-0.12, Z:0.05 [[ 9.99949301e-01 8.89893688e-03 4.71212600e-03 -6.59912747e-01] [-8.89689446e-03 9.99960319e-01 -4.54224352e-04 -1.19251616e-01] [-4.71598113e-03 4.12278036e-04 9.99988795e-01 5.01842874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.63528557 meters Centerline goodness [0,1] 0.9719928039905144 Centerline is valid? [True, True] Translation: X:-0.69, Y:-0.13, Z:0.05 [[ 9.99964841e-01 5.91462387e-03 5.94430595e-03 -6.90627513e-01] [-5.91132522e-03 9.99982364e-01 -5.72342224e-04 -1.26162824e-01] [-5.94758631e-03 5.37183375e-04 9.99982169e-01 5.38225651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.66528557 meters Centerline goodness [0,1] 0.9682614486220674 Centerline is valid? [True, True] Translation: X:-0.72, Y:-0.14, Z:0.06 [[ 9.99966403e-01 4.05758219e-03 7.12237908e-03 -7.22862519e-01] [-4.05279446e-03 9.99991552e-01 -6.86513002e-04 -1.36803668e-01] [-7.12510449e-03 6.57624399e-04 9.99974400e-01 5.57737648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.69528557 meters Centerline goodness [0,1] 0.9725974132285528 Centerline is valid? [True, True] Translation: X:-0.76, Y:-0.14, Z:0.06 [[ 9.99948507e-01 3.36386222e-03 9.57436178e-03 -7.55550495e-01] [-3.35517915e-03 9.99993946e-01 -9.22826017e-04 -1.39848419e-01] [-9.57740808e-03 8.90654799e-04 9.99953739e-01 5.87489409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.72528557 meters Centerline goodness [0,1] 0.9672353979428293 Centerline is valid? [True, True] Translation: X:-0.79, Y:-0.15, Z:0.06 [[ 0.99992834 0.00340257 0.01147739 -0.78778703] [-0.0033901 0.99999364 -0.00110621 -0.1452385 ] [-0.01148108 0.00106722 0.99993352 0.06257381] [ 0. 0. 0. 1. ]] SLAMing on 0.7552855700000001 meters Centerline goodness [0,1] 0.965742918498824 Centerline is valid? [True, True] Translation: X:-0.82, Y:-0.15, Z:0.06 [[ 9.99947189e-01 4.49203694e-03 9.24341448e-03 -8.20619459e-01] [-4.48401902e-03 9.99989552e-01 -8.87960513e-04 -1.52062676e-01] [-9.24730666e-03 8.46465973e-04 9.99956884e-01 6.21069519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.78528557 meters Centerline goodness [0,1] 0.9761394047108333 Centerline is valid? [True, True] Translation: X:-0.85, Y:-0.15, Z:0.06 [[ 9.99957519e-01 4.75229675e-03 7.89778771e-03 -8.51554132e-01] [-4.74645582e-03 9.99988448e-01 -7.58145593e-04 -1.51314109e-01] [-7.90129941e-03 7.20626886e-04 9.99968525e-01 6.03173050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.81528557 meters Centerline goodness [0,1] 0.9718500307314075 Centerline is valid? [True, True] Translation: X:-0.88, Y:-0.16, Z:0.06 [[ 9.99953342e-01 6.74343588e-03 6.91664481e-03 -8.83553243e-01] [-6.73900815e-03 9.99977073e-01 -6.63261848e-04 -1.64600501e-01] [-6.92095890e-03 6.16619576e-04 9.99975860e-01 6.20118998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.84528557 meters Centerline goodness [0,1] 0.9717748528449968 Centerline is valid? [True, True] Translation: X:-0.92, Y:-0.16, Z:0.06 [[ 9.99945948e-01 7.42991828e-03 7.27312324e-03 -9.15258618e-01] [-7.42503817e-03 9.99972191e-01 -6.97751523e-04 -1.64445898e-01] [-7.27810522e-03 6.43710590e-04 9.99973307e-01 6.23307866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8752855700000001 meters Centerline goodness [0,1] 0.9707317073170731 Centerline is valid? [True, True] Translation: X:-0.95, Y:-0.17, Z:0.06 [[ 9.99928888e-01 8.60063876e-03 8.26118468e-03 -9.46699451e-01] [-8.59439048e-03 9.99962754e-01 -7.91545533e-04 -1.68885684e-01] [-8.26768479e-03 7.20489398e-04 9.99965563e-01 6.43765482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.90528557 meters Centerline goodness [0,1] 0.9607544998767157 Centerline is valid? [True, True] Translation: X:-0.98, Y:-0.18, Z:0.07 [[ 9.99927417e-01 7.51646414e-03 9.41608601e-03 -9.79160129e-01] [-7.50829918e-03 9.99971405e-01 -9.02178874e-04 -1.80654857e-01] [-9.42259796e-03 8.31414600e-04 9.99955261e-01 6.79421876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.93528557 meters Centerline goodness [0,1] 0.9734451860469863 Centerline is valid? [True, True] Translation: X:-1.01, Y:-0.18, Z:0.07 [[ 9.99907196e-01 8.45813919e-03 1.06798380e-02 -1.00968600e+00] [-8.44769352e-03 9.99963795e-01 -1.02280780e-03 -1.78700794e-01] [-1.06881024e-02 9.32492879e-04 9.99942446e-01 6.92813366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.96528557 meters Centerline goodness [0,1] 0.9734451860469863 Centerline is valid? [True, True] Translation: X:-1.04, Y:-0.18, Z:0.07 [[ 9.99908042e-01 8.35755723e-03 1.06798081e-02 -1.04209468e+00] [-8.34710255e-03 9.99964639e-01 -1.02312059e-03 -1.75474493e-01] [-1.06879812e-02 9.33881052e-04 9.99942446e-01 6.99558776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9952855700000001 meters Centerline goodness [0,1] 0.9651327542660013 Centerline is valid? [True, True] Translation: X:-1.07, Y:-0.18, Z:0.07 [[ 9.99920341e-01 6.59937889e-03 1.07591634e-02 -1.07327722e+00] [-6.58868996e-03 9.99977765e-01 -1.02861560e-03 -1.81843184e-01] [-1.07657124e-02 9.57644873e-04 9.99941589e-01 6.87889595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.02528557 meters Centerline goodness [0,1] 0.9604466814745379 Centerline is valid? [True, True] Translation: X:-1.10, Y:-0.19, Z:0.07 [[ 9.99923310e-01 5.12290308e-03 1.12751928e-02 -1.10499472e+00] [-5.11106758e-03 9.99986357e-01 -1.07825878e-03 -1.87986089e-01] [-1.12805628e-02 1.02054781e-03 9.99935852e-01 7.11762659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0552855700000001 meters Centerline goodness [0,1] 0.9610251153254741 Centerline is valid? [True, True] Translation: X:-1.14, Y:-0.19, Z:0.08 [[ 0.99990476 0.00255819 0.01356187 -1.1351553 ] [-0.00254084 0.99999593 -0.00129611 -0.19193931] [-0.01356513 0.00126153 0.99990719 0.07614145] [ 0. 0. 0. 1. ]] SLAMing on 1.0852855700000001 meters Centerline goodness [0,1] 0.9567961560387653 Centerline is valid? [True, True] Translation: X:-1.17, Y:-0.20, Z:0.08 [[ 0.99989756 0.00135108 0.01424928 -1.1674203 ] [-0.00133181 0.99999819 -0.00136203 -0.20195126] [-0.01425109 0.00134291 0.99989755 0.07580517] [ 0. 0. 0. 1. ]] SLAMing on 1.1152855700000002 meters Centerline goodness [0,1] 0.9661723627998685 Centerline is valid? [True, True] Translation: X:-1.20, Y:-0.20, Z:0.08 [[ 0.99991502 -0.00179065 0.01291269 -1.19739349] [ 0.00180673 0.99999761 -0.00123368 -0.20000242] [-0.01291045 0.00125691 0.99991587 0.07825123] [ 0. 0. 0. 1. ]] SLAMing on 1.1452855700000002 meters Centerline goodness [0,1] 0.9618400311175712 Centerline is valid? [True, True] Translation: X:-1.23, Y:-0.21, Z:0.08 [[ 0.99989921 -0.002954 0.01388671 -1.22947525] [ 0.00297271 0.9999947 -0.00132686 -0.20922005] [-0.01388272 0.00136801 0.99990269 0.07764402] [ 0. 0. 0. 1. ]] SLAMing on 1.1752855700000002 meters Centerline goodness [0,1] 0.9692669942669943 Centerline is valid? [True, True] Translation: X:-1.26, Y:-0.21, Z:0.08 [[ 0.99990943 -0.00249867 0.0132246 -1.26008857] [ 0.00251561 0.99999604 -0.00126458 -0.20598027] [-0.01322139 0.00129773 0.99991175 0.07608703] [ 0. 0. 0. 1. ]] SLAMing on 1.2052855700000003 meters Centerline goodness [0,1] 0.9359042444544303 Centerline is valid? [True, False] Translation: X:-1.31, Y:-0.21, Z:0.08 [[ 9.99930734e-01 -2.39589186e-03 1.15233327e-02 -1.30923929e+00] [ 2.40926196e-03 9.99996440e-01 -1.14652203e-03 -2.08322738e-01] [-1.15205447e-02 1.17420535e-03 9.99932947e-01 7.98895186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2352855700000003 meters Centerline goodness [0,1] 0.9478806843581095 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.21, Z:0.08 [[ 0.99994083 -0.00202082 0.01068933 -1.35998768] [ 0.00203761 0.99999671 -0.00156009 -0.21018646] [-0.01068615 0.00158178 0.99994165 0.08235495] [ 0. 0. 0. 1. ]] SLAMing on 1.26528557 meters Centerline goodness [0,1] 0.9675530069587577 Centerline is valid? [False, True] Translation: X:-1.43, Y:-0.21, Z:0.09 [[ 9.99951177e-01 7.44900128e-04 9.85337250e-03 -1.43217308e+00] [-7.41053516e-04 9.99999648e-01 -3.94030590e-04 -2.12954726e-01] [-9.85366254e-03 3.86709476e-04 9.99951377e-01 8.81019122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.29528557 meters Centerline goodness [0,1] 0.9459955914768553 Centerline is valid? [True, False] Translation: X:-1.48, Y:-0.22, Z:0.09 [[ 9.99960435e-01 1.89940518e-03 8.69023892e-03 -1.48398871e+00] [-1.88675551e-03 9.99997149e-01 -1.46358530e-03 -2.15562186e-01] [-8.69299409e-03 1.44713103e-03 9.99961168e-01 8.97640684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3252855700000001 meters Centerline goodness [0,1] 0.9631582173726476 Centerline is valid? [False, True] Translation: X:-1.54, Y:-0.22, Z:0.09 [[ 9.99969783e-01 3.65127386e-03 6.86309689e-03 -1.53535156e+00] [-3.64165216e-03 9.99992370e-01 -1.41392224e-03 -2.17111543e-01] [-6.86820714e-03 1.38888651e-03 9.99975449e-01 9.21826041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3552855700000002 meters Centerline goodness [0,1] 0.9666980321564456 Centerline is valid? [True, True] Translation: X:-1.57, Y:-0.22, Z:0.09 [[ 9.99968503e-01 4.09984348e-03 6.79584533e-03 -1.56723113e+00] [-4.09540084e-03 9.99991391e-01 -6.67515880e-04 -2.17567200e-01] [-6.79852354e-03 6.39663145e-04 9.99976685e-01 9.44516249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3852855700000002 meters Centerline goodness [0,1] 0.9619164368168353 Centerline is valid? [True, True] Translation: X:-1.60, Y:-0.22, Z:0.10 [[ 9.99960530e-01 4.14219975e-03 7.86005321e-03 -1.59973307e+00] [-4.13627107e-03 9.99991149e-01 -7.70385458e-04 -2.21324824e-01] [-7.86317473e-03 7.37843740e-04 9.99968813e-01 9.53452524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4152855700000002 meters Centerline goodness [0,1] 0.954437881999465 Centerline is valid? [True, True] Translation: X:-1.63, Y:-0.23, Z:0.10 [[ 9.99950533e-01 5.61176079e-03 8.21215368e-03 -1.63217880e+00] [-5.60534514e-03 9.99983967e-01 -8.04045723e-04 -2.30128331e-01] [-8.21653413e-03 7.57973994e-04 9.99965956e-01 9.98972214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4452855700000002 meters Centerline goodness [0,1] 0.9613722478238608 Centerline is valid? [True, True] Translation: X:-1.66, Y:-0.23, Z:0.10 [[ 9.99954224e-01 7.43106045e-03 6.02735941e-03 -1.66278287e+00] [-7.42763858e-03 9.99972241e-01 -5.89909441e-04 -2.31324763e-01] [-6.03157575e-03 5.45113390e-04 9.99981661e-01 1.00207317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4752855700000003 meters Centerline goodness [0,1] 0.9648040341095441 Centerline is valid? [True, True] Translation: X:-1.69, Y:-0.23, Z:0.10 [[ 9.99956944e-01 7.42002201e-03 5.57264654e-03 -1.69373463e+00] [-7.41709252e-03 9.99972344e-01 -5.46174701e-04 -2.31176317e-01] [-5.57654505e-03 5.04818350e-04 9.99984324e-01 1.03781282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5052855700000003 meters Centerline goodness [0,1] 0.9428935575381326 Centerline is valid? [True, False] Translation: X:-1.73, Y:-0.23, Z:0.11 [[ 0.99994989 0.00730877 0.00684053 -1.7338415 ] [-0.00733035 0.99996822 0.00313566 -0.22811711] [-0.0068174 -0.00318565 0.99997169 0.10904199] [ 0. 0. 0. 1. ]] SLAMing on 1.53528557 meters Centerline goodness [0,1] 0.9703057846141191 Centerline is valid? [False, True] Translation: X:-1.74, Y:-0.23, Z:0.11 [[ 0.99995125 0.00704182 0.00692242 -1.74278314] [-0.00705493 0.99997336 0.00187085 -0.23134176] [-0.00690906 -0.00191959 0.99997429 0.11328345] [ 0. 0. 0. 1. ]] SLAMing on 1.5652855700000001 meters Centerline goodness [0,1] 0.9708853727289561 Centerline is valid? [True, True] Translation: X:-1.78, Y:-0.24, Z:0.11 [[ 9.99956574e-01 8.16369979e-03 4.49485384e-03 -1.77619615e+00] [-8.16182876e-03 9.99966597e-01 -4.34446401e-04 -2.41182939e-01] [-4.49825039e-03 3.97741307e-04 9.99989804e-01 1.09704119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5952855700000002 meters Centerline goodness [0,1] 0.9742202549284806 Centerline is valid? [True, True] Translation: X:-1.81, Y:-0.24, Z:0.12 [[ 9.99953341e-01 8.65774419e-03 4.28475440e-03 -1.80708287e+00] [-8.65605040e-03 9.99962450e-01 -4.13694493e-04 -2.42767481e-01] [-4.28817517e-03 3.76586140e-04 9.99990735e-01 1.15030376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6252855700000002 meters Centerline goodness [0,1] 0.967985552454441 Centerline is valid? [True, True] Translation: X:-1.84, Y:-0.25, Z:0.12 [[ 9.99949611e-01 8.67759667e-03 5.04730892e-03 -1.83722180e+00] [-8.67525269e-03 9.99962251e-01 -4.86111018e-04 -2.47310062e-01] [-5.05133666e-03 4.42299843e-04 9.99987144e-01 1.23112246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6552855700000002 meters Centerline goodness [0,1] 0.9720712777082864 Centerline is valid? [True, True] Translation: X:-1.87, Y:-0.25, Z:0.12 [[ 9.99932375e-01 1.08061864e-02 4.29796421e-03 -1.86812697e+00] [-1.08045036e-02 9.99941544e-01 -4.14554489e-04 -2.48248654e-01] [-4.30219272e-03 3.68089084e-04 9.99990678e-01 1.20433461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6852855700000002 meters Centerline goodness [0,1] 0.9741830398045404 Centerline is valid? [True, True] Translation: X:-1.90, Y:-0.25, Z:0.12 [[ 9.99928271e-01 1.17109155e-02 2.51136692e-03 -1.89676056e+00] [-1.17103467e-02 9.99931402e-01 -2.41037223e-04 -2.50140519e-01] [-2.51401742e-03 2.11610956e-04 9.99996817e-01 1.21929210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7152855700000003 meters Centerline goodness [0,1] 0.9776406935278927 Centerline is valid? [True, True] Translation: X:-1.92, Y:-0.25, Z:0.13 [[ 9.99917609e-01 1.26928225e-02 1.91483494e-03 -1.92476014e+00] [-1.26924940e-02 9.99919430e-01 -1.83620415e-04 -2.49028271e-01] [-1.91701133e-03 1.59301255e-04 9.99998150e-01 1.28323852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7452855700000003 meters Centerline goodness [0,1] 0.9819786382943626 Centerline is valid? [True, True] Translation: X:-1.95, Y:-0.25, Z:0.13 [[ 9.99880599e-01 1.49486072e-02 3.91494878e-03 -1.95353717e+00] [-1.49472415e-02 9.99888212e-01 -3.77872625e-04 -2.47386714e-01] [-3.92015981e-03 3.19309822e-04 9.99992265e-01 1.30494080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7752855700000003 meters Centerline goodness [0,1] 0.9736157486121638 Centerline is valid? [True, True] Translation: X:-1.98, Y:-0.26, Z:0.14 [[ 9.99862570e-01 1.60448394e-02 4.17176072e-03 -1.98464293e+00] [-1.60432986e-02 9.99871217e-01 -4.02545968e-04 -2.59783364e-01] [-4.17768225e-03 3.35561843e-04 9.99991217e-01 1.35267680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8052855700000001 meters Centerline goodness [0,1] 0.9681892666939779 Centerline is valid? [True, True] Translation: X:-2.01, Y:-0.27, Z:0.13 [[ 9.99841364e-01 1.77961077e-02 7.39164902e-04 -2.01495798e+00] [-1.77960622e-02 9.99841635e-01 -6.81214702e-05 -2.68339662e-01] [-7.40260141e-04 5.49564391e-05 9.99999724e-01 1.33623328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8352855700000001 meters Centerline goodness [0,1] 0.9783486465328993 Centerline is valid? [True, True] Translation: X:-2.04, Y:-0.26, Z:0.14 [[ 9.99852608e-01 1.71531058e-02 -7.29732011e-04 -2.04198893e+00] [-1.71530574e-02 9.99852873e-01 7.25692287e-05 -2.59325766e-01] [ 7.30869435e-04 -6.00413975e-05 9.99999731e-01 1.36398232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8652855700000002 meters Centerline goodness [0,1] 0.9772345395680505 Centerline is valid? [True, True] Translation: X:-2.07, Y:-0.26, Z:0.14 [[ 9.99850981e-01 1.72426447e-02 -8.40526360e-04 -2.07104716e+00] [-1.72425790e-02 9.99851332e-01 8.53233917e-05 -2.62253164e-01] [ 8.41872602e-04 -7.08178348e-05 9.99999643e-01 1.38571454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8952855700000002 meters Centerline goodness [0,1] 0.9774926247601757 Centerline is valid? [True, True] Translation: X:-2.10, Y:-0.26, Z:0.14 [[ 9.99839826e-01 1.78747456e-02 9.02728991e-04 -2.10019259e+00] [-1.78746766e-02 9.99840232e-01 -8.44466718e-05 -2.64419576e-01] [-9.04094226e-04 6.82971569e-05 9.99999589e-01 1.43737554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9252855700000002 meters Centerline goodness [0,1] 0.9649491262769406 Centerline is valid? [True, True] Translation: X:-2.13, Y:-0.28, Z:0.14 [[ 9.99854851e-01 1.70008512e-02 1.11754474e-03 -2.13099040e+00] [-1.70007434e-02 9.99855471e-01 -1.05863721e-04 -2.75754460e-01] [-1.11918299e-03 8.68492637e-05 9.99999370e-01 1.43240604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9552855700000003 meters Centerline goodness [0,1] 0.9744481247556936 Centerline is valid? [True, True] Translation: X:-2.16, Y:-0.27, Z:0.15 [[ 9.99854773e-01 1.70401833e-02 2.54690155e-04 -2.15824486e+00] [-1.70401779e-02 9.99854805e-01 -2.36419600e-05 -2.66427690e-01] [-2.55056039e-04 1.92985610e-05 9.99999967e-01 1.47004070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9852855700000003 meters Centerline goodness [0,1] 0.9784758341385195 Centerline is valid? [True, True] Translation: X:-2.19, Y:-0.27, Z:0.15 [[ 9.99833520e-01 1.82416695e-02 4.16236344e-04 -2.18765039e+00] [-1.82416545e-02 9.99833606e-01 -3.99475986e-05 -2.68584327e-01] [-4.16895796e-04 3.23481086e-05 9.99999913e-01 1.45157200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.01528557 meters Centerline goodness [0,1] 0.9796724430290749 Centerline is valid? [True, True] Translation: X:-2.22, Y:-0.26, Z:0.15 [[ 9.99787995e-01 2.05870990e-02 -3.69942565e-04 -2.21725968e+00] [-2.05870869e-02 9.99788063e-01 3.64901537e-05 -2.64975555e-01] [ 3.70615387e-04 -2.88663779e-05 9.99999931e-01 1.51184630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.04528557 meters Centerline goodness [0,1] 0.9778291370952897 Centerline is valid? [True, True] Translation: X:-2.25, Y:-0.26, Z:0.15 [[ 9.99722726e-01 2.35183030e-02 -1.16674972e-03 -2.24794817e+00] [-2.35181857e-02 9.99723403e-01 1.14147106e-04 -2.64245937e-01] [ 1.16911154e-03 -8.66756190e-05 9.99999313e-01 1.51185364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.07528557 meters Centerline goodness [0,1] 0.9799645097391878 Centerline is valid? [True, True] Translation: X:-2.28, Y:-0.26, Z:0.15 [[ 9.99644631e-01 2.65927829e-02 -1.85366967e-03 -2.27766084e+00] [-2.65924913e-02 9.99646341e-01 1.81745170e-04 -2.63317676e-01] [ 1.85784721e-03 -1.32386889e-04 9.99998265e-01 1.52794733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.10528557 meters Centerline goodness [0,1] 0.9851076923076924 Centerline is valid? [True, True] Translation: X:-2.31, Y:-0.26, Z:0.15 [[ 9.99522872e-01 3.08163979e-02 -2.09222680e-03 -2.30684839e+00] [-3.08160366e-02 9.99525052e-01 2.04733699e-04 -2.56590424e-01] [ 2.09754225e-03 -1.40161877e-04 9.99997790e-01 1.51125860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.13528557 meters Centerline goodness [0,1] 0.9868599629858112 Centerline is valid? [True, True] Translation: X:-2.34, Y:-0.25, Z:0.15 [[ 9.99365841e-01 3.55542923e-02 -1.95152254e-03 -2.33656538e+00] [-3.55539863e-02 9.99367739e-01 1.91253877e-04 -2.52387782e-01] [ 1.95708857e-03 -1.21748186e-04 9.99998077e-01 1.54534431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.16528557 meters Centerline goodness [0,1] 0.9855283685031612 Centerline is valid? [True, True] Translation: X:-2.37, Y:-0.25, Z:0.15 [[ 9.99184728e-01 4.02622078e-02 -2.97217365e-03 -2.36700195e+00] [-4.02615198e-02 9.99189134e-01 2.90980716e-04 -2.54968372e-01] [ 2.98147915e-03 -1.71079259e-04 9.99995541e-01 1.53770078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1952855700000002 meters Centerline goodness [0,1] 0.9878245263394041 Centerline is valid? [True, True] Translation: X:-2.40, Y:-0.25, Z:0.16 [[ 9.99024661e-01 4.40848874e-02 -2.49980516e-03 -2.39536050e+00] [-4.40844116e-02 9.99027780e-01 2.45147666e-04 -2.49231367e-01] [ 2.50818211e-03 -1.34706124e-04 9.99996845e-01 1.55185859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.22528557 meters Centerline goodness [0,1] 0.9916168402884793 Centerline is valid? [True, True] Translation: X:-2.42, Y:-0.24, Z:0.16 [[ 9.98888870e-01 4.71110351e-02 -1.25492548e-03 -2.42356673e+00] [-4.71109176e-02 9.98889657e-01 1.23079103e-04 -2.40256941e-01] [ 1.25933047e-03 -6.38216548e-05 9.99999205e-01 1.59404693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.25528557 meters Centerline goodness [0,1] 0.9909950844727168 Centerline is valid? [True, True] Translation: X:-2.45, Y:-0.24, Z:0.16 [[ 9.98681468e-01 5.13010641e-02 -1.87781031e-03 -2.45390559e+00] [-5.13008082e-02 9.98683230e-01 1.84234856e-04 -2.39294810e-01] [ 1.88478911e-03 -8.76587494e-05 9.99998220e-01 1.58226467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.28528557 meters Centerline goodness [0,1] 0.9923919972035449 Centerline is valid? [True, True] Translation: X:-2.48, Y:-0.24, Z:0.16 [[ 9.98592300e-01 5.30324575e-02 -9.88421625e-04 -2.48202533e+00] [-5.30323868e-02 9.98592788e-01 9.76012745e-05 -2.35077659e-01] [ 9.92206742e-04 -4.50455232e-05 9.99999507e-01 1.63835490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.31528557 meters Centerline goodness [0,1] 0.9937104341234558 Centerline is valid? [True, True] Translation: X:-2.51, Y:-0.23, Z:0.16 [[ 9.98440988e-01 5.57524751e-02 -2.69337701e-03 -2.51149660e+00] [-5.57519640e-02 9.98444615e-01 2.64519562e-04 -2.31617137e-01] [ 2.70393540e-03 -1.13946114e-04 9.99996338e-01 1.62560963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.34528557 meters Centerline goodness [0,1] 0.9935268409334542 Centerline is valid? [True, True] Translation: X:-2.54, Y:-0.23, Z:0.16 [[ 9.98244029e-01 5.91295365e-02 -3.54347344e-03 -2.54121813e+00] [-5.91286733e-02 9.98250309e-01 3.47971560e-04 -2.28942639e-01] [ 3.55784885e-03 -1.37839649e-04 9.99993661e-01 1.64109178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.37528557 meters Centerline goodness [0,1] 0.992940403874569 Centerline is valid? [True, True] Translation: X:-2.57, Y:-0.23, Z:0.17 [[ 9.98094113e-01 6.16118716e-02 -3.48121154e-03 -2.57045112e+00] [-6.16110510e-02 9.98100176e-01 3.42575537e-04 -2.27993579e-01] [ 3.49570457e-03 -1.27441525e-04 9.99993882e-01 1.65508024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.40528557 meters Centerline goodness [0,1] 0.9923533180399694 Centerline is valid? [True, True] Translation: X:-2.60, Y:-0.23, Z:0.17 [[ 9.98040929e-01 6.24620691e-02 -3.57683689e-03 -2.59789647e+00] [-6.24612055e-02 9.98047330e-01 3.52761639e-04 -2.27809445e-01] [ 3.59188673e-03 -1.28657010e-04 9.99993541e-01 1.69338013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.43528557 meters Centerline goodness [0,1] 0.993354593148853 Centerline is valid? [True, True] Translation: X:-2.63, Y:-0.22, Z:0.17 [[ 9.97972250e-01 6.35455163e-02 -3.65462454e-03 -2.62501618e+00] [-6.35446206e-02 9.97978933e-01 3.60816953e-04 -2.23822581e-01] [ 3.67016660e-03 -1.27853576e-04 9.99993257e-01 1.69803922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4652855700000003 meters Centerline goodness [0,1] 0.9945689069925322 Centerline is valid? [True, True] Translation: X:-2.65, Y:-0.23, Z:0.17 [[ 9.97905596e-01 6.45997654e-02 -3.36018272e-03 -2.65448663e+00] [-6.45990043e-02 9.97911247e-01 3.34659315e-04 -2.26041992e-01] [ 3.37478304e-03 -1.16893946e-04 9.99994299e-01 1.70329436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.49528557 meters Centerline goodness [0,1] 0.9940377063673184 Centerline is valid? [True, True] Translation: X:-2.68, Y:-0.22, Z:0.17 [[ 9.97935793e-01 6.41020042e-02 -3.88399766e-03 -2.68237109e+00] [-6.41009932e-02 9.97943343e-01 3.84357971e-04 -2.23457948e-01] [ 3.90064772e-03 -1.34596470e-04 9.99992383e-01 1.71752721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52528557 meters Centerline goodness [0,1] 0.9944126015422045 Centerline is valid? [True, True] Translation: X:-2.71, Y:-0.22, Z:0.17 [[ 9.98003831e-01 6.29864387e-02 -4.58930051e-03 -2.71078412e+00] [-6.29850145e-02 9.98014369e-01 4.54340830e-04 -2.23615980e-01] [ 4.60880517e-03 -1.64376730e-04 9.99989366e-01 1.72150138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.55528557 meters Centerline goodness [0,1] 0.9928500782988544 Centerline is valid? [True, True] Translation: X:-2.74, Y:-0.23, Z:0.18 [[ 9.98044330e-01 6.23489355e-02 -4.48614130e-03 -2.73966562e+00] [-6.23475529e-02 9.98054398e-01 4.47525494e-04 -2.26153140e-01] [ 4.50531580e-03 -1.66950349e-04 9.99989837e-01 1.77998518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.58528557 meters Centerline goodness [0,1] 0.9930300655751227 Centerline is valid? [True, True] Translation: X:-2.77, Y:-0.23, Z:0.18 [[ 9.98246594e-01 5.90513168e-02 -4.08407622e-03 -2.76931901e+00] [-5.90501540e-02 9.98254935e-01 4.04814088e-04 -2.27242084e-01] [ 4.10085404e-03 -1.62938955e-04 9.99991578e-01 1.80090053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.61528557 meters Centerline goodness [0,1] 0.992053877584543 Centerline is valid? [True, True] Translation: X:-2.80, Y:-0.23, Z:0.18 [[ 9.98433529e-01 5.58428785e-02 -3.47304792e-03 -2.79969700e+00] [-5.58420176e-02 9.98439558e-01 3.44442214e-04 -2.33945331e-01] [ 3.48686308e-03 -1.49960651e-04 9.99993910e-01 1.78911659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.64528557 meters Centerline goodness [0,1] 0.9922311290621716 Centerline is valid? [True, True] Translation: X:-2.83, Y:-0.24, Z:0.18 [[ 9.98647533e-01 5.18557605e-02 -3.75289011e-03 -2.82872296e+00] [-5.18547256e-02 9.98654569e-01 3.72597183e-04 -2.37367344e-01] [ 3.76716217e-03 -1.77488170e-04 9.99992888e-01 1.81663938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6752855700000002 meters Centerline goodness [0,1] 0.98885811018775 Centerline is valid? [True, True] Translation: X:-2.86, Y:-0.25, Z:0.18 [[ 9.98781224e-01 4.91488666e-02 -4.52284506e-03 -2.85977656e+00] [-4.91473369e-02 9.98791439e-01 4.48796048e-04 -2.50726585e-01] [ 4.53943674e-03 -2.25963276e-04 9.99989671e-01 1.79591553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.70528557 meters Centerline goodness [0,1] 0.9881033380755035 Centerline is valid? [True, True] Translation: X:-2.89, Y:-0.25, Z:0.18 [[ 9.98995686e-01 4.43766000e-02 -6.19168799e-03 -2.88906904e+00] [-4.43736423e-02 9.99014816e-01 6.14306726e-04 -2.51249657e-01] [ 6.21284888e-03 -3.38942021e-04 9.99980643e-01 1.81930939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7352855700000003 meters Centerline goodness [0,1] 0.9833678130312775 Centerline is valid? [True, True] Translation: X:-2.92, Y:-0.26, Z:0.18 [[ 9.99236041e-01 3.87228305e-02 -5.27986782e-03 -2.92017836e+00] [-3.87206010e-02 9.99249939e-01 5.23874001e-04 -2.64222405e-01] [ 5.29619348e-03 -3.19034128e-04 9.99985924e-01 1.80490178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76528557 meters Centerline goodness [0,1] 0.9820496894409938 Centerline is valid? [True, True] Translation: X:-2.95, Y:-0.27, Z:0.19 [[ 9.99402046e-01 3.40939655e-02 -5.75781972e-03 -2.94934065e+00] [-3.40912354e-02 9.99418561e-01 5.71674304e-04 -2.66346031e-01] [ 5.77396254e-03 -3.75041282e-04 9.99983260e-01 1.88837882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.79528557 meters Centerline goodness [0,1] 0.974690582590251 Centerline is valid? [True, True] Translation: X:-2.98, Y:-0.28, Z:0.19 [[ 9.99496984e-01 3.13697472e-02 -4.66033136e-03 -2.98027820e+00] [-3.13679281e-02 9.99507798e-01 4.62947069e-04 -2.76654284e-01] [ 4.67256007e-03 -3.16529260e-04 9.99989033e-01 1.90705839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.82528557 meters Centerline goodness [0,1] 0.9831873469218315 Centerline is valid? [True, True] Translation: X:-3.01, Y:-0.27, Z:0.20 [[ 9.99523402e-01 3.01631769e-02 -6.56896829e-03 -3.00854427e+00] [-3.01595363e-02 9.99544885e-01 6.52591498e-04 -2.67917758e-01] [ 6.58566289e-03 -4.54163437e-04 9.99978211e-01 1.95303754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.85528557 meters Centerline goodness [0,1] 0.9766143106457242 Centerline is valid? [True, True] Translation: X:-3.04, Y:-0.28, Z:0.20 [[ 9.99568594e-01 2.85375318e-02 -6.94522582e-03 -3.03974620e+00] [-2.85334242e-02 9.99592601e-01 6.89808675e-04 -2.78714905e-01] [ 6.96208177e-03 -4.91340012e-04 9.99975644e-01 1.95676759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.88528557 meters Centerline goodness [0,1] 0.9766143106457242 Centerline is valid? [True, True] Translation: X:-3.07, Y:-0.28, Z:0.20 [[ 9.99561172e-01 2.87964451e-02 -6.94469020e-03 -3.06739719e+00] [-2.87923066e-02 9.99585174e-01 6.95196007e-04 -2.76132656e-01] [ 6.96182853e-03 -4.94937286e-04 9.99975644e-01 1.96090651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.91528557 meters Centerline goodness [0,1] 0.9805038063997029 Centerline is valid? [True, True] Translation: X:-3.10, Y:-0.27, Z:0.20 [[ 9.99603612e-01 2.74669340e-02 -6.17959583e-03 -3.09543777e+00] [-2.74636443e-02 9.99622613e-01 6.16599447e-04 -2.73559216e-01] [ 6.19419983e-03 -4.46640813e-04 9.99980716e-01 2.00169828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9452855700000002 meters Centerline goodness [0,1] 0.9824376536705304 Centerline is valid? [True, True] Translation: X:-3.12, Y:-0.27, Z:0.20 [[ 9.99578999e-01 2.80487527e-02 -7.42244005e-03 -3.12375701e+00] [-2.80439859e-02 9.99606412e-01 7.45535691e-04 -2.74509012e-01] [ 7.44043001e-03 -5.37067015e-04 9.99972175e-01 2.04049807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.97528557 meters Centerline goodness [0,1] 0.9806678022451618 Centerline is valid? [True, True] Translation: X:-3.15, Y:-0.28, Z:0.20 [[ 9.99556222e-01 2.90681998e-02 -6.51149963e-03 -3.15365298e+00] [-2.90645425e-02 9.99577322e-01 6.55611333e-04 -2.79093922e-01] [ 6.52780480e-03 -4.66066628e-04 9.99978585e-01 2.04485274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0052855700000003 meters Centerline goodness [0,1] 0.9803405155430207 Centerline is valid? [True, True] Translation: X:-3.18, Y:-0.28, Z:0.21 [[ 9.99549404e-01 2.94270128e-02 -5.91940701e-03 -3.18293754e+00] [-2.94239868e-02 9.99566842e-01 5.97663622e-04 -2.82959519e-01] [ 5.93443043e-03 -4.23221764e-04 9.99982302e-01 2.07481084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.03528557 meters Centerline goodness [0,1] 0.9811018775007695 Centerline is valid? [True, True] Translation: X:-3.21, Y:-0.29, Z:0.21 [[ 9.99526072e-01 3.03874504e-02 -4.92282838e-03 -3.21290747e+00] [-3.03853802e-02 9.99538135e-01 4.94784423e-04 -2.85518127e-01] [ 4.93558994e-03 -3.44967919e-04 9.99987760e-01 2.06471352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.06528557 meters Centerline goodness [0,1] 0.9820075365439562 Centerline is valid? [True, True] Translation: X:-3.24, Y:-0.28, Z:0.21 [[ 9.99422068e-01 3.32110539e-02 -7.24956243e-03 -3.24093035e+00] [-3.32066305e-02 9.99448241e-01 7.29708439e-04 -2.81949108e-01] [ 7.26979680e-03 -4.88553176e-04 9.99973455e-01 2.10892339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.09528557 meters Centerline goodness [0,1] 0.9836357610406827 Centerline is valid? [True, True] Translation: X:-3.27, Y:-0.28, Z:0.21 [[ 9.99294579e-01 3.67952252e-02 -7.51366605e-03 -3.27113907e+00] [-3.67905812e-02 9.99322712e-01 7.55407246e-04 -2.78905182e-01] [ 7.53637251e-03 -4.78442226e-04 9.99971487e-01 2.11783442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.12528557 meters Centerline goodness [0,1] 0.9851299583968365 Centerline is valid? [True, True] Translation: X:-3.30, Y:-0.27, Z:0.21 [[ 9.99171415e-01 3.99605620e-02 -7.72246242e-03 -3.30147812e+00] [-3.99557525e-02 9.99201149e-01 7.76141022e-04 -2.74370946e-01] [ 7.74730835e-03 -4.66941126e-04 9.99969880e-01 2.12317968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.15528557 meters Centerline goodness [0,1] 0.9878805426869622 Centerline is valid? [True, True] Translation: X:-3.33, Y:-0.28, Z:0.21 [[ 9.98889812e-01 4.64676784e-02 -7.73938893e-03 -3.33213406e+00] [-4.64630404e-02 9.98919707e-01 7.78104213e-04 -2.77044407e-01] [ 7.76718482e-03 -4.17644831e-04 9.99969748e-01 2.11093010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.18528557 meters Centerline goodness [0,1] 0.9914239181973735 Centerline is valid? [True, True] Translation: X:-3.36, Y:-0.27, Z:0.21 [[ 9.98718092e-01 4.99687628e-02 -8.08054597e-03 -3.36116919e+00] [-4.99638194e-02 9.98750698e-01 8.12611821e-04 -2.71514356e-01] [ 8.11105613e-03 -4.07835189e-04 9.99967022e-01 2.11954637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2152855700000003 meters Centerline goodness [0,1] 0.989125733704047 Centerline is valid? [True, True] Translation: X:-3.39, Y:-0.27, Z:0.21 [[ 9.98582165e-01 5.26998178e-02 -7.50921237e-03 -3.39153152e+00] [-5.26956217e-02 9.98610335e-01 7.55689614e-04 -2.73911996e-01] [ 7.53860178e-03 -3.58915557e-04 9.99971520e-01 2.11208786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.24528557 meters Centerline goodness [0,1] 0.9906507337006997 Centerline is valid? [True, True] Translation: X:-3.42, Y:-0.28, Z:0.21 [[ 9.98496633e-01 5.43858917e-02 -6.83000354e-03 -3.42127729e+00] [-5.43824555e-02 9.98519942e-01 6.87964221e-04 -2.77647670e-01] [ 6.85731029e-03 -3.15497595e-04 9.99976439e-01 2.10034182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2752855700000003 meters Centerline goodness [0,1] 0.9915461439641954 Centerline is valid? [True, True] Translation: X:-3.45, Y:-0.27, Z:0.22 [[ 9.98420672e-01 5.59034532e-02 -5.56468157e-03 -3.44886550e+00] [-5.59011934e-02 9.98436148e-01 5.60947026e-04 -2.68392881e-01] [ 5.58733811e-03 -2.48988766e-04 9.99984360e-01 2.22379011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.30528557 meters Centerline goodness [0,1] 0.9918375845913586 Centerline is valid? [True, True] Translation: X:-3.48, Y:-0.27, Z:0.22 [[ 9.98249814e-01 5.89229440e-02 -5.03937657e-03 -3.47815750e+00] [-5.89211274e-02 9.98262512e-01 5.08326827e-04 -2.67424377e-01] [ 5.06057283e-03 -2.10511411e-04 9.99987173e-01 2.21650357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.33528557 meters Centerline goodness [0,1] 0.9919832622115424 Centerline is valid? [True, True] Translation: X:-3.51, Y:-0.27, Z:0.22 [[ 9.98235240e-01 5.91490580e-02 -5.27200271e-03 -3.50737290e+00] [-5.91470481e-02 9.98249137e-01 5.36464416e-04 -2.71110577e-01] [ 5.29450352e-03 -2.23694287e-04 9.99985959e-01 2.15995230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.36528557 meters Centerline goodness [0,1] 0.9936692057916556 Centerline is valid? [True, True] Translation: X:-3.54, Y:-0.27, Z:0.21 [[ 9.98206493e-01 5.92918227e-02 -8.26302004e-03 -3.53508991e+00] [-5.92869189e-02 9.98240632e-01 8.37376435e-04 -2.66207034e-01] [ 8.29813193e-03 -3.45985595e-04 9.99965510e-01 2.14365324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.39528557 meters Centerline goodness [0,1] 0.9933837429111532 Centerline is valid? [True, True] Translation: X:-3.57, Y:-0.27, Z:0.21 [[ 9.98297764e-01 5.74534016e-02 -1.00340220e-02 -3.56571957e+00] [-5.74460959e-02 9.98348093e-01 1.01503019e-03 -2.70516712e-01] [ 1.00757637e-02 -4.36886972e-04 9.99949143e-01 2.09951749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4252855700000002 meters Centerline goodness [0,1] 0.9922646204894234 Centerline is valid? [True, True] Translation: X:-3.60, Y:-0.27, Z:0.22 [[ 9.98531157e-01 5.34428664e-02 -8.90997656e-03 -3.59508854e+00] [-5.34369415e-02 9.98570819e-01 9.01890824e-04 -2.74503668e-01] [ 8.94544222e-03 -4.24444192e-04 9.99959899e-01 2.16189857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.45528557 meters Centerline goodness [0,1] 0.9879215621720612 Centerline is valid? [True, True] Translation: X:-3.63, Y:-0.28, Z:0.22 [[ 9.98845832e-01 4.78118482e-02 -4.58589801e-03 -3.62626338e+00] [-4.78102191e-02 9.98856330e-01 4.64269111e-04 -2.80667180e-01] [ 4.60285082e-03 -2.44480477e-04 9.99989377e-01 2.21968253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4852855700000003 meters Centerline goodness [0,1] 0.9890438658028309 Centerline is valid? [True, True] Translation: X:-3.66, Y:-0.28, Z:0.23 [[ 9.99048758e-01 4.33932064e-02 -4.31383644e-03 -3.65548758e+00] [-4.33917225e-02 9.99058040e-01 4.37026594e-04 -2.81664027e-01] [ 4.32873696e-03 -2.49426082e-04 9.99990600e-01 2.25401485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.51528557 meters Centerline goodness [0,1] 0.9829155290808307 Centerline is valid? [True, True] Translation: X:-3.69, Y:-0.29, Z:0.22 [[ 9.99255245e-01 3.80086616e-02 -6.65562512e-03 -3.68680889e+00] [-3.80050105e-02 9.99277321e-01 6.74227428e-04 -2.94813167e-01] [ 6.67644172e-03 -4.20778191e-04 9.99977624e-01 2.20810729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5452855700000003 meters Centerline goodness [0,1] 0.9791226981171115 Centerline is valid? [True, True] Translation: X:-3.72, Y:-0.30, Z:0.22 [[ 9.99448713e-01 3.24113703e-02 -7.19538147e-03 -3.71782616e+00] [-3.24069601e-02 9.99474491e-01 7.28705992e-04 -3.01145937e-01] [ 7.21521859e-03 -4.95123826e-04 9.99973847e-01 2.21484807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.57528557 meters Centerline goodness [0,1] 0.9753094136767095 Centerline is valid? [True, True] Translation: X:-3.75, Y:-0.30, Z:0.23 [[ 9.99568832e-01 2.87689018e-02 -5.87375038e-03 -3.74784395e+00] [-2.87658981e-02 9.99585999e-01 5.95240600e-04 -3.02384510e-01] [ 5.88844306e-03 -4.26020246e-04 9.99982572e-01 2.25553707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.60528557 meters Centerline goodness [0,1] 0.9740408631208287 Centerline is valid? [True, True] Translation: X:-3.78, Y:-0.30, Z:0.22 [[ 9.99662330e-01 2.52861141e-02 -5.98648940e-03 -3.77758785e+00] [-2.52829332e-02 9.99680152e-01 6.06435033e-04 -2.99891998e-01] [ 5.99990901e-03 -4.54874247e-04 9.99981897e-01 2.24226278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.63528557 meters Centerline goodness [0,1] 0.9708912984885867 Centerline is valid? [True, True] Translation: X:-3.81, Y:-0.31, Z:0.22 [[ 9.99715787e-01 2.20970661e-02 -8.94788870e-03 -3.80866014e+00] [-2.20898303e-02 9.99755579e-01 9.06698972e-04 -3.05230236e-01] [ 8.96573703e-03 -7.08783934e-04 9.99959556e-01 2.23178758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.66528557 meters Centerline goodness [0,1] 0.9719382475890899 Centerline is valid? [True, True] Translation: X:-3.84, Y:-0.31, Z:0.22 [[ 9.99764317e-01 1.98316432e-02 -8.83273530e-03 -3.83809958e+00] [-1.98244999e-02 9.99803074e-01 8.95560849e-04 -3.05950296e-01] [ 8.84875635e-03 -7.20245220e-04 9.99960590e-01 2.23968558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6952855700000002 meters Centerline goodness [0,1] 0.9707110376188508 Centerline is valid? [True, True] Translation: X:-3.87, Y:-0.31, Z:0.23 [[ 9.99842008e-01 1.61586330e-02 -7.40655256e-03 -3.86932008e+00] [-1.61535123e-02 9.99869242e-01 7.50680410e-04 -3.09814943e-01] [ 7.41771406e-03 -6.30919971e-04 9.99972289e-01 2.28592000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.72528557 meters Centerline goodness [0,1] 0.9610150562541363 Centerline is valid? [True, True] Translation: X:-3.90, Y:-0.32, Z:0.23 [[ 9.99898131e-01 1.31275640e-02 -5.60311819e-03 -3.90045196e+00] [-1.31245837e-02 9.99913707e-01 5.68347966e-04 -3.21111638e-01] [ 5.61009571e-03 -4.94751476e-04 9.99984141e-01 2.31326566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7552855700000003 meters Centerline goodness [0,1] 0.9713964057874328 Centerline is valid? [True, True] Translation: X:-3.93, Y:-0.31, Z:0.23 [[ 9.99901502e-01 1.24493378e-02 -6.48077608e-03 -3.92795109e+00] [-1.24453299e-02 9.99922337e-01 6.58396233e-04 -3.11849658e-01] [ 6.48846936e-03 -5.77675986e-04 9.99978783e-01 2.33357604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.78528557 meters Centerline goodness [0,1] 0.9663507702584228 Centerline is valid? [True, True] Translation: X:-3.96, Y:-0.32, Z:0.23 [[ 9.99910999e-01 1.17568713e-02 -6.30629740e-03 -3.95859770e+00] [-1.17530389e-02 9.99930723e-01 6.44427361e-04 -3.20569254e-01] [ 6.31343697e-03 -5.70251848e-04 9.99979907e-01 2.34874060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8152855700000003 meters Centerline goodness [0,1] 0.9685255729719603 Centerline is valid? [True, True] Translation: X:-3.99, Y:-0.32, Z:0.24 [[ 9.99917809e-01 1.07398995e-02 -7.00206308e-03 -3.98780521e+00] [-1.07351708e-02 9.99942123e-01 7.12562356e-04 -3.19845254e-01] [ 7.00931066e-03 -6.37335447e-04 9.99975231e-01 2.36010849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.84528557 meters Centerline goodness [0,1] 0.9670519269945537 Centerline is valid? [True, True] Translation: X:-4.02, Y:-0.32, Z:0.24 [[ 9.99934266e-01 7.72433896e-03 -8.47338760e-03 -4.01863165e+00] [-7.71731077e-03 9.99969850e-01 8.61827029e-04 -3.22261348e-01] [ 8.47978917e-03 -7.96378612e-04 9.99963729e-01 2.36805287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.87528557 meters Centerline goodness [0,1] 0.9659554962913576 Centerline is valid? [True, True] Translation: X:-4.05, Y:-0.33, Z:0.24 [[ 9.99946978e-01 6.39097909e-03 -8.07447915e-03 -4.04954320e+00] [-6.38454580e-03 9.99979281e-01 8.22268588e-04 -3.26673941e-01] [ 8.07956695e-03 -7.70673108e-04 9.99967063e-01 2.41410589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.90528557 meters Centerline goodness [0,1] 0.9553782874236569 Centerline is valid? [True, True] Translation: X:-4.08, Y:-0.34, Z:0.24 [[ 9.99980288e-01 4.56961588e-03 -4.30605151e-03 -4.08054724e+00] [-4.56775283e-03 9.99989470e-01 4.42392910e-04 -3.40474079e-01] [ 4.30802773e-03 -4.22715211e-04 9.99990631e-01 2.44970597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.93528557 meters Centerline goodness [0,1] 0.9659017888605601 Centerline is valid? [True, True] Translation: X:-4.11, Y:-0.33, Z:0.24 [[ 9.99979158e-01 4.53774724e-03 -4.59273797e-03 -4.10748235e+00] [-4.53563606e-03 9.99989604e-01 4.69990440e-04 -3.31987141e-01] [ 4.59482292e-03 -4.49149656e-04 9.99989343e-01 2.44344884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9652855700000003 meters Centerline goodness [0,1] 0.9635509138381201 Centerline is valid? [True, True] Translation: X:-4.14, Y:-0.34, Z:0.24 [[ 9.99963016e-01 2.31294382e-03 -8.28356093e-03 -4.13926938e+00] [-2.30602204e-03 9.99996984e-01 8.45057507e-04 -3.39333075e-01] [ 8.28549052e-03 -8.25924179e-04 9.99965334e-01 2.43461937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.99528557 meters Centerline goodness [0,1] 0.9593712313386286 Centerline is valid? [True, True] Translation: X:-4.17, Y:-0.34, Z:0.25 [[ 9.99971543e-01 -2.30553789e-04 -7.54050806e-03 -4.17075065e+00] [ 2.36363137e-04 9.99999676e-01 7.69536493e-04 -3.44231716e-01] [ 7.54032819e-03 -7.71296893e-04 9.99971274e-01 2.45304037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.02528557 meters Centerline goodness [0,1] 0.9559730210617785 Centerline is valid? [True, True] Translation: X:-4.20, Y:-0.35, Z:0.25 [[ 9.99976616e-01 -3.98368396e-03 -5.55861134e-03 -4.20174375e+00] [ 3.98690233e-03 9.99991891e-01 5.68027111e-04 -3.48662131e-01] [ 5.55630343e-03 -5.90175468e-04 9.99984389e-01 2.53868619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.055285570000001 meters Centerline goodness [0,1] 0.9557680315942632 Centerline is valid? [True, True] Translation: X:-4.23, Y:-0.36, Z:0.25 [[ 9.99947162e-01 -8.56182659e-03 -5.68927502e-03 -4.23249578e+00] [ 8.56527022e-03 9.99963149e-01 5.81195408e-04 -3.55655298e-01] [ 5.68408927e-03 -6.29894877e-04 9.99983647e-01 2.52853515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.08528557 meters Centerline goodness [0,1] 0.960393153138145 Centerline is valid? [True, True] Translation: X:-4.26, Y:-0.35, Z:0.25 [[ 9.99921148e-01 -8.89707381e-03 -8.86230162e-03 -4.26279939e+00] [ 8.90539035e-03 9.99959942e-01 8.99398091e-04 -3.50390535e-01] [ 8.85394460e-03 -9.78249427e-04 9.99960325e-01 2.52176397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.11528557 meters Centerline goodness [0,1] 0.9553515673785438 Centerline is valid? [True, True] Translation: X:-4.29, Y:-0.36, Z:0.26 [[ 9.99761152e-01 -2.03191329e-02 -8.04803066e-03 -4.29307098e+00] [ 2.03263830e-02 9.99793061e-01 8.20082437e-04 -3.59065103e-01] [ 8.02970185e-03 -9.83473916e-04 9.99967278e-01 2.59443703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.14528557 meters Centerline goodness [0,1] 0.9141849529780565 Centerline is valid? [True, False] Translation: X:-4.30, Y:-0.37, Z:0.26 [[ 9.99700651e-01 -2.35866449e-02 -6.50216132e-03 -4.30400380e+00] [ 2.35740948e-02 9.99720092e-01 -2.00008651e-03 -3.66345425e-01] [ 6.54751664e-03 1.84620522e-03 9.99976861e-01 2.64322480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.17528557 meters Centerline goodness [0,1] 0.9357706481230872 Centerline is valid? [False, False] Translation: X:-4.31, Y:-0.37, Z:0.27 [[ 9.99713529e-01 -2.30493696e-02 -6.44868992e-03 -4.30795338e+00] [ 2.30431346e-02 9.99733931e-01 -1.03951278e-03 -3.68830678e-01] [ 6.47093424e-03 8.90616958e-04 9.99978667e-01 2.67103505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.20528557 meters Centerline goodness [0,1] 0.9321761625602403 Centerline is valid? [False, False] Translation: X:-4.32, Y:-0.37, Z:0.27 [[ 9.99700739e-01 -2.31836563e-02 -7.80712301e-03 -4.31612922e+00] [ 2.32014328e-02 9.99728403e-01 2.19412545e-03 -3.72782152e-01] [ 7.75413477e-03 -2.37460527e-03 9.99967117e-01 2.71312948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.23528557 meters Centerline goodness [0,1] 0.8995469847471012 Centerline is valid? [False, False] Translation: X:-4.32, Y:-0.38, Z:0.27 [[ 9.99661952e-01 -2.44987035e-02 -8.70605928e-03 -4.32206015e+00] [ 2.45239960e-02 9.99695291e-01 2.81036068e-03 -3.76824023e-01] [ 8.63455628e-03 -3.02291801e-03 9.99958152e-01 2.74836563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2652855700000005 meters Centerline goodness [0,1] 0.872654682360729 Centerline is valid? [False, False] Translation: X:-4.33, Y:-0.38, Z:0.28 [[ 9.99577057e-01 -2.79909203e-02 -7.88767216e-03 -4.32835649e+00] [ 2.79932979e-02 9.99608093e-01 1.91169409e-04 -3.80073124e-01] [ 7.87922991e-03 -4.11890512e-04 9.99968874e-01 2.78050723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.29528557 meters Centerline goodness [0,1] 0.8868697369788959 Centerline is valid? [False, False] Translation: X:-4.35, Y:-0.38, Z:0.28 [[ 9.99308203e-01 -3.66228011e-02 -6.47188778e-03 -4.34925506e+00] [ 3.66479100e-02 9.99320997e-01 3.80459616e-03 -3.76835773e-01] [ 6.32815839e-03 -4.03914531e-03 9.99971819e-01 2.83863941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.32528557 meters Centerline goodness [0,1] 0.8835518548437209 Centerline is valid? [False, False] Translation: X:-4.35, Y:-0.38, Z:0.29 [[ 0.99933862 -0.0357777 -0.00650175 -4.35230797] [ 0.03580951 0.99934689 0.0048441 -0.3787918 ] [ 0.00632419 -0.00507372 0.99996713 0.28551483] [ 0. 0. 0. 1. ]] SLAMing on 4.35528557 meters Centerline goodness [0,1] 0.8513836270795585 Centerline is valid? [False, False] Translation: X:-4.38, Y:-0.37, Z:0.29 [[ 0.99908474 -0.04200908 -0.00805697 -4.37900745] [ 0.0420668 0.99908934 0.00713303 -0.3736146 ] [ 0.00774998 -0.00746544 0.9999421 0.28979793] [ 0. 0. 0. 1. ]] SLAMing on 4.385285570000001 meters Centerline goodness [0,1] 0.8394849607717307 Centerline is valid? [False, False] Translation: X:-4.38, Y:-0.37, Z:0.29 [[ 0.99914761 -0.04060347 -0.0074437 -4.3843395 ] [ 0.04066333 0.99914027 0.00807508 -0.37190671] [ 0.00710942 -0.00837088 0.99993969 0.29335076] [ 0. 0. 0. 1. ]] SLAMing on 4.41528557 meters Centerline goodness [0,1] 0.8538633818589025 Centerline is valid? [False, False] Translation: X:-4.40, Y:-0.37, Z:0.30 [[ 9.99337982e-01 -3.60838583e-02 -4.64253124e-03 -4.40159072e+00] [ 3.61240325e-02 9.99307842e-01 8.88204128e-03 -3.70990392e-01] [ 4.31881956e-03 -9.04386816e-03 9.99949777e-01 2.97479458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.44528557 meters Centerline goodness [0,1] 0.8797843554417202 Centerline is valid? [False, False] Translation: X:-4.42, Y:-0.37, Z:0.30 [[ 9.99545091e-01 -2.98285284e-02 -4.45765899e-03 -4.42143157e+00] [ 2.98687038e-02 9.99511163e-01 9.23558581e-03 -3.71919275e-01] [ 4.17999598e-03 -9.36452895e-03 9.99947415e-01 2.98890251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4752855700000005 meters Centerline goodness [0,1] 0.8721932223050791 Centerline is valid? [False, False] Translation: X:-4.46, Y:-0.37, Z:0.30 [[ 0.99977101 -0.0194598 -0.00890229 -4.46424955] [ 0.01950732 0.99979576 0.00528299 -0.37391424] [ 0.00879767 -0.00545544 0.99994642 0.29576917] [ 0. 0. 0. 1. ]] SLAMing on 4.50528557 meters Centerline goodness [0,1] 0.8893940017278973 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.37, Z:0.29 [[ 9.99889638e-01 -1.32370266e-02 -6.74477558e-03 -4.49190636e+00] [ 1.32440952e-02 9.99911789e-01 1.00441619e-03 -3.74447245e-01] [ 6.73088513e-03 -1.09363379e-03 9.99976749e-01 2.93943631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.53528557 meters Centerline goodness [0,1] 0.8807599777928568 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.37, Z:0.30 [[ 9.99923032e-01 -1.05741460e-02 -6.48983262e-03 -4.49863725e+00] [ 1.05906879e-02 9.99940742e-01 2.51983929e-03 -3.72102724e-01] [ 6.46280290e-03 -2.58837713e-03 9.99975766e-01 2.98678370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.56528557 meters Centerline goodness [0,1] 0.9244881347442239 Centerline is valid? [False, False] Translation: X:-4.55, Y:-0.37, Z:0.30 [[ 9.99962797e-01 3.50281923e-03 -7.88261364e-03 -4.54760780e+00] [-3.49030556e-03 9.99992628e-01 1.60070016e-03 -3.73507203e-01] [ 7.88816249e-03 -1.57312788e-03 9.99967651e-01 2.97405558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.595285570000001 meters Centerline goodness [0,1] 0.9082237528699645 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.38, Z:0.29 [[ 9.99852386e-01 1.27131327e-02 -1.15578254e-02 -4.58203264e+00] [-1.27285209e-02 9.99918197e-01 -1.25882407e-03 -3.75472195e-01] [ 1.15408763e-02 1.40575227e-03 9.99932414e-01 2.94616006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.62528557 meters Centerline goodness [0,1] 0.9042002723368597 Centerline is valid? [False, False] Translation: X:-4.62, Y:-0.36, Z:0.30 [[ 9.99829747e-01 1.36802092e-02 -1.23825687e-02 -4.61530634e+00] [-1.36409808e-02 9.99901686e-01 3.24696965e-03 -3.60960167e-01] [ 1.24257706e-02 -3.07750646e-03 9.99918061e-01 3.01525994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.65528557 meters Centerline goodness [0,1] 0.9003801804812834 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.36, Z:0.30 [[ 9.99739818e-01 2.09942622e-02 -8.91832555e-03 -4.64852036e+00] [-2.09993613e-02 9.99779375e-01 -4.78484635e-04 -3.58141696e-01] [ 8.90631251e-03 6.65639283e-04 9.99960116e-01 3.02840096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6852855700000005 meters Centerline goodness [0,1] 0.9298686204105353 Centerline is valid? [False, False] Translation: X:-4.69, Y:-0.35, Z:0.30 [[ 9.99738475e-01 2.17340900e-02 -7.11411242e-03 -4.68663874e+00] [-2.17265240e-02 9.99763302e-01 1.13908736e-03 -3.53905543e-01] [ 7.13718555e-03 -9.84224525e-04 9.99974046e-01 3.01654455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.71528557 meters Centerline goodness [0,1] 0.9495747266099636 Centerline is valid? [False, False] Translation: X:-4.72, Y:-0.35, Z:0.30 [[ 0.9996847 0.0234116 -0.00907677 -4.72329703] [-0.02335667 0.99970852 0.00611124 -0.35092339] [ 0.0092172 -0.00589731 0.99994013 0.30211954] [ 0. 0. 0. 1. ]] SLAMing on 4.74528557 meters Centerline goodness [0,1] 0.931206900143753 Centerline is valid? [False, False] Translation: X:-4.76, Y:-0.35, Z:0.30 [[ 0.99967621 0.02269575 -0.01150537 -4.76290797] [-0.02262728 0.99972568 0.00604741 -0.3489526 ] [ 0.01163946 -0.00578511 0.99991552 0.30079032] [ 0. 0. 0. 1. ]] SLAMing on 4.77528557 meters Centerline goodness [0,1] 0.931206900143753 Centerline is valid? [False, False] Translation: X:-4.76, Y:-0.35, Z:0.30 [[ 0.99967621 0.02269575 -0.01150537 -4.76290797] [-0.02262728 0.99972568 0.00604741 -0.3489526 ] [ 0.01163946 -0.00578511 0.99991552 0.30079032] [ 0. 0. 0. 1. ]] SLAMing on 4.805285570000001 meters Centerline goodness [0,1] 0.945568722356672 Centerline is valid? [False, False] Translation: X:-4.80, Y:-0.34, Z:0.31 [[ 0.99975169 0.01972525 -0.01036695 -4.79652835] [-0.01963002 0.9997649 0.00920888 -0.33834315] [ 0.01054616 -0.00900309 0.99990386 0.3091486 ] [ 0. 0. 0. 1. ]] SLAMing on 4.83528557 meters Centerline goodness [0,1] 0.9491341539745463 Centerline is valid? [False, False] Translation: X:-4.85, Y:-0.34, Z:0.31 [[ 0.99976986 0.01972437 -0.00843638 -4.85087134] [-0.01965357 0.99977161 0.00839452 -0.34100151] [ 0.00860003 -0.00822678 0.99992918 0.30952819] [ 0. 0. 0. 1. ]] SLAMing on 4.86528557 meters Centerline goodness [0,1] 0.9426756914849168 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.34, Z:0.31 [[ 0.99983862 0.01563312 -0.00885147 -4.86719958] [-0.01549667 0.99976316 0.01527994 -0.33584557] [ 0.00908825 -0.01514031 0.99984408 0.31315968] [ 0. 0. 0. 1. ]] SLAMing on 4.89528557 meters Centerline goodness [0,1] 0.9384505802991578 Centerline is valid? [False, False] Translation: X:-4.90, Y:-0.34, Z:0.31 [[ 0.99985805 0.01344551 -0.01015365 -4.90100349] [-0.01325152 0.99973286 0.01893703 -0.33782599] [ 0.01040556 -0.01879979 0.99976912 0.31415735] [ 0. 0. 0. 1. ]] SLAMing on 4.925285570000001 meters Centerline goodness [0,1] 0.9322689180999352 Centerline is valid? [False, False] Translation: X:-4.94, Y:-0.35, Z:0.31 [[ 0.99982972 0.01604123 -0.00912168 -4.93696645] [-0.01595247 0.99982549 0.00972164 -0.34808845] [ 0.00927603 -0.00957447 0.99991114 0.30973725] [ 0. 0. 0. 1. ]] SLAMing on 4.95528557 meters Centerline goodness [0,1] 0.9171377130176276 Centerline is valid? [False, False] Translation: X:-4.99, Y:-0.35, Z:0.31 [[ 0.99983583 0.01575287 -0.00895363 -4.98995901] [-0.0156721 0.99983649 0.00902124 -0.34659511] [ 0.00909428 -0.00887944 0.99991922 0.3128408 ] [ 0. 0. 0. 1. ]] SLAMing on 4.98528557 meters Centerline goodness [0,1] 0.9520549388047439 Centerline is valid? [False, True] Translation: X:-5.02, Y:-0.35, Z:0.31 [[ 0.99983871 0.014129 -0.01108714 -5.02281 ] [-0.01398189 0.99981464 0.0132362 -0.34644807] [ 0.0112721 -0.01307904 0.99985093 0.31450167] [ 0. 0. 0. 1. ]] SLAMing on 5.0152855700000005 meters Centerline goodness [0,1] 0.9445259759319049 Centerline is valid? [True, False] Translation: X:-5.03, Y:-0.35, Z:0.32 [[ 0.99980375 0.01640419 -0.01110674 -5.03046321] [-0.01623959 0.99975931 0.01475153 -0.34908338] [ 0.01134605 -0.01456826 0.9998295 0.3185362 ] [ 0. 0. 0. 1. ]] SLAMing on 5.04528557 meters Centerline goodness [0,1] 0.9526613579212071 Centerline is valid? [False, True] Translation: X:-5.06, Y:-0.34, Z:0.33 [[ 0.99988237 0.0122695 -0.00920311 -5.05849334] [-0.01209118 0.9997428 0.01918674 -0.34293438] [ 0.00943615 -0.0190732 0.99977356 0.32661251] [ 0. 0. 0. 1. ]] SLAMing on 5.07528557 meters Centerline goodness [0,1] 0.9507214066377824 Centerline is valid? [True, True] Translation: X:-5.09, Y:-0.37, Z:0.31 [[ 9.99881009e-01 1.23710472e-02 -9.21543270e-03 -5.09037302e+00] [-1.23592868e-02 9.99922734e-01 1.33201672e-03 -3.66627636e-01] [ 9.23119910e-03 -1.21796204e-03 9.99956650e-01 3.14277851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.10528557 meters Centerline goodness [0,1] 0.9374582079572049 Centerline is valid? [True, False] Translation: X:-5.12, Y:-0.38, Z:0.31 [[ 9.99784923e-01 1.57206188e-02 -1.35266021e-02 -5.12112081e+00] [-1.57709789e-02 9.99869061e-01 -3.62445127e-03 -3.80041576e-01] [ 1.34678524e-02 3.83699950e-03 9.99901942e-01 3.08480287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.135285570000001 meters Centerline goodness [0,1] 0.9472441276936702 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.38, Z:0.31 [[ 9.99737964e-01 1.63434761e-02 -1.60279374e-02 -5.16314744e+00] [-1.62887089e-02 9.99861058e-01 3.54161085e-03 -3.78424650e-01] [ 1.60835927e-02 -3.27960842e-03 9.99865272e-01 3.14918474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.16528557 meters Centerline goodness [0,1] 0.9470861486486486 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.37, Z:0.32 [[ 0.99978192 0.01255984 -0.01668415 -5.18975357] [-0.01241736 0.99988578 0.0086162 -0.37194816] [ 0.01679046 -0.00840715 0.99982368 0.32279202] [ 0. 0. 0. 1. ]] SLAMing on 5.19528557 meters Centerline goodness [0,1] 0.9418704194767502 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.38, Z:0.32 [[ 9.99700871e-01 1.59434270e-02 -1.85465710e-02 -5.22429818e+00] [-1.59438382e-02 9.99872881e-01 1.25702977e-04 -3.84475922e-01] [ 1.85462175e-02 1.70038152e-04 9.99827990e-01 3.15740870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2252855700000005 meters Centerline goodness [0,1] 0.9295857121944079 Centerline is valid? [False, False] Translation: X:-5.26, Y:-0.38, Z:0.32 [[ 0.99972194 0.01485414 -0.018314 -5.25667775] [-0.01473965 0.99987107 0.00637065 -0.37855254] [ 0.01840627 -0.00609894 0.99981199 0.32218584] [ 0. 0. 0. 1. ]] SLAMing on 5.25528557 meters Centerline goodness [0,1] 0.9497924615320112 Centerline is valid? [False, False] Translation: X:-5.29, Y:-0.37, Z:0.33 [[ 0.99977393 0.01354722 -0.01638784 -5.28992836] [-0.01335972 0.99984465 0.01149731 -0.37175608] [ 0.01654105 -0.01127577 0.99979961 0.328078 ] [ 0. 0. 0. 1. ]] SLAMing on 5.28528557 meters Centerline goodness [0,1] 0.9613915015115888 Centerline is valid? [False, True] Translation: X:-5.32, Y:-0.37, Z:0.33 [[ 0.99978532 0.01230897 -0.01666736 -5.32452373] [-0.0120509 0.9998073 0.01549643 -0.36637924] [ 0.01685489 -0.01529224 0.999741 0.33303263] [ 0. 0. 0. 1. ]] SLAMing on 5.31528557 meters Centerline goodness [0,1] 0.9547047834939025 Centerline is valid? [True, True] Translation: X:-5.36, Y:-0.39, Z:0.31 [[ 9.99667097e-01 1.61909976e-02 -2.00884912e-02 -5.35888546e+00] [-1.61392788e-02 9.99866015e-01 2.73401682e-03 -3.90555563e-01] [ 2.01300662e-02 -2.40889289e-03 9.99794468e-01 3.12627524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.345285570000001 meters Centerline goodness [0,1] 0.9601909146586134 Centerline is valid? [True, True] Translation: X:-5.39, Y:-0.39, Z:0.31 [[ 9.99599834e-01 1.86004926e-02 -2.13118029e-02 -5.38795074e+00] [-1.85428163e-02 9.99823859e-01 2.90075067e-03 -3.90054691e-01] [ 2.13620044e-02 -2.50440904e-03 9.99768670e-01 3.10516603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.37528557 meters Centerline goodness [0,1] 0.9704005633923046 Centerline is valid? [True, True] Translation: X:-5.42, Y:-0.38, Z:0.32 [[ 9.99554310e-01 2.16428924e-02 -2.05612891e-02 -5.41670860e+00] [-2.15898336e-02 9.99762994e-01 2.79902738e-03 -3.81631351e-01] [ 2.06169950e-02 -2.35386507e-03 9.99784676e-01 3.19203094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.40528557 meters Centerline goodness [0,1] 0.9717290560128659 Centerline is valid? [True, True] Translation: X:-5.45, Y:-0.38, Z:0.32 [[ 9.99504880e-01 2.57680232e-02 -1.80555806e-02 -5.44644481e+00] [-2.57277679e-02 9.99665964e-01 2.45830837e-03 -3.79106490e-01] [ 1.81128952e-02 -1.99256142e-03 9.99833963e-01 3.19294441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4352855700000005 meters Centerline goodness [0,1] 0.9611504067631003 Centerline is valid? [True, True] Translation: X:-5.48, Y:-0.39, Z:0.32 [[ 9.99477243e-01 2.72942285e-02 -1.73282027e-02 -5.47925163e+00] [-2.72573787e-02 9.99625665e-01 2.35925317e-03 -3.93636026e-01] [ 1.73861102e-02 -1.88569846e-03 9.99847072e-01 3.16305708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.465285570000001 meters Centerline goodness [0,1] 0.966508601441725 Centerline is valid? [True, True] Translation: X:-5.51, Y:-0.39, Z:0.31 [[ 9.99384796e-01 2.93025135e-02 -1.92715423e-02 -5.50862620e+00] [-2.92572887e-02 9.99568468e-01 2.62454448e-03 -3.93116701e-01] [ 1.93401318e-02 -2.05909678e-03 9.99810842e-01 3.12725422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.49528557 meters Centerline goodness [0,1] 0.9602108993105215 Centerline is valid? [True, True] Translation: X:-5.54, Y:-0.40, Z:0.31 [[ 9.99350875e-01 3.00548505e-02 -1.98628728e-02 -5.53945504e+00] [-3.00068532e-02 9.99546019e-01 2.71014224e-03 -4.01679781e-01] [ 1.99353084e-02 -2.11236071e-03 9.99799041e-01 3.10927064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.52528557 meters Centerline goodness [0,1] 0.9669808310107866 Centerline is valid? [True, True] Translation: X:-5.57, Y:-0.40, Z:0.31 [[ 9.99249993e-01 3.34509618e-02 -1.95059927e-02 -5.56780970e+00] [-3.34053173e-02 9.99438343e-01 2.66127515e-03 -3.96012311e-01] [ 1.95840592e-02 -2.00767530e-03 9.99806198e-01 3.12177832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.555285570000001 meters Centerline goodness [0,1] 0.9778939507094847 Centerline is valid? [True, True] Translation: X:-5.59, Y:-0.38, Z:0.32 [[ 9.99235071e-01 3.40950875e-02 -1.91519680e-02 -5.59447052e+00] [-3.40511665e-02 9.99416670e-01 2.61482023e-03 -3.82133936e-01] [ 1.92299486e-02 -1.96067322e-03 9.99813165e-01 3.17565141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.58528557 meters Centerline goodness [0,1] 0.9719101123595506 Centerline is valid? [True, True] Translation: X:-5.63, Y:-0.39, Z:0.31 [[ 9.99227371e-01 3.50136955e-02 -1.78522434e-02 -5.62510356e+00] [-3.49756623e-02 9.99385190e-01 2.43832749e-03 -3.90492408e-01] [ 1.79266425e-02 -1.81204953e-03 9.99837663e-01 3.13608273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.61528557 meters Centerline goodness [0,1] 0.9705769640195869 Centerline is valid? [True, True] Translation: X:-5.66, Y:-0.40, Z:0.31 [[ 9.99288762e-01 3.29720905e-02 -1.82978584e-02 -5.65666586e+00] [-3.29317909e-02 9.99454476e-01 2.49946792e-03 -3.98979876e-01] [ 1.83702892e-02 -1.89510896e-03 9.99829456e-01 3.11677891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.64528557 meters Centerline goodness [0,1] 0.9756292362820015 Centerline is valid? [True, True] Translation: X:-5.68, Y:-0.39, Z:0.32 [[ 9.99296748e-01 3.22717737e-02 -1.90929857e-02 -5.68384305e+00] [-3.22277340e-02 9.99477144e-01 2.60987865e-03 -3.92617917e-01] [ 1.91672282e-02 -1.99271958e-03 9.99814306e-01 3.15823108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.675285570000001 meters Centerline goodness [0,1] 0.975259067357513 Centerline is valid? [True, True] Translation: X:-5.71, Y:-0.40, Z:0.32 [[ 9.99367643e-01 3.07375709e-02 -1.78750326e-02 -5.71437530e+00] [-3.06987179e-02 9.99525695e-01 2.44399561e-03 -3.95704052e-01] [ 1.79416769e-02 -1.89370955e-03 9.99837242e-01 3.17369102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.70528557 meters Centerline goodness [0,1] 0.9726537424573116 Centerline is valid? [True, True] Translation: X:-5.74, Y:-0.40, Z:0.32 [[ 9.99404770e-01 2.92554897e-02 -1.82817572e-02 -5.74490440e+00] [-2.92145974e-02 9.99570036e-01 2.49992015e-03 -3.95366095e-01] [ 1.83470331e-02 -1.96433795e-03 9.99829749e-01 3.15725456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.73528557 meters Centerline goodness [0,1] 0.9747194662276332 Centerline is valid? [True, True] Translation: X:-5.77, Y:-0.40, Z:0.32 [[ 9.99540107e-01 2.38396740e-02 -1.87415343e-02 -5.77486587e+00] [-2.37957472e-02 9.99713555e-01 2.56337044e-03 -3.99236838e-01] [ 1.87972758e-02 -2.11622275e-03 9.99821076e-01 3.22245635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7652855700000005 meters Centerline goodness [0,1] 0.9732311523269792 Centerline is valid? [True, True] Translation: X:-5.80, Y:-0.40, Z:0.32 [[ 9.99580638e-01 2.33577053e-02 -1.71162150e-02 -5.80393911e+00] [-2.33209173e-02 9.99725278e-01 2.34578557e-03 -3.99767163e-01] [ 1.71663050e-02 -1.94563600e-03 9.99850755e-01 3.15699538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.79528557 meters Centerline goodness [0,1] 0.9657266718173234 Centerline is valid? [True, True] Translation: X:-5.84, Y:-0.41, Z:0.32 [[ 9.99671984e-01 2.05982325e-02 -1.52196186e-02 -5.83518738e+00] [-2.05688314e-02 9.99786263e-01 2.08582475e-03 -4.06833470e-01] [ 1.52593300e-02 -1.77209080e-03 9.99881999e-01 3.19266738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.82528557 meters Centerline goodness [0,1] 0.9685800863940169 Centerline is valid? [True, True] Translation: X:-5.86, Y:-0.40, Z:0.32 [[ 9.99606943e-01 2.05635984e-02 -1.90551310e-02 -5.86397779e+00] [-2.05174749e-02 9.99786080e-01 2.61289321e-03 -4.01737084e-01] [ 1.91047852e-02 -2.22090302e-03 9.99815020e-01 3.21501283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.85528557 meters Centerline goodness [0,1] 0.9635651655741891 Centerline is valid? [True, True] Translation: X:-5.89, Y:-0.40, Z:0.31 [[ 9.99518582e-01 2.06574032e-02 -2.31489847e-02 -5.89268969e+00] [-2.05893131e-02 9.99782973e-01 3.17590749e-03 -3.97467035e-01] [ 2.32095668e-02 -2.69775686e-03 9.99726982e-01 3.07926233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.885285570000001 meters Centerline goodness [0,1] 0.9641033311254033 Centerline is valid? [True, True] Translation: X:-5.92, Y:-0.40, Z:0.30 [[ 9.99544220e-01 2.21276337e-02 -2.05358396e-02 -5.92333591e+00] [-2.20743508e-02 9.99752361e-01 2.81772250e-03 -3.98995145e-01] [ 2.05931036e-02 -2.36312291e-03 9.99785147e-01 3.04736950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.91528557 meters Centerline goodness [0,1] 0.9734570149317681 Centerline is valid? [True, True] Translation: X:-5.95, Y:-0.39, Z:0.32 [[ 9.99626890e-01 2.27416357e-02 -1.51293866e-02 -5.95071683e+00] [-2.27127784e-02 9.99739875e-01 2.07648458e-03 -3.85086900e-01] [ 1.51726737e-02 -1.73207942e-03 9.99883388e-01 3.17219790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.94528557 meters Centerline goodness [0,1] 0.9500781701754011 Centerline is valid? [True, True] Translation: X:-5.98, Y:-0.40, Z:0.31 [[ 9.99620059e-01 2.22851876e-02 -1.62205821e-02 -5.98297905e+00] [-2.22518905e-02 9.99749908e-01 2.23038966e-03 -4.03537299e-01] [ 1.62662301e-02 -1.86860362e-03 9.99865950e-01 3.12192182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9752855700000005 meters Centerline goodness [0,1] 0.957853018260851 Centerline is valid? [True, True] Translation: X:-6.01, Y:-0.39, Z:0.31 [[ 9.99618049e-01 1.88138985e-02 -2.02433342e-02 -6.01116250e+00] [-1.87613263e-02 9.99820115e-01 2.78381744e-03 -3.91765823e-01] [ 2.02920672e-02 -2.40296236e-03 9.99791207e-01 3.07146856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.005285570000001 meters Centerline goodness [0,1] 0.973188437108413 Centerline is valid? [True, True] Translation: X:-6.04, Y:-0.37, Z:0.32 [[ 9.99638187e-01 1.70579699e-02 -2.07971387e-02 -6.03811290e+00] [-1.70020903e-02 9.99851361e-01 2.86076360e-03 -3.74699327e-01] [ 2.08428462e-02 -2.50613371e-03 9.99779623e-01 3.16050978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.03528557 meters Centerline goodness [0,1] 0.9520858882506078 Centerline is valid? [True, True] Translation: X:-6.07, Y:-0.39, Z:0.32 [[ 9.99752395e-01 1.33960783e-02 -1.77677711e-02 -6.07073037e+00] [-1.33547220e-02 9.99907834e-01 2.44421669e-03 -3.89887898e-01] [ 1.77988764e-02 -2.20632785e-03 9.99839153e-01 3.16857343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.06528557 meters Centerline goodness [0,1] 0.9612311015118791 Centerline is valid? [True, True] Translation: X:-6.10, Y:-0.38, Z:0.32 [[ 9.99809750e-01 8.75191689e-03 -1.74317934e-02 -6.09946478e+00] [-8.71140640e-03 9.99959178e-01 2.39852356e-03 -3.83338296e-01] [ 1.74520735e-02 -2.24621181e-03 9.99845178e-01 3.18572785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.095285570000001 meters Centerline goodness [0,1] 0.9223115193264447 Centerline is valid? [True, False] Translation: X:-6.11, Y:-0.39, Z:0.32 [[ 9.99796265e-01 8.15177492e-03 -1.84655878e-02 -6.11247660e+00] [-8.18076058e-03 9.99965420e-01 -1.49471749e-03 -3.91891319e-01] [ 1.84527647e-02 1.64547551e-03 9.99828379e-01 3.15493052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.12528557 meters Centerline goodness [0,1] 0.9423943753100266 Centerline is valid? [False, False] Translation: X:-6.13, Y:-0.38, Z:0.32 [[ 9.99842794e-01 2.73775932e-03 -1.75183414e-02 -6.13050277e+00] [-2.65808891e-03 9.99986027e-01 4.56949753e-03 -3.80065752e-01] [ 1.75306068e-02 -4.52221387e-03 9.99836100e-01 3.22469621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.15528557 meters Centerline goodness [0,1] 0.9390126674214427 Centerline is valid? [False, False] Translation: X:-6.14, Y:-0.38, Z:0.32 [[ 9.99856400e-01 2.92479668e-03 -1.66920662e-02 -6.14342412e+00] [-2.89689282e-03 9.99994366e-01 1.69561846e-03 -3.80769068e-01] [ 1.66969315e-02 -1.64701985e-03 9.99859240e-01 3.24484558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1852855700000005 meters Centerline goodness [0,1] 0.9499156000940151 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.38, Z:0.32 [[ 9.99855971e-01 6.94016473e-04 -1.69574725e-02 -6.18396833e+00] [-6.50135639e-04 9.99996427e-01 2.59307468e-03 -3.78784960e-01] [ 1.69592115e-02 -2.58167654e-03 9.99852849e-01 3.23782445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.215285570000001 meters Centerline goodness [0,1] 0.930323846908734 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.38, Z:0.32 [[ 9.99837521e-01 5.74682652e-03 -1.70852674e-02 -6.21040285e+00] [-5.73235261e-03 9.99983169e-01 8.96010331e-04 -3.82098831e-01] [ 1.70901290e-02 -7.97925971e-04 9.99853635e-01 3.23420403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.24528557 meters Centerline goodness [0,1] 0.9304226859283039 Centerline is valid? [False, False] Translation: X:-6.22, Y:-0.38, Z:0.33 [[ 9.99823100e-01 8.59999902e-03 -1.67274835e-02 -6.21873233e+00] [-8.55301506e-03 9.99959280e-01 2.87830474e-03 -3.79843474e-01] [ 1.67515558e-02 -2.73472515e-03 9.99855943e-01 3.28703758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.27528557 meters Centerline goodness [0,1] 0.9349433538009168 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.37, Z:0.34 [[ 9.99852243e-01 6.01186622e-03 -1.61043082e-02 -6.24918187e+00] [-5.88236119e-03 9.99950079e-01 8.07697306e-03 -3.65712091e-01] [ 1.61520620e-02 -7.98104828e-03 9.99837694e-01 3.38164057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.305285570000001 meters Centerline goodness [0,1] 0.9410792478749893 Centerline is valid? [False, False] Translation: X:-6.31, Y:-0.37, Z:0.33 [[ 9.99732174e-01 1.21643436e-02 -1.96877849e-02 -6.30540977e+00] [-1.21539386e-02 9.99925928e-01 6.48071786e-04 -3.67764354e-01] [ 1.96942099e-02 -4.08614088e-04 9.99805967e-01 3.34660947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.33528557 meters Centerline goodness [0,1] 0.9460749684242074 Centerline is valid? [False, False] Translation: X:-6.35, Y:-0.36, Z:0.33 [[ 9.99706774e-01 1.21445287e-02 -2.09493834e-02 -6.34738224e+00] [-1.20962956e-02 9.99923890e-01 2.42755295e-03 -3.63998026e-01] [ 2.09772704e-02 -2.17343119e-03 9.99777590e-01 3.32638358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.36528557 meters Centerline goodness [0,1] 0.9369579014173894 Centerline is valid? [False, False] Translation: X:-6.39, Y:-0.37, Z:0.32 [[ 9.99565769e-01 1.69275004e-02 -2.41191267e-02 -6.39058458e+00] [-1.70801374e-02 9.99835292e-01 -6.13655606e-03 -3.72499072e-01] [ 2.40112775e-02 6.54584938e-03 9.99690257e-01 3.23843604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.39528557 meters Centerline goodness [0,1] 0.9247702137595788 Centerline is valid? [False, False] Translation: X:-6.44, Y:-0.36, Z:0.33 [[ 9.99561811e-01 1.74265657e-02 -2.39269878e-02 -6.43583453e+00] [-1.75026130e-02 9.99842399e-01 -2.97255349e-03 -3.62152538e-01] [ 2.38714155e-02 3.39003575e-03 9.99709289e-01 3.29641083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.425285570000001 meters Centerline goodness [0,1] 0.930396117916159 Centerline is valid? [False, False] Translation: X:-6.48, Y:-0.35, Z:0.33 [[ 9.99515672e-01 1.81645004e-02 -2.52680171e-02 -6.48242686e+00] [-1.81697079e-02 9.99834917e-01 2.35043982e-05 -3.52127961e-01] [ 2.52642727e-02 4.35619475e-04 9.99680712e-01 3.34973736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.45528557 meters Centerline goodness [0,1] 0.952784242737695 Centerline is valid? [False, True] Translation: X:-6.53, Y:-0.35, Z:0.34 [[ 9.99480018e-01 2.02608139e-02 -2.50837297e-02 -6.53288980e+00] [-2.02038117e-02 9.99792697e-01 2.52385480e-03 -3.46237717e-01] [ 2.51296651e-02 -2.01575549e-03 9.99682168e-01 3.35914805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.48528557 meters Centerline goodness [0,1] 0.9527715475809035 Centerline is valid? [True, True] Translation: X:-6.56, Y:-0.34, Z:0.34 [[ 9.99424678e-01 2.23392117e-02 -2.55200593e-02 -6.56277611e+00] [-2.22445704e-02 9.99744611e-01 3.98642595e-03 -3.43752531e-01] [ 2.56025954e-02 -3.41644972e-03 9.99666362e-01 3.37302737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5152855700000005 meters Centerline goodness [0,1] 0.9570603516757198 Centerline is valid? [True, True] Translation: X:-6.59, Y:-0.34, Z:0.34 [[ 9.99438562e-01 2.28312685e-02 -2.45212766e-02 -6.59046658e+00] [-2.27439680e-02 9.99733974e-01 3.83324635e-03 -3.39561860e-01] [ 2.46022711e-02 -3.27338310e-03 9.99691959e-01 3.36625732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.545285570000001 meters Centerline goodness [0,1] 0.9610894101905605 Centerline is valid? [True, True] Translation: X:-6.62, Y:-0.34, Z:0.34 [[ 9.99392511e-01 2.37926596e-02 -2.54660134e-02 -6.61946659e+00] [-2.36986520e-02 9.99711197e-01 3.98699440e-03 -3.37496283e-01] [ 2.55535199e-02 -3.38106215e-03 9.99667738e-01 3.41853642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.57528557 meters Centerline goodness [0,1] 0.9512252591894439 Centerline is valid? [True, True] Translation: X:-6.65, Y:-0.34, Z:0.34 [[ 9.99414627e-01 2.43309122e-02 -2.40501706e-02 -6.64970152e+00] [-2.42470732e-02 9.99698882e-01 3.77153784e-03 -3.42969436e-01] [ 2.41346936e-02 -3.18618383e-03 9.99703638e-01 3.36180682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.60528557 meters Centerline goodness [0,1] 0.9527882164917282 Centerline is valid? [True, True] Translation: X:-6.68, Y:-0.34, Z:0.34 [[ 9.99442443e-01 2.36294129e-02 -2.35892931e-02 -6.67759700e+00] [-2.35484954e-02 9.99715841e-01 3.70221383e-03 -3.42398647e-01] [ 2.36700711e-02 -3.14465727e-03 9.99714879e-01 3.38057411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.635285570000001 meters Centerline goodness [0,1] 0.9530229114034323 Centerline is valid? [True, True] Translation: X:-6.71, Y:-0.35, Z:0.34 [[ 9.99477278e-01 1.91562701e-02 -2.60424380e-02 -6.70736991e+00] [-1.90561140e-02 9.99810056e-01 4.08865230e-03 -3.46176978e-01] [ 2.61158147e-02 -3.59024740e-03 9.99652477e-01 3.42927843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.66528557 meters Centerline goodness [0,1] 0.9547828747514041 Centerline is valid? [True, True] Translation: X:-6.74, Y:-0.35, Z:0.34 [[ 9.99532067e-01 1.60976300e-02 -2.60098709e-02 -6.73648150e+00] [-1.59966752e-02 9.99863701e-01 4.08483581e-03 -3.45178300e-01] [ 2.60720820e-02 -3.66685292e-03 9.99653340e-01 3.41927059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.69528557 meters Centerline goodness [0,1] 0.9547828747514041 Centerline is valid? [True, True] Translation: X:-6.76, Y:-0.34, Z:0.34 [[ 9.99527259e-01 1.63950655e-02 -2.60088432e-02 -6.76432115e+00] [-1.62940427e-02 9.99858872e-01 4.09137333e-03 -3.40975944e-01] [ 2.60722509e-02 -3.66564997e-03 9.99653340e-01 3.41789265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7252855700000005 meters Centerline goodness [0,1] 0.9236940824424833 Centerline is valid? [True, False] Translation: X:-6.80, Y:-0.35, Z:0.34 [[ 9.99441300e-01 1.90929951e-02 -2.74325440e-02 -6.80219575e+00] [-1.91983984e-02 9.99809270e-01 -3.58402030e-03 -3.51382913e-01] [ 2.73588821e-02 4.10867882e-03 9.99617232e-01 3.35874499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.755285570000001 meters Centerline goodness [0,1] 0.9441826119062615 Centerline is valid? [False, False] Translation: X:-6.83, Y:-0.35, Z:0.34 [[ 9.99491524e-01 1.52559201e-02 -2.79990985e-02 -6.83394645e+00] [-1.52512548e-02 9.99883621e-01 3.80183118e-04 -3.47601373e-01] [ 2.80016400e-02 4.70315798e-05 9.99607876e-01 3.41451572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.78528557 meters Centerline goodness [0,1] 0.9452016146534138 Centerline is valid? [False, False] Translation: X:-6.87, Y:-0.34, Z:0.35 [[ 9.99511524e-01 1.21820322e-02 -2.87804045e-02 -6.86594225e+00] [-1.20486906e-02 9.99915882e-01 4.80195998e-03 -3.43214222e-01] [ 2.88364811e-02 -4.45284815e-03 9.99574224e-01 3.46443637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.81528557 meters Centerline goodness [0,1] 0.9500450539548582 Centerline is valid? [False, True] Translation: X:-6.90, Y:-0.34, Z:0.35 [[ 0.99952464 0.01055235 -0.02896795 -6.89652524] [-0.01021962 0.99988037 0.01161026 -0.33502498] [ 0.029087 -0.0113087 0.99951291 0.35477861] [ 0. 0. 0. 1. ]] SLAMing on 6.845285570000001 meters Centerline goodness [0,1] 0.9334470253000604 Centerline is valid? [True, False] Translation: X:-6.93, Y:-0.35, Z:0.34 [[ 9.99470833e-01 1.32687662e-02 -2.96983901e-02 -6.93103307e+00] [-1.32427758e-02 9.99911736e-01 1.07167083e-03 -3.45702575e-01] [ 2.97099885e-02 -6.77814612e-04 9.99558331e-01 3.43721784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.87528557 meters Centerline goodness [0,1] 0.941347952834704 Centerline is valid? [False, False] Translation: X:-6.96, Y:-0.33, Z:0.35 [[ 0.9994723 0.01192092 -0.03021599 -6.95928121] [-0.01166097 0.9998936 0.0087647 -0.33478212] [ 0.03031726 -0.00840773 0.99950496 0.35326909] [ 0. 0. 0. 1. ]] SLAMing on 6.90528557 meters Centerline goodness [0,1] 0.9467100490249961 Centerline is valid? [False, False] Translation: X:-6.99, Y:-0.33, Z:0.36 [[ 0.99947868 0.01092689 -0.03038045 -6.98890773] [-0.01044941 0.99982007 0.01583138 -0.32656872] [ 0.03054797 -0.01550567 0.99941303 0.36007691] [ 0. 0. 0. 1. ]] SLAMing on 6.9352855700000005 meters Centerline goodness [0,1] 0.9587115730386353 Centerline is valid? [False, True] Translation: X:-7.02, Y:-0.33, Z:0.35 [[ 0.99940138 0.01652054 -0.03039649 -7.02110674] [-0.01620846 0.99981366 0.01048511 -0.33391693] [ 0.03056404 -0.00998616 0.99948292 0.3533825 ] [ 0. 0. 0. 1. ]] SLAMing on 6.965285570000001 meters Centerline goodness [0,1] 0.9356530028598665 Centerline is valid? [True, False] Translation: X:-7.05, Y:-0.34, Z:0.34 [[ 9.99349405e-01 1.92861096e-02 -3.04764391e-02 -7.05262495e+00] [-1.92673872e-02 9.99813954e-01 9.07900170e-04 -3.44441462e-01] [ 3.04882790e-02 -3.20108143e-04 9.99535073e-01 3.42249168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.99528557 meters Centerline goodness [0,1] 0.9432703737947431 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.33, Z:0.35 [[ 0.99935194 0.017644 -0.03137493 -7.07727916] [-0.01735511 0.99980467 0.00945623 -0.33211611] [ 0.03153565 -0.00890558 0.99946295 0.35357182] [ 0. 0. 0. 1. ]] SLAMing on 7.02528557 meters Centerline goodness [0,1] 0.958295001533272 Centerline is valid? [False, True] Translation: X:-7.11, Y:-0.34, Z:0.35 [[ 9.99238623e-01 2.12014991e-02 -3.27516424e-02 -7.10623384e+00] [-2.11328136e-02 9.99773695e-01 2.44193708e-03 -3.40333325e-01] [ 3.27960033e-02 -1.74794349e-03 9.99460538e-01 3.45496448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.055285570000001 meters Centerline goodness [0,1] 0.9593114241001565 Centerline is valid? [True, True] Translation: X:-7.14, Y:-0.33, Z:0.34 [[ 9.99262025e-01 2.25970806e-02 -3.10608495e-02 -7.13599681e+00] [-2.24593418e-02 9.99736348e-01 4.77628467e-03 -3.33623096e-01] [ 3.11605903e-02 -4.07515366e-03 9.99506083e-01 3.42543787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.085285570000001 meters Centerline goodness [0,1] 0.9611949491838621 Centerline is valid? [True, True] Translation: X:-7.17, Y:-0.33, Z:0.35 [[ 9.99326938e-01 2.21190013e-02 -2.92646840e-02 -7.16613870e+00] [-2.19964194e-02 9.99747904e-01 4.50408916e-03 -3.34756654e-01] [ 2.93569324e-02 -3.85733937e-03 9.99561550e-01 3.48463166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.11528557 meters Centerline goodness [0,1] 0.9215523276163808 Centerline is valid? [True, False] Translation: X:-7.19, Y:-0.33, Z:0.36 [[ 0.99942284 0.01659491 -0.02964115 -7.18762063] [-0.01632167 0.99982226 0.00943675 -0.32764784] [ 0.02979249 -0.00894751 0.99951606 0.35532354] [ 0. 0. 0. 1. ]] SLAMing on 7.14528557 meters Centerline goodness [0,1] 0.9627679332269976 Centerline is valid? [False, True] Translation: X:-7.21, Y:-0.32, Z:0.36 [[ 0.99941596 0.01334102 -0.03146054 -7.20825691] [-0.01281673 0.99977658 0.01680829 -0.32086961] [ 0.03167775 -0.01639525 0.99936366 0.36233749] [ 0. 0. 0. 1. ]] SLAMing on 7.175285570000001 meters Centerline goodness [0,1] 0.9579019103519533 Centerline is valid? [True, True] Translation: X:-7.24, Y:-0.34, Z:0.34 [[ 9.99260355e-01 1.29361872e-02 -3.62132353e-02 -7.24099582e+00] [-1.27541323e-02 9.99904860e-01 5.25381513e-03 -3.43092125e-01] [ 3.62777543e-02 -4.78806078e-03 9.99330275e-01 3.37731845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.20528557 meters Centerline goodness [0,1] 0.929022668153103 Centerline is valid? [True, False] Translation: X:-7.26, Y:-0.35, Z:0.34 [[ 9.99285055e-01 1.49284441e-02 -3.47349995e-02 -7.25988748e+00] [-1.48561897e-02 9.99886909e-01 2.33733831e-03 -3.49846015e-01] [ 3.47659641e-02 -1.81963750e-03 9.99393825e-01 3.36798882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.23528557 meters Centerline goodness [0,1] 0.9467864394808864 Centerline is valid? [False, False] Translation: X:-7.28, Y:-0.34, Z:0.35 [[ 0.99946378 0.00958118 -0.03131059 -7.28155593] [-0.00933756 0.99992506 0.0079179 -0.33824794] [ 0.03138411 -0.00762129 0.99947834 0.34756126] [ 0. 0. 0. 1. ]] SLAMing on 7.2652855700000005 meters Centerline goodness [0,1] 0.9668519297624056 Centerline is valid? [False, True] Translation: X:-7.30, Y:-0.34, Z:0.35 [[ 0.99947206 0.01290499 -0.02981721 -7.29662415] [-0.01266365 0.99988562 0.00826894 -0.34099799] [ 0.02992051 -0.00788698 0.99952116 0.35106514] [ 0. 0. 0. 1. ]] SLAMing on 7.295285570000001 meters Centerline goodness [0,1] 0.9412430884018387 Centerline is valid? [True, False] Translation: X:-7.31, Y:-0.34, Z:0.36 [[ 0.99947871 0.00931391 -0.03091219 -7.31477391] [-0.00882309 0.99983344 0.01597634 -0.33681136] [ 0.03105584 -0.01569527 0.99939441 0.35593046] [ 0. 0. 0. 1. ]] SLAMing on 7.32528557 meters Centerline goodness [0,1] 0.9516634866328925 Centerline is valid? [False, True] Translation: X:-7.34, Y:-0.35, Z:0.35 [[ 0.99946547 0.01167592 -0.03053602 -7.33714438] [-0.01140488 0.99989414 0.00903544 -0.34693187] [ 0.03063828 -0.00868235 0.99949283 0.34639431] [ 0. 0. 0. 1. ]] SLAMing on 7.35528557 meters Centerline goodness [0,1] 0.9570646026923333 Centerline is valid? [True, True] Translation: X:-7.37, Y:-0.35, Z:0.35 [[ 9.99411097e-01 1.31783046e-02 -3.16826814e-02 -7.36636463e+00] [-1.30417585e-02 9.99904770e-01 4.51260538e-03 -3.47061067e-01] [ 3.17391328e-02 -4.09675001e-03 9.99487791e-01 3.45140051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.385285570000001 meters Centerline goodness [0,1] 0.9404162248144221 Centerline is valid? [True, False] Translation: X:-7.40, Y:-0.36, Z:0.34 [[ 9.99176570e-01 1.87432303e-02 -3.59843360e-02 -7.39807435e+00] [-1.87455865e-02 9.99824249e-01 2.71933482e-04 -3.57043793e-01] [ 3.59831087e-02 4.02837919e-04 9.99352317e-01 3.36532026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.41528557 meters Centerline goodness [0,1] 0.9453639476688033 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.36, Z:0.34 [[ 9.99145906e-01 2.16988383e-02 -3.51656045e-02 -7.40976338e+00] [-2.16743267e-02 9.99764503e-01 1.07814112e-03 -3.59162318e-01] [ 3.51807176e-02 -3.15029482e-04 9.99380917e-01 3.39784726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.44528557 meters Centerline goodness [0,1] 0.9476437459653184 Centerline is valid? [False, False] Translation: X:-7.43, Y:-0.35, Z:0.35 [[ 9.99318523e-01 1.66189598e-02 -3.29590493e-02 -7.42702459e+00] [-1.64209245e-02 9.99845507e-01 6.27015253e-03 -3.47263981e-01] [ 3.30581607e-02 -5.72466151e-03 9.99437035e-01 3.47831547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4752855700000005 meters Centerline goodness [0,1] 0.9544115366723523 Centerline is valid? [False, True] Translation: X:-7.44, Y:-0.35, Z:0.35 [[ 9.99292082e-01 1.98821687e-02 -3.19379746e-02 -7.43749079e+00] [-1.96558590e-02 9.99779535e-01 7.38434925e-03 -3.48503571e-01] [ 3.20777503e-02 -6.75135341e-03 9.99462574e-01 3.50505844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.505285570000001 meters Centerline goodness [0,1] 0.966131907308378 Centerline is valid? [True, True] Translation: X:-7.47, Y:-0.35, Z:0.34 [[ 9.99249261e-01 2.12743913e-02 -3.23776726e-02 -7.46634622e+00] [-2.11363945e-02 9.99766026e-01 4.59845084e-03 -3.46206141e-01] [ 3.24679263e-02 -3.91065134e-03 9.99465127e-01 3.43367864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.53528557 meters Centerline goodness [0,1] 0.9568107774940565 Centerline is valid? [True, True] Translation: X:-7.50, Y:-0.34, Z:0.34 [[ 9.99245673e-01 2.33924390e-02 -3.09980510e-02 -7.49666699e+00] [-2.32669332e-02 9.99719591e-01 4.40341136e-03 -3.44656834e-01] [ 3.10923654e-02 -3.67886016e-03 9.99509745e-01 3.42575511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.56528557 meters Centerline goodness [0,1] 0.9593844095015055 Centerline is valid? [True, True] Translation: X:-7.53, Y:-0.34, Z:0.34 [[ 9.99071949e-01 2.65819373e-02 -3.38916167e-02 -7.52737707e+00] [-2.64336822e-02 9.99638973e-01 4.81505849e-03 -3.43740957e-01] [ 3.40073745e-02 -3.91470964e-03 9.99413915e-01 3.42815980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.595285570000001 meters Centerline goodness [0,1] 0.9600123582115903 Centerline is valid? [True, True] Translation: X:-7.56, Y:-0.34, Z:0.33 [[ 9.98956278e-01 2.77868872e-02 -3.62525040e-02 -7.55653886e+00] [-2.76178348e-02 9.99605259e-01 5.15575867e-03 -3.44380260e-01] [ 3.63814561e-02 -4.14916183e-03 9.99329362e-01 3.32309461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.625285570000001 meters Centerline goodness [0,1] 0.953047703180212 Centerline is valid? [True, True] Translation: X:-7.59, Y:-0.34, Z:0.34 [[ 9.99071657e-01 2.78978479e-02 -3.28258105e-02 -7.58501817e+00] [-2.77591519e-02 9.99603716e-01 4.67347317e-03 -3.42814170e-01] [ 3.29431820e-02 -3.75791792e-03 9.99450161e-01 3.36792153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.65528557 meters Centerline goodness [0,1] 0.9685364338333186 Centerline is valid? [True, True] Translation: X:-7.61, Y:-0.33, Z:0.34 [[ 9.99119137e-01 2.76672323e-02 -3.15511232e-02 -7.61162948e+00] [-2.75389034e-02 9.99610627e-01 4.49473685e-03 -3.31330091e-01] [ 3.16631950e-02 -3.62189427e-03 9.99492033e-01 3.43529663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6852855700000005 meters Centerline goodness [0,1] 0.9646299426965552 Centerline is valid? [True, True] Translation: X:-7.64, Y:-0.33, Z:0.33 [[ 9.99069709e-01 2.83751184e-02 -3.24741247e-02 -7.64075878e+00] [-2.82393535e-02 9.99590459e-01 4.63183870e-03 -3.28014411e-01] [ 3.25922541e-02 -3.71048146e-03 9.99461844e-01 3.31673985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.715285570000001 meters Centerline goodness [0,1] 0.9723978411719353 Centerline is valid? [True, True] Translation: X:-7.67, Y:-0.32, Z:0.33 [[ 9.99035924e-01 2.80343451e-02 -3.37831178e-02 -7.66838377e+00] [-2.78870187e-02 9.99599440e-01 4.82436732e-03 -3.21371216e-01] [ 3.39048336e-02 -3.87760583e-03 9.99417544e-01 3.31903906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.74528557 meters Centerline goodness [0,1] 0.962913029063985 Centerline is valid? [True, True] Translation: X:-7.70, Y:-0.33, Z:0.33 [[ 9.99093663e-01 2.66262417e-02 -3.32098876e-02 -7.69937201e+00] [-2.64830486e-02 9.99638004e-01 4.74428157e-03 -3.26697666e-01] [ 3.33241881e-02 -3.86048259e-03 9.99437139e-01 3.29973652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.77528557 meters Centerline goodness [0,1] 0.9672940862368176 Centerline is valid? [True, True] Translation: X:-7.73, Y:-0.32, Z:0.33 [[ 9.99151863e-01 2.32767727e-02 -3.39668534e-02 -7.72816609e+00] [-2.31250246e-02 9.99720799e-01 4.85362652e-03 -3.24032623e-01] [ 3.40703466e-02 -4.06402566e-03 9.99411174e-01 3.33128927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.805285570000001 meters Centerline goodness [0,1] 0.9607612102887886 Centerline is valid? [True, True] Translation: X:-7.76, Y:-0.33, Z:0.33 [[ 9.99233074e-01 1.99639415e-02 -3.36853718e-02 -7.75935974e+00] [-1.98127936e-02 9.99792113e-01 4.81492719e-03 -3.28114595e-01] [ 3.37744940e-02 -4.14383319e-03 9.99420888e-01 3.29449354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.835285570000001 meters Centerline goodness [0,1] 0.9228553704360156 Centerline is valid? [True, False] Translation: X:-7.78, Y:-0.32, Z:0.34 [[ 9.99364848e-01 1.24355492e-02 -3.33954818e-02 -7.78115142e+00] [-1.21775298e-02 9.99894497e-01 7.91849475e-03 -3.21263324e-01] [ 3.34904293e-02 -7.50679082e-03 9.99410846e-01 3.35662963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.86528557 meters Centerline goodness [0,1] 0.9401057087089063 Centerline is valid? [False, False] Translation: X:-7.80, Y:-0.33, Z:0.34 [[ 9.99351178e-01 1.30949100e-02 -3.35521368e-02 -7.80032379e+00] [-1.29444923e-02 9.99905187e-01 4.69641577e-03 -3.26478070e-01] [ 3.36104548e-02 -4.25905325e-03 9.99425934e-01 3.35128550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.89528557 meters Centerline goodness [0,1] 0.9188022071492443 Centerline is valid? [False, False] Translation: X:-7.83, Y:-0.34, Z:0.33 [[ 9.99164796e-01 1.23425137e-02 -3.89534679e-02 -7.82537433e+00] [-1.23261025e-02 9.99923812e-01 6.61445128e-04 -3.35525537e-01] [ 3.89586640e-02 -1.80748247e-04 9.99240807e-01 3.29901368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.925285570000001 meters Centerline goodness [0,1] 0.9369459441445045 Centerline is valid? [False, False] Translation: X:-7.85, Y:-0.33, Z:0.34 [[ 9.99250480e-01 6.34184187e-03 -3.81871641e-02 -7.84849982e+00] [-6.08804012e-03 9.99958626e-01 6.75888007e-03 -3.26888113e-01] [ 3.82284479e-02 -6.52132917e-03 9.99247746e-01 3.38703299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.955285570000001 meters Centerline goodness [0,1] 0.9587582651574582 Centerline is valid? [False, True] Translation: X:-7.87, Y:-0.32, Z:0.35 [[ 9.99330687e-01 -1.57459681e-03 -3.65472085e-02 -7.87015583e+00] [ 1.97808053e-03 9.99937470e-01 1.10065376e-02 -3.17273540e-01] [ 3.65275923e-02 -1.10714641e-02 9.99271313e-01 3.47380397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.98528557 meters Centerline goodness [0,1] 0.9124133303511519 Centerline is valid? [True, False] Translation: X:-7.89, Y:-0.32, Z:0.35 [[ 9.99347398e-01 -1.85362167e-03 -3.60741136e-02 -7.88653719e+00] [ 2.17515148e-03 9.99958243e-01 8.87583017e-03 -3.20560038e-01] [ 3.60561548e-02 -8.94850445e-03 9.99309701e-01 3.49534654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.01528557 meters Centerline goodness [0,1] 0.8522899066251668 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.32, Z:0.35 [[ 0.99925968 -0.01006863 -0.03713108 -7.90631219] [ 0.01052046 0.99987273 0.01199324 -0.31774943] [ 0.0370056 -0.012375 0.99923843 0.35206476] [ 0. 0. 0. 1. ]] SLAMing on 8.04528557 meters Centerline goodness [0,1] 0.8633570901941509 Centerline is valid? [False, False] Translation: X:-7.92, Y:-0.31, Z:0.36 [[ 0.99926266 -0.00825141 -0.03749724 -7.92432928] [ 0.00880712 0.99985347 0.01467891 -0.31448576] [ 0.03737062 -0.01499833 0.99918891 0.35979956] [ 0. 0. 0. 1. ]] SLAMing on 8.07528557 meters Centerline goodness [0,1] 0.904345498349246 Centerline is valid? [False, False] Translation: X:-7.94, Y:-0.31, Z:0.37 [[ 0.99928253 -0.00814832 -0.0369869 -7.94229213] [ 0.00862215 0.99988257 0.01266923 -0.31221283] [ 0.03687932 -0.01297905 0.99923544 0.3650335 ] [ 0. 0. 0. 1. ]] SLAMing on 8.105285570000001 meters Centerline goodness [0,1] 0.8567350579839429 Centerline is valid? [False, False] Translation: X:-7.98, Y:-0.30, Z:0.37 [[ 0.99921864 -0.01387277 -0.03700899 -7.977995 ] [ 0.01440311 0.99979682 0.01410223 -0.30400167] [ 0.03680583 -0.01462426 0.99921542 0.36834813] [ 0. 0. 0. 1. ]] SLAMing on 8.13528557 meters Centerline goodness [0,1] 0.8714517888549992 Centerline is valid? [False, False] Translation: X:-7.98, Y:-0.31, Z:0.37 [[ 0.99925669 -0.01262201 -0.03642456 -7.98326005] [ 0.0131729 0.99980186 0.01492397 -0.30551093] [ 0.03622897 -0.0153927 0.99922496 0.36988755] [ 0. 0. 0. 1. ]] SLAMing on 8.16528557 meters Centerline goodness [0,1] 0.8523908061322119 Centerline is valid? [False, False] Translation: X:-8.00, Y:-0.31, Z:0.37 [[ 0.99937401 -0.00867877 -0.03429684 -8.00351875] [ 0.00917461 0.99985528 0.0143264 -0.30699728] [ 0.03416754 -0.0146321 0.999309 0.3692292 ] [ 0. 0. 0. 1. ]] SLAMing on 8.195285570000001 meters Centerline goodness [0,1] 0.8514670196337966 Centerline is valid? [False, False] Translation: X:-8.03, Y:-0.31, Z:0.36 [[ 9.99423781e-01 -6.17179508e-03 -3.33768662e-02 -8.02820334e+00] [ 6.42177811e-03 9.99952090e-01 7.38770263e-03 -3.09686111e-01] [ 3.33296717e-02 -7.59778453e-03 9.99415533e-01 3.62061497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.22528557 meters Centerline goodness [0,1] 0.853655823060834 Centerline is valid? [False, False] Translation: X:-8.05, Y:-0.30, Z:0.37 [[ 9.99397329e-01 -9.40988562e-04 -3.47000605e-02 -8.04591117e+00] [ 1.35381019e-03 9.99928570e-01 1.18752801e-02 -2.97956771e-01] [ 3.46864074e-02 -1.19151005e-02 9.99327215e-01 3.74140007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.25528557 meters Centerline goodness [0,1] 0.8339497287122135 Centerline is valid? [False, False] Translation: X:-8.07, Y:-0.30, Z:0.37 [[ 9.99311702e-01 2.28793296e-03 -3.70255122e-02 -8.07116411e+00] [-2.06587883e-03 9.99979658e-01 6.03447511e-03 -3.00231980e-01] [ 3.70385656e-02 -5.95383136e-03 9.99296101e-01 3.66188295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.285285570000001 meters Centerline goodness [0,1] 0.8446647049713489 Centerline is valid? [False, False] Translation: X:-8.11, Y:-0.29, Z:0.36 [[ 9.99209464e-01 8.36433727e-03 -3.88649451e-02 -8.11113460e+00] [-8.35250319e-03 9.99965008e-01 4.66856309e-04 -2.94681744e-01] [ 3.88674901e-02 -1.41867665e-04 9.99244364e-01 3.61389483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.31528557 meters Centerline goodness [0,1] 0.8449773916127317 Centerline is valid? [False, False] Translation: X:-8.12, Y:-0.29, Z:0.36 [[ 9.99223194e-01 1.01474881e-02 -3.80793489e-02 -8.11708028e+00] [-1.01180809e-02 9.99948345e-01 9.64899450e-04 -2.91195427e-01] [ 3.80871733e-02 -5.78859977e-04 9.99274253e-01 3.64353628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34528557 meters Centerline goodness [0,1] 0.8531367256928445 Centerline is valid? [False, False] Translation: X:-8.14, Y:-0.29, Z:0.36 [[ 9.99180017e-01 1.46001893e-02 -3.77641103e-02 -8.13911315e+00] [-1.47294142e-02 9.99886567e-01 -3.14592677e-03 -2.88429162e-01] [ 3.77138955e-02 3.69959038e-03 9.99281730e-01 3.60518895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.37528557 meters Centerline goodness [0,1] 0.8547919754042158 Centerline is valid? [False, False] Translation: X:-8.16, Y:-0.27, Z:0.37 [[ 9.99154717e-01 1.28023470e-02 -3.90634368e-02 -8.16015427e+00] [-1.26390292e-02 9.99910333e-01 4.42494136e-03 -2.73124740e-01] [ 3.91165837e-02 -3.92747712e-03 9.99226935e-01 3.67290652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.40528557 meters Centerline goodness [0,1] 0.8552313041947268 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.27, Z:0.36 [[ 9.99018125e-01 1.97095803e-02 -3.96776711e-02 -8.19141804e+00] [-1.97507702e-02 9.99804726e-01 -6.46356604e-04 -2.71415300e-01] [ 3.96571837e-02 1.42938653e-03 9.99212322e-01 3.60457504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.435285570000001 meters Centerline goodness [0,1] 0.8566742977899093 Centerline is valid? [False, False] Translation: X:-8.23, Y:-0.25, Z:0.36 [[ 9.99037027e-01 2.06883189e-02 -3.86912479e-02 -8.23280372e+00] [-2.06495812e-02 9.99785794e-01 1.40060426e-03 -2.52655561e-01] [ 3.87119361e-02 -6.00297452e-04 9.99250232e-01 3.63920276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.46528557 meters Centerline goodness [0,1] 0.8783888630267562 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.24, Z:0.37 [[ 9.99090113e-01 1.85225719e-02 -3.84169403e-02 -8.25589463e+00] [-1.82403052e-02 9.99804097e-01 7.68501402e-03 -2.37743052e-01] [ 3.85517605e-02 -6.97728480e-03 9.99232245e-01 3.69602426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.49528557 meters Centerline goodness [0,1] 0.8846077370037337 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.24, Z:0.36 [[ 9.98887314e-01 2.45607878e-02 -4.02604283e-02 -8.28678521e+00] [-2.45049543e-02 9.99697941e-01 1.87978532e-03 -2.38810973e-01] [ 4.02944363e-02 -8.91113749e-04 9.99187452e-01 3.60280400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.525285570000001 meters Centerline goodness [0,1] 0.8894760017613386 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.24, Z:0.36 [[ 9.98830262e-01 2.62389246e-02 -4.06156029e-02 -8.29241983e+00] [-2.61653541e-02 9.99654885e-01 2.34199903e-03 -2.36070607e-01] [ 4.06630374e-02 -1.27653787e-03 9.99172101e-01 3.63679250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.55528557 meters Centerline goodness [0,1] 0.8682175651333421 Centerline is valid? [False, False] Translation: X:-8.34, Y:-0.22, Z:0.36 [[ 9.98803034e-01 2.51429461e-02 -4.19563047e-02 -8.33532696e+00] [-2.51603746e-02 9.99683421e-01 1.12687055e-04 -2.23467851e-01] [ 4.19458555e-02 9.43084170e-04 9.99119440e-01 3.59049236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58528557 meters Centerline goodness [0,1] 0.8682175651333421 Centerline is valid? [False, False] Translation: X:-8.34, Y:-0.22, Z:0.36 [[ 9.98803034e-01 2.51429461e-02 -4.19563047e-02 -8.33532696e+00] [-2.51603746e-02 9.99683421e-01 1.12687055e-04 -2.23467851e-01] [ 4.19458555e-02 9.43084170e-04 9.99119440e-01 3.59049236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.615285570000001 meters Centerline goodness [0,1] 0.8822374227714034 Centerline is valid? [False, False] Translation: X:-8.36, Y:-0.21, Z:0.37 [[ 9.98871088e-01 2.21187296e-02 -4.20394003e-02 -8.35905414e+00] [-2.19021012e-02 9.99744399e-01 5.60665285e-03 -2.09578505e-01] [ 4.21526670e-02 -4.67957223e-03 9.99100222e-01 3.65356277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64528557 meters Centerline goodness [0,1] 0.895995575221239 Centerline is valid? [False, False] Translation: X:-8.38, Y:-0.19, Z:0.37 [[ 0.99899018 0.01904715 -0.04069177 -8.38372673] [-0.0186195 0.99976763 0.01086276 -0.19381482] [ 0.04088922 -0.01009413 0.9991127 0.37283711] [ 0. 0. 0. 1. ]] SLAMing on 8.67528557 meters Centerline goodness [0,1] 0.9003166644676078 Centerline is valid? [False, False] Translation: X:-8.42, Y:-0.20, Z:0.36 [[ 9.98883231e-01 2.39200270e-02 -4.07446004e-02 -8.41744787e+00] [-2.38062762e-02 9.99711227e-01 3.27477482e-03 -1.95235487e-01] [ 4.08111671e-02 -2.30114045e-03 9.99164227e-01 3.64181214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.705285570000001 meters Centerline goodness [0,1] 0.8959931611941607 Centerline is valid? [False, False] Translation: X:-8.45, Y:-0.19, Z:0.36 [[ 9.98875895e-01 2.15081510e-02 -4.22415241e-02 -8.44933538e+00] [-2.13268934e-02 9.99761334e-01 4.73699949e-03 -1.85634348e-01] [ 4.23333266e-02 -3.83079413e-03 9.99096199e-01 3.63503995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.73528557 meters Centerline goodness [0,1] 0.8921874658924712 Centerline is valid? [False, False] Translation: X:-8.48, Y:-0.18, Z:0.36 [[ 9.98850082e-01 1.83098979e-02 -4.43087111e-02 -8.48119911e+00] [-1.80956042e-02 9.99822568e-01 5.23268193e-03 -1.76985625e-01] [ 4.43966592e-02 -4.42487188e-03 9.99004183e-01 3.61542002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.765285570000001 meters Centerline goodness [0,1] 0.904499440040405 Centerline is valid? [False, False] Translation: X:-8.51, Y:-0.16, Z:0.37 [[ 0.99888757 0.01570822 -0.04446217 -8.5102752 ] [-0.01526021 0.99982949 0.0103976 -0.16278341] [ 0.04461791 -0.00970753 0.99895696 0.36913641] [ 0. 0. 0. 1. ]] SLAMing on 8.79528557 meters Centerline goodness [0,1] 0.8898924072778167 Centerline is valid? [False, False] Translation: X:-8.55, Y:-0.16, Z:0.36 [[ 9.98770773e-01 2.14627212e-02 -4.46799065e-02 -8.54675191e+00] [-2.12865669e-02 9.99763668e-01 4.41469075e-03 -1.63301294e-01] [ 4.47640985e-02 -3.45818227e-03 9.98991600e-01 3.63933251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.82528557 meters Centerline goodness [0,1] 0.8930644066311894 Centerline is valid? [False, False] Translation: X:-8.58, Y:-0.15, Z:0.37 [[ 0.99884235 0.01919995 -0.0441059 -8.57758794] [-0.01879579 0.99977764 0.00955996 -0.15349312] [ 0.04427964 -0.00871989 0.99898112 0.36955027] [ 0. 0. 0. 1. ]] SLAMing on 8.855285570000001 meters Centerline goodness [0,1] 0.8653630077787381 Centerline is valid? [False, False] Translation: X:-8.61, Y:-0.16, Z:0.36 [[ 9.98649333e-01 2.19000738e-02 -4.71157724e-02 -8.61400848e+00] [-2.19214759e-02 9.99759694e-01 6.24792272e-05 -1.62555232e-01] [ 4.71058185e-02 9.70452430e-04 9.98889433e-01 3.56604460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.88528557 meters Centerline goodness [0,1] 0.8908887867043289 Centerline is valid? [False, False] Translation: X:-8.66, Y:-0.14, Z:0.37 [[ 0.99880214 0.01527286 -0.04648679 -8.66396712] [-0.01475001 0.99982428 0.01156957 -0.13857 ] [ 0.04665532 -0.01087003 0.9988519 0.36864373] [ 0. 0. 0. 1. ]] SLAMing on 8.91528557 meters Centerline goodness [0,1] 0.8891860233827658 Centerline is valid? [False, False] Translation: X:-8.68, Y:-0.13, Z:0.37 [[ 0.99894987 0.01001644 -0.04470816 -8.67970286] [-0.00925625 0.9998096 0.01717817 -0.12646329] [ 0.04487172 -0.0167463 0.99885239 0.37386571] [ 0. 0. 0. 1. ]] SLAMing on 8.945285570000001 meters Centerline goodness [0,1] 0.8431226439905322 Centerline is valid? [False, False] Translation: X:-8.73, Y:-0.12, Z:0.37 [[ 9.98921353e-01 5.06107424e-03 -4.61575108e-02 -8.72848868e+00] [-4.54209451e-03 9.99925366e-01 1.13416279e-02 -1.24938154e-01] [ 4.62114667e-02 -1.11197425e-02 9.98869787e-01 3.67023402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.97528557 meters Centerline goodness [0,1] 0.8523594081262431 Centerline is valid? [False, False] Translation: X:-8.75, Y:-0.13, Z:0.37 [[ 9.98873690e-01 7.25452239e-03 -4.68905471e-02 -8.75162859e+00] [-6.77052791e-03 9.99922241e-01 1.04723900e-02 -1.25178247e-01] [ 4.69628732e-02 -1.01431211e-02 9.98845136e-01 3.70114549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.00528557 meters Centerline goodness [0,1] 0.8891514594547285 Centerline is valid? [False, False] Translation: X:-8.77, Y:-0.12, Z:0.38 [[ 9.98881830e-01 7.97730792e-03 -4.65988469e-02 -8.76863168e+00] [-7.51719834e-03 9.99921334e-01 1.00407537e-02 -1.22881855e-01] [ 4.66752793e-02 -9.67923368e-03 9.98863219e-01 3.75681480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.035285570000001 meters Centerline goodness [0,1] 0.8734177215189873 Centerline is valid? [False, False] Translation: X:-8.78, Y:-0.12, Z:0.38 [[ 9.98915402e-01 7.55335812e-03 -4.59452644e-02 -8.78343745e+00] [-7.19397925e-03 9.99942264e-01 7.98222290e-03 -1.23142791e-01] [ 4.60029043e-02 -7.64303611e-03 9.98912067e-01 3.78741933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06528557 meters Centerline goodness [0,1] 0.851975770298935 Centerline is valid? [False, False] Translation: X:-8.80, Y:-0.12, Z:0.38 [[ 9.98961350e-01 -3.79852268e-04 -4.55639771e-02 -8.80078825e+00] [ 9.30560723e-04 9.99926772e-01 1.20658858e-02 -1.15112368e-01] [ 4.55560573e-02 -1.20957536e-02 9.98888552e-01 3.82874178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.09528557 meters Centerline goodness [0,1] 0.815225035161744 Centerline is valid? [False, False] Translation: X:-8.81, Y:-0.11, Z:0.39 [[ 9.98970320e-01 1.46922669e-03 -4.53446840e-02 -8.81407556e+00] [-8.37736035e-04 9.99902450e-01 1.39423163e-02 -1.14086377e-01] [ 4.53607451e-02 -1.38899733e-02 9.98874102e-01 3.86877270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.12528557 meters Centerline goodness [0,1] 0.8462247990512584 Centerline is valid? [False, False] Translation: X:-8.83, Y:-0.11, Z:0.39 [[ 9.98988645e-01 3.52806154e-03 -4.48245392e-02 -8.82881799e+00] [-2.89721438e-03 9.99895957e-01 1.41308803e-02 -1.13283004e-01] [ 4.48697302e-02 -1.39867227e-02 9.98894929e-01 3.89618130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.15528557 meters Centerline goodness [0,1] 0.842249566800465 Centerline is valid? [False, False] Translation: X:-8.85, Y:-0.11, Z:0.39 [[ 9.98989163e-01 4.79353438e-03 -4.46953455e-02 -8.84573310e+00] [-4.24806964e-03 9.99915438e-01 1.22910671e-02 -1.12180730e-01] [ 4.47504836e-02 -1.20887739e-02 9.98925050e-01 3.92312370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.185285570000001 meters Centerline goodness [0,1] 0.8312989456184101 Centerline is valid? [False, False] Translation: X:-8.86, Y:-0.11, Z:0.40 [[ 9.99005844e-01 6.93245334e-03 -4.40370817e-02 -8.86493816e+00] [-6.47607975e-03 9.99923927e-01 1.04976178e-02 -1.09942591e-01] [ 4.41065059e-02 -1.02019938e-02 9.98974742e-01 3.95250417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.21528557 meters Centerline goodness [0,1] 0.839249978247629 Centerline is valid? [False, False] Translation: X:-8.88, Y:-0.11, Z:0.40 [[ 9.99041205e-01 9.53685972e-03 -4.27284277e-02 -8.88462162e+00] [-9.19156610e-03 9.99923556e-01 8.27031153e-03 -1.07540043e-01] [ 4.28040342e-02 -7.86964083e-03 9.99052493e-01 3.97587188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24528557 meters Centerline goodness [0,1] 0.8229345254888344 Centerline is valid? [False, False] Translation: X:-8.91, Y:-0.10, Z:0.40 [[ 9.99009593e-01 1.57605825e-02 -4.16105427e-02 -8.90863590e+00] [-1.54599174e-02 9.99852077e-01 7.53764166e-03 -1.04260982e-01] [ 4.17231851e-02 -6.88688078e-03 9.99105473e-01 3.98749474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.275285570000001 meters Centerline goodness [0,1] 0.8404710920770878 Centerline is valid? [False, False] Translation: X:-8.95, Y:-0.09, Z:0.40 [[ 0.99886971 0.01851131 -0.04377938 -8.9530346 ] [-0.01805756 0.99977929 0.01073715 -0.09206219] [ 0.04396848 -0.00993447 0.99898352 0.39739271] [ 0. 0. 0. 1. ]] SLAMing on 9.30528557 meters Centerline goodness [0,1] 0.8371472325530518 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.08, Z:0.40 [[ 0.99888087 0.01593696 -0.04453108 -8.97715394] [-0.01522002 0.99974978 0.01639273 -0.08001994] [ 0.04478119 -0.01569662 0.9988735 0.40293008] [ 0. 0. 0. 1. ]] SLAMing on 9.33528557 meters Centerline goodness [0,1] 0.8360798484881469 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.08, Z:0.41 [[ 0.99887295 0.01745953 -0.04413619 -8.98322246] [-0.01672518 0.99971639 0.01695301 -0.07856154] [ 0.04441966 -0.01619572 0.99888167 0.40599352] [ 0. 0. 0. 1. ]] SLAMing on 9.365285570000001 meters Centerline goodness [0,1] 0.842353196570064 Centerline is valid? [False, False] Translation: X:-9.03, Y:-0.08, Z:0.40 [[ 9.98753832e-01 2.38271147e-02 -4.38526087e-02 -9.02608506e+00] [-2.34373652e-02 9.99681297e-01 9.38057370e-03 -7.72252174e-02] [ 4.40621448e-02 -8.34109432e-03 9.98993971e-01 3.99919288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.39528557 meters Centerline goodness [0,1] 0.8428596209722885 Centerline is valid? [False, False] Translation: X:-9.05, Y:-0.06, Z:0.41 [[ 0.998843 0.02101138 -0.04325716 -9.04706166] [-0.02034317 0.99966773 0.01583008 -0.06420653] [ 0.0435754 -0.01493178 0.99893855 0.40602007] [ 0. 0. 0. 1. ]] SLAMing on 9.42528557 meters Centerline goodness [0,1] 0.8341772977202095 Centerline is valid? [False, False] Translation: X:-9.07, Y:-0.05, Z:0.41 [[ 0.99885212 0.01820099 -0.04430754 -9.06718973] [-0.01721608 0.99959837 0.02251003 -0.05100223] [ 0.04469945 -0.02172139 0.99876431 0.41277374] [ 0. 0. 0. 1. ]] SLAMing on 9.455285570000001 meters Centerline goodness [0,1] 0.8412201370792913 Centerline is valid? [False, False] Translation: X:-9.09, Y:-0.04, Z:0.42 [[ 0.99879763 0.01597927 -0.04634616 -9.08924971] [-0.01463282 0.9994651 0.02924722 -0.03662254] [ 0.04678872 -0.02853388 0.99849719 0.42054422] [ 0. 0. 0. 1. ]] SLAMing on 9.48528557 meters Centerline goodness [0,1] 0.8417459796521168 Centerline is valid? [False, False] Translation: X:-9.12, Y:-0.04, Z:0.41 [[ 0.99862527 0.02145853 -0.04782373 -9.11811456] [-0.02038014 0.99952946 0.02292387 -0.03978683] [ 0.04829314 -0.0219177 0.9985927 0.41198044] [ 0. 0. 0. 1. ]] SLAMing on 9.515285570000001 meters Centerline goodness [0,1] 0.8314242489734169 Centerline is valid? [False, False] Translation: X:-9.15, Y:-0.05, Z:0.40 [[ 0.99857629 0.02569526 -0.04674551 -9.14664128] [-0.0250609 0.99958639 0.01410643 -0.04522306] [ 0.04708865 -0.01291487 0.99880722 0.40006194] [ 0. 0. 0. 1. ]] SLAMing on 9.54528557 meters Centerline goodness [0,1] 0.8612820177161059 Centerline is valid? [False, False] Translation: X:-9.17, Y:-0.03, Z:0.41 [[ 0.99868553 0.02666829 -0.04377219 -9.16625571] [-0.02570162 0.99941641 0.0225003 -0.031033 ] [ 0.04434669 -0.02134571 0.99878813 0.40726827] [ 0. 0. 0. 1. ]] SLAMing on 9.57528557 meters Centerline goodness [0,1] 0.8642869610752313 Centerline is valid? [False, False] Translation: X:-9.20, Y:-0.03, Z:0.40 [[ 0.99806699 0.03812578 -0.04907863 -9.20194379] [-0.03721605 0.99912049 0.01931879 -0.03211661] [ 0.04977201 -0.01745493 0.99860807 0.39717819] [ 0. 0. 0. 1. ]] SLAMing on 9.605285570000001 meters Centerline goodness [0,1] 0.8733827052929645 Centerline is valid? [False, False] Translation: X:-9.22, Y:-0.03, Z:0.39 [[ 0.99763156 0.04576797 -0.05134755 -9.22322882] [-0.04490269 0.99883133 0.01788096 -0.03172222] [ 0.05210592 -0.01553296 0.99852076 0.3940127 ] [ 0. 0. 0. 1. ]] SLAMing on 9.63528557 meters Centerline goodness [0,1] 0.8426750898594925 Centerline is valid? [False, False] Translation: X:-9.23, Y:-0.03, Z:0.40 [[ 0.99754553 0.04791677 -0.05105787 -9.22753876] [-0.04702341 0.99872139 0.01855746 -0.02866115] [ 0.0518818 -0.016111 0.99852327 0.39652444] [ 0. 0. 0. 1. ]] SLAMing on 9.66528557 meters Centerline goodness [0,1] 0.8992760397417223 Centerline is valid? [False, False] Translation: X:-9.26, Y:-0.02, Z:0.39 [[ 0.99710177 0.06051107 -0.04611365 -9.25877771] [-0.05992235 0.99810423 0.01404511 -0.01811478] [ 0.04687611 -0.01124116 0.99883746 0.3918232 ] [ 0. 0. 0. 1. ]] SLAMing on 9.695285570000001 meters Centerline goodness [0,1] 0.9244837241862093 Centerline is valid? [False, False] Translation: X:-9.27, Y:-0.01, Z:0.39 [[ 9.96418166e-01 7.12597717e-02 -4.55289267e-02 -9.27004399e+00] [-7.05236004e-02 9.97355220e-01 1.75780273e-02 -8.31553048e-03] [ 4.66611189e-02 -1.43042018e-02 9.98808355e-01 3.92366554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.72528557 meters Centerline goodness [0,1] 0.9365796923347012 Centerline is valid? [False, False] Translation: X:-9.29, Y:-0.00, Z:0.38 [[ 9.95442462e-01 8.26525069e-02 -4.75696180e-02 -9.29104814e+00] [-8.20563179e-02 9.96524299e-01 1.43555588e-02 -3.62365171e-03] [ 4.85908032e-02 -1.03867451e-02 9.98764762e-01 3.82177792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.75528557 meters Centerline goodness [0,1] 0.9592981540669232 Centerline is valid? [False, True] Translation: X:-9.31, Y:0.00, Z:0.37 [[ 9.94729097e-01 9.00886107e-02 -4.89700482e-02 -9.31071024e+00] [-8.97980143e-02 9.95927005e-01 8.10663867e-03 4.26702342e-04] [ 4.95009093e-02 -3.66649627e-03 9.98767349e-01 3.73471570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.785285570000001 meters Centerline goodness [0,1] 0.9803973335093393 Centerline is valid? [True, True] Translation: X:-9.34, Y:0.02, Z:0.38 [[ 9.93370644e-01 1.04687537e-01 -4.74898277e-02 -9.33506384e+00] [-1.04334736e-01 9.94493412e-01 9.85479264e-03 2.48084606e-02] [ 4.82599947e-02 -4.83462309e-03 9.98823107e-01 3.81788752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.81528557 meters Centerline goodness [0,1] 0.9872628078335905 Centerline is valid? [True, True] Translation: X:-9.36, Y:0.04, Z:0.38 [[ 9.92516884e-01 1.14196905e-01 -4.32354153e-02 -9.36296476e+00] [-1.13913191e-01 9.93450140e-01 8.97797585e-03 3.53806296e-02] [ 4.39774865e-02 -3.98570851e-03 9.99024572e-01 3.75070920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.845285570000001 meters Centerline goodness [0,1] 0.987886592312897 Centerline is valid? [True, True] Translation: X:-9.39, Y:0.04, Z:0.37 [[ 9.91424802e-01 1.23194692e-01 -4.35881866e-02 -9.39268210e+00] [-1.22914494e-01 9.92375897e-01 9.06128815e-03 3.75123688e-02] [ 4.43721684e-02 -3.62596589e-03 9.99008490e-01 3.70049740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.87528557 meters Centerline goodness [0,1] 0.9924653007270324 Centerline is valid? [True, True] Translation: X:-9.42, Y:0.04, Z:0.37 [[ 9.90408879e-01 1.30404053e-01 -4.56621938e-02 -9.42083234e+00] [-1.30103612e-01 9.91454855e-01 9.50366777e-03 4.42182163e-02] [ 4.65113206e-02 -3.47170057e-03 9.98911730e-01 3.69142614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.90528557 meters Centerline goodness [0,1] 0.9882447525096693 Centerline is valid? [True, True] Translation: X:-9.45, Y:0.05, Z:0.37 [[ 9.90055813e-01 1.31928828e-01 -4.88290035e-02 -9.44991079e+00] [-1.31586458e-01 9.91252476e-01 1.01750939e-02 4.69386025e-02] [ 4.97442588e-02 -3.64867524e-03 9.98755323e-01 3.66437075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.935285570000001 meters Centerline goodness [0,1] 0.994934321615754 Centerline is valid? [True, True] Translation: X:-9.48, Y:0.06, Z:0.37 [[ 9.90113443e-01 1.31635838e-01 -4.84497342e-02 -9.47556482e+00] [-1.31298020e-01 9.91291448e-01 1.01042079e-02 5.94019909e-02] [ 4.93578830e-02 -3.64295787e-03 9.98774513e-01 3.68711595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.96528557 meters Centerline goodness [0,1] 0.994187326610595 Centerline is valid? [True, True] Translation: X:-9.50, Y:0.06, Z:0.37 [[ 9.90200061e-01 1.31526315e-01 -4.69538894e-02 -9.50437238e+00] [-1.31208549e-01 9.91306347e-01 9.80020058e-03 6.33246226e-02] [ 4.78346728e-02 -3.54340751e-03 9.98848982e-01 3.70049277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.99528557 meters Centerline goodness [0,1] 0.9921630437162059 Centerline is valid? [True, True] Translation: X:-9.53, Y:0.06, Z:0.37 [[ 9.90409581e-01 1.30356042e-01 -4.57838811e-02 -9.53399560e+00] [-1.30052147e-01 9.91460994e-01 9.56751018e-03 6.37790594e-02] [ 4.66401150e-02 -3.52146169e-03 9.98905551e-01 3.70909462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.025285570000001 meters Centerline goodness [0,1] 0.9934284024446343 Centerline is valid? [True, True] Translation: X:-9.56, Y:0.07, Z:0.37 [[ 9.90676132e-01 1.28587092e-01 -4.50129102e-02 -9.56255967e+00] [-1.28291033e-01 9.91691849e-01 9.41745800e-03 6.82999261e-02] [ 4.58498997e-02 -3.55489812e-03 9.98942015e-01 3.74742281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.05528557 meters Centerline goodness [0,1] 0.9902061742731316 Centerline is valid? [True, True] Translation: X:-9.59, Y:0.07, Z:0.37 [[ 9.91060046e-01 1.24999305e-01 -4.66385987e-02 -9.59292995e+00] [-1.24676946e-01 9.92149292e-01 9.76942159e-03 6.58920726e-02] [ 4.74936236e-02 -3.86732534e-03 9.98864055e-01 3.72087941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08528557 meters Centerline goodness [0,1] 0.98572501878287 Centerline is valid? [True, True] Translation: X:-9.62, Y:0.06, Z:0.37 [[ 9.91325226e-01 1.22406291e-01 -4.78643442e-02 -9.62411909e+00] [-1.22063149e-01 9.92471570e-01 1.00384911e-02 5.90613168e-02] [ 4.87327753e-02 -4.10893685e-03 9.98803401e-01 3.70931862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.115285570000001 meters Centerline goodness [0,1] 0.9853499249845556 Centerline is valid? [True, True] Translation: X:-9.65, Y:0.06, Z:0.37 [[ 9.91811283e-01 1.18490080e-01 -4.76495538e-02 -9.65256391e+00] [-1.18145140e-01 9.92945969e-01 1.00014386e-02 6.02039768e-02] [ 4.84985037e-02 -4.28997647e-03 9.98814042e-01 3.68230610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.14528557 meters Centerline goodness [0,1] 0.9855185473989083 Centerline is valid? [True, True] Translation: X:-9.68, Y:0.05, Z:0.37 [[ 9.92637319e-01 1.12614817e-01 -4.45988326e-02 -9.68254961e+00] [-1.12306622e-01 9.93629470e-01 9.36474613e-03 5.45488347e-02] [ 4.53693235e-02 -4.28705226e-03 9.98961083e-01 3.69522886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.17528557 meters Centerline goodness [0,1] 0.9797405914866442 Centerline is valid? [True, True] Translation: X:-9.71, Y:0.05, Z:0.37 [[ 9.92853561e-01 1.10926245e-01 -4.40133419e-02 -9.71298338e+00] [-1.10624301e-01 9.93819295e-01 9.24518041e-03 5.13897467e-02] [ 4.47668416e-02 -4.31016512e-03 9.98988164e-01 3.70233948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.205285570000001 meters Centerline goodness [0,1] 0.977944429696487 Centerline is valid? [True, True] Translation: X:-9.74, Y:0.05, Z:0.37 [[ 9.92948893e-01 1.09882769e-01 -4.44777763e-02 -9.74394584e+00] [-1.09573077e-01 9.93934771e-01 9.34938368e-03 4.82052142e-02] [ 4.52353446e-02 -4.40989337e-03 9.98966624e-01 3.66503292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.23528557 meters Centerline goodness [0,1] 0.9793586031411775 Centerline is valid? [True, True] Translation: X:-9.77, Y:0.05, Z:0.36 [[ 9.93188075e-01 1.07682763e-01 -4.45181936e-02 -9.77163864e+00] [-1.07369995e-01 9.94175025e-01 9.36505751e-03 5.42072241e-02] [ 4.52673315e-02 -4.52134523e-03 9.98964677e-01 3.63619328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.265285570000001 meters Centerline goodness [0,1] 0.9775782770210508 Centerline is valid? [True, True] Translation: X:-9.80, Y:0.05, Z:0.36 [[ 9.93210154e-01 1.06628665e-01 -4.65179221e-02 -9.80222337e+00] [-1.06285830e-01 9.94287430e-01 9.78925212e-03 4.82719801e-02] [ 4.72960001e-02 -4.77858865e-03 9.98869488e-01 3.59746551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.29528557 meters Centerline goodness [0,1] 0.9728265676129831 Centerline is valid? [True, True] Translation: X:-9.83, Y:0.05, Z:0.36 [[ 9.93698167e-01 1.02208448e-01 -4.60150662e-02 -9.83262998e+00] [-1.01867977e-01 9.94750728e-01 9.69045043e-03 4.92921596e-02] [ 4.67639665e-02 -4.94192113e-03 9.98893743e-01 3.62955216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.32528557 meters Centerline goodness [0,1] 0.9759485843014267 Centerline is valid? [True, True] Translation: X:-9.86, Y:0.06, Z:0.37 [[ 9.93781230e-01 1.01412380e-01 -4.59825651e-02 -9.86071801e+00] [-1.01071070e-01 9.94831980e-01 9.69381469e-03 5.50313946e-02] [ 4.67279991e-02 -4.98602401e-03 9.98895207e-01 3.70740106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.355285570000001 meters Centerline goodness [0,1] 0.96463675921631 Centerline is valid? [True, True] Translation: X:-9.89, Y:0.05, Z:0.37 [[ 9.93997700e-01 9.96517771e-02 -4.51452828e-02 -9.89099200e+00] [-9.93205440e-02 9.95009880e-01 9.52725303e-03 5.34645738e-02] [ 4.58694101e-02 -4.98621354e-03 9.98935000e-01 3.72485044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.38528557 meters Centerline goodness [0,1] 0.9681469936118368 Centerline is valid? [True, True] Translation: X:-9.92, Y:0.06, Z:0.37 [[ 9.93915495e-01 1.01076701e-01 -4.37663022e-02 -9.91991432e+00] [-1.00766446e-01 9.94867166e-01 9.24361804e-03 5.92139623e-02] [ 4.44759714e-02 -4.77720048e-03 9.98999032e-01 3.69197477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.41528557 meters Centerline goodness [0,1] 0.9836834500389019 Centerline is valid? [True, True] Translation: X:-9.95, Y:0.07, Z:0.37 [[ 9.93786139e-01 1.02251711e-01 -4.39738244e-02 -9.94742722e+00] [-1.01939493e-01 9.94747215e-01 9.29074018e-03 6.84624794e-02] [ 4.46928334e-02 -4.75033946e-03 9.98989482e-01 3.73561999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.445285570000001 meters Centerline goodness [0,1] 0.9695493300852619 Centerline is valid? [True, True] Translation: X:-9.98, Y:0.06, Z:0.36 [[ 9.93910024e-01 1.01721856e-01 -4.23736811e-02 -9.97899567e+00] [-1.01431217e-01 9.94802214e-01 8.95896760e-03 5.77084183e-02] [ 4.30647546e-02 -4.60639365e-03 9.99061664e-01 3.64849991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.47528557 meters Centerline goodness [0,1] 0.9762922916712826 Centerline is valid? [True, True] Translation: X:-10.01, Y:0.06, Z:0.37 [[ 9.94036825e-01 1.00840315e-01 -4.14972393e-02 -1.00071421e+01] [-1.00560490e-01 9.94892191e-01 8.78160119e-03 5.94817113e-02] [ 4.21708188e-02 -4.55625225e-03 9.99100026e-01 3.66244359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.50528557 meters Centerline goodness [0,1] 0.9762922916712826 Centerline is valid? [True, True] Translation: X:-10.03, Y:0.07, Z:0.37 [[ 9.94007755e-01 1.01127096e-01 -4.14957110e-02 -1.00346164e+01] [-1.00847220e-01 9.94863104e-01 8.78881769e-03 6.51439755e-02] [ 4.21713394e-02 -4.55142585e-03 9.99100026e-01 3.65562580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.535285570000001 meters Centerline goodness [0,1] 0.9515832798566086 Centerline is valid? [True, True] Translation: X:-10.07, Y:0.05, Z:0.36 [[ 9.94014640e-01 1.00843641e-01 -4.20173150e-02 -1.00671298e+01] [-1.00555913e-01 9.94891500e-01 8.91136000e-03 5.12703290e-02] [ 4.27013235e-02 -4.63293283e-03 9.99077141e-01 3.60635495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.56528557 meters Centerline goodness [0,1] 0.9679096094971698 Centerline is valid? [True, True] Translation: X:-10.09, Y:0.06, Z:0.36 [[ 9.93874893e-01 1.01324182e-01 -4.41146965e-02 -1.00923505e+01] [-1.01007044e-01 9.94841629e-01 9.36535410e-03 6.22382252e-02] [ 4.48360734e-02 -4.85209523e-03 9.98982574e-01 3.61726468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.595285570000001 meters Centerline goodness [0,1] 0.9707663072299806 Centerline is valid? [True, True] Translation: X:-10.12, Y:0.07, Z:0.36 [[ 9.93589692e-01 1.02952879e-01 -4.66929252e-02 -1.01212929e+01] [-1.02598922e-01 9.94673328e-01 9.92123593e-03 6.83495426e-02] [ 4.74656272e-02 -5.06699396e-03 9.98860020e-01 3.59492162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.62528557 meters Centerline goodness [0,1] 0.9725418758608433 Centerline is valid? [True, True] Translation: X:-10.15, Y:0.08, Z:0.37 [[ 9.93268449e-01 1.06346890e-01 -4.59143552e-02 -1.01501666e+01] [-1.06007733e-01 9.94317342e-01 9.76646303e-03 7.72164296e-02] [ 4.66920726e-02 -4.83344290e-03 9.98897636e-01 3.67608881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.65528557 meters Centerline goodness [0,1] 0.9681220294020118 Centerline is valid? [True, True] Translation: X:-10.18, Y:0.08, Z:0.37 [[ 9.93090940e-01 1.08498506e-01 -4.47041283e-02 -1.01793152e+01] [-1.08178685e-01 9.94085887e-01 9.51952404e-03 8.02336935e-02] [ 4.54725971e-02 -4.61771928e-03 9.98954914e-01 3.67629670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.685285570000001 meters Centerline goodness [0,1] 0.9813796022005925 Centerline is valid? [True, True] Translation: X:-10.21, Y:0.09, Z:0.37 [[ 9.92866316e-01 1.10712625e-01 -4.42627831e-02 -1.02053554e+01] [-1.10400938e-01 9.93842369e-01 9.43287676e-03 9.25477460e-02] [ 4.50345677e-02 -4.47893282e-03 9.98975389e-01 3.69272628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.71528557 meters Centerline goodness [0,1] 0.9789349847950101 Centerline is valid? [True, True] Translation: X:-10.23, Y:0.09, Z:0.37 [[ 9.92451777e-01 1.15050662e-01 -4.24595704e-02 -1.02347901e+01] [-1.14767530e-01 9.93351108e-01 9.05481813e-03 9.34545176e-02] [ 4.32190242e-02 -4.11349032e-03 9.99057153e-01 3.65365366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.74528557 meters Centerline goodness [0,1] 0.9812212825464474 Centerline is valid? [True, True] Translation: X:-10.26, Y:0.10, Z:0.36 [[ 9.92132824e-01 1.17779554e-01 -4.24315400e-02 -1.02639753e+01] [-1.17498825e-01 9.93031701e-01 9.05905337e-03 9.73416403e-02] [ 4.32028356e-02 -4.00212811e-03 9.99058306e-01 3.64979820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.775285570000001 meters Centerline goodness [0,1] 0.9853891731753299 Centerline is valid? [True, True] Translation: X:-10.29, Y:0.10, Z:0.36 [[ 9.91528596e-01 1.21847543e-01 -4.49913289e-02 -1.02907915e+01] [-1.21535620e-01 9.92540503e-01 9.61472116e-03 1.04416832e-01] [ 4.58272464e-02 -4.06522194e-03 9.98941108e-01 3.62089680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.80528557 meters Centerline goodness [0,1] 0.9894931739091639 Centerline is valid? [True, True] Translation: X:-10.32, Y:0.11, Z:0.36 [[ 9.91031864e-01 1.24750760e-01 -4.78862394e-02 -1.03175006e+01] [-1.24400449e-01 9.92179263e-01 1.02390115e-02 1.12005636e-01] [ 4.87890582e-02 -4.19011692e-03 9.98800316e-01 3.57295033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.83528557 meters Centerline goodness [0,1] 0.9887154537468748 Centerline is valid? [True, True] Translation: X:-10.35, Y:0.11, Z:0.36 [[ 9.91167126e-01 1.23921994e-01 -4.72341807e-02 -1.03478528e+01] [-1.23579866e-01 9.92283155e-01 1.01072421e-02 1.12435914e-01] [ 4.81221915e-02 -4.18077240e-03 9.98832707e-01 3.61971691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.865285570000001 meters Centerline goodness [0,1] 0.9892879073892971 Centerline is valid? [True, True] Translation: X:-10.38, Y:0.11, Z:0.37 [[ 9.91297637e-01 1.23867782e-01 -4.45619509e-02 -1.03780045e+01] [-1.23562758e-01 9.92290842e-01 9.54616635e-03 1.13306246e-01] [ 4.54008782e-02 -3.95689460e-03 9.98961012e-01 3.66160129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.89528557 meters Centerline goodness [0,1] 0.9901295774647887 Centerline is valid? [True, True] Translation: X:-10.41, Y:0.12, Z:0.36 [[ 9.91273309e-01 1.24787440e-01 -4.24890804e-02 -1.04053483e+01] [-1.24510629e-01 9.92176447e-01 9.11049356e-03 1.18643360e-01] [ 4.32935400e-02 -3.74064699e-03 9.99055392e-01 3.64237243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.925285570000002 meters Centerline goodness [0,1] 0.9820203934307886 Centerline is valid? [True, True] Translation: X:-10.44, Y:0.11, Z:0.36 [[ 9.91046222e-01 1.26324840e-01 -4.32368069e-02 -1.04369681e+01] [-1.26039283e-01 9.91981854e-01 9.27898882e-03 1.10553382e-01] [ 4.40622947e-02 -3.74637069e-03 9.99021761e-01 3.64578983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.955285570000001 meters Centerline goodness [0,1] 0.983896539228121 Centerline is valid? [True, True] Translation: X:-10.46, Y:0.12, Z:0.36 [[ 9.90984075e-01 1.26434451e-01 -4.43271098e-02 -1.04641840e+01] [-1.26134049e-01 9.91967517e-01 9.52090964e-03 1.17764965e-01] [ 4.51748240e-02 -3.84391199e-03 9.98971701e-01 3.63930834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98528557 meters Centerline goodness [0,1] 0.983684258499681 Centerline is valid? [True, True] Translation: X:-10.49, Y:0.12, Z:0.36 [[ 9.90958041e-01 1.26090146e-01 -4.58632279e-02 -1.04945253e+01] [-1.25767844e-01 9.92010720e-01 9.85801972e-03 1.18334947e-01] [ 4.67398129e-02 -4.00076463e-03 9.98899086e-01 3.64285508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.015285570000001 meters Centerline goodness [0,1] 0.9862277079457277 Centerline is valid? [True, True] Translation: X:-10.52, Y:0.13, Z:0.37 [[ 9.90937178e-01 1.25938043e-01 -4.67238602e-02 -1.05215168e+01] [-1.25602944e-01 9.92029670e-01 1.00515845e-02 1.26738219e-01] [ 4.76173325e-02 -4.09183435e-03 9.98857270e-01 3.67180467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.04528557 meters Centerline goodness [0,1] 0.9862144270797789 Centerline is valid? [True, True] Translation: X:-10.55, Y:0.13, Z:0.37 [[ 9.90923492e-01 1.26554599e-01 -4.53273246e-02 -1.05507166e+01] [-1.26239497e-01 9.91951783e-01 9.75960795e-03 1.28898701e-01] [ 4.61976438e-02 -3.94892614e-03 9.98924514e-01 3.71210396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.07528557 meters Centerline goodness [0,1] 0.9885155155385075 Centerline is valid? [True, True] Translation: X:-10.58, Y:0.13, Z:0.37 [[ 9.91077845e-01 1.26139385e-01 -4.30529907e-02 -1.05783627e+01] [-1.25854328e-01 9.92005333e-01 9.27942406e-03 1.31634459e-01] [ 4.38792972e-02 -3.77822640e-03 9.99029695e-01 3.71149987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.105285570000001 meters Centerline goodness [0,1] 0.986261980830671 Centerline is valid? [True, True] Translation: X:-10.61, Y:0.13, Z:0.37 [[ 9.90902362e-01 1.27941569e-01 -4.17547981e-02 -1.06079568e+01] [-1.27674762e-01 9.91775198e-01 9.00617772e-03 1.31724817e-01] [ 4.25636376e-02 -3.59320888e-03 9.99087296e-01 3.67307121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.13528557 meters Centerline goodness [0,1] 0.9849258894412499 Centerline is valid? [True, True] Translation: X:-10.64, Y:0.13, Z:0.37 [[ 9.90824714e-01 1.28240580e-01 -4.26701182e-02 -1.06372959e+01] [-1.27961896e-01 9.91736312e-01 9.21093022e-03 1.31718705e-01] [ 4.34987207e-02 -3.66626809e-03 9.99046756e-01 3.66858559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16528557 meters Centerline goodness [0,1] 0.984897865503787 Centerline is valid? [True, True] Translation: X:-10.67, Y:0.13, Z:0.36 [[ 9.90814114e-01 1.27267116e-01 -4.57216813e-02 -1.06665511e+01] [-1.26945626e-01 9.91860477e-01 9.87941718e-03 1.31713639e-01] [ 4.66068535e-02 -3.98449851e-03 9.98905363e-01 3.60462803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.195285570000001 meters Centerline goodness [0,1] 0.9791704899981648 Centerline is valid? [True, True] Translation: X:-10.70, Y:0.13, Z:0.36 [[ 9.90826606e-01 1.26836355e-01 -4.66387916e-02 -1.06967692e+01] [-1.26500902e-01 9.91915204e-01 1.00870812e-02 1.28364828e-01] [ 4.75411351e-02 -4.09469916e-03 9.98860888e-01 3.56935575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.22528557 meters Centerline goodness [0,1] 0.9877850349490088 Centerline is valid? [True, True] Translation: X:-10.72, Y:0.14, Z:0.36 [[ 9.90775579e-01 1.28132658e-01 -4.41109280e-02 -1.07219888e+01] [-1.27833541e-01 9.91749677e-01 9.54799729e-03 1.44383293e-01] [ 4.49704089e-02 -3.82106641e-03 9.98981012e-01 3.63399714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.25528557 meters Centerline goodness [0,1] 0.9838765244952801 Centerline is valid? [True, True] Translation: X:-10.75, Y:0.15, Z:0.36 [[ 9.90441757e-01 1.31511904e-01 -4.15902091e-02 -1.07513988e+01] [-1.31248690e-01 9.91308538e-01 9.00911658e-03 1.45557834e-01] [ 4.24135355e-02 -3.46434480e-03 9.99094135e-01 3.63690919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.285285570000001 meters Centerline goodness [0,1] 0.9910646079770365 Centerline is valid? [True, True] Translation: X:-10.78, Y:0.16, Z:0.37 [[ 9.90157538e-01 1.33025988e-01 -4.34987017e-02 -1.07781864e+01] [-1.32739125e-01 9.91106142e-01 9.43082164e-03 1.55456660e-01] [ 4.43663748e-02 -3.56401953e-03 9.99008970e-01 3.66109592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.31528557 meters Centerline goodness [0,1] 0.9898890605252071 Centerline is valid? [True, True] Translation: X:-10.81, Y:0.15, Z:0.36 [[ 9.90081981e-01 1.33253130e-01 -4.45115035e-02 -1.08086297e+01] [-1.32952634e-01 9.91075337e-01 9.65781871e-03 1.54751444e-01] [ 4.54011879e-02 -3.64411066e-03 9.98962188e-01 3.63291539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.345285570000001 meters Centerline goodness [0,1] 0.9895283106292281 Centerline is valid? [True, True] Translation: X:-10.84, Y:0.16, Z:0.36 [[ 9.90257407e-01 1.32390438e-01 -4.31629381e-02 -1.08371414e+01] [-1.32106614e-01 9.91191172e-01 9.37564715e-03 1.62263107e-01] [ 4.40239693e-02 -3.58219443e-03 9.99024053e-01 3.64491906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.37528557 meters Centerline goodness [0,1] 0.9906074907586079 Centerline is valid? [True, True] Translation: X:-10.87, Y:0.17, Z:0.37 [[ 9.90343634e-01 1.32634732e-01 -4.03424622e-02 -1.08653382e+01] [-1.32386688e-01 9.91159339e-01 8.77091497e-03 1.67525575e-01] [ 4.11491361e-02 -3.34541486e-03 9.99147415e-01 3.65520814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.40528557 meters Centerline goodness [0,1] 0.9855069031662207 Centerline is valid? [True, True] Translation: X:-10.90, Y:0.16, Z:0.37 [[ 9.90344891e-01 1.32280203e-01 -4.14601503e-02 -1.08969853e+01] [-1.32017585e-01 9.91206321e-01 9.02148419e-03 1.61273975e-01] [ 4.22889268e-02 -3.46091187e-03 9.99099429e-01 3.68259672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.435285570000001 meters Centerline goodness [0,1] 0.9864273722541439 Centerline is valid? [True, True] Translation: X:-10.92, Y:0.16, Z:0.36 [[ 9.90156265e-01 1.32787142e-01 -4.42509371e-02 -1.09248772e+01] [-1.32488099e-01 9.91137750e-01 9.63657997e-03 1.62920340e-01] [ 4.51383881e-02 -3.67899750e-03 9.98973969e-01 3.59800158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.46528557 meters Centerline goodness [0,1] 0.9909134045077106 Centerline is valid? [True, True] Translation: X:-10.95, Y:0.17, Z:0.36 [[ 9.90044544e-01 1.32789417e-01 -4.66773165e-02 -1.09517160e+01] [-1.32456447e-01 9.91136658e-01 1.01693195e-02 1.70459361e-01] [ 4.76139775e-02 -3.88536777e-03 9.98858255e-01 3.57977175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.49528557 meters Centerline goodness [0,1] 0.9822727811352056 Centerline is valid? [True, True] Translation: X:-10.98, Y:0.16, Z:0.36 [[ 9.90268604e-01 1.31449425e-01 -4.57071145e-02 -1.09826987e+01] [-1.31128376e-01 9.91315303e-01 9.96590413e-03 1.64491741e-01] [ 4.66201744e-02 -3.87542229e-03 9.98905171e-01 3.57195779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.525285570000001 meters Centerline goodness [0,1] 0.9872880339625357 Centerline is valid? [True, True] Translation: X:-11.01, Y:0.17, Z:0.36 [[ 9.90416941e-01 1.31684553e-01 -4.16348563e-02 -1.10097564e+01] [-1.31418061e-01 9.91285396e-01 9.08613256e-03 1.73050750e-01] [ 4.24685283e-02 -3.52748752e-03 9.99091578e-01 3.62485690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.55528557 meters Centerline goodness [0,1] 0.9874277456647399 Centerline is valid? [True, True] Translation: X:-11.04, Y:0.17, Z:0.36 [[ 9.90571001e-01 1.30973365e-01 -4.01879182e-02 -1.10393443e+01] [-1.30724209e-01 9.91379915e-01 8.77758612e-03 1.74640457e-01] [ 4.09911249e-02 -3.44128848e-03 9.99153584e-01 3.62777587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58528557 meters Centerline goodness [0,1] 0.9853699484350642 Centerline is valid? [True, True] Translation: X:-11.07, Y:0.18, Z:0.36 [[ 9.90300178e-01 1.31718717e-01 -4.42237125e-02 -1.10691063e+01] [-1.31417169e-01 9.91279982e-01 9.67087751e-03 1.75584841e-01] [ 4.51119165e-02 -3.76531663e-03 9.98974843e-01 3.58588332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.615285570000001 meters Centerline goodness [0,1] 0.9857957994415443 Centerline is valid? [True, True] Translation: X:-11.10, Y:0.18, Z:0.37 [[ 9.90163766e-01 1.31997001e-01 -4.63951244e-02 -1.10964364e+01] [-1.31664993e-01 9.91242263e-01 1.01540865e-02 1.82755219e-01] [ 4.73291171e-02 -3.94559479e-03 9.98871557e-01 3.65547271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.64528557 meters Centerline goodness [0,1] 0.9886508758825089 Centerline is valid? [True, True] Translation: X:-11.12, Y:0.20, Z:0.36 [[ 9.90341631e-01 1.30867220e-01 -4.57954630e-02 -1.11220583e+01] [-1.30542160e-01 9.91392012e-01 1.00311334e-02 1.96623450e-01] [ 4.67140028e-02 -3.95601038e-03 9.98900471e-01 3.59885327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.675285570000002 meters Centerline goodness [0,1] 0.9862609924240578 Centerline is valid? [True, True] Translation: X:-11.15, Y:0.19, Z:0.36 [[ 9.90445289e-01 1.30717601e-01 -4.39435746e-02 -1.11526923e+01] [-1.30417615e-01 9.91412304e-01 9.63794103e-03 1.91562644e-01] [ 4.48260491e-02 -3.81483708e-03 9.98987524e-01 3.62830205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.705285570000001 meters Centerline goodness [0,1] 0.9809719974498553 Centerline is valid? [True, True] Translation: X:-11.18, Y:0.18, Z:0.36 [[ 9.90666711e-01 1.29238818e-01 -4.33219941e-02 -1.11839358e+01] [-1.28945331e-01 9.91606067e-01 9.51362200e-03 1.84112559e-01] [ 4.41878815e-02 -3.83865974e-03 9.99015864e-01 3.55100880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.73528557 meters Centerline goodness [0,1] 0.979982337356491 Centerline is valid? [True, True] Translation: X:-11.21, Y:0.19, Z:0.35 [[ 9.90901166e-01 1.27043756e-01 -4.44383136e-02 -1.12111198e+01] [-1.26732364e-01 9.91888859e-01 9.76721606e-03 1.89744592e-01] [ 4.53187320e-02 -4.04657323e-03 9.98964383e-01 3.53913346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.765285570000001 meters Centerline goodness [0,1] 0.9790206313696247 Centerline is valid? [True, True] Translation: X:-11.24, Y:0.19, Z:0.36 [[ 9.91274038e-01 1.24210483e-01 -4.41309120e-02 -1.12402467e+01] [-1.23900376e-01 9.92247205e-01 9.70472971e-03 1.93201511e-01] [ 4.49942032e-02 -4.15221003e-03 9.98978619e-01 3.61075428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.79528557 meters Centerline goodness [0,1] 0.9793959781345074 Centerline is valid? [True, True] Translation: X:-11.27, Y:0.20, Z:0.36 [[ 9.91450812e-01 1.23519635e-01 -4.20498233e-02 -1.12683679e+01] [-1.23237172e-01 9.92334094e-01 9.25450461e-03 1.99841431e-01] [ 4.28705863e-02 -3.99328478e-03 9.99072653e-01 3.58738241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82528557 meters Centerline goodness [0,1] 0.9714976206492763 Centerline is valid? [True, True] Translation: X:-11.30, Y:0.19, Z:0.36 [[ 9.91678596e-01 1.21505502e-01 -4.25437995e-02 -1.12990057e+01] [-1.21214197e-01 9.92582142e-01 9.37073216e-03 1.94359646e-01] [ 4.33668112e-02 -4.13584201e-03 9.99050657e-01 3.58280232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.855285570000001 meters Centerline goodness [0,1] 0.9782662940413215 Centerline is valid? [True, True] Translation: X:-11.33, Y:0.20, Z:0.36 [[ 9.91659211e-01 1.21434273e-01 -4.31940664e-02 -1.13254076e+01] [-1.21133760e-01 9.92590564e-01 9.51761450e-03 2.02757413e-01] [ 4.40297873e-02 -4.20597042e-03 9.99021365e-01 3.59514304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.88528557 meters Centerline goodness [0,1] 0.9724973603499422 Centerline is valid? [True, True] Translation: X:-11.36, Y:0.20, Z:0.35 [[ 9.91883538e-01 1.19189484e-01 -4.42821987e-02 -1.13556427e+01] [-1.18871079e-01 9.92861680e-01 9.76474319e-03 2.01841417e-01] [ 4.51299529e-02 -4.42161528e-03 9.98971339e-01 3.53804878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.91528557 meters Centerline goodness [0,1] 0.9734515522585234 Centerline is valid? [True, True] Translation: X:-11.38, Y:0.20, Z:0.35 [[ 9.91788767e-01 1.19389298e-01 -4.58392540e-02 -1.13847974e+01] [-1.19047750e-01 9.92836956e-01 1.01198466e-02 2.02439682e-01] [ 4.67191068e-02 -4.57969008e-03 9.98897568e-01 3.53177948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.945285570000001 meters Centerline goodness [0,1] 0.9651992255171711 Centerline is valid? [True, True] Translation: X:-11.42, Y:0.20, Z:0.35 [[ 9.91777109e-01 1.19034446e-01 -4.69996519e-02 -1.14156006e+01] [-1.18674424e-01 9.92878885e-01 1.03875534e-02 1.99115414e-01] [ 4.79014387e-02 -4.72448106e-03 9.98840894e-01 3.46761845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.97528557 meters Centerline goodness [0,1] 0.9758309713991239 Centerline is valid? [True, True] Translation: X:-11.44, Y:0.21, Z:0.35 [[ 9.91790952e-01 1.19376691e-01 -4.58248033e-02 -1.14420248e+01] [-1.19034426e-01 9.92838386e-01 1.01363122e-02 2.10743547e-01] [ 4.67066632e-02 -4.59837355e-03 9.98898064e-01 3.52155170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.005285570000002 meters Centerline goodness [0,1] 0.9766952954749392 Centerline is valid? [True, True] Translation: X:-11.47, Y:0.22, Z:0.36 [[ 9.91804275e-01 1.20310146e-01 -4.30086976e-02 -1.14705261e+01] [-1.20009217e-01 9.92727121e-01 9.52112272e-03 2.19786339e-01] [ 4.38413882e-02 -4.28165012e-03 9.99029329e-01 3.58236054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.035285570000001 meters Centerline goodness [0,1] 0.9757602468047598 Centerline is valid? [True, True] Translation: X:-11.50, Y:0.22, Z:0.36 [[ 9.91692447e-01 1.21468091e-01 -4.23272228e-02 -1.14993434e+01] [-1.21177252e-01 9.92586565e-01 9.37999677e-03 2.22005198e-01] [ 4.31528030e-02 -4.17297538e-03 9.99059769e-01 3.58612910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.06528557 meters Centerline goodness [0,1] 0.9792738079855279 Centerline is valid? [True, True] Translation: X:-11.52, Y:0.23, Z:0.36 [[ 9.91495214e-01 1.22186026e-01 -4.48086656e-02 -1.15249273e+01] [-1.21860338e-01 9.92497487e-01 9.93965047e-03 2.33428237e-01] [ 4.56869743e-02 -4.39471675e-03 9.98946138e-01 3.55492865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.095285570000001 meters Centerline goodness [0,1] 0.9774259900538964 Centerline is valid? [True, True] Translation: X:-11.56, Y:0.23, Z:0.35 [[ 9.91329269e-01 1.22761291e-01 -4.68609273e-02 -1.15556486e+01] [-1.22405165e-01 9.92425661e-01 1.04059587e-02 2.31035152e-01] [ 4.77834356e-02 -4.57971187e-03 9.98847220e-01 3.51112134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.12528557 meters Centerline goodness [0,1] 0.9793523548336058 Centerline is valid? [True, True] Translation: X:-11.58, Y:0.24, Z:0.35 [[ 9.91449704e-01 1.21952801e-01 -4.64219643e-02 -1.15830172e+01] [-1.21602047e-01 9.92525317e-01 1.03168622e-02 2.36262390e-01] [ 4.73331450e-02 -4.58364406e-03 9.98868642e-01 3.51497209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.15528557 meters Centerline goodness [0,1] 0.97491106037275 Centerline is valid? [True, True] Translation: X:-11.61, Y:0.23, Z:0.35 [[ 9.91375561e-01 1.23515787e-01 -4.37989311e-02 -1.16139121e+01] [-1.23204754e-01 9.92333458e-01 9.74148076e-03 2.28890698e-01] [ 4.46663714e-02 -4.26122944e-03 9.98992871e-01 3.47127175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.185285570000001 meters Centerline goodness [0,1] 0.9746794957221674 Centerline is valid? [True, True] Translation: X:-11.64, Y:0.23, Z:0.34 [[ 9.91355330e-01 1.23103383e-01 -4.53890679e-02 -1.16421217e+01] [-1.22768513e-01 9.92383902e-01 1.01036604e-02 2.28848788e-01] [ 4.62871751e-02 -4.44396918e-03 9.98918289e-01 3.43216060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.21528557 meters Centerline goodness [0,1] 0.9414163885799036 Centerline is valid? [True, False] Translation: X:-11.66, Y:0.23, Z:0.33 [[ 9.93157493e-01 1.05817804e-01 -4.94043096e-02 -1.16622705e+01] [-1.05966608e-01 9.94369610e-01 -3.95140750e-04 2.28799448e-01] [ 4.90843312e-02 5.62764410e-03 9.98778783e-01 3.26696367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24528557 meters Centerline goodness [0,1] 0.9698932926829268 Centerline is valid? [False, True] Translation: X:-11.71, Y:0.23, Z:0.32 [[ 9.94026564e-01 9.67520303e-02 -5.04998477e-02 -1.17061745e+01] [-9.72177235e-02 9.95239616e-01 -6.84251699e-03 2.32030213e-01] [ 4.95974217e-02 1.17111239e-02 9.98700628e-01 3.20255565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.275285570000001 meters Centerline goodness [0,1] 0.9706751285698654 Centerline is valid? [True, True] Translation: X:-11.73, Y:0.25, Z:0.35 [[ 9.94330923e-01 9.58434713e-02 -4.60439455e-02 -1.17320865e+01] [-9.55196827e-02 9.95385149e-01 9.18673913e-03 2.54883311e-01] [ 4.67119485e-02 -4.73655574e-03 9.98897171e-01 3.51270763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.30528557 meters Centerline goodness [0,1] 0.9480032015013937 Centerline is valid? [True, False] Translation: X:-11.76, Y:0.26, Z:0.34 [[ 9.95149782e-01 8.72108359e-02 -4.55102296e-02 -1.17631387e+01] [-8.70662071e-02 9.96189193e-01 5.15433987e-03 2.55218766e-01] [ 4.57863132e-02 -1.16693713e-03 9.98950575e-01 3.42853351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.335285570000002 meters Centerline goodness [0,1] 0.9734089651355838 Centerline is valid? [False, True] Translation: X:-11.79, Y:0.26, Z:0.33 [[ 9.95857453e-01 7.87636810e-02 -4.54336318e-02 -1.17945349e+01] [-7.88485042e-02 9.96886607e-01 -7.50957828e-05 2.56236331e-01] [ 4.52862643e-02 3.65715861e-03 9.98967357e-01 3.33407437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.365285570000001 meters Centerline goodness [0,1] 0.9644732090775257 Centerline is valid? [True, True] Translation: X:-11.82, Y:0.26, Z:0.34 [[ 9.95891702e-01 7.87752816e-02 -4.46561542e-02 -1.18233365e+01] [-7.84838557e-02 9.96881290e-01 8.24485988e-03 2.64068565e-01] [ 4.51663757e-02 -4.70620038e-03 9.98968393e-01 3.40605476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.39528557 meters Centerline goodness [0,1] 0.9644732090775257 Centerline is valid? [True, True] Translation: X:-11.85, Y:0.27, Z:0.34 [[ 9.95870734e-01 7.90408004e-02 -4.46546039e-02 -1.18509631e+01] [-7.87492663e-02 9.96860290e-01 8.25324956e-03 2.68996989e-01] [ 4.51667448e-02 -4.70265241e-03 9.98968393e-01 3.39894730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.425285570000002 meters Centerline goodness [0,1] 0.9673919122993456 Centerline is valid? [True, True] Translation: X:-11.88, Y:0.27, Z:0.33 [[ 9.95768431e-01 7.81501326e-02 -4.83506815e-02 -1.18800108e+01] [-7.78068134e-02 9.96928323e-01 8.94531554e-03 2.69088230e-01] [ 4.89012414e-02 -5.14545037e-03 9.98790365e-01 3.32781144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.455285570000001 meters Centerline goodness [0,1] 0.9638684675443095 Centerline is valid? [True, True] Translation: X:-11.91, Y:0.26, Z:0.33 [[ 9.95987532e-01 7.44957956e-02 -4.95904512e-02 -1.19116065e+01] [-7.41298003e-02 9.97206333e-01 9.18165315e-03 2.63279255e-01] [ 5.01359066e-02 -5.46868181e-03 9.98727432e-01 3.30490489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48528557 meters Centerline goodness [0,1] 0.9624221295079156 Centerline is valid? [True, True] Translation: X:-11.94, Y:0.26, Z:0.33 [[ 9.96302394e-01 7.26732329e-02 -4.58272885e-02 -1.19414266e+01] [-7.23585227e-02 9.97342539e-01 8.49138735e-03 2.63003302e-01] [ 4.63226009e-02 -5.14399465e-03 9.98913288e-01 3.32583909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.515285570000001 meters Centerline goodness [0,1] 0.9502158857109739 Centerline is valid? [True, True] Translation: X:-11.97, Y:0.26, Z:0.33 [[ 9.96614388e-01 7.02770955e-02 -4.26718942e-02 -1.19729102e+01] [-7.00018596e-02 9.97515482e-01 7.91224153e-03 2.58531454e-01] [ 4.31219245e-02 -4.89834180e-03 9.99057809e-01 3.33802102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.54528557 meters Centerline goodness [0,1] 0.9561728575180182 Centerline is valid? [True, True] Translation: X:-12.00, Y:0.26, Z:0.33 [[ 9.96581234e-01 6.99054649e-02 -4.40348654e-02 -1.20005923e+01] [-6.96116331e-02 9.97540687e-01 8.17302974e-03 2.63697991e-01] [ 4.44979094e-02 -5.07974917e-03 9.98996563e-01 3.33970516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.57528557 meters Centerline goodness [0,1] 0.9695844385499558 Centerline is valid? [True, True] Translation: X:-12.03, Y:0.27, Z:0.33 [[ 9.96447927e-01 6.92726755e-02 -4.78834453e-02 -1.20271008e+01] [-6.89242290e-02 9.97582267e-01 8.89216546e-03 2.74711597e-01] [ 4.83836600e-02 -5.56025030e-03 9.98813348e-01 3.28660575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.605285570000001 meters Centerline goodness [0,1] 0.9505957484551932 Centerline is valid? [True, True] Translation: X:-12.06, Y:0.26, Z:0.33 [[ 9.96631239e-01 6.60959871e-02 -4.85540268e-02 -1.20584822e+01] [-6.57338333e-02 9.97796425e-01 9.01980708e-03 2.64102012e-01] [ 4.90432074e-02 -5.79777920e-03 9.98779830e-01 3.27533643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.63528557 meters Centerline goodness [0,1] 0.9542347075857539 Centerline is valid? [True, True] Translation: X:-12.09, Y:0.27, Z:0.33 [[ 9.96823176e-01 6.50366251e-02 -4.59760069e-02 -1.20865226e+01] [-6.47106813e-02 9.97867489e-01 8.54417084e-03 2.67170381e-01] [ 4.64336465e-02 -5.54188878e-03 9.98906004e-01 3.30916223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66528557 meters Centerline goodness [0,1] 0.9629663247708088 Centerline is valid? [True, True] Translation: X:-12.11, Y:0.27, Z:0.33 [[ 9.96985113e-01 6.42180390e-02 -4.35514312e-02 -1.21144844e+01] [-6.39246259e-02 9.97921872e-01 8.09813122e-03 2.71141054e-01] [ 4.39809718e-02 -5.28970733e-03 9.99018365e-01 3.33304754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.695285570000001 meters Centerline goodness [0,1] 0.9447486768440052 Centerline is valid? [True, False] Translation: X:-12.13, Y:0.27, Z:0.33 [[ 9.97493341e-01 5.46829397e-02 -4.49089127e-02 -1.21339756e+01] [-5.43992344e-02 9.98490976e-01 7.51627554e-03 2.72798660e-01] [ 4.52521561e-02 -5.05442433e-03 9.98962810e-01 3.29119632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.72528557 meters Centerline goodness [0,1] 0.948868889847747 Centerline is valid? [False, False] Translation: X:-12.15, Y:0.28, Z:0.33 [[ 9.97820534e-01 4.67335259e-02 -4.65849743e-02 -1.21518777e+01] [-4.62981321e-02 9.98873710e-01 1.03823937e-02 2.79979565e-01] [ 4.70177120e-02 -8.20296830e-03 9.98860374e-01 3.32328495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.755285570000002 meters Centerline goodness [0,1] 0.9520166036800694 Centerline is valid? [False, True] Translation: X:-12.17, Y:0.29, Z:0.34 [[ 0.99818824 0.03980719 -0.045118 -12.17093255] [ -0.039198 0.99912903 0.01430756 0.2899357 ] [ 0.04564825 -0.0125131 0.9988792 0.33737399] [ 0. 0. 0. 1. ]] SLAMing on 12.785285570000001 meters Centerline goodness [0,1] 0.9595573745641959 Centerline is valid? [True, True] Translation: X:-12.20, Y:0.29, Z:0.33 [[ 9.98063929e-01 4.23139296e-02 -4.55842641e-02 -1.22000433e+01] [-4.20237804e-02 9.99089904e-01 7.30516296e-03 2.90416290e-01] [ 4.58518882e-02 -5.37539654e-03 9.98933786e-01 3.26128977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.81528557 meters Centerline goodness [0,1] 0.9547031850291238 Centerline is valid? [True, True] Translation: X:-12.23, Y:0.29, Z:0.33 [[ 9.98020390e-01 4.29934621e-02 -4.59005884e-02 -1.22293256e+01] [-4.26997984e-02 9.99060840e-01 7.35970736e-03 2.87880112e-01] [ 4.61738997e-02 -5.38519214e-03 9.98918901e-01 3.28024303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.845285570000001 meters Centerline goodness [0,1] 0.9585067434364928 Centerline is valid? [True, True] Translation: X:-12.26, Y:0.29, Z:0.31 [[ 9.97765491e-01 4.59725066e-02 -4.84825172e-02 -1.22595540e+01] [-4.56479606e-02 9.98927286e-01 7.78077198e-03 2.89030310e-01] [ 4.87882110e-02 -5.55025773e-03 9.98793725e-01 3.14192241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.87528557 meters Centerline goodness [0,1] 0.9191518812130364 Centerline is valid? [True, False] Translation: X:-12.27, Y:0.30, Z:0.32 [[ 9.98085490e-01 3.75129248e-02 -4.91745321e-02 -1.22706022e+01] [-3.69789428e-02 9.99247265e-01 1.17243883e-02 2.96033370e-01] [ 4.95773328e-02 -9.88351963e-03 9.98721385e-01 3.16212353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.90528557 meters Centerline goodness [0,1] 0.9664401828803657 Centerline is valid? [False, True] Translation: X:-12.31, Y:0.30, Z:0.31 [[ 9.98317202e-01 3.51689400e-02 -4.61075873e-02 -1.23132177e+01] [-3.46343953e-02 9.99323842e-01 1.23417345e-02 2.97460588e-01] [ 4.65104570e-02 -1.07240574e-02 9.98860236e-01 3.10819108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.935285570000001 meters Centerline goodness [0,1] 0.9583802728752034 Centerline is valid? [True, True] Translation: X:-12.35, Y:0.29, Z:0.31 [[ 9.98319785e-01 3.75813520e-02 -4.41049731e-02 -1.23451059e+01] [-3.73403001e-02 9.99282894e-01 6.27688595e-03 2.86844685e-01] [ 4.43092390e-02 -4.61944650e-03 9.99007183e-01 3.05208210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.96528557 meters Centerline goodness [0,1] 0.9574921311162687 Centerline is valid? [True, True] Translation: X:-12.37, Y:0.29, Z:0.31 [[ 9.98273645e-01 3.88836405e-02 -4.40203668e-02 -1.23743098e+01] [-3.86446943e-02 9.99233366e-01 6.26644237e-03 2.89081591e-01] [ 4.42302814e-02 -4.55447064e-03 9.99010980e-01 3.07358847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.99528557 meters Centerline goodness [0,1] 0.9551306935817805 Centerline is valid? [True, True] Translation: X:-12.40, Y:0.29, Z:0.31 [[ 9.98127324e-01 3.94855777e-02 -4.67197507e-02 -1.24033056e+01] [-3.92167600e-02 9.99208553e-01 6.65686913e-03 2.91742022e-01] [ 4.69456248e-02 -4.81220572e-03 9.98885855e-01 3.05583978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.025285570000001 meters Centerline goodness [0,1] 0.9710947888304945 Centerline is valid? [True, True] Translation: X:-12.43, Y:0.31, Z:0.30 [[ 9.97959608e-01 4.34031099e-02 -4.68272480e-02 -1.24297307e+01] [-4.31369871e-02 9.99046840e-01 6.67921148e-03 3.09990003e-01] [ 4.70725127e-02 -4.64559688e-03 9.98880672e-01 3.03630628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.05528557 meters Centerline goodness [0,1] 0.9630755589334347 Centerline is valid? [True, True] Translation: X:-12.46, Y:0.30, Z:0.30 [[ 9.97868253e-01 4.62144003e-02 -4.60779648e-02 -1.24605981e+01] [-4.59594755e-02 9.98921652e-01 6.57719224e-03 3.03299951e-01] [ 4.63322378e-02 -4.44545223e-03 9.98916194e-01 3.00909948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.085285570000002 meters Centerline goodness [0,1] 0.9695972918596111 Centerline is valid? [True, True] Translation: X:-12.49, Y:0.31, Z:0.30 [[ 9.97783929e-01 4.79270651e-02 -4.61543788e-02 -1.24891544e+01] [-4.76728700e-02 9.98841242e-01 6.59321517e-03 3.07481285e-01] [ 4.64168905e-02 -4.37829244e-03 9.98912560e-01 2.96372506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.115285570000001 meters Centerline goodness [0,1] 0.9735379644588045 Centerline is valid? [True, True] Translation: X:-12.52, Y:0.31, Z:0.29 [[ 9.97615020e-01 4.96867063e-02 -4.79114051e-02 -1.25179192e+01] [-4.94146718e-02 9.98754883e-01 6.84642215e-03 3.09975401e-01] [ 4.81919260e-02 -4.46256721e-03 9.98828125e-01 2.91947799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.14528557 meters Centerline goodness [0,1] 0.9615235008103727 Centerline is valid? [True, True] Translation: X:-12.55, Y:0.30, Z:0.28 [[ 9.97363449e-01 5.32642862e-02 -4.92855611e-02 -1.25498117e+01] [-5.29804458e-02 9.98570673e-01 7.04859549e-03 2.97418244e-01] [ 4.95905543e-02 -4.41884051e-03 9.98759856e-01 2.83177724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.175285570000002 meters Centerline goodness [0,1] 0.9845322699938901 Centerline is valid? [True, True] Translation: X:-12.58, Y:0.32, Z:0.29 [[ 9.97361198e-01 5.49650847e-02 -4.74286932e-02 -1.25756955e+01] [-5.47038724e-02 9.98479542e-01 6.78899111e-03 3.19009740e-01] [ 4.77297374e-02 -4.17654313e-03 9.98851555e-01 2.90236141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.205285570000001 meters Centerline goodness [0,1] 0.9763153660498793 Centerline is valid? [True, True] Translation: X:-12.61, Y:0.32, Z:0.29 [[ 9.97390751e-01 5.75400682e-02 -4.35985129e-02 -1.26063433e+01] [-5.73215884e-02 9.98336228e-01 6.24591350e-03 3.16167163e-01] [ 4.38853652e-02 -3.73048034e-03 9.99029608e-01 2.92751063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.23528557 meters Centerline goodness [0,1] 0.9732398443279405 Centerline is valid? [True, True] Translation: X:-12.64, Y:0.32, Z:0.29 [[ 9.97124280e-01 6.19682545e-02 -4.36246073e-02 -1.26356746e+01] [-6.17534333e-02 9.98071828e-01 6.25613344e-03 3.19073402e-01] [ 4.39281732e-02 -3.54417327e-03 9.99028405e-01 2.90605534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.265285570000001 meters Centerline goodness [0,1] 0.9838890132020586 Centerline is valid? [True, True] Translation: X:-12.66, Y:0.32, Z:0.28 [[ 9.96594505e-01 6.63640456e-02 -4.89408488e-02 -1.26640990e+01] [-6.60987127e-02 9.97788381e-01 7.02194140e-03 3.22737446e-01] [ 4.92986147e-02 -3.76310110e-03 9.98776995e-01 2.76419365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.29528557 meters Centerline goodness [0,1] 0.9883182081482912 Centerline is valid? [True, True] Translation: X:-12.69, Y:0.33, Z:0.28 [[ 9.96654276e-01 6.67805857e-02 -4.71233121e-02 -1.26920909e+01] [-6.65349108e-02 9.97761167e-01 6.76462877e-03 3.26128130e-01] [ 4.74695567e-02 -3.60665083e-03 9.98866174e-01 2.76067968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.32528557 meters Centerline goodness [0,1] 0.9825824049426534 Centerline is valid? [True, True] Translation: X:-12.72, Y:0.32, Z:0.28 [[ 9.96844064e-01 6.69320464e-02 -4.26850414e-02 -1.27232775e+01] [-6.67304130e-02 9.97752194e-01 6.13282847e-03 3.22634845e-01] [ 4.29995765e-02 -3.26508322e-03 9.99069755e-01 2.82953040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.355285570000001 meters Centerline goodness [0,1] 0.9869255150554676 Centerline is valid? [True, True] Translation: X:-12.75, Y:0.33, Z:0.28 [[ 9.96776378e-01 6.87066914e-02 -4.14275601e-02 -1.27507583e+01] [-6.85180371e-02 9.97632085e-01 5.95832600e-03 3.33248666e-01] [ 4.17388400e-02 -3.10058351e-03 9.99123744e-01 2.84109054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.38528557 meters Centerline goodness [0,1] 0.9820323217452404 Centerline is valid? [True, True] Translation: X:-12.78, Y:0.33, Z:0.27 [[ 9.96502920e-01 6.91141518e-02 -4.69591794e-02 -1.27814587e+01] [-6.88718299e-02 9.97602608e-01 6.76073366e-03 3.27057019e-01] [ 4.73138622e-02 -3.50292622e-03 9.98873930e-01 2.73070141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.415285570000002 meters Centerline goodness [0,1] 0.9893025246041934 Centerline is valid? [True, True] Translation: X:-12.81, Y:0.33, Z:0.26 [[ 9.96336796e-01 6.93688016e-02 -5.00095802e-02 -1.28082596e+01] [-6.90938669e-02 9.97584125e-01 7.20768429e-03 3.32319634e-01] [ 5.03887517e-02 -3.72592579e-03 9.98722730e-01 2.61159006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.445285570000001 meters Centerline goodness [0,1] 0.9799231380864034 Centerline is valid? [True, True] Translation: X:-12.84, Y:0.32, Z:0.26 [[ 9.96393426e-01 6.92109057e-02 -4.90916566e-02 -1.28390200e+01] [-6.89453800e-02 9.97595287e-01 7.08368573e-03 3.20086698e-01] [ 4.94638735e-02 -3.67349498e-03 9.98769158e-01 2.58464986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.47528557 meters Centerline goodness [0,1] 0.9782840749883248 Centerline is valid? [True, True] Translation: X:-12.87, Y:0.32, Z:0.26 [[ 9.96551462e-01 6.83202887e-02 -4.70905770e-02 -1.28679992e+01] [-6.80744709e-02 9.97657027e-01 6.80608943e-03 3.23321161e-01] [ 4.74452391e-02 -3.57695225e-03 9.98867436e-01 2.62874722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.505285570000002 meters Centerline goodness [0,1] 0.9770087618012633 Centerline is valid? [True, True] Translation: X:-12.90, Y:0.32, Z:0.27 [[ 9.96829762e-01 6.59354400e-02 -4.45302427e-02 -1.28972353e+01] [-6.57129999e-02 9.97817768e-01 6.44234998e-03 3.24438558e-01] [ 4.48578465e-02 -3.49571037e-03 9.98987264e-01 2.66093179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.535285570000001 meters Centerline goodness [0,1] 0.9822442198532466 Centerline is valid? [True, True] Translation: X:-12.93, Y:0.33, Z:0.27 [[ 9.97054413e-01 6.30372942e-02 -4.36897737e-02 -1.29260590e+01] [-6.28203070e-02 9.98004823e-01 6.32320103e-03 3.27751218e-01] [ 4.40012023e-02 -3.55997050e-03 9.99025135e-01 2.67876450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.56528557 meters Centerline goodness [0,1] 0.9760532762844623 Centerline is valid? [True, True] Translation: X:-12.96, Y:0.32, Z:0.26 [[ 9.97189333e-01 6.08636467e-02 -4.36926796e-02 -1.29573162e+01] [-6.06443391e-02 9.98139375e-01 6.32861775e-03 3.22267776e-01] [ 4.39965667e-02 -3.66111644e-03 9.99024974e-01 2.60954265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.595285570000001 meters Centerline goodness [0,1] 0.9575813194656878 Centerline is valid? [True, True] Translation: X:-12.99, Y:0.30, Z:0.25 [[ 9.97142135e-01 6.11936178e-02 -4.43046684e-02 -1.29882567e+01] [-6.09680028e-02 9.98119029e-01 6.42708550e-03 3.04854186e-01] [ 4.46146292e-02 -3.70755061e-03 9.98997392e-01 2.51473934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.62528557 meters Centerline goodness [0,1] 0.9773304939204507 Centerline is valid? [True, True] Translation: X:-13.01, Y:0.32, Z:0.26 [[ 9.97152412e-01 6.03191291e-02 -4.52622390e-02 -1.30142243e+01] [-6.00823816e-02 9.98171773e-01 6.57414183e-03 3.22284399e-01] [ 4.55760358e-02 -3.83595827e-03 9.98953508e-01 2.58076643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.65528557 meters Centerline goodness [0,1] 0.9776421346355075 Centerline is valid? [True, True] Translation: X:-13.04, Y:0.32, Z:0.25 [[ 9.97167124e-01 5.96263861e-02 -4.58521727e-02 -1.30428734e+01] [-5.93825387e-02 9.98213061e-01 6.66319777e-03 3.24100202e-01] [ 4.61675401e-02 -3.92150333e-03 9.98926013e-01 2.54454290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.685285570000001 meters Centerline goodness [0,1] 0.9709381432508809 Centerline is valid? [True, True] Translation: X:-13.07, Y:0.32, Z:0.25 [[ 9.97293070e-01 5.69741102e-02 -4.64810027e-02 -1.30737525e+01] [-5.67203905e-02 9.98367214e-01 6.76042455e-03 3.18276132e-01] [ 4.67902783e-02 -4.10570393e-03 9.98896297e-01 2.51520768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.71528557 meters Centerline goodness [0,1] 0.981326125873144 Centerline is valid? [True, True] Translation: X:-13.10, Y:0.33, Z:0.25 [[ 9.97298827e-01 5.59174545e-02 -4.76265569e-02 -1.31007394e+01] [-5.56495422e-02 9.98426287e-01 6.93380686e-03 3.30711392e-01] [ 4.79393272e-02 -4.26468135e-03 9.98841145e-01 2.51619735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74528557 meters Centerline goodness [0,1] 0.9642047238600286 Centerline is valid? [True, True] Translation: X:-13.13, Y:0.32, Z:0.25 [[ 9.97385977e-01 5.54504021e-02 -4.63299690e-02 -1.31326652e+01] [-5.51960977e-02 9.98452708e-01 6.75135840e-03 3.18296080e-01] [ 4.66326486e-02 -4.17647669e-03 9.98903375e-01 2.54731720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.775285570000001 meters Centerline goodness [0,1] 0.9691096935237831 Centerline is valid? [True, True] Translation: X:-13.16, Y:0.33, Z:0.26 [[ 9.97334045e-01 5.84785475e-02 -4.36470157e-02 -1.31605838e+01] [-5.82554612e-02 9.98281406e-01 6.36680221e-03 3.26154188e-01] [ 4.39443255e-02 -3.80715157e-03 9.99026727e-01 2.64502750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.80528557 meters Centerline goodness [0,1] 0.9754592524292502 Centerline is valid? [True, True] Translation: X:-13.19, Y:0.33, Z:0.26 [[ 9.97344941e-01 5.76346530e-02 -4.45119721e-02 -1.31879533e+01] [-5.74016251e-02 9.98330028e-01 6.49677629e-03 3.32404019e-01] [ 4.48120778e-02 -3.92446743e-03 9.98987726e-01 2.56055125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.835285570000002 meters Centerline goodness [0,1] 0.9494892167990919 Centerline is valid? [True, False] Translation: X:-13.21, Y:0.33, Z:0.25 [[ 9.97711690e-01 4.99628749e-02 -4.55532116e-02 -1.32082180e+01] [-4.96605590e-02 9.98736124e-01 7.74495938e-03 3.32348357e-01] [ 4.58825984e-02 -5.46503855e-03 9.98931890e-01 2.49186371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.865285570000001 meters Centerline goodness [0,1] 0.9479823455233292 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.34, Z:0.25 [[ 9.98242712e-01 3.74801767e-02 -4.58990558e-02 -1.32175209e+01] [-3.71621776e-02 9.99279099e-01 7.76234232e-03 3.38495225e-01] [ 4.61569011e-02 -6.04299279e-03 9.98915924e-01 2.46343387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.89528557 meters Centerline goodness [0,1] 0.9531305270604882 Centerline is valid? [False, True] Translation: X:-13.24, Y:0.35, Z:0.25 [[ 9.98581987e-01 2.97686073e-02 -4.41344041e-02 -1.32381763e+01] [-2.92892101e-02 9.99505174e-01 1.14694968e-02 3.49509458e-01] [ 4.44539962e-02 -1.01605711e-02 9.98959761e-01 2.53359445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.925285570000002 meters Centerline goodness [0,1] 0.9670537875864005 Centerline is valid? [True, True] Translation: X:-13.27, Y:0.36, Z:0.24 [[ 9.98377664e-01 2.98647160e-02 -4.84782321e-02 -1.32653357e+01] [-2.96269039e-02 9.99545245e-01 5.61686785e-03 3.56606588e-01] [ 4.86239325e-02 -4.17149548e-03 9.98808446e-01 2.43540925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.955285570000001 meters Centerline goodness [0,1] 0.9834822541027375 Centerline is valid? [True, True] Translation: X:-13.29, Y:0.37, Z:0.24 [[ 9.98329796e-01 2.86976395e-02 -5.01404461e-02 -1.32928287e+01] [-2.84416164e-02 9.99578557e-01 5.81231233e-03 3.71138621e-01] [ 5.02861144e-02 -4.37652924e-03 9.98725264e-01 2.42821516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.98528557 meters Centerline goodness [0,1] 0.9740457474683096 Centerline is valid? [True, True] Translation: X:-13.32, Y:0.36, Z:0.24 [[ 9.98525858e-01 2.95435674e-02 -4.55333816e-02 -1.33236257e+01] [-2.93332820e-02 9.99555743e-01 5.27968369e-03 3.59932352e-01] [ 4.56691338e-02 -3.93625716e-03 9.98948866e-01 2.40192469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.015285570000001 meters Centerline goodness [0,1] 0.9738827417732433 Centerline is valid? [True, True] Translation: X:-13.35, Y:0.36, Z:0.25 [[ 9.98729559e-01 2.81888820e-02 -4.17690569e-02 -1.33517675e+01] [-2.80106723e-02 9.99595879e-01 4.84578519e-03 3.60501132e-01] [ 4.18887744e-02 -3.66964955e-03 9.99115541e-01 2.46861758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.04528557 meters Centerline goodness [0,1] 0.9718561377192042 Centerline is valid? [True, True] Translation: X:-13.38, Y:0.36, Z:0.24 [[ 9.98738404e-01 2.80084387e-02 -4.16788705e-02 -1.33813477e+01] [-2.78305744e-02 9.99600929e-01 4.84173029e-03 3.57151220e-01] [ 4.17978469e-02 -3.67567507e-03 9.99119327e-01 2.42521681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.07528557 meters Centerline goodness [0,1] 0.9702139861643786 Centerline is valid? [True, True] Translation: X:-13.41, Y:0.36, Z:0.24 [[ 9.98622837e-01 2.69787770e-02 -4.49952734e-02 -1.34112268e+01] [-2.67701095e-02 9.99627915e-01 5.23379151e-03 3.56755408e-01] [ 4.51197327e-02 -4.02205533e-03 9.98973490e-01 2.37536390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.105285570000001 meters Centerline goodness [0,1] 0.9830169466870318 Centerline is valid? [True, True] Translation: X:-13.44, Y:0.37, Z:0.24 [[ 9.98527712e-01 2.64291334e-02 -4.73699266e-02 -1.34382323e+01] [-2.61971152e-02 9.99641599e-01 5.51226652e-03 3.72369516e-01] [ 4.74986336e-02 -4.26319545e-03 9.98862205e-01 2.38994194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.13528557 meters Centerline goodness [0,1] 0.9640132851563926 Centerline is valid? [True, True] Translation: X:-13.47, Y:0.36, Z:0.24 [[ 9.98514110e-01 2.74507927e-02 -4.70746877e-02 -1.34700137e+01] [-2.72224746e-02 9.99614354e-01 5.48450516e-03 3.55762353e-01] [ 4.72070875e-02 -4.19486629e-03 9.98876316e-01 2.40419541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.165285570000002 meters Centerline goodness [0,1] 0.9630572322012945 Centerline is valid? [True, True] Translation: X:-13.50, Y:0.35, Z:0.24 [[ 9.98692264e-01 2.48317760e-02 -4.46894265e-02 -1.35006122e+01] [-2.46231529e-02 9.99683213e-01 5.21280571e-03 3.54957224e-01] [ 4.48047128e-02 -4.10559416e-03 9.98987328e-01 2.40820149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.195285570000001 meters Centerline goodness [0,1] 0.9637670529558456 Centerline is valid? [True, True] Translation: X:-13.53, Y:0.35, Z:0.23 [[ 9.98786052e-01 2.24778474e-02 -4.38311320e-02 -1.35298660e+01] [-2.22748618e-02 9.99738804e-01 5.11405903e-03 3.49307016e-01] [ 4.39346366e-02 -4.13151842e-03 9.99025865e-01 2.31002215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.22528557 meters Centerline goodness [0,1] 0.9613931085587255 Centerline is valid? [True, True] Translation: X:-13.56, Y:0.35, Z:0.23 [[ 9.98796084e-01 2.23308351e-02 -4.36774020e-02 -1.35592947e+01] [-2.21289123e-02 9.99742111e-01 5.10115817e-03 3.48934332e-01] [ 4.37800513e-02 -4.12848341e-03 9.99032663e-01 2.31712342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.255285570000002 meters Centerline goodness [0,1] 0.9296664327139743 Centerline is valid? [True, False] Translation: X:-13.58, Y:0.33, Z:0.21 [[ 9.98835388e-01 2.02225219e-02 -4.38054500e-02 -1.35832725e+01] [-2.05811547e-02 9.99758136e-01 -7.75142725e-03 3.33850383e-01] [ 4.36381016e-02 8.64396658e-03 9.99010009e-01 2.11168851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.285285570000001 meters Centerline goodness [0,1] 0.9663347736238963 Centerline is valid? [False, True] Translation: X:-13.61, Y:0.35, Z:0.22 [[ 9.98937372e-01 1.39562082e-02 -4.39243756e-02 -1.36053287e+01] [-1.40077900e-02 9.99901510e-01 -8.66745538e-04 3.47719464e-01] [ 4.39079530e-02 1.48110794e-03 9.99034483e-01 2.23954634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.31528557 meters Centerline goodness [0,1] 0.9663347736238963 Centerline is valid? [True, True] Translation: X:-13.63, Y:0.36, Z:0.23 [[ 9.98959155e-01 1.43547039e-02 -4.32960717e-02 -1.36327157e+01] [-1.41598257e-02 9.99888202e-01 4.80439978e-03 3.57904432e-01] [ 4.33601970e-02 -4.18633432e-03 9.99050733e-01 2.33764902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.345285570000001 meters Centerline goodness [0,1] 0.9655444206733476 Centerline is valid? [True, True] Translation: X:-13.66, Y:0.36, Z:0.24 [[ 9.98900058e-01 1.25929649e-02 -4.51673685e-02 -1.36633386e+01] [-1.23787522e-02 9.99910783e-01 5.01922390e-03 3.58380151e-01] [ 4.52265457e-02 -4.45458739e-03 9.98966824e-01 2.36187428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.37528557 meters Centerline goodness [0,1] 0.9622363723361184 Centerline is valid? [True, True] Translation: X:-13.69, Y:0.36, Z:0.23 [[ 9.98985577e-01 1.03439125e-02 -4.38271560e-02 -1.36937394e+01] [-1.01400640e-02 9.99936724e-01 4.87096030e-03 3.60020804e-01] [ 4.38747676e-02 -4.42160892e-03 9.99027254e-01 2.34163486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.40528557 meters Centerline goodness [0,1] 0.9444239835002947 Centerline is valid? [True, False] Translation: X:-13.71, Y:0.35, Z:0.22 [[ 9.99024784e-01 1.06292778e-02 -4.28544027e-02 -1.37101009e+01] [-1.07304632e-02 9.99940155e-01 -2.13179875e-03 3.46914986e-01] [ 4.28291786e-02 2.58956737e-03 9.99079054e-01 2.19224727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.435285570000001 meters Centerline goodness [0,1] 0.9523934672423503 Centerline is valid? [False, True] Translation: X:-13.72, Y:0.36, Z:0.22 [[ 9.99093168e-01 1.03232498e-03 -4.25649731e-02 -1.37224705e+01] [-9.35199516e-04 9.99996914e-01 2.30166585e-03 3.56684246e-01] [ 4.25672178e-02 -2.25977188e-03 9.99091050e-01 2.23776842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.46528557 meters Centerline goodness [0,1] 0.9602477862653441 Centerline is valid? [True, True] Translation: X:-13.75, Y:0.37, Z:0.23 [[ 9.99071235e-01 -1.85258621e-03 -4.30492114e-02 -1.37505267e+01] [ 2.04967470e-03 9.99987618e-01 4.53452589e-03 3.66123814e-01] [ 4.30402778e-02 -4.61855126e-03 9.99062662e-01 2.31382864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.495285570000002 meters Centerline goodness [0,1] 0.9252616411345367 Centerline is valid? [True, False] Translation: X:-13.76, Y:0.36, Z:0.24 [[ 9.98970617e-01 -6.21943648e-04 -4.53576910e-02 -1.37596134e+01] [ 8.45040916e-04 9.99987640e-01 4.89961193e-03 3.63384738e-01] [ 4.53540830e-02 -4.93289746e-03 9.98958795e-01 2.37817821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.525285570000001 meters Centerline goodness [0,1] 0.9445326678765881 Centerline is valid? [False, False] Translation: X:-13.77, Y:0.36, Z:0.24 [[ 9.98940815e-01 -6.02033989e-06 -4.60135635e-02 -1.37690164e+01] [ 2.34214113e-04 9.99987702e-01 4.95388215e-03 3.57538904e-01] [ 4.60129678e-02 -4.95941210e-03 9.98928531e-01 2.42017431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.55528557 meters Centerline goodness [0,1] 0.9217586259309926 Centerline is valid? [False, False] Translation: X:-13.78, Y:0.35, Z:0.24 [[ 9.99000753e-01 1.63056513e-04 -4.46930604e-02 -1.37773995e+01] [ 6.77719230e-05 9.99986668e-01 5.16318504e-03 3.48637044e-01] [ 4.46933065e-02 -5.16105468e-03 9.98987423e-01 2.44174321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.585285570000002 meters Centerline goodness [0,1] 0.8470436530511625 Centerline is valid? [False, False] Translation: X:-13.78, Y:0.34, Z:0.24 [[ 9.99016048e-01 -1.23993844e-03 -4.43328182e-02 -1.37806027e+01] [ 1.44621168e-03 9.99988277e-01 4.62106346e-03 3.36448143e-01] [ 4.43265686e-02 -4.68063119e-03 9.99006130e-01 2.43257977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.615285570000001 meters Centerline goodness [0,1] 0.8427602248497771 Centerline is valid? [False, False] Translation: X:-13.78, Y:0.34, Z:0.25 [[ 9.98717860e-01 -1.50968216e-02 -4.83189627e-02 -1.37806582e+01] [ 1.55499221e-02 9.99838451e-01 9.01514005e-03 3.41870897e-01] [ 4.81750568e-02 -9.75493748e-03 9.98791272e-01 2.49226013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.64528557 meters Centerline goodness [0,1] 0.761888246628131 Centerline is valid? [False, False] Translation: X:-13.77, Y:0.33, Z:0.25 [[ 9.98494403e-01 -1.77081940e-02 -5.19167342e-02 -1.37739638e+01] [ 1.82442062e-02 9.99784855e-01 9.86875573e-03 3.32970523e-01] [ 5.17308067e-02 -1.08010770e-02 9.98602654e-01 2.49595636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.675285570000002 meters Centerline goodness [0,1] 0.7352556708958093 Centerline is valid? [False, False] Translation: X:-13.76, Y:0.33, Z:0.24 [[ 9.98326544e-01 -2.57694372e-02 -5.17691737e-02 -1.37602632e+01] [ 2.60458897e-02 9.99649829e-01 4.67246235e-03 3.32229244e-01] [ 5.16306389e-02 -6.01301738e-03 9.98648147e-01 2.42927756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.705285570000001 meters Centerline goodness [0,1] 0.7788657844990549 Centerline is valid? [False, False] Translation: X:-13.74, Y:0.36, Z:0.28 [[ 0.99869405 -0.02412152 -0.04503723 -13.73687782] [ 0.02506214 0.99947694 0.0204388 0.36204728] [ 0.04452066 -0.02154083 0.9987762 0.27556653] [ 0. 0. 0. 1. ]] SLAMing on 14.73528557 meters Centerline goodness [0,1] 0.7851276034027574 Centerline is valid? [False, False] Translation: X:-13.71, Y:0.38, Z:0.28 [[ 9.98848463e-01 -1.32170396e-02 -4.61200267e-02 -1.37147576e+01] [ 1.41724810e-02 9.99690395e-01 2.04512735e-02 3.79018766e-01] [ 4.58354424e-02 -2.10813583e-02 9.98726533e-01 2.82362183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.765285570000001 meters Centerline goodness [0,1] 0.8359620350338475 Centerline is valid? [False, False] Translation: X:-13.68, Y:0.42, Z:0.29 [[ 0.9987906 0.02068795 -0.04460198 -13.68480065] [ -0.01946322 0.99942621 0.0277207 0.41667247] [ 0.04514987 -0.02681908 0.99862016 0.29091449] [ 0. 0. 0. 1. ]] SLAMing on 14.79528557 meters Centerline goodness [0,1] 0.8788365575227288 Centerline is valid? [False, False] Translation: X:-13.68, Y:0.44, Z:0.29 [[ 0.99867482 0.02566729 -0.04460705 -13.67730116] [ -0.02431097 0.99923335 0.030687 0.43529231] [ 0.04536051 -0.02956189 0.99853318 0.28875794] [ 0. 0. 0. 1. ]] SLAMing on 14.82528557 meters Centerline goodness [0,1] 0.9457342031210028 Centerline is valid? [False, False] Translation: X:-13.67, Y:0.46, Z:0.29 [[ 0.99773962 0.05058145 -0.04423991 -13.66625214] [ -0.04902408 0.99816271 0.03560694 0.46093693] [ 0.04595968 -0.03335763 0.99838619 0.28728034] [ 0. 0. 0. 1. ]] SLAMing on 14.855285570000001 meters Centerline goodness [0,1] 0.9715856185985042 Centerline is valid? [False, True] Translation: X:-13.66, Y:0.49, Z:0.28 [[ 0.99645494 0.07083284 -0.04539009 -13.65923015] [ -0.06939356 0.99705856 0.03253853 0.4941991 ] [ 0.04756137 -0.0292734 0.99843927 0.27802025] [ 0. 0. 0. 1. ]] SLAMing on 14.88528557 meters Centerline goodness [0,1] 0.9728176093361834 Centerline is valid? [True, True] Translation: X:-13.69, Y:0.49, Z:0.24 [[ 9.95983010e-01 7.53875394e-02 -4.83173075e-02 -1.36885615e+01] [-7.51037165e-02 9.97146264e-01 7.66552793e-03 4.88998734e-01] [ 4.87573079e-02 -4.00592622e-03 9.98802622e-01 2.39512419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.915285570000002 meters Centerline goodness [0,1] 0.9697259311314125 Centerline is valid? [True, True] Translation: X:-13.72, Y:0.51, Z:0.24 [[ 9.96272922e-01 7.27855616e-02 -4.62874338e-02 -1.37151636e+01] [-7.25221847e-02 9.97339743e-01 7.34636664e-03 5.06638826e-01] [ 4.66990068e-02 -3.96212033e-03 9.98901148e-01 2.43308998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.945285570000001 meters Centerline goodness [0,1] 0.9636308237770761 Centerline is valid? [True, True] Translation: X:-13.74, Y:0.52, Z:0.24 [[ 9.97119570e-01 6.05445619e-02 -4.56828081e-02 -1.37419089e+01] [-6.02751567e-02 9.98155447e-01 7.25318579e-03 5.18238601e-01] [ 4.60376847e-02 -4.47875508e-03 9.98929663e-01 2.43385391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.97528557 meters Centerline goodness [0,1] 0.9595831077422848 Centerline is valid? [True, True] Translation: X:-13.77, Y:0.53, Z:0.25 [[ 9.97734559e-01 4.64083460e-02 -4.87033348e-02 -1.37680781e+01] [-4.60852725e-02 9.98907553e-01 7.73619092e-03 5.33829059e-01] [ 4.90091528e-02 -5.47415859e-03 9.98783328e-01 2.46056631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.005285570000002 meters Centerline goodness [0,1] 0.9385076668157071 Centerline is valid? [True, False] Translation: X:-13.78, Y:0.56, Z:0.25 [[ 9.98378990e-01 2.59293801e-02 -5.06661573e-02 -1.37776321e+01] [-2.51951746e-02 9.99568858e-01 1.50764920e-02 5.57422227e-01] [ 5.10352371e-02 -1.37755102e-02 9.98601843e-01 2.52068322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.035285570000001 meters Centerline goodness [0,1] 0.9184056867225184 Centerline is valid? [False, False] Translation: X:-13.78, Y:0.58, Z:0.26 [[ 0.99849617 0.01796013 -0.05179602 -13.78458043] [ -0.01690109 0.99964053 0.02081245 0.57711359] [ 0.0521512 -0.01990575 0.99844079 0.25682392] [ 0. 0. 0. 1. ]] SLAMing on 15.06528557 meters Centerline goodness [0,1] 0.9553213961142633 Centerline is valid? [False, True] Translation: X:-13.79, Y:0.60, Z:0.26 [[ 9.98732975e-01 1.32540199e-02 -4.85466289e-02 -1.37871671e+01] [-1.20833444e-02 9.99630976e-01 2.43290715e-02 5.99726495e-01] [ 4.88511721e-02 -2.37116403e-02 9.98524572e-01 2.57900264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.095285570000001 meters Centerline goodness [0,1] 0.9607255743737322 Centerline is valid? [True, True] Translation: X:-13.82, Y:0.61, Z:0.24 [[ 9.98477573e-01 2.05324784e-02 -5.11952525e-02 -1.38162579e+01] [-2.01728877e-02 9.99768144e-01 7.53081288e-03 6.07330153e-01] [ 5.13380089e-02 -6.48659169e-03 9.98660269e-01 2.37837847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.12528557 meters Centerline goodness [0,1] 0.968587716666282 Centerline is valid? [True, True] Translation: X:-13.84, Y:0.64, Z:0.23 [[ 9.98170637e-01 2.82720796e-02 -5.34422060e-02 -1.38421408e+01] [-2.78910315e-02 9.99580046e-01 7.86266144e-03 6.37853849e-01] [ 5.36420565e-02 -6.35771953e-03 9.98539989e-01 2.33947697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.15528557 meters Centerline goodness [0,1] 0.9654688948689537 Centerline is valid? [True, True] Translation: X:-13.87, Y:0.67, Z:0.22 [[ 9.97784781e-01 3.72262349e-02 -5.51338122e-02 -1.38671948e+01] [-3.68340170e-02 9.99288460e-01 8.11344936e-03 6.67534859e-01] [ 5.53966155e-02 -6.06467652e-03 9.98446010e-01 2.19770700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.185285570000001 meters Centerline goodness [0,1] 0.9825196993025994 Centerline is valid? [True, True] Translation: X:-13.89, Y:0.70, Z:0.23 [[ 9.97810099e-01 3.62514128e-02 -5.53248710e-02 -1.38906829e+01] [-3.58547812e-02 9.99323816e-01 8.14529565e-03 7.03459316e-01] [ 5.55827397e-02 -6.14379711e-03 9.98435182e-01 2.28753502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.21528557 meters Centerline goodness [0,1] 0.9523735373937803 Centerline is valid? [True, True] Translation: X:-13.92, Y:0.71, Z:0.23 [[ 9.98016138e-01 3.18849444e-02 -5.42875507e-02 -1.39193834e+01] [-3.14963789e-02 9.99471863e-01 7.99833995e-03 7.13152896e-01] [ 5.45139061e-02 -6.27261108e-03 9.98493309e-01 2.28510949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.245285570000002 meters Centerline goodness [0,1] 0.9409300563738051 Centerline is valid? [True, False] Translation: X:-13.93, Y:0.73, Z:0.23 [[ 9.98401007e-01 2.22649537e-02 -5.19586466e-02 -1.39285000e+01] [-2.18046723e-02 9.99717976e-01 9.40878382e-03 7.32172829e-01] [ 5.21534791e-02 -8.26079798e-03 9.98604914e-01 2.27688989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.275285570000001 meters Centerline goodness [0,1] 0.9598987476685319 Centerline is valid? [False, True] Translation: X:-13.94, Y:0.75, Z:0.22 [[ 9.98555492e-01 1.48789649e-02 -5.16289196e-02 -1.39437832e+01] [-1.43375802e-02 9.99838444e-01 1.08406626e-02 7.46294216e-01] [ 5.17818765e-02 -1.00847694e-02 9.98607498e-01 2.22789908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.30528557 meters Centerline goodness [0,1] 0.9400764792997502 Centerline is valid? [True, False] Translation: X:-13.97, Y:0.76, Z:0.22 [[ 9.98289146e-01 1.63987537e-02 -5.61236233e-02 -1.39715043e+01] [-1.60740379e-02 9.99851381e-01 6.23229409e-03 7.59014878e-01] [ 5.62174842e-02 -5.31949830e-03 9.98404376e-01 2.16724429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.335285570000002 meters Centerline goodness [0,1] 0.9198621567637569 Centerline is valid? [False, False] Translation: X:-14.01, Y:0.77, Z:0.21 [[ 9.97996870e-01 2.05859835e-02 -5.98202680e-02 -1.40064887e+01] [-2.08355899e-02 9.99776607e-01 -3.55178526e-03 7.70103938e-01] [ 5.97337876e-02 4.79106114e-03 9.98202845e-01 2.05775452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.365285570000001 meters Centerline goodness [0,1] 0.9092053569490569 Centerline is valid? [False, False] Translation: X:-14.04, Y:0.78, Z:0.20 [[ 9.97802691e-01 2.64362316e-02 -6.07529034e-02 -1.40440273e+01] [-2.72918004e-02 9.99539078e-01 -1.32962421e-02 7.81813111e-01] [ 6.03733984e-02 1.49250822e-02 9.98064274e-01 1.95142017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.39528557 meters Centerline goodness [0,1] 0.913083217270195 Centerline is valid? [False, False] Translation: X:-14.08, Y:0.81, Z:0.20 [[ 9.97797323e-01 2.85671151e-02 -5.98700474e-02 -1.40818220e+01] [-2.90093089e-02 9.99557814e-01 -6.52960250e-03 8.10822766e-01] [ 5.96570419e-02 8.25200859e-03 9.98184823e-01 2.04483605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.425285570000002 meters Centerline goodness [0,1] 0.9715228603898942 Centerline is valid? [False, True] Translation: X:-14.13, Y:0.83, Z:0.21 [[ 9.97739296e-01 2.94127882e-02 -6.04250319e-02 -1.41278847e+01] [-2.97179133e-02 9.99549681e-01 -4.15699936e-03 8.31139472e-01] [ 6.02755524e-02 5.94330747e-03 9.98164082e-01 2.06675226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.455285570000001 meters Centerline goodness [0,1] 0.8910944206008584 Centerline is valid? [True, False] Translation: X:-14.18, Y:0.84, Z:0.20 [[ 9.97726327e-01 2.68404328e-02 -6.18204481e-02 -1.41759100e+01] [-2.74618683e-02 9.99580289e-01 -9.22447853e-03 8.41051153e-01] [ 6.15469124e-02 1.09012101e-02 9.98044659e-01 1.96555270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.48528557 meters Centerline goodness [0,1] 0.9231975595084644 Centerline is valid? [False, False] Translation: X:-14.21, Y:0.86, Z:0.20 [[ 9.97637450e-01 2.27332620e-02 -6.48283661e-02 -1.42125012e+01] [-2.31699243e-02 9.99713586e-01 -5.99171842e-03 8.57674624e-01] [ 6.46735871e-02 7.47963103e-03 9.97878441e-01 2.01947114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.515285570000001 meters Centerline goodness [0,1] 0.912057438895935 Centerline is valid? [False, False] Translation: X:-14.26, Y:0.89, Z:0.21 [[ 9.97872021e-01 9.61088690e-03 -6.44907761e-02 -1.42638467e+01] [-9.67785672e-03 9.99952905e-01 -7.26121943e-04 8.87121708e-01] [ 6.44807602e-02 1.34870926e-03 9.97918039e-01 2.08467890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.54528557 meters Centerline goodness [0,1] 0.8447160010218854 Centerline is valid? [False, False] Translation: X:-14.27, Y:0.89, Z:0.21 [[ 9.97961716e-01 8.26578482e-03 -6.32778757e-02 -1.42710536e+01] [-8.52509841e-03 9.99956329e-01 -3.82911072e-03 8.89289248e-01] [ 6.32434617e-02 4.36075603e-03 9.97988601e-01 2.07758124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.575285570000002 meters Centerline goodness [0,1] 0.8870819532001282 Centerline is valid? [False, False] Translation: X:-14.31, Y:0.92, Z:0.21 [[ 9.97814059e-01 6.70239643e-03 -6.57433045e-02 -1.43096604e+01] [-6.61956364e-03 9.99976999e-01 1.47769575e-03 9.16342648e-01] [ 6.57516964e-02 -1.03927360e-03 9.97835475e-01 2.12947203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.605285570000001 meters Centerline goodness [0,1] 0.8825999400145679 Centerline is valid? [False, False] Translation: X:-14.33, Y:0.93, Z:0.22 [[ 9.97675414e-01 1.29043495e-02 -6.69122290e-02 -1.43299088e+01] [-1.27175807e-02 9.99913955e-01 3.21647646e-03 9.32595255e-01] [ 6.69479781e-02 -2.35803781e-03 9.97753681e-01 2.17181179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.63528557 meters Centerline goodness [0,1] 0.8625287552185397 Centerline is valid? [False, False] Translation: X:-14.35, Y:0.94, Z:0.22 [[ 9.97537896e-01 1.64125266e-02 -6.81819272e-02 -1.43507682e+01] [-1.65017029e-02 9.99863560e-01 -7.44871238e-04 9.44835743e-01] [ 6.81603993e-02 1.86815520e-03 9.97672627e-01 2.16807605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.665285570000002 meters Centerline goodness [0,1] 0.9139529456690074 Centerline is valid? [False, False] Translation: X:-14.37, Y:0.96, Z:0.22 [[ 9.97641328e-01 1.96937276e-02 -6.57566544e-02 -1.43726143e+01] [-2.00119526e-02 9.99790985e-01 -4.18420964e-03 9.57543817e-01] [ 6.56605076e-02 5.49025951e-03 9.97826916e-01 2.17955251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.695285570000001 meters Centerline goodness [0,1] 0.9007155068701324 Centerline is valid? [False, False] Translation: X:-14.40, Y:0.97, Z:0.22 [[ 9.97685987e-01 2.45625704e-02 -6.33983592e-02 -1.43987239e+01] [-2.50622305e-02 9.99660694e-01 -7.09797466e-03 9.69272470e-01] [ 6.32025033e-02 8.67045414e-03 9.97963059e-01 2.17918851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.72528557 meters Centerline goodness [0,1] 0.8956755384420091 Centerline is valid? [False, False] Translation: X:-14.43, Y:0.99, Z:0.22 [[ 9.97565753e-01 2.41139516e-02 -6.54300076e-02 -1.44306981e+01] [-2.43567584e-02 9.99699078e-01 -2.91567835e-03 9.89379470e-01] [ 6.53400098e-02 4.50224375e-03 9.97852901e-01 2.20855327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.755285570000002 meters Centerline goodness [0,1] 0.8641228772491678 Centerline is valid? [False, False] Translation: X:-14.47, Y:1.01, Z:0.22 [[ 9.97270198e-01 2.32063353e-02 -7.00972000e-02 -1.44666710e+01] [-2.33408520e-02 9.99726960e-01 -1.10042980e-03 1.00533375e+00] [ 7.00525237e-02 2.73355421e-03 9.97539559e-01 2.19662329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.785285570000001 meters Centerline goodness [0,1] 0.9179384857039757 Centerline is valid? [False, False] Translation: X:-14.50, Y:1.02, Z:0.22 [[ 9.97056908e-01 2.35379927e-02 -7.29622162e-02 -1.45031499e+01] [-2.32035678e-02 9.99716026e-01 5.42789153e-03 1.02161237e+00] [ 7.30692585e-02 -3.71893302e-03 9.97319935e-01 2.24267876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.81528557 meters Centerline goodness [0,1] 0.8870304302203568 Centerline is valid? [False, False] Translation: X:-14.55, Y:1.02, Z:0.21 [[ 9.96956475e-01 2.63354122e-02 -7.33773338e-02 -1.45457924e+01] [-2.67408423e-02 9.99632053e-01 -4.54818535e-03 1.01800743e+00] [ 7.32305565e-02 6.49651454e-03 9.97293879e-01 2.13592759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.845285570000001 meters Centerline goodness [0,1] 0.8754311516190396 Centerline is valid? [False, False] Translation: X:-14.58, Y:1.03, Z:0.22 [[ 9.97216152e-01 2.26083798e-02 -7.10549553e-02 -1.45849669e+01] [-2.28565283e-02 9.99735160e-01 -2.68112266e-03 1.03190235e+00] [ 7.09755213e-02 4.29772842e-03 9.97468799e-01 2.18899008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.87528557 meters Centerline goodness [0,1] 0.8873848349388235 Centerline is valid? [False, False] Translation: X:-14.62, Y:1.05, Z:0.23 [[ 9.97129567e-01 2.15314906e-02 -7.25880325e-02 -1.46238377e+01] [-2.14567037e-02 9.99768140e-01 1.81000408e-03 1.04824880e+00] [ 7.26101744e-02 -2.47308673e-04 9.97360367e-01 2.25607609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.905285570000002 meters Centerline goodness [0,1] 0.8992937704226837 Centerline is valid? [False, False] Translation: X:-14.66, Y:1.06, Z:0.23 [[ 9.96813219e-01 2.07340833e-02 -7.70292419e-02 -1.46609696e+01] [-2.03764465e-02 9.99777655e-01 5.42601726e-03 1.06189018e+00] [ 7.71246183e-02 -3.83914350e-03 9.97014069e-01 2.26512002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.935285570000001 meters Centerline goodness [0,1] 0.8744733737782272 Centerline is valid? [False, False] Translation: X:-14.69, Y:1.07, Z:0.23 [[ 9.96644267e-01 1.81350277e-02 -7.98205870e-02 -1.46902597e+01] [-1.74495488e-02 9.99804706e-01 9.27697118e-03 1.07118431e+00] [ 7.99732367e-02 -7.85300692e-03 9.96766077e-01 2.27112659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.96528557 meters Centerline goodness [0,1] 0.8379546498517559 Centerline is valid? [False, False] Translation: X:-14.71, Y:1.07, Z:0.23 [[ 9.96766016e-01 1.89456273e-02 -7.80933627e-02 -1.47074359e+01] [-1.85697449e-02 9.99812237e-01 5.53669896e-03 1.07275651e+00] [ 7.81835959e-02 -4.06861954e-03 9.96930675e-01 2.26580341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.995285570000002 meters Centerline goodness [0,1] 0.878283969210174 Centerline is valid? [False, False] Translation: X:-14.72, Y:1.08, Z:0.23 [[ 9.96811747e-01 2.10327028e-02 -7.69673020e-02 -1.47207010e+01] [-2.06736777e-02 9.99771376e-01 5.45854384e-03 1.08183400e+00] [ 7.70645133e-02 -3.84994343e-03 9.97018675e-01 2.32718475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02528557 meters Centerline goodness [0,1] 0.8972462496343655 Centerline is valid? [False, False] Translation: X:-14.74, Y:1.09, Z:0.24 [[ 9.96677476e-01 2.66295345e-02 -7.69732193e-02 -1.47351218e+01] [-2.62251148e-02 9.99636460e-01 6.26026021e-03 1.09230279e+00] [ 7.71119442e-02 -4.22082884e-03 9.97013507e-01 2.36228706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.055285570000002 meters Centerline goodness [0,1] 0.8828054771610745 Centerline is valid? [False, False] Translation: X:-14.75, Y:1.11, Z:0.24 [[ 9.96602847e-01 2.84192380e-02 -7.72988475e-02 -1.47530272e+01] [-2.72275098e-02 9.99494267e-01 1.64278208e-02 1.10928314e+00] [ 7.77266211e-02 -1.42673578e-02 9.96872617e-01 2.41530491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.085285570000003 meters Centerline goodness [0,1] 0.8875770666442981 Centerline is valid? [False, False] Translation: X:-14.76, Y:1.12, Z:0.25 [[ 0.99645585 0.03494395 -0.07651579 -14.76102405] [ -0.03344406 0.99922419 0.0207971 1.1160854 ] [ 0.07718316 -0.01816439 0.99685145 0.24545319] [ 0. 0. 0. 1. ]] SLAMing on 16.115285570000005 meters Centerline goodness [0,1] 0.9108086569918631 Centerline is valid? [False, False] Translation: X:-14.78, Y:1.13, Z:0.25 [[ 0.99632164 0.04073516 -0.07539117 -14.77555705] [ -0.03925601 0.99900851 0.02099923 1.12889589] [ 0.07617183 -0.01796243 0.9969329 0.25006897] [ 0. 0. 0. 1. ]] SLAMing on 16.145285570000002 meters Centerline goodness [0,1] 0.9048990748528175 Centerline is valid? [False, False] Translation: X:-14.78, Y:1.14, Z:0.25 [[ 0.99614533 0.04455944 -0.0755575 -14.78102787] [ -0.04294525 0.99881595 0.02285636 1.13568142] [ 0.0764865 -0.01952342 0.99687946 0.25396918] [ 0. 0. 0. 1. ]] SLAMing on 16.175285570000003 meters Centerline goodness [0,1] 0.9014123045189535 Centerline is valid? [False, False] Translation: X:-14.79, Y:1.14, Z:0.25 [[ 0.99646155 0.0413027 -0.07320157 -14.79031158] [ -0.03933715 0.998831 0.02809306 1.1438401 ] [ 0.07427631 -0.02511412 0.99692142 0.25374229] [ 0. 0. 0. 1. ]] SLAMing on 16.205285570000004 meters Centerline goodness [0,1] 0.9014123045189535 Centerline is valid? [False, False] Translation: X:-14.79, Y:1.14, Z:0.25 [[ 0.99646155 0.0413027 -0.07320157 -14.79031158] [ -0.03933715 0.998831 0.02809306 1.1438401 ] [ 0.07427631 -0.02511412 0.99692142 0.25374229] [ 0. 0. 0. 1. ]] SLAMing on 16.235285570000002 meters Centerline goodness [0,1] 0.9334352679974027 Centerline is valid? [False, False] Translation: X:-14.81, Y:1.15, Z:0.26 [[ 0.99680719 0.03749734 -0.07049377 -14.81005198] [ -0.03512133 0.99878225 0.03464826 1.14864923] [ 0.07170715 -0.0320618 0.99691029 0.25720835] [ 0. 0. 0. 1. ]] SLAMing on 16.265285570000003 meters Centerline goodness [0,1] 0.8925185512181791 Centerline is valid? [False, False] Translation: X:-14.87, Y:1.14, Z:0.25 [[ 0.99747062 0.0322036 -0.06336635 -14.86999547] [ -0.03038114 0.99910246 0.02951725 1.142141 ] [ 0.06426004 -0.02751744 0.99755373 0.25349217] [ 0. 0. 0. 1. ]] SLAMing on 16.295285570000004 meters Centerline goodness [0,1] 0.8971152629581207 Centerline is valid? [False, False] Translation: X:-14.92, Y:1.14, Z:0.25 [[ 0.9972404 0.02757236 -0.06893002 -14.9168402 ] [ -0.02581558 0.99932205 0.02624871 1.13761133] [ 0.06960702 -0.0243968 0.99727612 0.2478131 ] [ 0. 0. 0. 1. ]] SLAMing on 16.325285570000002 meters Centerline goodness [0,1] 0.8836205984984667 Centerline is valid? [False, False] Translation: X:-14.96, Y:1.13, Z:0.24 [[ 0.99671296 0.02692566 -0.07640863 -14.96079036] [ -0.02495566 0.99933404 0.02662127 1.13318553] [ 0.07707454 -0.02462694 0.99672114 0.24100306] [ 0. 0. 0. 1. ]] SLAMing on 16.355285570000003 meters Centerline goodness [0,1] 0.8968350706119704 Centerline is valid? [False, False] Translation: X:-15.00, Y:1.12, Z:0.23 [[ 0.99644706 0.03121429 -0.0782235 -15.0049734 ] [ -0.02985733 0.99938374 0.01845743 1.11921639] [ 0.07875143 -0.0160563 0.99676497 0.23152572] [ 0. 0. 0. 1. ]] SLAMing on 16.385285570000004 meters Centerline goodness [0,1] 0.9060754780842782 Centerline is valid? [False, False] Translation: X:-15.05, Y:1.12, Z:0.24 [[ 0.99685623 0.03034503 -0.07319043 -15.05198732] [ -0.02888324 0.99936324 0.02094907 1.12319254] [ 0.07377953 -0.01876923 0.99709794 0.23660412] [ 0. 0. 0. 1. ]] SLAMing on 16.41528557 meters Centerline goodness [0,1] 0.9101729549811456 Centerline is valid? [False, False] Translation: X:-15.10, Y:1.12, Z:0.23 [[ 0.99696038 0.02829189 -0.07259173 -15.10228031] [ -0.02703918 0.999469 0.01818224 1.12004579] [ 0.0730676 -0.01616415 0.99719599 0.23224837] [ 0. 0. 0. 1. ]] SLAMing on 16.445285570000003 meters Centerline goodness [0,1] 0.9266914907121397 Centerline is valid? [False, False] Translation: X:-15.15, Y:1.12, Z:0.23 [[ 0.99663907 0.02923423 -0.07652404 -15.14662265] [ -0.02773114 0.99940248 0.02063181 1.11773622] [ 0.07708147 -0.01844037 0.99685425 0.23044842] [ 0. 0. 0. 1. ]] SLAMing on 16.475285570000004 meters Centerline goodness [0,1] 0.9374507674948372 Centerline is valid? [False, False] Translation: X:-15.19, Y:1.12, Z:0.23 [[ 0.99660581 0.0290243 -0.07703532 -15.1865797 ] [ -0.0272724 0.99934712 0.02369705 1.11728007] [ 0.07767282 -0.02151568 0.99674671 0.22970574] [ 0. 0. 0. 1. ]] SLAMing on 16.50528557 meters Centerline goodness [0,1] 0.925563256395583 Centerline is valid? [False, False] Translation: X:-15.22, Y:1.11, Z:0.23 [[ 0.99675944 0.03341919 -0.07316952 -15.21819986] [ -0.03214064 0.9993106 0.01858245 1.10704767] [ 0.07374009 -0.01617052 0.99714639 0.2256736 ] [ 0. 0. 0. 1. ]] SLAMing on 16.535285570000003 meters Centerline goodness [0,1] 0.9336702330105299 Centerline is valid? [False, False] Translation: X:-15.25, Y:1.11, Z:0.23 [[ 0.99710955 0.02938497 -0.07006475 -15.24603221] [ -0.02780426 0.99933875 0.02343042 1.10676958] [ 0.07070692 -0.0214146 0.99726724 0.2291622 ] [ 0. 0. 0. 1. ]] SLAMing on 16.565285570000004 meters Centerline goodness [0,1] 0.9567129135538954 Centerline is valid? [False, True] Translation: X:-15.27, Y:1.10, Z:0.23 [[ 0.99713301 0.02406268 -0.07174083 -15.26597656] [ -0.02198445 0.99931947 0.02961884 1.1011709 ] [ 0.07240472 -0.02795674 0.99698344 0.23091818] [ 0. 0. 0. 1. ]] SLAMing on 16.59528557 meters Centerline goodness [0,1] 0.9276411307541208 Centerline is valid? [True, False] Translation: X:-15.29, Y:1.10, Z:0.23 [[ 0.9970943 0.01829687 -0.07394719 -15.28633752] [ -0.01575227 0.99926844 0.03484904 1.09680333] [ 0.07453073 -0.03358294 0.99665308 0.23287555] [ 0. 0. 0. 1. ]] SLAMing on 16.625285570000003 meters Centerline goodness [0,1] 0.9358350656865476 Centerline is valid? [False, False] Translation: X:-15.31, Y:1.09, Z:0.23 [[ 0.99726078 0.01889357 -0.07151204 -15.30806216] [ -0.01673907 0.99939129 0.0306081 1.08816331] [ 0.07204681 -0.02932722 0.99697 0.23406577] [ 0. 0. 0. 1. ]] SLAMing on 16.655285570000004 meters Centerline goodness [0,1] 0.9373481134086549 Centerline is valid? [False, False] Translation: X:-15.33, Y:1.08, Z:0.23 [[ 0.99749627 0.01816906 -0.06834528 -15.33499888] [ -0.01660214 0.99958773 0.0234251 1.07890612] [ 0.06874271 -0.02223177 0.99738668 0.2346533 ] [ 0. 0. 0. 1. ]] SLAMing on 16.68528557 meters Centerline goodness [0,1] 0.9382815039549247 Centerline is valid? [False, False] Translation: X:-15.37, Y:1.08, Z:0.24 [[ 9.97596099e-01 1.62788085e-02 -6.73574268e-02 -1.53698172e+01] [-1.42732125e-02 9.99443462e-01 3.01503156e-02 1.07708638e+00] [ 6.78107510e-02 -2.91164304e-02 9.97273250e-01 2.40367389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.715285570000002 meters Centerline goodness [0,1] 0.9000816361605225 Centerline is valid? [False, False] Translation: X:-15.42, Y:1.06, Z:0.23 [[ 9.97207235e-01 1.48155866e-02 -7.31999265e-02 -1.54249960e+01] [-1.26306337e-02 9.99463393e-01 3.02223950e-02 1.05786452e+00] [ 7.36084094e-02 -2.92134295e-02 9.96859257e-01 2.29280188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.745285570000004 meters Centerline goodness [0,1] 0.9367971499699546 Centerline is valid? [False, False] Translation: X:-15.45, Y:1.05, Z:0.23 [[ 9.97195700e-01 1.66108294e-02 -7.29713395e-02 -1.54474615e+01] [-1.47833111e-02 9.99565164e-01 2.55134702e-02 1.05119290e+00] [ 7.33634088e-02 -2.43631647e-02 9.97007646e-01 2.28468258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.77528557 meters Centerline goodness [0,1] 0.9156311455924622 Centerline is valid? [False, False] Translation: X:-15.46, Y:1.05, Z:0.24 [[ 9.97252042e-01 1.63344946e-02 -7.22602884e-02 -1.54604187e+01] [-1.46798368e-02 9.99619083e-01 2.33707243e-02 1.05215102e+00] [ 7.26145123e-02 -2.22457333e-02 9.97111960e-01 2.35873638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.805285570000002 meters Centerline goodness [0,1] 0.9335740696693839 Centerline is valid? [False, False] Translation: X:-15.46, Y:1.05, Z:0.24 [[ 0.9972436 0.01769337 -0.07205658 -15.46444228] [ -0.01596527 0.99957263 0.02448822 1.04931647] [ 0.07245906 -0.02327031 0.99709988 0.23778714] [ 0. 0. 0. 1. ]] SLAMing on 16.835285570000003 meters Centerline goodness [0,1] 0.9122134058129849 Centerline is valid? [False, False] Translation: X:-15.48, Y:1.05, Z:0.24 [[ 9.97192716e-01 1.55814619e-02 -7.32386897e-02 -1.54818302e+01] [-1.30824210e-02 9.99319806e-01 3.44786148e-02 1.04660556e+00] [ 7.37261004e-02 -3.34236841e-02 9.96718275e-01 2.40106849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.865285570000005 meters Centerline goodness [0,1] 0.9139712439910382 Centerline is valid? [False, False] Translation: X:-15.52, Y:1.02, Z:0.23 [[ 9.97024833e-01 1.72682322e-02 -7.51218395e-02 -1.55180677e+01] [-1.52729630e-02 9.99517283e-01 2.70543579e-02 1.02230167e+00] [ 7.55527578e-02 -2.58265336e-02 9.96807289e-01 2.28300862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.895285570000002 meters Centerline goodness [0,1] 0.9251796381265691 Centerline is valid? [False, False] Translation: X:-15.53, Y:1.02, Z:0.23 [[ 9.97126188e-01 1.68080459e-02 -7.38705330e-02 -1.55348651e+01] [-1.51023226e-02 9.99607663e-01 2.35889743e-02 1.01802364e+00] [ 7.42380354e-02 -2.24055674e-02 9.96988819e-01 2.33534253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.925285570000003 meters Centerline goodness [0,1] 0.9161475178536543 Centerline is valid? [False, False] Translation: X:-15.55, Y:1.01, Z:0.24 [[ 9.97178388e-01 1.58043774e-02 -7.33858615e-02 -1.55452958e+01] [-1.42872863e-02 9.99674181e-01 2.11519614e-02 1.01260851e+00] [ 7.36962445e-02 -2.00437940e-02 9.97079290e-01 2.36163054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.955285570000004 meters Centerline goodness [0,1] 0.9116048523848863 Centerline is valid? [False, False] Translation: X:-15.55, Y:1.00, Z:0.23 [[ 0.99711584 0.01903316 -0.07346926 -15.5537203 ] [ -0.01735612 0.99957556 0.02339789 1.00182017] [ 0.07388341 -0.02205526 0.99702297 0.2342714 ] [ 0. 0. 0. 1. ]] SLAMing on 16.985285570000002 meters Centerline goodness [0,1] 0.9139115263146271 Centerline is valid? [False, False] Translation: X:-15.57, Y:1.00, Z:0.24 [[ 9.97308663e-01 1.48913827e-02 -7.17891230e-02 -1.55676724e+01] [-1.25744260e-02 9.99388752e-01 3.26190985e-02 1.00248504e+00] [ 7.22309856e-02 -3.16286025e-02 9.96886311e-01 2.36793786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.015285570000003 meters Centerline goodness [0,1] 0.925873880203759 Centerline is valid? [False, False] Translation: X:-15.58, Y:1.00, Z:0.24 [[ 9.97405727e-01 1.48188495e-02 -7.04430154e-02 -1.55783320e+01] [-1.26724174e-02 9.99444604e-01 3.08203375e-02 9.96726913e-01] [ 7.08606135e-02 -2.98476978e-02 9.97039562e-01 2.38603415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.045285570000004 meters Centerline goodness [0,1] 0.8926313015984543 Centerline is valid? [False, False] Translation: X:-15.59, Y:1.00, Z:0.24 [[ 9.97435179e-01 1.39097254e-02 -7.02109978e-02 -1.55892687e+01] [-1.19384596e-02 9.99524824e-01 2.84182860e-02 9.95061848e-01] [ 7.05729258e-02 -2.75071870e-02 9.97127282e-01 2.43938018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.075285570000002 meters Centerline goodness [0,1] 0.9159355278492425 Centerline is valid? [False, False] Translation: X:-15.61, Y:0.99, Z:0.25 [[ 9.97520183e-01 1.52816082e-02 -6.87019468e-02 -1.56058475e+01] [-1.35221355e-02 9.99570412e-01 2.60027608e-02 9.90722336e-01] [ 6.90697973e-02 -2.50092816e-02 9.97298300e-01 2.45397798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.105285570000003 meters Centerline goodness [0,1] 0.9105255026595158 Centerline is valid? [False, False] Translation: X:-15.63, Y:0.98, Z:0.24 [[ 0.99773393 0.02132477 -0.06381426 -15.63154257] [ -0.01981241 0.99950984 0.02423922 0.98111798] [ 0.06429988 -0.02291997 0.99766738 0.23935384] [ 0. 0. 0. 1. ]] SLAMing on 17.135285570000004 meters Centerline goodness [0,1] 0.9280334913392105 Centerline is valid? [False, False] Translation: X:-15.66, Y:0.98, Z:0.24 [[ 0.99800719 0.01849585 -0.06032872 -15.66191612] [ -0.01673581 0.99942319 0.02955008 0.98321163] [ 0.06084047 -0.02848154 0.99774107 0.24214639] [ 0. 0. 0. 1. ]] SLAMing on 17.16528557 meters Centerline goodness [0,1] 0.9532481954469739 Centerline is valid? [False, True] Translation: X:-15.70, Y:0.97, Z:0.24 [[ 0.99770162 0.02256167 -0.06389403 -15.69800188] [ -0.02111077 0.99950577 0.02329281 0.9743357 ] [ 0.06438798 -0.02189042 0.99768482 0.23574539] [ 0. 0. 0. 1. ]] SLAMing on 17.195285570000003 meters Centerline goodness [0,1] 0.9606376346958767 Centerline is valid? [True, True] Translation: X:-15.73, Y:0.96, Z:0.22 [[ 9.97334739e-01 2.12587625e-02 -6.97960197e-02 -1.57276831e+01] [-2.05433672e-02 9.99728978e-01 1.09517293e-02 9.62823454e-01] [ 7.00099237e-02 -9.48869477e-03 9.97501166e-01 2.15187492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.225285570000004 meters Centerline goodness [0,1] 0.8889307729832808 Centerline is valid? [True, False] Translation: X:-15.76, Y:0.95, Z:0.21 [[ 9.96917508e-01 2.39939793e-02 -7.46978655e-02 -1.57640247e+01] [-2.35879968e-02 9.99701834e-01 6.31260461e-03 9.53885354e-01] [ 7.48270577e-02 -4.53117304e-03 9.97186231e-01 2.08331934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.25528557 meters Centerline goodness [0,1] 0.902992891048069 Centerline is valid? [False, False] Translation: X:-15.79, Y:0.96, Z:0.21 [[ 9.97106800e-01 1.95891912e-02 -7.34458536e-02 -1.57926863e+01] [-1.87454635e-02 9.99750345e-01 1.21595907e-02 9.56289786e-01] [ 7.36657140e-02 -1.07476340e-02 9.97225075e-01 2.13740142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.285285570000003 meters Centerline goodness [0,1] 0.9114230071855484 Centerline is valid? [False, False] Translation: X:-15.82, Y:0.96, Z:0.22 [[ 9.97271503e-01 1.43184454e-02 -7.24191341e-02 -1.58190508e+01] [-1.31038523e-02 9.99765868e-01 1.72191300e-02 9.60328416e-01] [ 7.26487297e-02 -1.62231780e-02 9.97225637e-01 2.19566303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.315285570000004 meters Centerline goodness [0,1] 0.9247431392607748 Centerline is valid? [False, False] Translation: X:-15.85, Y:0.95, Z:0.21 [[ 9.97233352e-01 1.53555758e-02 -7.27313371e-02 -1.58509433e+01] [-1.47772498e-02 9.99854825e-01 8.48300402e-03 9.49546581e-01] [ 7.28510397e-02 -7.38476540e-03 9.97315492e-01 2.07264156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34528557 meters Centerline goodness [0,1] 0.8784492335036659 Centerline is valid? [False, False] Translation: X:-15.88, Y:0.95, Z:0.21 [[ 9.97253699e-01 1.88500598e-02 -7.16221631e-02 -1.58789798e+01] [-1.85550687e-02 9.99816405e-01 4.78187393e-03 9.47743192e-01] [ 7.16991522e-02 -3.43978732e-03 9.97420372e-01 2.05391403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.375285570000003 meters Centerline goodness [0,1] 0.9257191927866038 Centerline is valid? [False, False] Translation: X:-15.92, Y:0.97, Z:0.22 [[ 9.97199129e-01 2.07842797e-02 -7.18464374e-02 -1.59221313e+01] [-1.98663887e-02 9.99711943e-01 1.34668781e-02 9.70455604e-01] [ 7.21056409e-02 -1.20018298e-02 9.97324788e-01 2.21549153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.405285570000004 meters Centerline goodness [0,1] 0.916438020031676 Centerline is valid? [False, False] Translation: X:-15.96, Y:0.97, Z:0.21 [[ 9.96862405e-01 2.60316174e-02 -7.47509193e-02 -1.59568088e+01] [-2.56877303e-02 9.99654563e-01 5.55835965e-03 9.65325460e-01] [ 7.48697906e-02 -3.62073832e-03 9.97186745e-01 2.09205894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.43528557 meters Centerline goodness [0,1] 0.9129823778719608 Centerline is valid? [False, False] Translation: X:-15.99, Y:0.97, Z:0.21 [[ 9.96752544e-01 2.45105624e-02 -7.67046240e-02 -1.59879675e+01] [-2.39552189e-02 9.99679796e-01 8.15190188e-03 9.71328038e-01] [ 7.68798705e-02 -6.28795287e-03 9.97020535e-01 2.05626292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.465285570000002 meters Centerline goodness [0,1] 0.9264567563936041 Centerline is valid? [False, False] Translation: X:-16.01, Y:0.98, Z:0.21 [[ 9.96891022e-01 2.18831578e-02 -7.56929216e-02 -1.60111198e+01] [-2.07823422e-02 9.99666939e-01 1.53004934e-02 9.82724052e-01] [ 7.60025344e-02 -1.36798483e-02 9.97013780e-01 2.12846329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.495285570000004 meters Centerline goodness [0,1] 0.9435588590874491 Centerline is valid? [False, False] Translation: X:-16.03, Y:0.98, Z:0.21 [[ 9.97015981e-01 2.32074768e-02 -7.36243634e-02 -1.60251678e+01] [-2.23146597e-02 9.99667429e-01 1.29262418e-02 9.84663802e-01] [ 7.38998635e-02 -1.12447671e-02 9.97202269e-01 2.13819182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.525285570000005 meters Centerline goodness [0,1] 0.9178686879946494 Centerline is valid? [False, False] Translation: X:-16.04, Y:0.98, Z:0.21 [[ 9.96997177e-01 2.63549066e-02 -7.28151642e-02 -1.60385485e+01] [-2.54689549e-02 9.99590181e-01 1.30691144e-02 9.83631148e-01] [ 7.31297585e-02 -1.11753440e-02 9.97259821e-01 2.14748615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.555285570000002 meters Centerline goodness [0,1] 0.9031645710967684 Centerline is valid? [False, False] Translation: X:-16.05, Y:0.99, Z:0.22 [[ 0.99704103 0.01946316 -0.07436652 -16.05497786] [ -0.01819556 0.99967803 0.01768496 0.98978703] [ 0.07468678 -0.01627949 0.99707415 0.21738456] [ 0. 0. 0. 1. ]] SLAMing on 17.585285570000003 meters Centerline goodness [0,1] 0.9030282787797818 Centerline is valid? [False, False] Translation: X:-16.07, Y:1.00, Z:0.22 [[ 9.97187055e-01 1.12161231e-02 -7.41092104e-02 -1.60725270e+01] [-9.68245332e-03 9.99732133e-01 2.10216997e-02 9.98104793e-01] [ 7.43251410e-02 -2.02450079e-02 9.97028542e-01 2.21393834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.615285570000005 meters Centerline goodness [0,1] 0.8999397092646764 Centerline is valid? [False, False] Translation: X:-16.08, Y:1.00, Z:0.22 [[ 9.97284485e-01 9.94829621e-03 -7.29704614e-02 -1.60843084e+01] [-8.69278065e-03 9.99809017e-01 1.75032605e-02 1.00005860e+00] [ 7.31306529e-02 -1.68214139e-02 9.97180499e-01 2.23297980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.645285570000002 meters Centerline goodness [0,1] 0.9154104227242228 Centerline is valid? [False, False] Translation: X:-16.09, Y:1.01, Z:0.23 [[ 9.97275826e-01 1.10235930e-02 -7.29342698e-02 -1.60946707e+01] [-9.81758269e-03 9.99809432e-01 1.68734727e-02 1.00501510e+00] [ 7.31063772e-02 -1.61114682e-02 9.97194002e-01 2.27636436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.675285570000003 meters Centerline goodness [0,1] 0.8941339038958723 Centerline is valid? [False, False] Translation: X:-16.10, Y:1.01, Z:0.23 [[ 9.97328969e-01 1.17636455e-02 -7.20870575e-02 -1.60999805e+01] [-1.05854653e-02 9.99804440e-01 1.67041610e-02 1.00637580e+00] [ 7.22694620e-02 -1.58964687e-02 9.97258456e-01 2.27978046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.705285570000004 meters Centerline goodness [0,1] 0.8886070315976858 Centerline is valid? [False, False] Translation: X:-16.10, Y:1.01, Z:0.23 [[ 9.97416450e-01 1.29605647e-02 -7.06572605e-02 -1.61034763e+01] [-1.18045950e-02 9.99789966e-01 1.67533429e-02 1.00927039e+00] [ 7.08595529e-02 -1.58759795e-02 9.97359954e-01 2.26383932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.735285570000002 meters Centerline goodness [0,1] 0.8919303551177425 Centerline is valid? [False, False] Translation: X:-16.11, Y:1.02, Z:0.22 [[ 9.97250738e-01 1.59135112e-02 -7.23721267e-02 -1.61096758e+01] [-1.49061794e-02 9.99784656e-01 1.44376841e-02 1.02098114e+00] [ 7.25862961e-02 -1.33191993e-02 9.97273197e-01 2.23063260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.765285570000003 meters Centerline goodness [0,1] 0.8816523510139024 Centerline is valid? [False, False] Translation: X:-16.11, Y:1.03, Z:0.22 [[ 9.97190879e-01 1.63064530e-02 -7.31057512e-02 -1.61094594e+01] [-1.53617119e-02 9.99791312e-01 1.34666697e-02 1.02790131e+00] [ 7.33100884e-02 -1.23058107e-02 9.97233272e-01 2.23556974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.795285570000004 meters Centerline goodness [0,1] 0.9062878537605991 Centerline is valid? [False, False] Translation: X:-16.11, Y:1.05, Z:0.22 [[ 9.97211807e-01 1.71476328e-02 -7.26262459e-02 -1.61094545e+01] [-1.64812321e-02 9.99816488e-01 9.76515875e-03 1.04725036e+00] [ 7.27803675e-02 -8.54096159e-03 9.97311421e-01 2.20576740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.825285570000002 meters Centerline goodness [0,1] 0.8819167895095817 Centerline is valid? [False, False] Translation: X:-16.11, Y:1.05, Z:0.22 [[ 9.97258669e-01 1.77454378e-02 -7.18348567e-02 -1.61098098e+01] [-1.71176329e-02 9.99809803e-01 9.34580986e-03 1.05275902e+00] [ 7.19870394e-02 -8.09054720e-03 9.97372753e-01 2.19501298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.855285570000003 meters Centerline goodness [0,1] 0.8977275212703134 Centerline is valid? [False, False] Translation: X:-16.12, Y:1.07, Z:0.21 [[ 9.97222133e-01 2.15975289e-02 -7.12850888e-02 -1.61194683e+01] [-2.11464022e-02 9.99751341e-01 7.07719050e-03 1.06690573e+00] [ 7.14202129e-02 -5.55010785e-03 9.97430875e-01 2.14411356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.885285570000004 meters Centerline goodness [0,1] 0.900679857055696 Centerline is valid? [False, False] Translation: X:-16.13, Y:1.08, Z:0.21 [[ 9.97119165e-01 2.30073541e-02 -7.22774658e-02 -1.61320245e+01] [-2.28066179e-02 9.99733408e-01 3.60146375e-03 1.07947040e+00] [ 7.23410574e-02 -1.94268398e-03 9.97378061e-01 2.14677974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.91528557 meters Centerline goodness [0,1] 0.8948844489858034 Centerline is valid? [False, False] Translation: X:-16.15, Y:1.10, Z:0.22 [[ 9.97297793e-01 1.65380123e-02 -7.15793673e-02 -1.61469460e+01] [-1.61174641e-02 9.99849308e-01 6.44890747e-03 1.10085011e+00] [ 7.16752330e-02 -5.27780330e-03 9.97414059e-01 2.17868582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.945285570000003 meters Centerline goodness [0,1] 0.8987438225241112 Centerline is valid? [False, False] Translation: X:-16.16, Y:1.12, Z:0.22 [[ 9.97529942e-01 9.62762515e-03 -6.95796227e-02 -1.61593846e+01] [-8.98711644e-03 9.99914367e-01 9.51259797e-03 1.12026555e+00] [ 6.96652481e-02 -8.86378113e-03 9.97531045e-01 2.18067048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.975285570000004 meters Centerline goodness [0,1] 0.8585391057243117 Centerline is valid? [False, False] Translation: X:-16.17, Y:1.13, Z:0.21 [[ 9.97631603e-01 1.05210050e-02 -6.79742082e-02 -1.61662397e+01] [-1.00851531e-02 9.99926347e-01 6.75201157e-03 1.13013946e+00] [ 6.80402397e-02 -6.05048983e-03 9.97664231e-01 2.14873208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00528557 meters Centerline goodness [0,1] 0.8419431942978961 Centerline is valid? [False, False] Translation: X:-16.17, Y:1.15, Z:0.22 [[ 9.97602304e-01 1.32869656e-02 -6.79198087e-02 -1.61724886e+01] [-1.28762073e-02 9.99896089e-01 6.48192184e-03 1.14728547e+00] [ 6.79988761e-02 -5.59183062e-03 9.97669727e-01 2.16864125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.035285570000003 meters Centerline goodness [0,1] 0.8319392448390202 Centerline is valid? [False, False] Translation: X:-16.18, Y:1.16, Z:0.22 [[ 9.97509960e-01 1.49564229e-02 -6.89215807e-02 -1.61754185e+01] [-1.46837076e-02 9.99882233e-01 4.46183811e-03 1.16242449e+00] [ 6.89801971e-02 -3.43870362e-03 9.97612103e-01 2.15800939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.065285570000004 meters Centerline goodness [0,1] 0.8509023877909718 Centerline is valid? [False, False] Translation: X:-16.18, Y:1.18, Z:0.22 [[ 9.97524074e-01 1.60736002e-02 -6.84643105e-02 -1.61769390e+01] [-1.58539614e-02 9.99867285e-01 3.75025796e-03 1.17951470e+00] [ 6.85155044e-02 -2.65554206e-03 9.97646517e-01 2.16463473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.09528557 meters Centerline goodness [0,1] 0.8489684210526316 Centerline is valid? [False, False] Translation: X:-16.18, Y:1.20, Z:0.21 [[ 9.97740548e-01 1.30968382e-02 -6.58959160e-02 -1.61813296e+01] [-1.35252044e-02 9.99890174e-01 -6.05872159e-03 1.20246397e+00] [ 6.58093289e-02 6.93628793e-03 9.97808108e-01 2.09376282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.125285570000003 meters Centerline goodness [0,1] 0.8489684210526316 Centerline is valid? [False, False] Translation: X:-16.18, Y:1.20, Z:0.21 [[ 9.97740548e-01 1.30968382e-02 -6.58959160e-02 -1.61813296e+01] [-1.35252044e-02 9.99890174e-01 -6.05872159e-03 1.20246397e+00] [ 6.58093289e-02 6.93628793e-03 9.97808108e-01 2.09376282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.155285570000004 meters Centerline goodness [0,1] 0.8540113520840393 Centerline is valid? [False, False] Translation: X:-16.19, Y:1.21, Z:0.21 [[ 9.97782897e-01 1.48176879e-02 -6.48824093e-02 -1.61859706e+01] [-1.52539590e-02 9.99864219e-01 -6.23379207e-03 1.21416872e+00] [ 6.47812291e-02 7.20968472e-03 9.97873445e-01 2.12193340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18528557 meters Centerline goodness [0,1] 0.826625257061317 Centerline is valid? [False, False] Translation: X:-16.20, Y:1.23, Z:0.21 [[ 9.97725340e-01 1.94652505e-02 -6.45387525e-02 -1.62030703e+01] [-2.00627475e-02 9.99761539e-01 -8.62276819e-03 1.23102623e+00] [ 6.43555182e-02 9.89797901e-03 9.97877947e-01 2.11901312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.215285570000002 meters Centerline goodness [0,1] 0.8463976158995992 Centerline is valid? [False, False] Translation: X:-16.26, Y:1.26, Z:0.20 [[ 9.97447612e-01 2.26534495e-02 -6.77132322e-02 -1.62591243e+01] [-2.31743514e-02 9.99707509e-01 -6.91708177e-03 1.25761690e+00] [ 6.75367309e-02 8.46863694e-03 9.97680847e-01 2.03358546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.245285570000004 meters Centerline goodness [0,1] 0.8183035527472068 Centerline is valid? [False, False] Translation: X:-16.30, Y:1.28, Z:0.20 [[ 9.97159536e-01 2.16788774e-02 -7.21310329e-02 -1.62999587e+01] [-2.21763357e-02 9.99735448e-01 -6.10281577e-03 1.27639962e+00] [ 7.19796482e-02 7.68508293e-03 9.97376493e-01 2.02225260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.275285570000005 meters Centerline goodness [0,1] 0.8219384550973414 Centerline is valid? [False, False] Translation: X:-16.34, Y:1.30, Z:0.21 [[ 9.97184061e-01 1.91210899e-02 -7.25143599e-02 -1.63385067e+01] [-1.93903428e-02 9.99807456e-01 -3.01088608e-03 1.30178233e+00] [ 7.24428263e-02 4.40848590e-03 9.97362824e-01 2.10330464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.305285570000002 meters Centerline goodness [0,1] 0.8311639234128317 Centerline is valid? [False, False] Translation: X:-16.38, Y:1.33, Z:0.22 [[ 9.97340918e-01 1.72414505e-02 -7.08083770e-02 -1.63771608e+01] [-1.72538118e-02 9.99851046e-01 4.37092699e-04 1.32569646e+00] [ 7.08053660e-02 7.85783981e-04 9.97489841e-01 2.18273345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.335285570000003 meters Centerline goodness [0,1] 0.8146922980901261 Centerline is valid? [False, False] Translation: X:-16.42, Y:1.34, Z:0.21 [[ 9.97462505e-01 1.64021458e-02 -6.92785732e-02 -1.64237615e+01] [-1.65871482e-02 9.99860227e-01 -2.09596104e-03 1.33780429e+00] [ 6.92345116e-02 3.23977651e-03 9.97595151e-01 2.12362251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.365285570000005 meters Centerline goodness [0,1] 0.8136259143155695 Centerline is valid? [False, False] Translation: X:-16.46, Y:1.36, Z:0.22 [[ 9.97354385e-01 1.58393026e-02 -7.09460846e-02 -1.64621642e+01] [-1.56673918e-02 9.99872821e-01 2.97897016e-03 1.35506105e+00] [ 7.09842466e-02 -1.85954885e-03 9.97475703e-01 2.16060763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.395285570000002 meters Centerline goodness [0,1] 0.8210794552594202 Centerline is valid? [False, False] Translation: X:-16.50, Y:1.37, Z:0.22 [[ 9.97068693e-01 1.43124250e-02 -7.51609982e-02 -1.64980535e+01] [-1.38742507e-02 9.99883593e-01 6.34874426e-03 1.37286492e+00] [ 7.52431149e-02 -5.28733161e-03 9.97151201e-01 2.19885989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.425285570000003 meters Centerline goodness [0,1] 0.8183424449664289 Centerline is valid? [False, False] Translation: X:-16.53, Y:1.38, Z:0.22 [[ 9.96667029e-01 1.69475645e-02 -7.97973310e-02 -1.65349236e+01] [-1.70214832e-02 9.99855094e-01 -2.46153959e-04 1.37913232e+00] [ 7.97815962e-02 1.60360247e-03 9.96811078e-01 2.15973670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.455285570000004 meters Centerline goodness [0,1] 0.7795589093637956 Centerline is valid? [False, False] Translation: X:-16.56, Y:1.40, Z:0.22 [[ 9.96838012e-01 1.44240775e-02 -7.81404140e-02 -1.65594519e+01] [-1.40240745e-02 9.99885608e-01 5.66540392e-03 1.39571531e+00] [ 7.82131936e-02 -4.55164300e-03 9.96926266e-01 2.22392428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.485285570000002 meters Centerline goodness [0,1] 0.7922878857095395 Centerline is valid? [False, False] Translation: X:-16.58, Y:1.40, Z:0.22 [[ 9.97019765e-01 1.63106838e-02 -7.54025871e-02 -1.65780105e+01] [-1.60993270e-02 9.99864582e-01 3.41006570e-03 1.39813309e+00] [ 7.54479967e-02 -2.18597200e-03 9.97147342e-01 2.22866426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.515285570000003 meters Centerline goodness [0,1] 0.8183984448485608 Centerline is valid? [False, False] Translation: X:-16.60, Y:1.41, Z:0.23 [[ 9.97258435e-01 1.36108065e-02 -7.27348562e-02 -1.65988976e+01] [-1.29426674e-02 9.99869680e-01 9.64941080e-03 1.41415794e+00] [ 7.28567136e-02 -8.68157326e-03 9.97304632e-01 2.27613578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.545285570000004 meters Centerline goodness [0,1] 0.8033537219656306 Centerline is valid? [False, False] Translation: X:-16.64, Y:1.42, Z:0.22 [[ 9.96759090e-01 1.74850047e-02 -7.85212843e-02 -1.66393234e+01] [-1.74145404e-02 9.99847104e-01 1.58211755e-03 1.41968118e+00] [ 7.85369420e-02 -2.09577974e-04 9.96911182e-01 2.19226295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.575285570000002 meters Centerline goodness [0,1] 0.7864506627393225 Centerline is valid? [False, False] Translation: X:-16.64, Y:1.42, Z:0.22 [[ 9.96710046e-01 1.93405633e-02 -7.87084969e-02 -1.66434652e+01] [-1.91982388e-02 9.99812408e-01 2.56462409e-03 1.42234262e+00] [ 7.87433330e-02 -1.04512208e-03 9.96894375e-01 2.21486494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.605285570000003 meters Centerline goodness [0,1] 0.7981708584493868 Centerline is valid? [False, False] Translation: X:-16.67, Y:1.44, Z:0.23 [[ 9.96515411e-01 1.78929934e-02 -8.14670292e-02 -1.66692861e+01] [-1.71866400e-02 9.99808454e-01 9.36347457e-03 1.43787399e+00] [ 8.16189651e-02 -7.93070221e-03 9.96632053e-01 2.28222193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.635285570000004 meters Centerline goodness [0,1] 0.8044988422097255 Centerline is valid? [False, False] Translation: X:-16.68, Y:1.44, Z:0.23 [[ 9.96555697e-01 1.97272418e-02 -8.05455129e-02 -1.66770865e+01] [-1.89783682e-02 9.99769357e-01 1.00525878e-02 1.44006364e+00] [ 8.07252455e-02 -8.48934121e-03 9.96700239e-01 2.31515681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66528557 meters Centerline goodness [0,1] 0.8064268525433573 Centerline is valid? [False, False] Translation: X:-16.70, Y:1.45, Z:0.24 [[ 9.96869503e-01 1.65934763e-02 -7.73036302e-02 -1.66956445e+01] [-1.54511515e-02 9.99762762e-01 1.53519052e-02 1.45161271e+00] [ 7.75400324e-02 -1.41094160e-02 9.96889396e-01 2.35518859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.695285570000003 meters Centerline goodness [0,1] 0.8061421942947504 Centerline is valid? [False, False] Translation: X:-16.72, Y:1.46, Z:0.24 [[ 9.97050752e-01 1.43509634e-02 -7.53912989e-02 -1.67200760e+01] [-1.27199730e-02 9.99675517e-01 2.20694978e-02 1.46204947e+00] [ 7.56835542e-02 -2.10454341e-02 9.96909770e-01 2.41416279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.725285570000004 meters Centerline goodness [0,1] 0.811689121756487 Centerline is valid? [False, False] Translation: X:-16.76, Y:1.45, Z:0.23 [[ 9.96848229e-01 1.83009931e-02 -7.71924958e-02 -1.67617504e+01] [-1.72918753e-02 9.99756333e-01 1.37210032e-02 1.45327111e+00] [ 7.74247945e-02 -1.23429547e-02 9.96921789e-01 2.32401042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.75528557 meters Centerline goodness [0,1] 0.8231632419378344 Centerline is valid? [False, False] Translation: X:-16.80, Y:1.46, Z:0.24 [[ 9.96696880e-01 1.75252144e-02 -7.92981499e-02 -1.67998919e+01] [-1.61356732e-02 9.99705428e-01 1.81300174e-02 1.45941080e+00] [ 7.95925233e-02 -1.67906027e-02 9.96686062e-01 2.37005884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.785285570000003 meters Centerline goodness [0,1] 0.7888471694999175 Centerline is valid? [False, False] Translation: X:-16.84, Y:1.45, Z:0.23 [[ 9.96348030e-01 2.03095060e-02 -8.29344693e-02 -1.68446697e+01] [-1.94895973e-02 9.99752974e-01 1.06839427e-02 1.45024997e+00] [ 8.31309679e-02 -9.02856586e-03 9.96497731e-01 2.30545139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.815285570000004 meters Centerline goodness [0,1] 0.8100987695655814 Centerline is valid? [False, False] Translation: X:-16.88, Y:1.46, Z:0.24 [[ 0.99622465 0.01939918 -0.08461745 -16.87840178] [ -0.01776068 0.99964074 0.0200737 1.45849454] [ 0.08497647 -0.01849505 0.99621129 0.2422428 ] [ 0. 0. 0. 1. ]] SLAMing on 18.84528557 meters Centerline goodness [0,1] 0.7978053156423416 Centerline is valid? [False, False] Translation: X:-16.91, Y:1.46, Z:0.24 [[ 9.96227667e-01 1.61928310e-02 -8.52538986e-02 -1.69122953e+01] [-1.41567637e-02 9.99601226e-01 2.44330654e-02 1.45751661e+00] [ 8.56155420e-02 -2.31339765e-02 9.96059636e-01 2.44513075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.875285570000003 meters Centerline goodness [0,1] 0.804551370869547 Centerline is valid? [False, False] Translation: X:-16.94, Y:1.46, Z:0.25 [[ 9.96222470e-01 1.23554523e-02 -8.59542554e-02 -1.69362463e+01] [-9.69568067e-03 9.99463227e-01 3.12929856e-02 1.45874558e+00] [ 8.62947565e-02 -3.03413904e-02 9.95807519e-01 2.49167939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.905285570000004 meters Centerline goodness [0,1] 0.8165972999809858 Centerline is valid? [False, False] Translation: X:-16.95, Y:1.46, Z:0.25 [[ 9.96352871e-01 1.53813366e-02 -8.39307492e-02 -1.69521516e+01] [-1.28375294e-02 9.99444220e-01 3.07643944e-02 1.45736535e+00] [ 8.43572997e-02 -2.95747292e-02 9.95996577e-01 2.51543756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.93528557 meters Centerline goodness [0,1] 0.8032018010130698 Centerline is valid? [False, False] Translation: X:-16.96, Y:1.46, Z:0.26 [[ 9.96400529e-01 1.50743504e-02 -8.34191254e-02 -1.69614027e+01] [-1.27060770e-02 9.99503036e-01 2.88485057e-02 1.46018804e+00] [ 8.38125416e-02 -2.76847365e-02 9.96096889e-01 2.56503832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.965285570000002 meters Centerline goodness [0,1] 0.8140111722527931 Centerline is valid? [False, False] Translation: X:-16.96, Y:1.46, Z:0.26 [[ 9.96340172e-01 1.66954696e-02 -8.38303272e-02 -1.69648959e+01] [-1.42696078e-02 9.99464275e-01 2.94540416e-02 1.46325864e+00] [ 8.42771663e-02 -2.81500190e-02 9.96044645e-01 2.59198825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.995285570000004 meters Centerline goodness [0,1] 0.7861164012305631 Centerline is valid? [False, False] Translation: X:-16.96, Y:1.46, Z:0.26 [[ 9.96132475e-01 1.96367104e-02 -8.56416534e-02 -1.69593385e+01] [-1.69237663e-02 9.99335260e-01 3.22897072e-02 1.46383538e+00] [ 8.62187875e-02 -3.07154466e-02 9.95802632e-01 2.56737227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.025285570000005 meters Centerline goodness [0,1] 0.8017840690175057 Centerline is valid? [False, False] Translation: X:-16.96, Y:1.46, Z:0.25 [[ 9.96174309e-01 1.86321448e-02 -8.53790891e-02 -1.69570596e+01] [-1.59482620e-02 9.99360305e-01 3.20099111e-02 1.45933240e+00] [ 8.59208858e-02 -3.05258030e-02 9.95834211e-01 2.53738399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.055285570000002 meters Centerline goodness [0,1] 0.78755432386471 Centerline is valid? [False, False] Translation: X:-16.97, Y:1.46, Z:0.26 [[ 9.96593355e-01 1.75430848e-02 -8.05848953e-02 -1.69709433e+01] [-1.52437117e-02 9.99461407e-01 2.90607111e-02 1.45818620e+00] [ 8.10513073e-02 -2.77332986e-02 9.96324018e-01 2.55737749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.085285570000003 meters Centerline goodness [0,1] 0.8037408455392809 Centerline is valid? [False, False] Translation: X:-17.01, Y:1.45, Z:0.25 [[ 0.99682272 0.02097302 -0.07684138 -17.01103701] [ -0.01954666 0.99962327 0.01926778 1.45311938] [ 0.07721653 -0.01770457 0.99685714 0.24853329] [ 0. 0. 0. 1. ]] SLAMing on 19.115285570000005 meters Centerline goodness [0,1] 0.7991977887233203 Centerline is valid? [False, False] Translation: X:-17.07, Y:1.46, Z:0.24 [[ 9.96588865e-01 2.16330291e-02 -7.96407339e-02 -1.70670510e+01] [-2.02798752e-02 9.99636577e-01 1.77606261e-02 1.45648595e+00] [ 7.99960068e-02 -1.60849381e-02 9.96665397e-01 2.43543281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.145285570000002 meters Centerline goodness [0,1] 0.811579279184617 Centerline is valid? [False, False] Translation: X:-17.13, Y:1.46, Z:0.24 [[ 0.99619579 0.02529339 -0.08339176 -17.12913509] [ -0.02360011 0.99949606 0.02122881 1.46153847] [ 0.08388668 -0.01917999 0.9962907 0.24187157] [ 0. 0. 0. 1. ]] SLAMing on 19.175285570000003 meters Centerline goodness [0,1] 0.8153833214180579 Centerline is valid? [False, False] Translation: X:-17.19, Y:1.46, Z:0.24 [[ 0.99610519 0.02595798 -0.08426531 -17.1890866 ] [ -0.02435673 0.99950374 0.01997533 1.4637953 ] [ 0.08474201 -0.0178451 0.99624311 0.2371095 ] [ 0. 0. 0. 1. ]] SLAMing on 19.205285570000004 meters Centerline goodness [0,1] 0.7737195545544492 Centerline is valid? [False, False] Translation: X:-17.25, Y:1.47, Z:0.24 [[ 9.96206927e-01 2.64784568e-02 -8.28893810e-02 -1.72502301e+01] [-2.49834819e-02 9.99506882e-01 1.90215206e-02 1.46875049e+00] [ 8.33521673e-02 -1.68785052e-02 9.96377204e-01 2.36146083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.235285570000002 meters Centerline goodness [0,1] 0.8386932864734402 Centerline is valid? [False, False] Translation: X:-17.31, Y:1.47, Z:0.23 [[ 9.96248360e-01 2.71111199e-02 -8.21838924e-02 -1.73107175e+01] [-2.56414662e-02 9.99492794e-01 1.88857004e-02 1.47349513e+00] [ 8.26542207e-02 -1.67075325e-02 9.96438226e-01 2.34933644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.265285570000003 meters Centerline goodness [0,1] 0.7951119473984651 Centerline is valid? [False, False] Translation: X:-17.35, Y:1.48, Z:0.23 [[ 0.99568865 0.02537867 -0.08921908 -17.34847296] [ -0.02351154 0.9994833 0.02191666 1.47648334] [ 0.08972919 -0.01972449 0.99577087 0.23312968] [ 0. 0. 0. 1. ]] SLAMing on 19.295285570000004 meters Centerline goodness [0,1] 0.7973823094785729 Centerline is valid? [False, False] Translation: X:-17.36, Y:1.47, Z:0.23 [[ 0.99499064 0.02823115 -0.0958991 -17.36173514] [ -0.02624797 0.999416 0.02187909 1.47218557] [ 0.09646076 -0.01925233 0.99515058 0.2313628 ] [ 0. 0. 0. 1. ]] SLAMing on 19.325285570000002 meters Centerline goodness [0,1] 0.8202621309806583 Centerline is valid? [False, False] Translation: X:-17.37, Y:1.48, Z:0.24 [[ 9.95148927e-01 2.70989898e-02 -9.45740825e-02 -1.73697700e+01] [-2.53406270e-02 9.99483873e-01 1.97443683e-02 1.47645434e+00] [ 9.50603227e-02 -1.72520203e-02 9.95322010e-01 2.35848495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.355285570000003 meters Centerline goodness [0,1] 0.8351277179649568 Centerline is valid? [False, False] Translation: X:-17.38, Y:1.48, Z:0.24 [[ 9.95395388e-01 2.50178149e-02 -9.25317833e-02 -1.73790591e+01] [-2.36311814e-02 9.99591882e-01 1.60510869e-02 1.48107136e+00] [ 9.28955825e-02 -1.37905425e-02 9.95580349e-01 2.39977404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.385285570000004 meters Centerline goodness [0,1] 0.818682478055368 Centerline is valid? [False, False] Translation: X:-17.39, Y:1.48, Z:0.24 [[ 9.95559694e-01 2.82562133e-02 -8.97913302e-02 -1.73930791e+01] [-2.69455741e-02 9.99512415e-01 1.57755603e-02 1.48195954e+00] [ 9.01933069e-02 -1.32860331e-02 9.95835653e-01 2.41585959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.41528557 meters Centerline goodness [0,1] 0.8214956228245965 Centerline is valid? [False, False] Translation: X:-17.41, Y:1.49, Z:0.24 [[ 0.99546601 0.02268435 -0.09237338 -17.4065104 ] [ -0.02079593 0.99955565 0.02135496 1.48654562] [ 0.09281676 -0.01933715 0.99549542 0.24188209] [ 0. 0. 0. 1. ]] SLAMing on 19.445285570000003 meters Centerline goodness [0,1] 0.8204104059680044 Centerline is valid? [False, False] Translation: X:-17.42, Y:1.49, Z:0.24 [[ 9.95566984e-01 1.54914026e-02 -9.27706644e-02 -1.74233819e+01] [-1.31492903e-02 9.99580523e-01 2.58045472e-02 1.49011807e+00] [ 9.31314978e-02 -2.44702868e-02 9.95353068e-01 2.42355035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.475285570000004 meters Centerline goodness [0,1] 0.7906844825412832 Centerline is valid? [False, False] Translation: X:-17.45, Y:1.49, Z:0.24 [[ 9.95602812e-01 1.51963822e-02 -9.24343589e-02 -1.74451614e+01] [-1.32312420e-02 9.99674016e-01 2.18356762e-02 1.48603029e+00] [ 9.27360500e-02 -2.05166393e-02 9.95479328e-01 2.41679322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.50528557 meters Centerline goodness [0,1] 0.820406698059421 Centerline is valid? [False, False] Translation: X:-17.47, Y:1.49, Z:0.25 [[ 9.95545333e-01 1.84460794e-02 -9.24620604e-02 -1.74674113e+01] [-1.64161685e-02 9.99608287e-01 2.26667442e-02 1.49410943e+00] [ 9.28439544e-02 -2.10478986e-02 9.95458179e-01 2.47941614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.535285570000003 meters Centerline goodness [0,1] 0.8022785663142821 Centerline is valid? [False, False] Translation: X:-17.50, Y:1.50, Z:0.24 [[ 9.95221818e-01 2.40267639e-02 -9.46374499e-02 -1.75010911e+01] [-2.25992441e-02 9.99614519e-01 1.61272437e-02 1.49595072e+00] [ 9.49884545e-02 -1.39114500e-02 9.95381166e-01 2.39803753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.565285570000004 meters Centerline goodness [0,1] 0.8083394601407415 Centerline is valid? [False, False] Translation: X:-17.53, Y:1.50, Z:0.24 [[ 9.94695357e-01 2.94769937e-02 -9.85507682e-02 -1.75303620e+01] [-2.83571134e-02 9.99516599e-01 1.27452636e-02 1.50197548e+00] [ 9.88788208e-02 -9.88303926e-03 9.95050403e-01 2.36946810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.59528557 meters Centerline goodness [0,1] 0.8420795962937049 Centerline is valid? [False, False] Translation: X:-17.56, Y:1.52, Z:0.24 [[ 0.99479769 0.0305187 -0.09719142 -17.55750131] [ -0.02859518 0.99936787 0.02112311 1.51994754] [ 0.09777463 -0.01823402 0.99504153 0.24399498] [ 0. 0. 0. 1. ]] SLAMing on 19.625285570000003 meters Centerline goodness [0,1] 0.803049528401641 Centerline is valid? [False, False] Translation: X:-17.59, Y:1.53, Z:0.25 [[ 0.9950306 0.02761614 -0.09566327 -17.58786604] [ -0.02535896 0.99937245 0.02473124 1.5329267 ] [ 0.09628622 -0.02218242 0.99510648 0.24644917] [ 0. 0. 0. 1. ]] SLAMing on 19.655285570000004 meters Centerline goodness [0,1] 0.8185711586505154 Centerline is valid? [False, False] Translation: X:-17.62, Y:1.53, Z:0.24 [[ 9.94604599e-01 2.72379493e-02 -1.00098876e-01 -1.76176036e+01] [-2.56505462e-02 9.99524509e-01 1.71115477e-02 1.53291724e+00] [ 1.00517364e-01 -1.44516332e-02 9.94830342e-01 2.38133687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.685285570000005 meters Centerline goodness [0,1] 0.8104074392829405 Centerline is valid? [False, False] Translation: X:-17.64, Y:1.55, Z:0.24 [[ 0.99459599 0.02339882 -0.10114998 -17.64353373] [ -0.02144076 0.99956193 0.02040211 1.54882543] [ 0.10158306 -0.01812312 0.99466197 0.24028893] [ 0. 0. 0. 1. ]] SLAMing on 19.715285570000002 meters Centerline goodness [0,1] 0.8191089753006107 Centerline is valid? [False, False] Translation: X:-17.67, Y:1.56, Z:0.24 [[ 9.94203756e-01 3.08366148e-02 -1.02995125e-01 -1.76719320e+01] [-2.89625439e-02 9.99387489e-01 1.96422610e-02 1.55523429e+00] [ 1.03537740e-01 -1.65454088e-02 9.94487901e-01 2.39534320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.745285570000004 meters Centerline goodness [0,1] 0.814389422372853 Centerline is valid? [False, False] Translation: X:-17.71, Y:1.56, Z:0.23 [[ 9.93947070e-01 3.89561268e-02 -1.02721186e-01 -1.77129584e+01] [-3.77762921e-02 9.99196279e-01 1.34069922e-02 1.55633923e+00] [ 1.03160912e-01 -9.44541507e-03 9.94619832e-01 2.29932551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.775285570000005 meters Centerline goodness [0,1] 0.8164296998420222 Centerline is valid? [False, False] Translation: X:-17.75, Y:1.57, Z:0.24 [[ 9.93810907e-01 3.99184780e-02 -1.03664822e-01 -1.77472500e+01] [-3.80800866e-02 9.99081396e-01 1.96537576e-02 1.57145718e+00] [ 1.04354144e-01 -1.55845532e-02 9.94418088e-01 2.35132165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.805285570000002 meters Centerline goodness [0,1] 0.8068821996132178 Centerline is valid? [False, False] Translation: X:-17.78, Y:1.58, Z:0.24 [[ 0.99360621 0.03645078 -0.1068552 -17.77782927] [ -0.03430262 0.9991721 0.02187353 1.58128604] [ 0.10756404 -0.01806826 0.99403396 0.23628916] [ 0. 0. 0. 1. ]] SLAMing on 19.835285570000003 meters Centerline goodness [0,1] 0.7914608923219788 Centerline is valid? [False, False] Translation: X:-17.79, Y:1.59, Z:0.24 [[ 0.99307435 0.02955877 -0.11370845 -17.78758797] [ -0.02682685 0.99931527 0.02548157 1.59023521] [ 0.1143838 -0.02225465 0.99318733 0.23723799] [ 0. 0. 0. 1. ]] SLAMing on 19.865285570000005 meters Centerline goodness [0,1] 0.7893065225164588 Centerline is valid? [False, False] Translation: X:-17.80, Y:1.59, Z:0.24 [[ 0.99353403 0.02883182 -0.10981279 -17.80043775] [ -0.02648847 0.99939046 0.0227391 1.58740034] [ 0.11040147 -0.0196833 0.99369215 0.23682584] [ 0. 0. 0. 1. ]] SLAMing on 19.895285570000002 meters Centerline goodness [0,1] 0.8180866871769114 Centerline is valid? [False, False] Translation: X:-17.83, Y:1.58, Z:0.23 [[ 9.94214323e-01 3.22413713e-02 -1.02461572e-01 -1.78338845e+01] [-3.06047986e-02 9.99378266e-01 1.75050667e-02 1.58440661e+00] [ 1.02962255e-01 -1.42679723e-02 9.94582927e-01 2.34674851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.925285570000003 meters Centerline goodness [0,1] 0.8357689485270993 Centerline is valid? [False, False] Translation: X:-17.89, Y:1.59, Z:0.23 [[ 9.93534434e-01 4.77512063e-02 -1.03000728e-01 -1.78891583e+01] [-4.64202530e-02 9.98805101e-01 1.52817229e-02 1.58570545e+00] [ 1.03607373e-01 -1.04015981e-02 9.94563884e-01 2.28737578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.955285570000004 meters Centerline goodness [0,1] 0.8236405230129914 Centerline is valid? [False, False] Translation: X:-17.91, Y:1.60, Z:0.23 [[ 0.99352099 0.04796789 -0.10302974 -17.9065201 ] [ -0.04571239 0.99866283 0.02414372 1.59707709] [ 0.10405009 -0.01927755 0.99438521 0.23370646] [ 0. 0. 0. 1. ]] SLAMing on 19.985285570000002 meters Centerline goodness [0,1] 0.8619469026548673 Centerline is valid? [False, False] Translation: X:-17.95, Y:1.60, Z:0.23 [[ 0.99302938 0.05232943 -0.1056138 -17.94876933] [ -0.04974345 0.9983977 0.02697448 1.59904129] [ 0.10685613 -0.02153285 0.9940413 0.22733084] [ 0. 0. 0. 1. ]] SLAMing on 20.015285570000003 meters Centerline goodness [0,1] 0.8619469026548673 Centerline is valid? [False, False] Translation: X:-17.95, Y:1.60, Z:0.23 [[ 0.99302938 0.05232943 -0.1056138 -17.94876933] [ -0.04974345 0.9983977 0.02697448 1.59904129] [ 0.10685613 -0.02153285 0.9940413 0.22733084] [ 0. 0. 0. 1. ]] SLAMing on 20.045285570000004 meters Centerline goodness [0,1] 0.8475431999662005 Centerline is valid? [False, False] Translation: X:-17.99, Y:1.60, Z:0.22 [[ 0.99285703 0.05117323 -0.10777858 -17.99006426] [ -0.04838311 0.99842652 0.02834707 1.59730379] [ 0.10905961 -0.02292993 0.99377071 0.22475404] [ 0. 0. 0. 1. ]] SLAMing on 20.075285570000002 meters Centerline goodness [0,1] 0.8303649324396212 Centerline is valid? [False, False] Translation: X:-18.06, Y:1.60, Z:0.23 [[ 0.99305905 0.04053801 -0.11041009 -18.05562321] [ -0.03701016 0.99874253 0.03381717 1.59777643] [ 0.11164214 -0.02949615 0.99331063 0.23144413] [ 0. 0. 0. 1. ]] SLAMing on 20.105285570000003 meters Centerline goodness [0,1] 0.8448638206635957 Centerline is valid? [False, False] Translation: X:-18.08, Y:1.60, Z:0.24 [[ 0.99344293 0.03285831 -0.10950555 -18.07503036] [ -0.02888198 0.99887154 0.03770248 1.5986845 ] [ 0.11062082 -0.03429253 0.99327089 0.23537792] [ 0. 0. 0. 1. ]] SLAMing on 20.135285570000004 meters Centerline goodness [0,1] 0.79416175569778 Centerline is valid? [False, False] Translation: X:-18.12, Y:1.58, Z:0.23 [[ 0.99374417 0.02393814 -0.10908475 -18.1221538 ] [ -0.02021695 0.99917957 0.03509215 1.58004131] [ 0.1098353 -0.03266726 0.99341283 0.23168132] [ 0. 0. 0. 1. ]] SLAMing on 20.16528557 meters Centerline goodness [0,1] 0.831885736344335 Centerline is valid? [False, False] Translation: X:-18.14, Y:1.58, Z:0.24 [[ 9.93944654e-01 1.95522673e-02 -1.08128320e-01 -1.81391953e+01] [-1.49328713e-02 9.98947586e-01 4.33673866e-02 1.58259922e+00] [ 1.08862455e-01 -4.14901157e-02 9.93190584e-01 2.36691155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.195285570000003 meters Centerline goodness [0,1] 0.8477821279525019 Centerline is valid? [False, False] Translation: X:-18.15, Y:1.58, Z:0.24 [[ 9.93900752e-01 2.18902617e-02 -1.08083820e-01 -1.81454435e+01] [-1.70564184e-02 9.98821136e-01 4.54468485e-02 1.57773336e+00] [ 1.08951247e-01 -4.33261340e-02 9.93102448e-01 2.40184426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.225285570000004 meters Centerline goodness [0,1] 0.8355521255386198 Centerline is valid? [False, False] Translation: X:-18.16, Y:1.57, Z:0.24 [[ 0.99402623 0.02517386 -0.10619852 -18.15724346] [ -0.02026227 0.99868572 0.04707741 1.57212643] [ 0.10724407 -0.04464436 0.99322988 0.2439576 ] [ 0. 0. 0. 1. ]] SLAMing on 20.25528557 meters Centerline goodness [0,1] 0.8713178294573644 Centerline is valid? [False, False] Translation: X:-18.18, Y:1.57, Z:0.25 [[ 0.99415021 0.03219159 -0.1030973 -18.17769839] [ -0.02717758 0.99839561 0.04967486 1.56606917] [ 0.104531 -0.04658234 0.9934301 0.24665988] [ 0. 0. 0. 1. ]] SLAMing on 20.285285570000003 meters Centerline goodness [0,1] 0.8789144501915294 Centerline is valid? [False, False] Translation: X:-18.21, Y:1.55, Z:0.24 [[ 0.99382694 0.04058655 -0.10325085 -18.21178398] [ -0.03594733 0.99827579 0.04640299 1.5515782 ] [ 0.10495616 -0.04240495 0.99357235 0.23714229] [ 0. 0. 0. 1. ]] SLAMing on 20.315285570000004 meters Centerline goodness [0,1] 0.8468869669979777 Centerline is valid? [False, False] Translation: X:-18.25, Y:1.54, Z:0.23 [[ 0.99323714 0.04517426 -0.10695451 -18.2474011 ] [ -0.04123319 0.99839675 0.03877816 1.53766761] [ 0.10853481 -0.03410583 0.99350742 0.22748804] [ 0. 0. 0. 1. ]] SLAMing on 20.34528557 meters Centerline goodness [0,1] 0.8779716797297883 Centerline is valid? [False, False] Translation: X:-18.27, Y:1.53, Z:0.23 [[ 0.99220373 0.0496771 -0.11429757 -18.27182184] [ -0.04571725 0.99826856 0.03701094 1.53152214] [ 0.11593827 -0.03149702 0.9927569 0.22831502] [ 0. 0. 0. 1. ]] SLAMing on 20.375285570000003 meters Centerline goodness [0,1] 0.863167943071616 Centerline is valid? [False, False] Translation: X:-18.29, Y:1.53, Z:0.23 [[ 0.9923406 0.0434104 -0.11565325 -18.28748164] [ -0.03870379 0.9983407 0.04263631 1.53026315] [ 0.1173122 -0.03783353 0.99237416 0.23361231] [ 0. 0. 0. 1. ]] SLAMing on 20.405285570000004 meters Centerline goodness [0,1] 0.8671628029504742 Centerline is valid? [False, False] Translation: X:-18.30, Y:1.52, Z:0.24 [[ 0.99307898 0.03557329 -0.11193161 -18.30204498] [ -0.03018344 0.99831868 0.04948508 1.52341668] [ 0.11350376 -0.04576411 0.99248302 0.23711463] [ 0. 0. 0. 1. ]] SLAMing on 20.435285570000005 meters Centerline goodness [0,1] 0.9055775142731665 Centerline is valid? [False, False] Translation: X:-18.32, Y:1.50, Z:0.23 [[ 0.99357427 0.03386274 -0.10799765 -18.31834244] [ -0.0289853 0.99850152 0.04641724 1.50109668] [ 0.10940764 -0.04298863 0.99306694 0.23284986] [ 0. 0. 0. 1. ]] SLAMing on 20.465285570000002 meters Centerline goodness [0,1] 0.8941712084400376 Centerline is valid? [False, False] Translation: X:-18.34, Y:1.48, Z:0.23 [[ 0.99375163 0.03321896 -0.10655612 -18.34380309] [ -0.02902686 0.99875154 0.04065459 1.47818298] [ 0.10777359 -0.03730757 0.99347521 0.22619414] [ 0. 0. 0. 1. ]] SLAMing on 20.495285570000004 meters Centerline goodness [0,1] 0.8546550420354966 Centerline is valid? [False, False] Translation: X:-18.37, Y:1.47, Z:0.23 [[ 0.9939204 0.0291427 -0.10617408 -18.37191616] [ -0.02415483 0.9985569 0.0479652 1.47459037] [ 0.1074187 -0.04510897 0.99319001 0.23424552] [ 0. 0. 0. 1. ]] SLAMing on 20.525285570000005 meters Centerline goodness [0,1] 0.8728883349284426 Centerline is valid? [False, False] Translation: X:-18.41, Y:1.46, Z:0.23 [[ 0.9938118 0.03561019 -0.10521413 -18.41126658] [ -0.03116239 0.99856207 0.04361995 1.46029336] [ 0.10661615 -0.0400713 0.99349247 0.22880323] [ 0. 0. 0. 1. ]] SLAMing on 20.555285570000002 meters Centerline goodness [0,1] 0.9166610523479081 Centerline is valid? [False, False] Translation: X:-18.45, Y:1.45, Z:0.22 [[ 0.99316596 0.043962 -0.1081144 -18.45026213] [ -0.0398339 0.9984033 0.04005141 1.44778867] [ 0.10970251 -0.03547108 0.99333135 0.22190203] [ 0. 0. 0. 1. ]] SLAMing on 20.585285570000003 meters Centerline goodness [0,1] 0.9125544267053701 Centerline is valid? [False, False] Translation: X:-18.49, Y:1.44, Z:0.21 [[ 0.99233 0.05342391 -0.11147668 -18.48505183] [ -0.04941607 0.99803934 0.03841265 1.43504496] [ 0.11331027 -0.03260929 0.99302438 0.21457417] [ 0. 0. 0. 1. ]] SLAMing on 20.615285570000005 meters Centerline goodness [0,1] 0.9366868242624152 Centerline is valid? [False, False] Translation: X:-18.51, Y:1.42, Z:0.20 [[ 0.99188318 0.05581062 -0.11424946 -18.51307203] [ -0.05241913 0.99809685 0.03247931 1.41596747] [ 0.11584471 -0.02622683 0.99292102 0.20490642] [ 0. 0. 0. 1. ]] SLAMing on 20.645285570000002 meters Centerline goodness [0,1] 0.9387707733729459 Centerline is valid? [False, False] Translation: X:-18.54, Y:1.40, Z:0.21 [[ 0.99230877 0.04523116 -0.11522778 -18.53549502] [ -0.04162125 0.99857017 0.03354541 1.40407937] [ 0.11658032 -0.02849148 0.99277251 0.20587366] [ 0. 0. 0. 1. ]] SLAMing on 20.675285570000003 meters Centerline goodness [0,1] 0.8713170848841397 Centerline is valid? [False, False] Translation: X:-18.55, Y:1.37, Z:0.20 [[ 0.99217911 0.0335565 -0.12022721 -18.54773451] [ -0.03067394 0.99919777 0.0257474 1.37325882] [ 0.12099476 -0.02185819 0.99241246 0.19827335] [ 0. 0. 0. 1. ]] SLAMing on 20.705285570000004 meters Centerline goodness [0,1] 0.8448369969731554 Centerline is valid? [False, False] Translation: X:-18.55, Y:1.35, Z:0.19 [[ 9.92828264e-01 2.48652710e-02 -1.16934836e-01 -1.85541966e+01] [-2.26611768e-02 9.99540300e-01 2.01409916e-02 1.34754332e+00] [ 1.17381892e-01 -1.73466647e-02 9.92935338e-01 1.90509574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.735285570000002 meters Centerline goodness [0,1] 0.8834801147179006 Centerline is valid? [False, False] Translation: X:-18.56, Y:1.33, Z:0.19 [[ 9.93267213e-01 1.98119368e-02 -1.14139086e-01 -1.85603823e+01] [-1.80635953e-02 9.99703447e-01 1.63316939e-02 1.33013390e+00] [ 1.14428800e-01 -1.41599739e-02 9.93330532e-01 1.86702416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.765285570000003 meters Centerline goodness [0,1] 0.8518746948320612 Centerline is valid? [False, False] Translation: X:-18.57, Y:1.33, Z:0.19 [[ 9.93258228e-01 2.07384481e-02 -1.14052656e-01 -1.85656884e+01] [-1.90071398e-02 9.99687340e-01 1.62465833e-02 1.33072275e+00] [ 1.14353926e-01 -1.39692378e-02 9.93341855e-01 1.89610732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.795285570000004 meters Centerline goodness [0,1] 0.8576532292801581 Centerline is valid? [False, False] Translation: X:-18.57, Y:1.35, Z:0.20 [[ 0.99262594 0.03252515 -0.11677267 -18.57003004] [ -0.02992338 0.99926485 0.02396553 1.34560263] [ 0.11746631 -0.02029458 0.99286948 0.19647421] [ 0. 0. 0. 1. ]] SLAMing on 20.825285570000002 meters Centerline goodness [0,1] 0.8809428083224444 Centerline is valid? [False, False] Translation: X:-18.57, Y:1.35, Z:0.20 [[ 0.99237882 0.03730759 -0.11744113 -18.56865269] [ -0.03426016 0.9990245 0.02786195 1.35027562] [ 0.11836603 -0.02362606 0.99268892 0.19675187] [ 0. 0. 0. 1. ]] SLAMing on 20.855285570000003 meters Centerline goodness [0,1] 0.8918858226458406 Centerline is valid? [False, False] Translation: X:-18.57, Y:1.35, Z:0.19 [[ 0.99249255 0.03581554 -0.11694352 -18.56743516] [ -0.03291555 0.99910313 0.02663661 1.35002221] [ 0.11779264 -0.02258738 0.9927813 0.19486307] [ 0. 0. 0. 1. ]] SLAMing on 20.885285570000004 meters Centerline goodness [0,1] 0.8916778687522914 Centerline is valid? [False, False] Translation: X:-18.58, Y:1.37, Z:0.20 [[ 0.99412292 0.02242926 -0.10590822 -18.58085485] [ -0.02001522 0.99951631 0.02380197 1.37065596] [ 0.10639085 -0.0215423 0.994091 0.19918945] [ 0. 0. 0. 1. ]] SLAMing on 20.91528557 meters Centerline goodness [0,1] 0.9041755503916824 Centerline is valid? [False, False] Translation: X:-18.60, Y:1.38, Z:0.20 [[ 0.99432317 0.02796965 -0.10266025 -18.60392654] [ -0.02575078 0.99940662 0.02287596 1.38177197] [ 0.10323917 -0.02010252 0.9944534 0.19860441] [ 0. 0. 0. 1. ]] SLAMing on 20.945285570000003 meters Centerline goodness [0,1] 0.89695282951545 Centerline is valid? [False, False] Translation: X:-18.65, Y:1.40, Z:0.19 [[ 0.99403727 0.03139007 -0.10442491 -18.64503582] [ -0.02872652 0.99922491 0.0269142 1.39954049] [ 0.10518881 -0.02375395 0.99416853 0.19415315] [ 0. 0. 0. 1. ]] SLAMing on 20.975285570000004 meters Centerline goodness [0,1] 0.867902142704601 Centerline is valid? [False, False] Translation: X:-18.69, Y:1.41, Z:0.19 [[ 0.99348311 0.0314523 -0.10955391 -18.69261242] [ -0.02860023 0.99921234 0.0275086 1.41360095] [ 0.11033283 -0.02419606 0.99360013 0.18633527] [ 0. 0. 0. 1. ]] SLAMing on 21.00528557 meters Centerline goodness [0,1] 0.888415552626624 Centerline is valid? [False, False] Translation: X:-18.75, Y:1.42, Z:0.18 [[ 0.99322548 0.02847014 -0.11266143 -18.7456034 ] [ -0.02582211 0.99935654 0.02489442 1.42372197] [ 0.11329768 -0.02181662 0.99332153 0.1769992 ] [ 0. 0. 0. 1. ]] SLAMing on 21.035285570000003 meters Centerline goodness [0,1] 0.8937330343443881 Centerline is valid? [False, False] Translation: X:-18.77, Y:1.44, Z:0.18 [[ 0.9934488 0.02331646 -0.11187412 -18.76847498] [ -0.02014161 0.99936402 0.02942572 1.43583788] [ 0.11248907 -0.02697962 0.99328662 0.18097054] [ 0. 0. 0. 1. ]] SLAMing on 21.065285570000004 meters Centerline goodness [0,1] 0.9008383177129939 Centerline is valid? [False, False] Translation: X:-18.72, Y:1.43, Z:0.19 [[ 9.93851785e-01 1.83564211e-02 -1.09186410e-01 -1.87178361e+01] [-1.55268187e-02 9.99522649e-01 2.67093879e-02 1.42694861e+00] [ 1.09624579e-01 -2.48498552e-02 9.93662386e-01 1.86534744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.095285570000005 meters Centerline goodness [0,1] 0.9002255446787732 Centerline is valid? [False, False] Translation: X:-18.76, Y:1.44, Z:0.18 [[ 9.93931283e-01 1.34050450e-02 -1.09182922e-01 -1.87642476e+01] [-1.11111773e-02 9.99705146e-01 2.15907921e-02 1.44109554e+00] [ 1.09440154e-01 -2.02466129e-02 9.93787164e-01 1.80153745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.125285570000003 meters Centerline goodness [0,1] 0.8574515528378658 Centerline is valid? [False, False] Translation: X:-18.80, Y:1.46, Z:0.18 [[ 9.93795857e-01 7.11485324e-03 -1.10991771e-01 -1.87975424e+01] [-5.06693485e-03 9.99811884e-01 1.87222524e-02 1.45715305e+00] [ 1.11104098e-01 -1.80437088e-02 9.93644959e-01 1.77969425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.155285570000004 meters Centerline goodness [0,1] 0.8967156537837405 Centerline is valid? [False, False] Translation: X:-18.82, Y:1.48, Z:0.18 [[ 9.93889116e-01 1.14336813e-02 -1.09789323e-01 -1.88202362e+01] [-9.07864679e-03 9.99718364e-01 2.19264758e-02 1.47526927e+00] [ 1.10009103e-01 -2.07957471e-02 9.93713004e-01 1.84722073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.185285570000005 meters Centerline goodness [0,1] 0.8844587255611875 Centerline is valid? [False, False] Translation: X:-18.85, Y:1.48, Z:0.17 [[ 9.93754537e-01 1.76884319e-02 -1.10177309e-01 -1.88512436e+01] [-1.58965366e-02 9.99727048e-01 1.71210251e-02 1.47711761e+00] [ 1.10450080e-01 -1.52626588e-02 9.93764475e-01 1.69794782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.215285570000002 meters Centerline goodness [0,1] 0.8781026172350106 Centerline is valid? [False, False] Translation: X:-18.88, Y:1.48, Z:0.16 [[ 9.93264525e-01 2.31308654e-02 -1.13536543e-01 -1.88825331e+01] [-2.15253427e-02 9.99650507e-01 1.53467949e-02 1.48292086e+00] [ 1.13851848e-01 -1.27995140e-02 9.93415285e-01 1.58894878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.245285570000004 meters Centerline goodness [0,1] 0.8862407641016399 Centerline is valid? [False, False] Translation: X:-18.91, Y:1.50, Z:0.17 [[ 9.93329839e-01 1.98661795e-02 -1.13583302e-01 -1.89085146e+01] [-1.76898449e-02 9.99640727e-01 2.01366866e-02 1.50482731e+00] [ 1.13942534e-01 -1.79931006e-02 9.93324392e-01 1.65083983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.275285570000005 meters Centerline goodness [0,1] 0.8572964256920182 Centerline is valid? [False, False] Translation: X:-18.95, Y:1.51, Z:0.16 [[ 9.93440136e-01 2.22410567e-02 -1.12169657e-01 -1.89485784e+01] [-2.12236418e-02 9.99722143e-01 1.02564209e-02 1.51430305e+00] [ 1.12366603e-01 -7.80849155e-03 9.93636138e-01 1.56305035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.305285570000002 meters Centerline goodness [0,1] 0.8454703754967183 Centerline is valid? [False, False] Translation: X:-18.99, Y:1.54, Z:0.16 [[ 9.93478266e-01 2.04806783e-02 -1.12167179e-01 -1.89870039e+01] [-1.90626250e-02 9.99724420e-01 1.37003591e-02 1.53539734e+00] [ 1.12416861e-01 -1.14728081e-02 9.93594899e-01 1.59826908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.335285570000003 meters Centerline goodness [0,1] 0.8903802630694423 Centerline is valid? [False, False] Translation: X:-19.02, Y:1.55, Z:0.16 [[ 9.93154209e-01 1.96364182e-02 -1.15148288e-01 -1.90208462e+01] [-1.74980136e-02 9.99655701e-01 1.95524532e-02 1.55449311e+00] [ 1.15492583e-01 -1.74037349e-02 9.93155866e-01 1.63796681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.365285570000005 meters Centerline goodness [0,1] 0.8672194558065089 Centerline is valid? [False, False] Translation: X:-19.06, Y:1.56, Z:0.15 [[ 9.92686219e-01 2.08495072e-02 -1.18909073e-01 -1.90565368e+01] [-1.96052853e-02 9.99740224e-01 1.16239615e-02 1.56212825e+00] [ 1.19120537e-01 -9.20770007e-03 9.92837104e-01 1.53464623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.395285570000002 meters Centerline goodness [0,1] 0.831574045327538 Centerline is valid? [False, False] Translation: X:-19.09, Y:1.57, Z:0.15 [[ 9.92902245e-01 2.57514156e-02 -1.16111999e-01 -1.90939577e+01] [-2.51507939e-02 9.99661649e-01 6.63516978e-03 1.57417107e+00] [ 1.16243577e-01 -3.66776601e-03 9.93213964e-01 1.50820122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.425285570000003 meters Centerline goodness [0,1] 0.9053328282040425 Centerline is valid? [False, False] Translation: X:-19.14, Y:1.60, Z:0.16 [[ 9.93146548e-01 2.69641924e-02 -1.13722766e-01 -1.91371291e+01] [-2.56235070e-02 9.99584054e-01 1.32346345e-02 1.59504645e+00] [ 1.14032324e-01 -1.02299555e-02 9.93424369e-01 1.58142313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.455285570000004 meters Centerline goodness [0,1] 0.8871272178180445 Centerline is valid? [False, False] Translation: X:-19.19, Y:1.60, Z:0.15 [[ 9.93292131e-01 2.70443125e-02 -1.12424858e-01 -1.91922857e+01] [-2.58814327e-02 9.99595486e-01 1.17905356e-02 1.60356863e+00] [ 1.12698247e-01 -8.80172984e-03 9.93590275e-01 1.48252630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.485285570000002 meters Centerline goodness [0,1] 0.8951032006520254 Centerline is valid? [False, False] Translation: X:-19.24, Y:1.61, Z:0.14 [[ 9.93073619e-01 2.56241565e-02 -1.14665560e-01 -1.92449673e+01] [-2.46881272e-02 9.99649336e-01 9.57605072e-03 1.61095535e+00] [ 1.14870729e-01 -6.67884539e-03 9.93357996e-01 1.39117849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.515285570000003 meters Centerline goodness [0,1] 0.904657205676594 Centerline is valid? [False, False] Translation: X:-19.29, Y:1.63, Z:0.15 [[ 9.92645895e-01 2.58450774e-02 -1.18263096e-01 -1.92856135e+01] [-2.39446492e-02 9.99560761e-01 1.74624846e-02 1.63262714e+00] [ 1.18662469e-01 -1.45022953e-02 9.92828737e-01 1.48754258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.545285570000004 meters Centerline goodness [0,1] 0.8795815007330401 Centerline is valid? [False, False] Translation: X:-19.32, Y:1.65, Z:0.15 [[ 9.92324999e-01 2.44076855e-02 -1.21224429e-01 -1.93189786e+01] [-2.19512717e-02 9.99526589e-01 2.15578253e-02 1.64782522e+00] [ 1.21693217e-01 -1.87313386e-02 9.92391001e-01 1.52481184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.575285570000002 meters Centerline goodness [0,1] 0.848672664667333 Centerline is valid? [False, False] Translation: X:-19.34, Y:1.66, Z:0.15 [[ 9.91899247e-01 2.97203891e-02 -1.23501347e-01 -1.93398672e+01] [-2.73866806e-02 9.99413631e-01 2.05514695e-02 1.65630679e+00] [ 1.24039728e-01 -1.70026952e-02 9.92131571e-01 1.51268377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.605285570000003 meters Centerline goodness [0,1] 0.7978432496802363 Centerline is valid? [False, False] Translation: X:-19.35, Y:1.67, Z:0.15 [[ 9.91726631e-01 3.55176259e-02 -1.23356347e-01 -1.93547930e+01] [-3.31943312e-02 9.99231639e-01 2.08390841e-02 1.67305614e+00] [ 1.24001720e-01 -1.65719432e-02 9.92143611e-01 1.54862564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.635285570000004 meters Centerline goodness [0,1] 0.8729119837806867 Centerline is valid? [False, False] Translation: X:-19.36, Y:1.68, Z:0.16 [[ 9.91879077e-01 3.67338831e-02 -1.21764194e-01 -1.93596220e+01] [-3.45548179e-02 9.99203463e-01 1.99600739e-02 1.68096142e+00] [ 1.22400416e-01 -1.55904401e-02 9.92358341e-01 1.55921129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66528557 meters Centerline goodness [0,1] 0.8807813846595806 Centerline is valid? [False, False] Translation: X:-19.37, Y:1.68, Z:0.16 [[ 9.92182307e-01 3.87547585e-02 -1.18626883e-01 -1.93679065e+01] [-3.66610610e-02 9.99131945e-01 1.97818664e-02 1.68461327e+00] [ 1.19290550e-01 -1.52782304e-02 9.92741830e-01 1.55823926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.695285570000003 meters Centerline goodness [0,1] 0.8247966057212842 Centerline is valid? [False, False] Translation: X:-19.39, Y:1.68, Z:0.14 [[ 9.92114688e-01 4.19691658e-02 -1.18097563e-01 -1.93915888e+01] [-4.05992169e-02 9.99077662e-01 1.39831558e-02 1.67848646e+00] [ 1.18575499e-01 -9.07822563e-03 9.92903539e-01 1.42337267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.725285570000004 meters Centerline goodness [0,1] 0.8574995580696483 Centerline is valid? [False, False] Translation: X:-19.41, Y:1.69, Z:0.15 [[ 9.91998052e-01 4.01179158e-02 -1.19709720e-01 -1.94141719e+01] [-3.76616244e-02 9.99032417e-01 2.27119430e-02 1.69073040e+00] [ 1.20505046e-01 -1.80217407e-02 9.92549118e-01 1.48338569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.75528557 meters Centerline goodness [0,1] 0.7957904065581034 Centerline is valid? [False, False] Translation: X:-19.45, Y:1.70, Z:0.15 [[ 0.99182858 0.03533655 -0.12258631 -19.4463461 ] [ -0.03251921 0.99916069 0.02490828 1.70017912] [ 0.12336359 -0.02071833 0.99214524 0.14984699] [ 0. 0. 0. 1. ]] SLAMing on 21.785285570000003 meters Centerline goodness [0,1] 0.8265047940340909 Centerline is valid? [False, False] Translation: X:-19.49, Y:1.71, Z:0.15 [[ 0.99185756 0.03083464 -0.12356296 -19.48542425] [ -0.02787188 0.99928273 0.02563544 1.71261676] [ 0.12426479 -0.02198277 0.99200555 0.15366364] [ 0. 0. 0. 1. ]] SLAMing on 21.815285570000004 meters Centerline goodness [0,1] 0.8076094918866124 Centerline is valid? [False, False] Translation: X:-19.52, Y:1.73, Z:0.16 [[ 0.99194399 0.02670147 -0.12383117 -19.5230686 ] [ -0.02338765 0.99933041 0.02813797 1.72744631] [ 0.12449958 -0.02501517 0.99190428 0.16038425] [ 0. 0. 0. 1. ]] SLAMing on 21.845285570000005 meters Centerline goodness [0,1] 0.8267489346590909 Centerline is valid? [False, False] Translation: X:-19.56, Y:1.73, Z:0.15 [[ 9.91932102e-01 2.20008010e-02 -1.24846581e-01 -1.95633378e+01] [-1.91171354e-02 9.99523146e-01 2.42490377e-02 1.73188375e+00] [ 1.25320546e-01 -2.16666899e-02 9.91879688e-01 1.50974786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.875285570000003 meters Centerline goodness [0,1] 0.8050868021088391 Centerline is valid? [False, False] Translation: X:-19.59, Y:1.73, Z:0.14 [[ 9.91901614e-01 1.65112652e-02 -1.25930796e-01 -1.95936849e+01] [-1.36206441e-02 9.99624407e-01 2.37807191e-02 1.73361669e+00] [ 1.26276147e-01 -2.18728751e-02 9.91753957e-01 1.43159545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.905285570000004 meters Centerline goodness [0,1] 0.8095417229094288 Centerline is valid? [False, False] Translation: X:-19.61, Y:1.74, Z:0.15 [[ 9.92155499e-01 1.01984728e-02 -1.24593162e-01 -1.96116214e+01] [-6.64180835e-03 9.99559422e-01 2.89283363e-02 1.74291138e+00] [ 1.24833294e-01 -2.78738840e-02 9.91786114e-01 1.45143947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.935285570000005 meters Centerline goodness [0,1] 0.8095417229094288 Centerline is valid? [False, False] Translation: X:-19.61, Y:1.74, Z:0.15 [[ 9.92155499e-01 1.01984728e-02 -1.24593162e-01 -1.96116214e+01] [-6.64180835e-03 9.99559422e-01 2.89283363e-02 1.74291138e+00] [ 1.24833294e-01 -2.78738840e-02 9.91786114e-01 1.45143947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.965285570000002 meters Centerline goodness [0,1] 0.8079740523366136 Centerline is valid? [False, False] Translation: X:-19.62, Y:1.75, Z:0.15 [[ 9.92267025e-01 1.09757702e-02 -1.23635285e-01 -1.96214672e+01] [-7.44900037e-03 9.99553052e-01 2.89518250e-02 1.74843602e+00] [ 1.23897795e-01 -2.78069820e-02 9.91905292e-01 1.47665878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.995285570000004 meters Centerline goodness [0,1] 0.8270251149628581 Centerline is valid? [False, False] Translation: X:-19.63, Y:1.76, Z:0.15 [[ 9.92158488e-01 1.49162477e-02 -1.24092872e-01 -1.96295295e+01] [-1.12288614e-02 9.99475915e-01 3.03612939e-02 1.76005803e+00] [ 1.24480713e-01 -2.87297938e-02 9.91806005e-01 1.51024353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.025285570000005 meters Centerline goodness [0,1] 0.8149734264505644 Centerline is valid? [False, False] Translation: X:-19.64, Y:1.77, Z:0.15 [[ 9.91913636e-01 2.10430460e-02 -1.25158019e-01 -1.96352632e+01] [-1.72440518e-02 9.99359391e-01 3.13600003e-02 1.77236209e+00] [ 1.25737752e-01 -2.89481805e-02 9.91641075e-01 1.49441990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.055285570000002 meters Centerline goodness [0,1] 0.8235138355620284 Centerline is valid? [False, False] Translation: X:-19.64, Y:1.79, Z:0.15 [[ 0.99178672 0.02612381 -0.12520643 -19.63853772] [ -0.0223237 0.99924941 0.03165854 1.78935867] [ 0.12593949 -0.02860345 0.99162548 0.14962904] [ 0. 0. 0. 1. ]] SLAMing on 22.085285570000003 meters Centerline goodness [0,1] 0.8212732649156376 Centerline is valid? [False, False] Translation: X:-19.65, Y:1.79, Z:0.14 [[ 9.91685639e-01 3.34970034e-02 -1.24247915e-01 -1.96485571e+01] [-3.14703296e-02 9.99338259e-01 1.82390432e-02 1.79484205e+00] [ 1.24776648e-01 -1.41772744e-02 9.92083561e-01 1.40937064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.115285570000005 meters Centerline goodness [0,1] 0.8355066290981369 Centerline is valid? [False, False] Translation: X:-19.67, Y:1.82, Z:0.15 [[ 9.91795405e-01 3.65794904e-02 -1.22490063e-01 -1.96719915e+01] [-3.46959521e-02 9.99245112e-01 1.74756310e-02 1.82435239e+00] [ 1.23036846e-01 -1.30823412e-02 9.92315871e-01 1.46819559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.145285570000002 meters Centerline goodness [0,1] 0.8057596302674892 Centerline is valid? [False, False] Translation: X:-19.69, Y:1.84, Z:0.14 [[ 9.91256535e-01 3.33278358e-02 -1.27670428e-01 -1.96935054e+01] [-3.08275038e-02 9.99293222e-01 2.15109779e-02 1.83969500e+00] [ 1.28297108e-01 -1.73871368e-02 9.91583350e-01 1.43682675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.175285570000003 meters Centerline goodness [0,1] 0.836616327423944 Centerline is valid? [False, False] Translation: X:-19.71, Y:1.86, Z:0.14 [[ 0.99076436 0.03019496 -0.13219016 -19.71344501] [ -0.026923 0.99928699 0.02647008 1.85555251] [ 0.13289517 -0.02266665 0.99087088 0.14193385] [ 0. 0. 0. 1. ]] SLAMing on 22.205285570000004 meters Centerline goodness [0,1] 0.787917459768126 Centerline is valid? [False, False] Translation: X:-19.73, Y:1.87, Z:0.14 [[ 0.99118429 0.02417398 -0.13026636 -19.73364321] [ -0.02068128 0.99939119 0.02809861 1.87424554] [ 0.13086631 -0.02515682 0.9910808 0.14180981] [ 0. 0. 0. 1. ]] SLAMing on 22.235285570000002 meters Centerline goodness [0,1] 0.7874070080862534 Centerline is valid? [False, False] Translation: X:-19.75, Y:1.89, Z:0.14 [[ 0.99143927 0.02431928 -0.12828384 -19.75020224] [ -0.02145895 0.99949038 0.02363231 1.88662562] [ 0.12879319 -0.02067717 0.99145588 0.1411076 ] [ 0. 0. 0. 1. ]] SLAMing on 22.265285570000003 meters Centerline goodness [0,1] 0.7935252420470262 Centerline is valid? [False, False] Translation: X:-19.76, Y:1.91, Z:0.14 [[ 9.91334877e-01 2.80918160e-02 -1.28319954e-01 -1.97636456e+01] [-2.54015379e-02 9.99422865e-01 2.25543465e-02 1.90580730e+00] [ 1.28879488e-01 -1.90993861e-02 9.91476319e-01 1.41090002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.295285570000004 meters Centerline goodness [0,1] 0.8008796136598827 Centerline is valid? [False, False] Translation: X:-19.77, Y:1.93, Z:0.14 [[ 9.90841107e-01 3.19934387e-02 -1.31188112e-01 -1.97742896e+01] [-2.95390248e-02 9.99351062e-01 2.06131247e-02 1.92553839e+00] [ 1.31762464e-01 -1.65491624e-02 9.91143167e-01 1.38093399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.325285570000002 meters Centerline goodness [0,1] 0.7985726459309757 Centerline is valid? [False, False] Translation: X:-19.79, Y:1.95, Z:0.14 [[ 9.90516881e-01 3.44617391e-02 -1.32998860e-01 -1.97864253e+01] [-3.26077961e-02 9.99338652e-01 1.60931860e-02 1.94676245e+00] [ 1.33465500e-01 -1.16037728e-02 9.90985526e-01 1.35852920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.355285570000003 meters Centerline goodness [0,1] 0.7781675170068028 Centerline is valid? [False, False] Translation: X:-19.80, Y:1.97, Z:0.14 [[ 9.90590699e-01 3.60253304e-02 -1.32031220e-01 -1.98005528e+01] [-3.46786458e-02 9.99320518e-01 1.24857429e-02 1.96966335e+00] [ 1.32391310e-01 -7.78959690e-03 9.91166920e-01 1.35381648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.385285570000004 meters Centerline goodness [0,1] 0.8179751631235529 Centerline is valid? [False, False] Translation: X:-19.82, Y:1.99, Z:0.13 [[ 9.90470899e-01 3.12326878e-02 -1.34133950e-01 -1.98209812e+01] [-2.98157563e-02 9.99476499e-01 1.25598218e-02 1.99338871e+00] [ 1.34456008e-01 -8.44083285e-03 9.90883613e-01 1.32223902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.41528557 meters Centerline goodness [0,1] 0.8500652164766273 Centerline is valid? [False, False] Translation: X:-19.86, Y:2.03, Z:0.12 [[ 9.90159252e-01 3.04694187e-02 -1.36587956e-01 -1.98587621e+01] [-2.88437773e-02 9.99487759e-01 1.38656297e-02 2.02735072e+00] [ 1.36940468e-01 -9.78946899e-03 9.90530905e-01 1.23943860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.445285570000003 meters Centerline goodness [0,1] 0.8328773465779948 Centerline is valid? [False, False] Translation: X:-19.87, Y:2.04, Z:0.13 [[ 9.90163414e-01 3.40557105e-02 -1.35707853e-01 -1.98673160e+01] [-3.23069146e-02 9.99364397e-01 1.50686917e-02 2.03817597e+00] [ 1.36134772e-01 -1.05361652e-02 9.90634298e-01 1.26446036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.475285570000004 meters Centerline goodness [0,1] 0.8190747180946358 Centerline is valid? [False, False] Translation: X:-19.91, Y:2.07, Z:0.12 [[ 9.90492208e-01 3.64107385e-02 -1.32662897e-01 -1.99142282e+01] [-3.45754772e-02 9.99272201e-01 1.61122517e-02 2.06838588e+00] [ 1.33153004e-01 -1.13721768e-02 9.91030247e-01 1.24388577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.50528557 meters Centerline goodness [0,1] 0.8528123876208407 Centerline is valid? [False, False] Translation: X:-19.85, Y:2.07, Z:0.13 [[ 9.89917727e-01 3.41498131e-02 -1.37465208e-01 -1.98535520e+01] [-3.22513553e-02 9.99351478e-01 1.60148005e-02 2.06847857e+00] [ 1.37922961e-01 -1.14198956e-02 9.90377121e-01 1.34780046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.535285570000003 meters Centerline goodness [0,1] 0.8134515643299314 Centerline is valid? [False, False] Translation: X:-19.90, Y:2.09, Z:0.13 [[ 9.89715623e-01 3.06637045e-02 -1.39723735e-01 -1.99028237e+01] [-2.94610500e-02 9.99508999e-01 1.06681023e-02 2.08756333e+00] [ 1.39982254e-01 -6.44197955e-03 9.90133056e-01 1.25703015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.565285570000004 meters Centerline goodness [0,1] 0.7997434225746073 Centerline is valid? [False, False] Translation: X:-19.95, Y:2.11, Z:0.13 [[ 9.89975749e-01 3.08364783e-02 -1.37830067e-01 -1.99457879e+01] [-2.89354516e-02 9.99456790e-01 1.57754562e-02 2.11352226e+00] [ 1.38241656e-01 -1.16291439e-02 9.90330252e-01 1.28337177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.595285570000005 meters Centerline goodness [0,1] 0.9151466756325124 Centerline is valid? [False, False] Translation: X:-19.99, Y:2.14, Z:0.13 [[ 9.90060955e-01 3.11357254e-02 -1.37149085e-01 -1.99870864e+01] [-2.87762390e-02 9.99402357e-01 1.91535122e-02 2.13572458e+00] [ 1.37663478e-01 -1.50165097e-02 9.90365221e-01 1.26461935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.625285570000003 meters Centerline goodness [0,1] 0.8191798582212835 Centerline is valid? [False, False] Translation: X:-20.03, Y:2.15, Z:0.12 [[ 9.89922124e-01 3.08200650e-02 -1.38218351e-01 -2.00296281e+01] [-2.88596316e-02 9.99452744e-01 1.61658040e-02 2.15217320e+00] [ 1.38640941e-01 -1.20139563e-02 9.90269839e-01 1.15772024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.655285570000004 meters Centerline goodness [0,1] 0.7663437000767651 Centerline is valid? [False, False] Translation: X:-20.06, Y:2.17, Z:0.11 [[ 9.89459156e-01 3.62331933e-02 -1.40206041e-01 -2.00619566e+01] [-3.48236480e-02 9.99315366e-01 1.24945361e-02 2.16823853e+00] [ 1.40562768e-01 -7.48034732e-03 9.90043511e-01 1.11876685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.685285570000005 meters Centerline goodness [0,1] 0.8246537569718619 Centerline is valid? [False, False] Translation: X:-20.09, Y:2.20, Z:0.11 [[ 9.89620762e-01 3.75131182e-02 -1.38720992e-01 -2.00882202e+01] [-3.53290393e-02 9.99210466e-01 1.81742470e-02 2.19737196e+00] [ 1.39293240e-01 -1.30847328e-02 9.90164725e-01 1.14501449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.715285570000002 meters Centerline goodness [0,1] 0.8597005614472863 Centerline is valid? [False, False] Translation: X:-20.11, Y:2.21, Z:0.11 [[ 9.88580908e-01 4.12568411e-02 -1.44933300e-01 -2.01073257e+01] [-3.94478515e-02 9.99103959e-01 1.53345050e-02 2.21073414e+00] [ 1.45436087e-01 -9.44209157e-03 9.89322592e-01 1.10445989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.745285570000004 meters Centerline goodness [0,1] 0.7992185530627678 Centerline is valid? [False, False] Translation: X:-20.12, Y:2.24, Z:0.12 [[ 9.88697443e-01 4.49016725e-02 -1.43042671e-01 -2.01236071e+01] [-4.22529282e-02 9.98875527e-01 2.15028125e-02 2.23825796e+00] [ 1.43847336e-01 -1.52158040e-02 9.89482907e-01 1.15847365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.775285570000005 meters Centerline goodness [0,1] 0.8060199970776714 Centerline is valid? [False, False] Translation: X:-20.14, Y:2.25, Z:0.12 [[ 9.88792590e-01 4.98934822e-02 -1.40711956e-01 -2.01412742e+01] [-4.75265606e-02 9.98667040e-01 2.01337917e-02 2.25387798e+00] [ 1.41528937e-01 -1.32205887e-02 9.89845834e-01 1.17159854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.805285570000002 meters Centerline goodness [0,1] 0.8130719775502084 Centerline is valid? [False, False] Translation: X:-20.16, Y:2.28, Z:0.12 [[ 9.89395509e-01 4.96250990e-02 -1.36505961e-01 -2.01613699e+01] [-4.67194163e-02 9.98609755e-01 2.44101230e-02 2.27547503e+00] [ 1.37527539e-01 -1.77737872e-02 9.90338462e-01 1.20379088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.835285570000003 meters Centerline goodness [0,1] 0.8141422107841103 Centerline is valid? [False, False] Translation: X:-20.18, Y:2.29, Z:0.12 [[ 0.9893585 0.04788907 -0.13739143 -20.1843595 ] [ -0.04441536 0.99861392 0.0282403 2.29110446] [ 0.1385534 -0.02183749 0.99011418 0.1185224 ] [ 0. 0. 0. 1. ]] SLAMing on 22.865285570000005 meters Centerline goodness [0,1] 0.7867642485435282 Centerline is valid? [False, False] Translation: X:-20.21, Y:2.31, Z:0.12 [[ 0.98930433 0.04294585 -0.13940086 -20.20627036] [ -0.03906069 0.99877159 0.03048895 2.30530167] [ 0.14053899 -0.02471776 0.98976655 0.11644501] [ 0. 0. 0. 1. ]] SLAMing on 22.895285570000002 meters Centerline goodness [0,1] 0.7839716194348783 Centerline is valid? [False, False] Translation: X:-20.23, Y:2.32, Z:0.12 [[ 0.98967011 0.03633639 -0.13868217 -20.23167535] [ -0.0323216 0.99899375 0.03109345 2.32369815] [ 0.13967244 -0.02628983 0.9898487 0.11693294] [ 0. 0. 0. 1. ]] SLAMing on 22.925285570000003 meters Centerline goodness [0,1] 0.7863704556197209 Centerline is valid? [False, False] Translation: X:-20.26, Y:2.33, Z:0.11 [[ 9.89198230e-01 3.53360598e-02 -1.42261111e-01 -2.02626394e+01] [-3.24240662e-02 9.99215559e-01 2.27364441e-02 2.33127931e+00] [ 1.42952932e-01 -1.78781666e-02 9.89568002e-01 1.11189828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.955285570000004 meters Centerline goodness [0,1] 0.84358687546607 Centerline is valid? [False, False] Translation: X:-20.29, Y:2.35, Z:0.11 [[ 0.98917454 0.03454411 -0.14261993 -20.29081457] [ -0.03064201 0.99909597 0.02946701 2.35205289] [ 0.14350891 -0.02477785 0.9893388 0.11401397] [ 0. 0. 0. 1. ]] SLAMing on 22.985285570000002 meters Centerline goodness [0,1] 0.8136463683052091 Centerline is valid? [False, False] Translation: X:-20.32, Y:2.37, Z:0.11 [[ 0.98914135 0.03639555 -0.14238942 -20.3198356 ] [ -0.03133932 0.99880157 0.0375935 2.37050421] [ 0.14358701 -0.0327229 0.98909655 0.11468179] [ 0. 0. 0. 1. ]] SLAMing on 23.015285570000003 meters Centerline goodness [0,1] 0.7851144171842437 Centerline is valid? [False, False] Translation: X:-20.36, Y:2.37, Z:0.10 [[ 0.98863352 0.03886531 -0.14523514 -20.35969192] [ -0.03527904 0.9990076 0.02718838 2.36853847] [ 0.14614769 -0.02175559 0.98902353 0.1010316 ] [ 0. 0. 0. 1. ]] SLAMing on 23.045285570000004 meters Centerline goodness [0,1] 0.8796335122442134 Centerline is valid? [False, False] Translation: X:-20.40, Y:2.40, Z:0.11 [[ 0.98911787 0.03954916 -0.14170996 -20.39624548] [ -0.03522342 0.99883758 0.03290579 2.39558536] [ 0.14284663 -0.02755619 0.98936116 0.10739061] [ 0. 0. 0. 1. ]] SLAMing on 23.075285570000002 meters Centerline goodness [0,1] 0.8810323603663752 Centerline is valid? [False, False] Translation: X:-20.44, Y:2.40, Z:0.10 [[ 9.88468467e-01 4.13588623e-02 -1.45669264e-01 -2.04427269e+01] [-3.80795968e-02 9.98956155e-01 2.52298202e-02 2.40413410e+00] [ 1.46560684e-01 -1.93918549e-02 9.89011588e-01 9.91766393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.105285570000003 meters Centerline goodness [0,1] 0.8244987012987013 Centerline is valid? [False, False] Translation: X:-20.49, Y:2.42, Z:0.09 [[ 9.88070786e-01 4.28059302e-02 -1.47931653e-01 -2.04886394e+01] [-3.94780223e-02 9.98898545e-01 2.53610424e-02 2.41733184e+00] [ 1.48854316e-01 -1.92184560e-02 9.88672364e-01 9.10950905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.135285570000004 meters Centerline goodness [0,1] 0.7754613736137985 Centerline is valid? [False, False] Translation: X:-20.53, Y:2.43, Z:0.08 [[ 9.87650630e-01 4.42310183e-02 -1.50299205e-01 -2.05336693e+01] [-4.06620637e-02 9.98815136e-01 2.67379845e-02 2.43193958e+00] [ 1.51303769e-01 -2.02963114e-02 9.88278923e-01 8.45459802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16528557 meters Centerline goodness [0,1] 0.7868502353355865 Centerline is valid? [False, False] Translation: X:-20.58, Y:2.45, Z:0.08 [[ 9.87412108e-01 4.26874266e-02 -1.52299415e-01 -2.05768464e+01] [-3.93165190e-02 9.98912059e-01 2.50780884e-02 2.44571533e+00] [ 1.53204241e-01 -1.87745253e-02 9.88016183e-01 7.86852835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.195285570000003 meters Centerline goodness [0,1] 0.8607674301956194 Centerline is valid? [False, False] Translation: X:-20.64, Y:2.47, Z:0.08 [[ 9.87669622e-01 4.46421742e-02 -1.50052636e-01 -2.06357192e+01] [-4.11510309e-02 9.98806931e-01 2.62927062e-02 2.46719849e+00] [ 1.51047377e-01 -1.97936865e-02 9.88328336e-01 7.67669542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.225285570000004 meters Centerline goodness [0,1] 0.8559201141226819 Centerline is valid? [False, False] Translation: X:-20.67, Y:2.48, Z:0.08 [[ 0.98791141 0.045637 -0.14814961 -20.67331926] [ -0.04139883 0.99864389 0.03156766 2.47808319] [ 0.14938936 -0.02505283 0.98846101 0.07573465] [ 0. 0. 0. 1. ]] SLAMing on 23.255285570000005 meters Centerline goodness [0,1] 0.7851645240442087 Centerline is valid? [False, False] Translation: X:-20.72, Y:2.48, Z:0.07 [[ 0.98762885 0.04715364 -0.14955196 -20.71676132] [ -0.04263787 0.99853679 0.03326105 2.4845191 ] [ 0.15090152 -0.02647299 0.98819427 0.06739234] [ 0. 0. 0. 1. ]] SLAMing on 23.285285570000003 meters Centerline goodness [0,1] 0.8519482154472398 Centerline is valid? [False, False] Translation: X:-20.74, Y:2.50, Z:0.07 [[ 0.98785468 0.04496932 -0.14873092 -20.7359696 ] [ -0.03950453 0.99843849 0.03949659 2.49686394] [ 0.15027481 -0.03314134 0.98808863 0.06980881] [ 0. 0. 0. 1. ]] SLAMing on 23.315285570000004 meters Centerline goodness [0,1] 0.8493438320209974 Centerline is valid? [False, False] Translation: X:-20.78, Y:2.51, Z:0.07 [[ 0.98782446 0.04317659 -0.14946107 -20.77978789] [ -0.03785746 0.99855067 0.03825403 2.51029162] [ 0.15089613 -0.03213005 0.98802734 0.06605581] [ 0. 0. 0. 1. ]] SLAMing on 23.345285570000005 meters Centerline goodness [0,1] 0.8504913331365189 Centerline is valid? [False, False] Translation: X:-20.84, Y:2.53, Z:0.06 [[ 0.98809571 0.04228008 -0.14791641 -20.84355575] [ -0.037711 0.99872499 0.03356011 2.52982453] [ 0.14914673 -0.02758252 0.9884303 0.06137177] [ 0. 0. 0. 1. ]] SLAMing on 23.375285570000003 meters Centerline goodness [0,1] 0.7482954900856946 Centerline is valid? [False, False] Translation: X:-20.88, Y:2.53, Z:0.05 [[ 9.87331371e-01 4.28858827e-02 -1.52766377e-01 -2.08846591e+01] [-3.94018597e-02 9.98891279e-01 2.57624891e-02 2.52602547e+00] [ 1.53701848e-01 -1.94168343e-02 9.87926479e-01 4.90799404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.405285570000004 meters Centerline goodness [0,1] 0.8168725150156502 Centerline is valid? [False, False] Translation: X:-20.92, Y:2.55, Z:0.05 [[ 0.98751461 0.03931205 -0.15254328 -20.91984861] [ -0.03355491 0.99863071 0.04013453 2.54986244] [ 0.15391218 -0.03451486 0.98748153 0.05286096] [ 0. 0. 0. 1. ]] SLAMing on 23.435285570000005 meters Centerline goodness [0,1] 0.7983913418819616 Centerline is valid? [False, False] Translation: X:-20.96, Y:2.55, Z:0.04 [[ 0.98717506 0.03729841 -0.15522313 -20.96312174] [ -0.03212507 0.99884589 0.03570534 2.55122638] [ 0.15637574 -0.03026087 0.98723397 0.04007045] [ 0. 0. 0. 1. ]] SLAMing on 23.465285570000002 meters Centerline goodness [0,1] 0.7480930506974588 Centerline is valid? [False, False] Translation: X:-21.00, Y:2.56, Z:0.04 [[ 0.98733798 0.0355641 -0.15459269 -21.00208846] [ -0.03037154 0.99889655 0.03582245 2.56118278] [ 0.1556961 -0.03067365 0.98732864 0.03720224] [ 0. 0. 0. 1. ]] SLAMing on 23.495285570000004 meters Centerline goodness [0,1] 0.8469463151005932 Centerline is valid? [False, False] Translation: X:-21.03, Y:2.57, Z:0.04 [[ 0.98731947 0.04023311 -0.15356288 -21.0335279 ] [ -0.03524628 0.99876346 0.03506069 2.56918051] [ 0.15478359 -0.02920358 0.98751668 0.03957635] [ 0. 0. 0. 1. ]] SLAMing on 23.525285570000005 meters Centerline goodness [0,1] 0.8835728040290327 Centerline is valid? [False, False] Translation: X:-21.07, Y:2.58, Z:0.04 [[ 0.98746133 0.03958408 -0.15281762 -21.06850813] [ -0.03414051 0.99869118 0.03808359 2.58165693] [ 0.15412511 -0.0323888 0.98752034 0.0391874 ] [ 0. 0. 0. 1. ]] SLAMing on 23.555285570000002 meters Centerline goodness [0,1] 0.8132945192569478 Centerline is valid? [False, False] Translation: X:-21.11, Y:2.58, Z:0.03 [[ 0.98689025 0.04417988 -0.15522815 -21.10638652] [ -0.03996428 0.99874536 0.03017556 2.57816378] [ 0.15636654 -0.02357638 0.98741767 0.02648449] [ 0. 0. 0. 1. ]] SLAMing on 23.585285570000003 meters Centerline goodness [0,1] 0.8211103350477279 Centerline is valid? [False, False] Translation: X:-21.13, Y:2.59, Z:0.03 [[ 0.98683352 0.04591118 -0.15508634 -21.13455631] [ -0.04060068 0.99848125 0.03723953 2.59309074] [ 0.15656051 -0.0304526 0.98719879 0.0272783 ] [ 0. 0. 0. 1. ]] SLAMing on 23.615285570000005 meters Centerline goodness [0,1] 0.7528379119719796 Centerline is valid? [False, False] Translation: X:-21.17, Y:2.59, Z:0.02 [[ 9.85875842e-01 5.17381709e-02 -1.59285860e-01 -2.11661491e+01] [-4.69498826e-02 9.98329240e-01 3.36814186e-02 2.59190279e+00] [ 1.60762347e-01 -2.57272445e-02 9.86657781e-01 1.80604122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.645285570000002 meters Centerline goodness [0,1] 0.8048415009919379 Centerline is valid? [False, False] Translation: X:-21.19, Y:2.61, Z:0.02 [[ 9.85806219e-01 5.22535413e-02 -1.59548320e-01 -2.11947376e+01] [-4.65208706e-02 9.98137652e-01 3.94592907e-02 2.60553948e+00] [ 1.61313073e-01 -3.14768874e-02 9.86401185e-01 1.88685077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.675285570000003 meters Centerline goodness [0,1] 0.7815645973154363 Centerline is valid? [False, False] Translation: X:-21.22, Y:2.61, Z:0.01 [[ 9.85728499e-01 5.58495173e-02 -1.58808556e-01 -2.12234278e+01] [-5.10985958e-02 9.98119894e-01 3.38468676e-02 2.60628935e+00] [ 1.60400310e-01 -2.52489278e-02 9.86729057e-01 1.29498869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.705285570000004 meters Centerline goodness [0,1] 0.7984923349803623 Centerline is valid? [False, False] Translation: X:-21.25, Y:2.63, Z:0.02 [[ 9.86488998e-01 5.29295188e-02 -1.55041683e-01 -2.12493870e+01] [-4.77746779e-02 9.98180376e-01 3.67901894e-02 2.62592901e+00] [ 1.56706852e-01 -2.88860507e-02 9.87222649e-01 1.73188331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.735285570000002 meters Centerline goodness [0,1] 0.7931576301013995 Centerline is valid? [False, False] Translation: X:-21.28, Y:2.63, Z:0.01 [[ 9.85872599e-01 5.40536554e-02 -1.58535233e-01 -2.12778917e+01] [-5.02617517e-02 9.98348146e-01 2.78340825e-02 2.62711354e+00] [ 1.59777890e-01 -1.94726008e-02 9.86960913e-01 8.20699185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.765285570000003 meters Centerline goodness [0,1] 0.7650709777526158 Centerline is valid? [False, False] Translation: X:-21.30, Y:2.64, Z:0.01 [[ 9.85195488e-01 5.10752738e-02 -1.63649522e-01 -2.12996864e+01] [-4.65950739e-02 9.98429553e-01 3.11018702e-02 2.63680762e+00] [ 1.64981055e-01 -2.30161606e-02 9.86028148e-01 6.68291710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.795285570000004 meters Centerline goodness [0,1] 0.7996784361843915 Centerline is valid? [False, False] Translation: X:-21.32, Y:2.65, Z:0.01 [[ 9.85133909e-01 4.86262848e-02 -1.64762452e-01 -2.13181021e+01] [-4.28984916e-02 9.98350870e-01 3.81478606e-02 2.64715550e+00] [ 1.66345726e-01 -3.05126904e-02 9.85595290e-01 7.94690423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.825285570000002 meters Centerline goodness [0,1] 0.7996784361843915 Centerline is valid? [False, False] Translation: X:-21.32, Y:2.65, Z:0.01 [[ 9.85133909e-01 4.86262848e-02 -1.64762452e-01 -2.13181021e+01] [-4.28984916e-02 9.98350870e-01 3.81478606e-02 2.64715550e+00] [ 1.66345726e-01 -3.05126904e-02 9.85595290e-01 7.94690423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.855285570000003 meters Centerline goodness [0,1] 0.8126508830629791 Centerline is valid? [False, False] Translation: X:-21.34, Y:2.66, Z:0.01 [[ 9.85749537e-01 4.38528908e-02 -1.62403123e-01 -2.13367527e+01] [-3.74063956e-02 9.98394134e-01 4.25430968e-02 2.65680644e+00] [ 1.64007963e-01 -3.58619226e-02 9.85806934e-01 8.91030266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.885285570000004 meters Centerline goodness [0,1] 0.8164586126005362 Centerline is valid? [False, False] Translation: X:-21.35, Y:2.66, Z:0.01 [[ 9.86295981e-01 4.29408245e-02 -1.59299475e-01 -2.13509517e+01] [-3.72765289e-02 9.98567760e-01 3.83782325e-02 2.65761820e+00] [ 1.60719312e-01 -3.19141650e-02 9.86484054e-01 8.15324344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.91528557 meters Centerline goodness [0,1] 0.7447927536836833 Centerline is valid? [False, False] Translation: X:-21.37, Y:2.66, Z:0.01 [[ 9.86303135e-01 4.38605867e-02 -1.59004323e-01 -2.13690013e+01] [-3.87532835e-02 9.98632796e-01 3.50816582e-02 2.66269951e+00] [ 1.60325634e-01 -2.84392099e-02 9.86654399e-01 5.87614665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.945285570000003 meters Centerline goodness [0,1] 0.847755971077429 Centerline is valid? [False, False] Translation: X:-21.38, Y:2.67, Z:0.00 [[ 9.86973085e-01 4.07631615e-02 -1.55635772e-01 -2.13771249e+01] [-3.51726299e-02 9.98639078e-01 3.85081584e-02 2.67165351e+00] [ 1.56993678e-01 -3.25323965e-02 9.87063639e-01 3.71040330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.975285570000004 meters Centerline goodness [0,1] 0.7970956201443722 Centerline is valid? [False, False] Translation: X:-21.40, Y:2.69, Z:0.00 [[ 9.86563964e-01 3.80445460e-02 -1.58884098e-01 -2.14013070e+01] [-3.18983541e-02 9.98647489e-01 4.10571210e-02 2.68644368e+00] [ 1.60231205e-01 -3.54373349e-02 9.86443185e-01 2.24111981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.005285570000005 meters Centerline goodness [0,1] 0.7535939893806796 Centerline is valid? [False, False] Translation: X:-21.42, Y:2.69, Z:-0.01 [[ 9.86529518e-01 4.12005903e-02 -1.58309892e-01 -2.14242856e+01] [-3.62356273e-02 9.98760532e-01 3.41229944e-02 2.68600336e+00] [ 1.59519559e-01 -2.79268830e-02 9.86799675e-01 -6.34182364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.035285570000003 meters Centerline goodness [0,1] 0.8037061296934097 Centerline is valid? [False, False] Translation: X:-21.45, Y:2.70, Z:-0.00 [[ 9.87108863e-01 4.28056576e-02 -1.54219872e-01 -2.14475097e+01] [-3.68528783e-02 9.98468781e-01 4.12547998e-02 2.70188686e+00] [ 1.55749667e-01 -3.50395323e-02 9.87174895e-01 -3.32922249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.065285570000004 meters Centerline goodness [0,1] 0.7731085370724632 Centerline is valid? [False, False] Translation: X:-21.48, Y:2.70, Z:-0.02 [[ 9.86747817e-01 4.82563073e-02 -1.54919575e-01 -2.14807343e+01] [-4.33536606e-02 9.98450986e-01 3.48724659e-02 2.69819044e+00] [ 1.56362419e-01 -2.76939989e-02 9.87311418e-01 -1.54560830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.095285570000005 meters Centerline goodness [0,1] 0.8155349966510381 Centerline is valid? [False, False] Translation: X:-21.52, Y:2.69, Z:-0.03 [[ 9.85855545e-01 5.13629851e-02 -1.59532717e-01 -2.15182249e+01] [-4.76707990e-02 9.98501148e-01 2.68877636e-02 2.69492087e+00] [ 1.60674637e-01 -1.89023987e-02 9.86826408e-01 -2.89091952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.125285570000003 meters Centerline goodness [0,1] 0.7527549799542411 Centerline is valid? [False, False] Translation: X:-21.55, Y:2.71, Z:-0.03 [[ 9.85249077e-01 4.91066776e-02 -1.63929227e-01 -2.15530965e+01] [-4.51156191e-02 9.98589760e-01 2.79834376e-02 2.71022795e+00] [ 1.65072221e-01 -2.01748875e-02 9.86075117e-01 -2.96965198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.155285570000004 meters Centerline goodness [0,1] 0.8113175746850377 Centerline is valid? [False, False] Translation: X:-21.59, Y:2.73, Z:-0.03 [[ 0.98502349 0.04732284 -0.16579888 -21.58948733] [ -0.04292103 0.99862692 0.03003419 2.72821163] [ 0.16699253 -0.02246812 0.98570212 -0.02715998] [ 0. 0. 0. 1. ]] SLAMing on 24.185285570000005 meters Centerline goodness [0,1] 0.789235317551842 Centerline is valid? [False, False] Translation: X:-21.63, Y:2.74, Z:-0.03 [[ 0.98521482 0.0471255 -0.16471476 -21.63300581] [ -0.04289393 0.99865413 0.02915548 2.73738315] [ 0.16586704 -0.02165915 0.98591024 -0.03452245] [ 0. 0. 0. 1. ]] SLAMing on 24.215285570000002 meters Centerline goodness [0,1] 0.756068754613519 Centerline is valid? [False, False] Translation: X:-21.68, Y:2.74, Z:-0.04 [[ 0.98531638 0.05002612 -0.16324528 -21.67548184] [ -0.04522534 0.99843175 0.0329957 2.74276168] [ 0.16463992 -0.02512838 0.9860336 -0.04284335] [ 0. 0. 0. 1. ]] SLAMing on 24.245285570000004 meters Centerline goodness [0,1] 0.78447039973014 Centerline is valid? [False, False] Translation: X:-21.74, Y:2.75, Z:-0.05 [[ 0.9844243 0.0523694 -0.16782803 -21.73890602] [ -0.04734801 0.99830691 0.03378584 2.7465117 ] [ 0.16931322 -0.02531328 0.98523716 -0.05413934] [ 0. 0. 0. 1. ]] SLAMing on 24.275285570000005 meters Centerline goodness [0,1] 0.7940947614140607 Centerline is valid? [False, False] Translation: X:-21.75, Y:2.75, Z:-0.05 [[ 0.98407559 0.05470848 -0.16912189 -21.74907098] [ -0.04947613 0.99816179 0.03500232 2.75013589] [ 0.17072594 -0.02607743 0.98497341 -0.04943856] [ 0. 0. 0. 1. ]] SLAMing on 24.305285570000002 meters Centerline goodness [0,1] 0.7807746228369359 Centerline is valid? [False, False] Translation: X:-21.78, Y:2.76, Z:-0.05 [[ 0.98397904 0.04883389 -0.17146572 -21.78352243] [ -0.0438667 0.998504 0.03264164 2.7608936 ] [ 0.17280323 -0.02459705 0.98464919 -0.05143002] [ 0. 0. 0. 1. ]] SLAMing on 24.335285570000003 meters Centerline goodness [0,1] 0.7936842105263158 Centerline is valid? [False, False] Translation: X:-21.81, Y:2.77, Z:-0.05 [[ 9.84070396e-01 5.05318096e-02 -1.70446448e-01 -2.18087088e+01] [-4.63383500e-02 9.98519314e-01 2.84945179e-02 2.76554455e+00] [ 1.71633950e-01 -2.01424044e-02 9.84954857e-01 -5.19501685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.365285570000005 meters Centerline goodness [0,1] 0.8064943531935477 Centerline is valid? [False, False] Translation: X:-21.86, Y:2.78, Z:-0.06 [[ 9.83862457e-01 5.29129860e-02 -1.70923613e-01 -2.18552898e+01] [-4.84041691e-02 9.98363803e-01 3.04426347e-02 2.77619486e+00] [ 1.72254759e-01 -2.16779499e-02 9.84813873e-01 -6.10866889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.395285570000002 meters Centerline goodness [0,1] 0.7998010287238321 Centerline is valid? [False, False] Translation: X:-21.88, Y:2.78, Z:-0.06 [[ 0.98318502 0.05317269 -0.17469943 -21.88068611] [ -0.04755884 0.99821342 0.03616811 2.78287141] [ 0.17631047 -0.02725144 0.9839573 -0.06457843] [ 0. 0. 0. 1. ]] SLAMing on 24.425285570000003 meters Centerline goodness [0,1] 0.8134711779448621 Centerline is valid? [False, False] Translation: X:-21.91, Y:2.78, Z:-0.08 [[ 9.82783880e-01 5.37372019e-02 -1.76771488e-01 -2.19081121e+01] [-4.98419774e-02 9.98407993e-01 2.64056158e-02 2.77509186e+00] [ 1.77909030e-01 -1.71403730e-02 9.83897649e-01 -7.82240134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.455285570000004 meters Centerline goodness [0,1] 0.8342026668910107 Centerline is valid? [False, False] Translation: X:-21.93, Y:2.79, Z:-0.07 [[ 9.82908111e-01 5.60593371e-02 -1.75353914e-01 -2.19261645e+01] [-5.22147294e-02 9.98285115e-01 2.64660232e-02 2.78630250e+00] [ 1.76536870e-01 -1.68576117e-02 9.84149661e-01 -7.07109798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.485285570000002 meters Centerline goodness [0,1] 0.8525768242495143 Centerline is valid? [False, False] Translation: X:-21.95, Y:2.79, Z:-0.07 [[ 9.83176616e-01 5.81401255e-02 -1.73157351e-01 -2.19455012e+01] [-5.50097781e-02 9.98224860e-01 2.28265859e-02 2.79434322e+00] [ 1.74177113e-01 -1.29172181e-02 9.84629615e-01 -6.98071864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.515285570000003 meters Centerline goodness [0,1] 0.8606953670226183 Centerline is valid? [False, False] Translation: X:-21.97, Y:2.81, Z:-0.07 [[ 9.82495926e-01 5.70694163e-02 -1.77326924e-01 -2.19672561e+01] [-5.31795399e-02 9.98230196e-01 2.66159998e-02 2.80675247e+00] [ 1.78532050e-01 -1.67199471e-02 9.83792026e-01 -7.14554226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.545285570000004 meters Centerline goodness [0,1] 0.8839313834589624 Centerline is valid? [False, False] Translation: X:-21.99, Y:2.81, Z:-0.08 [[ 0.98157388 0.05771142 -0.18215959 -21.9898493 ] [ -0.05270386 0.99809039 0.03221615 2.81335504] [ 0.18367098 -0.02202202 0.98274107 -0.07560785] [ 0. 0. 0. 1. ]] SLAMing on 24.575285570000002 meters Centerline goodness [0,1] 0.8699089551924978 Centerline is valid? [False, False] Translation: X:-22.01, Y:2.82, Z:-0.07 [[ 0.98158445 0.05797408 -0.18201918 -22.01434254] [ -0.05146623 0.9978621 0.04027978 2.82357297] [ 0.18396522 -0.03017017 0.98246962 -0.07299384] [ 0. 0. 0. 1. ]] SLAMing on 24.605285570000003 meters Centerline goodness [0,1] 0.8995776334867301 Centerline is valid? [False, False] Translation: X:-22.04, Y:2.83, Z:-0.07 [[ 0.98284689 0.05481146 -0.17608999 -22.04290587] [ -0.0479665 0.99792729 0.04289923 2.83401333] [ 0.17807638 -0.03371695 0.98343885 -0.07158874] [ 0. 0. 0. 1. ]] SLAMing on 24.635285570000004 meters Centerline goodness [0,1] 0.918062882464655 Centerline is valid? [False, False] Translation: X:-22.07, Y:2.85, Z:-0.07 [[ 0.98358084 0.05209089 -0.17278678 -22.07266786] [ -0.04482127 0.99794856 0.04571349 2.84675611] [ 0.17481357 -0.03721839 0.98389786 -0.07003418] [ 0. 0. 0. 1. ]] SLAMing on 24.665285570000005 meters Centerline goodness [0,1] 0.9181671113725655 Centerline is valid? [False, False] Translation: X:-22.11, Y:2.85, Z:-0.09 [[ 0.98331541 0.0495979 -0.17501672 -22.10919948] [ -0.0427922 0.99818175 0.04245016 2.845507 ] [ 0.17680393 -0.03425254 0.9836499 -0.08540285] [ 0. 0. 0. 1. ]] SLAMing on 24.695285570000003 meters Centerline goodness [0,1] 0.9165454277099543 Centerline is valid? [False, False] Translation: X:-22.15, Y:2.84, Z:-0.10 [[ 0.98250964 0.04875031 -0.17971705 -22.1450403 ] [ -0.04176185 0.9982246 0.04246866 2.84351489] [ 0.18146834 -0.03422055 0.9828012 -0.09881522] [ 0. 0. 0. 1. ]] SLAMing on 24.725285570000004 meters Centerline goodness [0,1] 0.9251414508970827 Centerline is valid? [False, False] Translation: X:-22.18, Y:2.83, Z:-0.11 [[ 0.98213783 0.04959682 -0.1815088 -22.18119718] [ -0.04427373 0.99846548 0.03326456 2.83332633] [ 0.18288009 -0.02463431 0.98282655 -0.11205937] [ 0. 0. 0. 1. ]] SLAMing on 24.755285570000005 meters Centerline goodness [0,1] 0.9359673311301493 Centerline is valid? [False, False] Translation: X:-22.22, Y:2.85, Z:-0.11 [[ 0.9830181 0.04505659 -0.17789132 -22.21513634] [ -0.03976818 0.99865773 0.03318466 2.84605521] [ 0.17914773 -0.02554671 0.98349044 -0.10976857] [ 0. 0. 0. 1. ]] SLAMing on 24.785285570000003 meters Centerline goodness [0,1] 0.9400571885118372 Centerline is valid? [False, False] Translation: X:-22.25, Y:2.84, Z:-0.12 [[ 9.82944683e-01 4.69047913e-02 -1.77819265e-01 -2.22502701e+01] [-4.34066686e-02 9.98780732e-01 2.35140310e-02 2.84314672e+00] [ 1.78705377e-01 -1.53944499e-02 9.83782191e-01 -1.19609868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.815285570000004 meters Centerline goodness [0,1] 0.9481741987111991 Centerline is valid? [False, False] Translation: X:-22.28, Y:2.85, Z:-0.13 [[ 9.82239667e-01 4.53440202e-02 -1.82069096e-01 -2.22808777e+01] [-4.13058604e-02 9.98810482e-01 2.59122946e-02 2.84632182e+00] [ 1.83027489e-01 -1.79315629e-02 9.82944249e-01 -1.25583985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.845285570000005 meters Centerline goodness [0,1] 0.9454684123554087 Centerline is valid? [False, False] Translation: X:-22.31, Y:2.85, Z:-0.13 [[ 0.98182778 0.0436877 -0.18467699 -22.30798545] [ -0.03862674 0.99877535 0.0309156 2.84760161] [ 0.18580145 -0.02322032 0.9823129 -0.12967185] [ 0. 0. 0. 1. ]] SLAMing on 24.875285570000003 meters Centerline goodness [0,1] 0.9583730273785362 Centerline is valid? [False, True] Translation: X:-22.35, Y:2.84, Z:-0.14 [[ 9.82937457e-01 4.36614428e-02 -1.78683057e-01 -2.23546323e+01] [-4.10167685e-02 9.98987724e-01 1.84702868e-02 2.83675497e+00] [ 1.79308619e-01 -1.08261352e-02 9.83733304e-01 -1.43262310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.905285570000004 meters Centerline goodness [0,1] 0.9659785370770944 Centerline is valid? [True, True] Translation: X:-22.38, Y:2.85, Z:-0.14 [[ 9.83156577e-01 4.23382580e-02 -1.77793746e-01 -2.23823159e+01] [-3.92081945e-02 9.99008613e-01 2.10833631e-02 2.84923865e+00] [ 1.78510116e-01 -1.37572754e-02 9.83841896e-01 -1.35651652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.935285570000005 meters Centerline goodness [0,1] 0.9662310967552489 Centerline is valid? [True, True] Translation: X:-22.41, Y:2.85, Z:-0.15 [[ 9.82765133e-01 4.85300293e-02 -1.78374687e-01 -2.24090024e+01] [-4.54761138e-02 9.98741037e-01 2.11722460e-02 2.84935414e+00] [ 1.79177610e-01 -1.26955576e-02 9.83734826e-01 -1.50376848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.965285570000002 meters Centerline goodness [0,1] 0.9761356017432116 Centerline is valid? [True, True] Translation: X:-22.43, Y:2.86, Z:-0.18 [[ 9.80516102e-01 6.06695316e-02 -1.86835174e-01 -2.24313906e+01] [-5.75264707e-02 9.98097038e-01 2.22037904e-02 2.85515243e+00] [ 1.87826728e-01 -1.10232058e-02 9.82140321e-01 -1.81019899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.995285570000004 meters Centerline goodness [0,1] 0.9823985680190931 Centerline is valid? [True, True] Translation: X:-22.46, Y:2.86, Z:-0.19 [[ 9.80036346e-01 6.28645679e-02 -1.88618152e-01 -2.24593365e+01] [-5.96944398e-02 9.97964286e-01 2.24467951e-02 2.85667019e+00] [ 1.89645287e-01 -1.07392201e-02 9.81793937e-01 -1.86517502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.025285570000005 meters Centerline goodness [0,1] 0.9891935245572934 Centerline is valid? [True, True] Translation: X:-22.49, Y:2.87, Z:-0.19 [[ 9.80171253e-01 6.98210571e-02 -1.85443614e-01 -2.24854478e+01] [-6.68737548e-02 9.97516469e-01 2.21087269e-02 2.87013449e+00] [ 1.86526713e-01 -9.26902776e-03 9.82406164e-01 -1.91124134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.055285570000002 meters Centerline goodness [0,1] 0.9886720148232371 Centerline is valid? [True, True] Translation: X:-22.51, Y:2.87, Z:-0.20 [[ 9.80123395e-01 7.39055169e-02 -1.84108947e-01 -2.25132196e+01] [-7.10635451e-02 9.97229231e-01 2.19962080e-02 2.86987767e+00] [ 1.85224465e-01 -8.47556363e-03 9.82659688e-01 -1.97334144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.085285570000003 meters Centerline goodness [0,1] 0.9898627109278701 Centerline is valid? [True, True] Translation: X:-22.54, Y:2.88, Z:-0.20 [[ 9.79744934e-01 7.48693980e-02 -1.85726782e-01 -2.25404902e+01] [-7.19876767e-02 9.97157960e-01 2.22211066e-02 2.87785685e+00] [ 1.86862620e-01 -8.40097703e-03 9.82350134e-01 -1.97357279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.115285570000005 meters Centerline goodness [0,1] 0.9920957732304596 Centerline is valid? [True, True] Translation: X:-22.57, Y:2.89, Z:-0.20 [[ 9.79436336e-01 7.86621262e-02 -1.85786795e-01 -2.25653892e+01] [-7.58384153e-02 9.96871438e-01 2.22681448e-02 2.89354491e+00] [ 1.86957209e-01 -7.72045409e-03 9.82337720e-01 -2.04089729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.145285570000002 meters Centerline goodness [0,1] 0.9891756166522482 Centerline is valid? [True, True] Translation: X:-22.59, Y:2.89, Z:-0.22 [[ 9.78915214e-01 7.95290100e-02 -1.88149250e-01 -2.25918123e+01] [-7.66431637e-02 9.96802972e-01 2.25756659e-02 2.88999387e+00] [ 1.89343152e-01 -7.67930903e-03 9.81880949e-01 -2.24732611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.175285570000003 meters Centerline goodness [0,1] 0.99079676723226 Centerline is valid? [True, True] Translation: X:-22.62, Y:2.90, Z:-0.23 [[ 9.78631296e-01 7.97093933e-02 -1.89544717e-01 -2.26192403e+01] [-7.67739782e-02 9.96788001e-01 2.27911866e-02 2.89608279e+00] [ 1.90752571e-01 -7.75206652e-03 9.81607540e-01 -2.26235663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.205285570000004 meters Centerline goodness [0,1] 0.9933998984599763 Centerline is valid? [True, True] Translation: X:-22.65, Y:2.91, Z:-0.22 [[ 9.78797714e-01 8.20844127e-02 -1.87662423e-01 -2.26463116e+01] [-7.92448245e-02 9.96599035e-01 2.25969235e-02 2.91065004e+00] [ 1.88879045e-01 -7.24654126e-03 9.81973622e-01 -2.19552754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.235285570000002 meters Centerline goodness [0,1] 0.994518286488317 Centerline is valid? [True, True] Translation: X:-22.67, Y:2.92, Z:-0.22 [[ 9.79487502e-01 8.39540905e-02 -1.83182815e-01 -2.26746334e+01] [-8.12754345e-02 9.96446735e-01 2.20954511e-02 2.91690841e+00] [ 1.84386921e-01 -6.75395540e-03 9.82830528e-01 -2.20467312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.265285570000003 meters Centerline goodness [0,1] 0.995005419651017 Centerline is valid? [True, True] Translation: X:-22.70, Y:2.92, Z:-0.22 [[ 9.79542846e-01 8.59260642e-02 -1.81968470e-01 -2.27026926e+01] [-8.33077828e-02 9.96281033e-01 2.19981260e-02 2.92191520e+00] [ 1.83181948e-01 -6.38871721e-03 9.83058268e-01 -2.24970183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.295285570000004 meters Centerline goodness [0,1] 0.9952905874262852 Centerline is valid? [True, True] Translation: X:-22.73, Y:2.93, Z:-0.24 [[ 9.78963872e-01 9.17939482e-02 -1.82218575e-01 -2.27287640e+01] [-8.92601414e-02 9.95763669e-01 2.20758231e-02 2.92812475e+00] [ 1.83473063e-01 -5.34657752e-03 9.83010198e-01 -2.40873220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.325285570000002 meters Centerline goodness [0,1] 0.9958560013600816 Centerline is valid? [True, True] Translation: X:-22.76, Y:2.94, Z:-0.24 [[ 9.77634958e-01 9.67236115e-02 -1.86746974e-01 -2.27552109e+01] [-9.41402516e-02 9.95300712e-01 2.26738805e-02 2.93980921e+00] [ 1.88062496e-01 -4.58637108e-03 9.82146355e-01 -2.42664339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.355285570000003 meters Centerline goodness [0,1] 0.9969703886617833 Centerline is valid? [True, True] Translation: X:-22.78, Y:2.95, Z:-0.26 [[ 9.76740527e-01 1.06296037e-01 -1.86223240e-01 -2.27795774e+01] [-1.03890810e-01 9.94330636e-01 2.26558264e-02 2.95270933e+00] [ 1.87575697e-01 -2.78198062e-03 9.82246211e-01 -2.59746618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.385285570000004 meters Centerline goodness [0,1] 0.9983566492499578 Centerline is valid? [True, True] Translation: X:-22.81, Y:2.96, Z:-0.27 [[ 9.76539800e-01 1.09920752e-01 -1.85168700e-01 -2.28065159e+01] [-1.07598059e-01 9.93938085e-01 2.25774392e-02 2.95502167e+00] [ 1.86527952e-01 -2.12397534e-03 9.82447358e-01 -2.65873659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.415285570000005 meters Centerline goodness [0,1] 0.9983199353494109 Centerline is valid? [True, True] Translation: X:-22.83, Y:2.96, Z:-0.28 [[ 9.76258631e-01 1.16999824e-01 -1.82291324e-01 -2.28327324e+01] [-1.14862797e-01 9.93131607e-01 2.22743832e-02 2.95801813e+00] [ 1.83645374e-01 -8.07067511e-04 9.82992230e-01 -2.76812442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.445285570000003 meters Centerline goodness [0,1] 0.9983001406056536 Centerline is valid? [True, True] Translation: X:-22.86, Y:2.97, Z:-0.29 [[ 9.75848633e-01 1.20647617e-01 -1.82108755e-01 -2.28582864e+01] [-1.18568497e-01 9.92695383e-01 2.23022046e-02 2.96822576e+00] [ 1.83469228e-01 -1.71214575e-04 9.83025439e-01 -2.91652409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.475285570000004 meters Centerline goodness [0,1] 0.9978981882382614 Centerline is valid? [True, True] Translation: X:-22.88, Y:2.98, Z:-0.30 [[ 9.74787988e-01 1.23656405e-01 -1.85734953e-01 -2.28841183e+01] [-1.21537221e-01 9.92325033e-01 2.27976640e-02 2.97963266e+00] [ 1.87128520e-01 3.50821044e-04 9.82335377e-01 -2.99884870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.505285570000005 meters Centerline goodness [0,1] 0.9983640253366333 Centerline is valid? [True, True] Translation: X:-22.91, Y:2.99, Z:-0.31 [[ 9.74148128e-01 1.25606062e-01 -1.87772581e-01 -2.29103939e+01] [-1.23465830e-01 9.92079962e-01 2.30984259e-02 2.99000650e+00] [ 1.89186717e-01 6.82209097e-04 9.81940895e-01 -3.05916869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.535285570000003 meters Centerline goodness [0,1] 0.9980668613813536 Centerline is valid? [True, True] Translation: X:-22.94, Y:3.00, Z:-0.31 [[ 9.74160127e-01 1.27908014e-01 -1.86149368e-01 -2.29365208e+01] [-1.25837205e-01 9.91785459e-01 2.29478118e-02 2.99652684e+00] [ 1.87555445e-01 1.06967288e-03 9.82253435e-01 -3.09189979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.565285570000004 meters Centerline goodness [0,1] 0.9981198639542007 Centerline is valid? [True, True] Translation: X:-22.96, Y:3.00, Z:-0.32 [[ 9.74825416e-01 1.29724168e-01 -1.81347866e-01 -2.29625493e+01] [-1.27781146e-01 9.91549229e-01 2.24077093e-02 2.99900387e+00] [ 1.82722158e-01 1.32923361e-03 9.83163692e-01 -3.17000081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.595285570000005 meters Centerline goodness [0,1] 0.9985444266306641 Centerline is valid? [True, True] Translation: X:-22.99, Y:3.00, Z:-0.32 [[ 9.75217436e-01 1.29552942e-01 -1.79351578e-01 -2.29900123e+01] [-1.27640156e-01 9.91571745e-01 2.22140858e-02 2.99947648e+00] [ 1.80717857e-01 1.22889954e-03 9.83534212e-01 -3.20717209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.625285570000003 meters Centerline goodness [0,1] 0.9984141751596397 Centerline is valid? [True, True] Translation: X:-23.02, Y:3.00, Z:-0.33 [[ 9.75307567e-01 1.29817560e-01 -1.78668831e-01 -2.30176551e+01] [-1.27914084e-01 9.91537147e-01 2.21827104e-02 3.00440844e+00] [ 1.80036489e-01 1.21929468e-03 9.83659177e-01 -3.25627024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.655285570000004 meters Centerline goodness [0,1] 0.9980334524539552 Centerline is valid? [True, True] Translation: X:-23.04, Y:3.01, Z:-0.33 [[ 9.75389990e-01 1.28005879e-01 -1.79523989e-01 -2.30439359e+01] [-1.26044126e-01 9.91773055e-01 2.23402045e-02 3.01264713e+00] [ 1.80906733e-01 8.37532500e-04 9.83499900e-01 -3.34257366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.685285570000005 meters Centerline goodness [0,1] 0.9974750689582007 Centerline is valid? [True, True] Translation: X:-23.07, Y:3.02, Z:-0.34 [[ 9.74888735e-01 1.29682673e-01 -1.81036898e-01 -2.30708984e+01] [-1.27706554e-01 9.91554930e-01 2.25800034e-02 3.01965197e+00] [ 1.82436264e-01 1.10660730e-03 9.83217059e-01 -3.37504373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.715285570000002 meters Centerline goodness [0,1] 0.9982203389830508 Centerline is valid? [True, True] Translation: X:-23.10, Y:3.02, Z:-0.35 [[ 9.74978139e-01 1.29426338e-01 -1.80738630e-01 -2.30964578e+01] [-1.27443521e-01 9.91588527e-01 2.25907737e-02 3.02278076e+00] [ 1.82142193e-01 1.00845685e-03 9.83271684e-01 -3.45305329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.745285570000004 meters Centerline goodness [0,1] 0.9982203389830508 Centerline is valid? [True, True] Translation: X:-23.12, Y:3.03, Z:-0.35 [[ 9.74942678e-01 1.29699334e-01 -1.80734216e-01 -2.31236571e+01] [-1.27714632e-01 9.91552841e-01 2.26260320e-02 3.02611979e+00] [ 1.82142107e-01 1.02331961e-03 9.83271685e-01 -3.49770527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.775285570000005 meters Centerline goodness [0,1] 0.9973323811124181 Centerline is valid? [True, True] Translation: X:-23.15, Y:3.03, Z:-0.35 [[ 9.75158849e-01 1.29703128e-01 -1.79561462e-01 -2.31513226e+01] [-1.27735090e-01 9.91552401e-01 2.25295848e-02 3.02956259e+00] [ 1.80966756e-01 9.66375478e-04 9.83488739e-01 -3.54514960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.805285570000002 meters Centerline goodness [0,1] 0.9970736226025811 Centerline is valid? [True, True] Translation: X:-23.18, Y:3.04, Z:-0.36 [[ 9.75856062e-01 1.27791022e-01 -1.77128203e-01 -2.31799401e+01] [-1.25836209e-01 9.91800962e-01 2.22733085e-02 3.03589870e+00] [ 1.78522251e-01 5.53598426e-04 9.83935719e-01 -3.55833098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.835285570000003 meters Centerline goodness [0,1] 0.9970881161377447 Centerline is valid? [True, True] Translation: X:-23.21, Y:3.04, Z:-0.36 [[ 9.76030678e-01 1.26587149e-01 -1.77030532e-01 -2.32068714e+01] [-1.24606440e-01 9.91955448e-01 2.23074706e-02 3.04449389e+00] [ 1.78430239e-01 2.86368654e-04 9.83952523e-01 -3.56181411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.865285570000005 meters Centerline goodness [0,1] 0.9979532842402886 Centerline is valid? [True, True] Translation: X:-23.23, Y:3.05, Z:-0.36 [[ 9.75839943e-01 1.26373560e-01 -1.78230552e-01 -2.32340339e+01] [-1.24352582e-01 9.91982704e-01 2.25111209e-02 3.04814556e+00] [ 1.79646436e-01 1.96178469e-04 9.83731223e-01 -3.62506965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.895285570000002 meters Centerline goodness [0,1] 0.9971800525824782 Centerline is valid? [True, True] Translation: X:-23.26, Y:3.05, Z:-0.37 [[ 9.76201996e-01 1.23487762e-01 -1.78270683e-01 -2.32607575e+01] [-1.21409378e-01 9.92346021e-01 2.25640684e-02 3.04660826e+00] [ 1.79692590e-01 -3.83355764e-04 9.83722738e-01 -3.69936079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.925285570000003 meters Centerline goodness [0,1] 0.9978249852183462 Centerline is valid? [True, True] Translation: X:-23.29, Y:3.04, Z:-0.38 [[ 9.77225912e-01 1.16276333e-01 -1.77508680e-01 -2.32893462e+01] [-1.14091668e-01 9.93215384e-01 2.25009200e-02 3.04052489e+00] [ 1.78920676e-01 -1.73622081e-03 9.83861971e-01 -3.76837736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.955285570000004 meters Centerline goodness [0,1] 0.9975641510226366 Centerline is valid? [True, True] Translation: X:-23.32, Y:3.04, Z:-0.38 [[ 9.77447331e-01 1.12875419e-01 -1.78482083e-01 -2.33178648e+01] [-1.10601913e-01 9.93606206e-01 2.26699081e-02 3.04010104e+00] [ 1.79899781e-01 -2.41818137e-03 9.83681972e-01 -3.82251764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.985285570000002 meters Centerline goodness [0,1] 0.9976987447698745 Centerline is valid? [True, True] Translation: X:-23.35, Y:3.05, Z:-0.38 [[ 9.77769275e-01 1.11559755e-01 -1.77543420e-01 -2.33461741e+01] [-1.09283145e-01 9.93754121e-01 2.25818841e-02 3.04513603e+00] [ 1.78953735e-01 -2.67736915e-03 9.83853847e-01 -3.82907111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.015285570000003 meters Centerline goodness [0,1] 0.9980355294564964 Centerline is valid? [True, True] Translation: X:-23.37, Y:3.05, Z:-0.38 [[ 9.78279269e-01 1.09485819e-01 -1.76018543e-01 -2.33741940e+01] [-1.07206919e-01 9.93983597e-01 2.24340082e-02 3.05089525e+00] [ 1.77415750e-01 -3.07631947e-03 9.84131184e-01 -3.82175510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.045285570000004 meters Centerline goodness [0,1] 0.9976863152979134 Centerline is valid? [True, True] Translation: X:-23.40, Y:3.05, Z:-0.39 [[ 9.78542996e-01 1.07791824e-01 -1.75597632e-01 -2.34013583e+01] [-1.05488727e-01 9.94167602e-01 2.24256112e-02 3.05451869e+00] [ 1.76990774e-01 -3.42085412e-03 9.84206566e-01 -3.85436953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.075285570000002 meters Centerline goodness [0,1] 0.9974633123689728 Centerline is valid? [True, True] Translation: X:-23.43, Y:3.05, Z:-0.40 [[ 9.78347747e-01 1.08021159e-01 -1.76542109e-01 -2.34280930e+01] [-1.05689877e-01 9.94142657e-01 2.25837854e-02 3.04807008e+00] [ 1.77947568e-01 -3.43608185e-03 9.84033971e-01 -4.01667474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.105285570000003 meters Centerline goodness [0,1] 0.9980503553384625 Centerline is valid? [True, True] Translation: X:-23.45, Y:3.05, Z:-0.40 [[ 9.77914612e-01 1.11400704e-01 -1.76841438e-01 -2.34548217e+01] [-1.09107613e-01 9.93771414e-01 2.26694926e-02 3.05376135e+00] [ 1.78265363e-01 -2.87408085e-03 9.83978252e-01 -4.03491763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.135285570000004 meters Centerline goodness [0,1] 0.9977867712153787 Centerline is valid? [True, True] Translation: X:-23.48, Y:3.06, Z:-0.40 [[ 9.78275134e-01 1.11505178e-01 -1.74769439e-01 -2.34813035e+01] [-1.09261896e-01 9.93759757e-01 2.24362058e-02 3.06497146e+00] [ 1.76180589e-01 -2.85314202e-03 9.84353727e-01 -4.02391523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.165285570000005 meters Centerline goodness [0,1] 0.9981581454429977 Centerline is valid? [True, True] Translation: X:-23.51, Y:3.08, Z:-0.40 [[ 9.77906598e-01 1.14531365e-01 -1.74874962e-01 -2.35084993e+01] [-1.12327098e-01 9.93416866e-01 2.24845209e-02 3.07737005e+00] [ 1.76298919e-01 -2.34456434e-03 9.84333883e-01 -4.03524094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.195285570000003 meters Centerline goodness [0,1] 0.9979622390418365 Centerline is valid? [True, True] Translation: X:-23.53, Y:3.08, Z:-0.41 [[ 9.77153897e-01 1.17656846e-01 -1.76994711e-01 -2.35349297e+01] [-1.15440849e-01 9.93052590e-01 2.28027178e-02 3.08471645e+00] [ 1.78447952e-01 -1.84934486e-03 9.83947615e-01 -4.12323516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.225285570000004 meters Centerline goodness [0,1] 0.9975719518576661 Centerline is valid? [True, True] Translation: X:-23.56, Y:3.09, Z:-0.42 [[ 9.76338580e-01 1.22676222e-01 -1.78082906e-01 -2.35600812e+01] [-1.20506745e-01 9.92446257e-01 2.29902656e-02 3.09283138e+00] [ 1.79558072e-01 -9.86091967e-04 9.83746881e-01 -4.21385293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.255285570000005 meters Centerline goodness [0,1] 0.9967153362012333 Centerline is valid? [True, True] Translation: X:-23.59, Y:3.10, Z:-0.42 [[ 9.75909755e-01 1.25332855e-01 -1.78582826e-01 -2.35878396e+01] [-1.23187180e-01 9.92114601e-01 2.30984448e-02 3.09953144e+00] [ 1.80069623e-01 -5.42882937e-04 9.83653718e-01 -4.19193948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.285285570000003 meters Centerline goodness [0,1] 0.9967290111549106 Centerline is valid? [True, True] Translation: X:-23.62, Y:3.11, Z:-0.42 [[ 9.75895392e-01 1.27609552e-01 -1.77042330e-01 -2.36150015e+01] [-1.25528532e-01 9.91824466e-01 2.29524782e-02 3.10980405e+00] [ 1.78523870e-01 -1.75353868e-04 9.83935565e-01 -4.22251826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.315285570000004 meters Centerline goodness [0,1] 0.9967801961153275 Centerline is valid? [True, True] Translation: X:-23.64, Y:3.12, Z:-0.43 [[ 9.75803027e-01 1.29275989e-01 -1.76341065e-01 -2.36413613e+01] [-1.27229409e-01 9.91608649e-01 2.29121151e-02 3.12093045e+00] [ 1.77823312e-01 7.80581801e-05 9.84062429e-01 -4.27232049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.345285570000005 meters Centerline goodness [0,1] 0.9960969640709719 Centerline is valid? [True, True] Translation: X:-23.67, Y:3.13, Z:-0.44 [[ 9.75065485e-01 1.31226153e-01 -1.78960879e-01 -2.36677510e+01] [-1.29141271e-01 9.91352382e-01 2.33020931e-02 3.12639906e+00] [ 1.80471137e-01 3.90168657e-04 9.83580203e-01 -4.35557102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.375285570000003 meters Centerline goodness [0,1] 0.9974623046503267 Centerline is valid? [True, True] Translation: X:-23.69, Y:3.13, Z:-0.44 [[ 9.75318602e-01 1.30574461e-01 -1.78055985e-01 -2.36943971e+01] [-1.28491494e-01 9.91438481e-01 2.32308992e-02 3.13062631e+00] [ 1.79564917e-01 2.21151496e-04 9.83746101e-01 -4.43355572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.405285570000004 meters Centerline goodness [0,1] 0.9977425684086162 Centerline is valid? [True, True] Translation: X:-23.72, Y:3.13, Z:-0.45 [[ 9.75725555e-01 1.29507052e-01 -1.76600013e-01 -2.37209942e+01] [-1.27432592e-01 9.91578501e-01 2.30870378e-02 3.13224612e+00] [ 1.78102710e-01 -2.20153678e-05 9.84011902e-01 -4.48297288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.435285570000005 meters Centerline goodness [0,1] 0.9972359370384437 Centerline is valid? [True, True] Translation: X:-23.75, Y:3.14, Z:-0.45 [[ 9.75146847e-01 1.28922896e-01 -1.80187442e-01 -2.37477057e+01] [-1.26743267e-01 9.91654604e-01 2.36070066e-02 3.13606214e+00] [ 1.81727190e-01 -1.82752859e-04 9.83348969e-01 -4.52991962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.465285570000002 meters Centerline goodness [0,1] 0.9966656880426121 Centerline is valid? [True, True] Translation: X:-23.77, Y:3.15, Z:-0.46 [[ 9.74065208e-01 1.27100283e-01 -1.87196391e-01 -2.37741606e+01] [-1.24703094e-01 9.91889694e-01 2.45758742e-02 3.14521020e+00] [ 1.88801772e-01 -5.94534804e-04 9.82015039e-01 -4.60705827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.495285570000004 meters Centerline goodness [0,1] 0.9967818109627401 Centerline is valid? [True, True] Translation: X:-23.80, Y:3.16, Z:-0.46 [[ 9.74265701e-01 1.26908823e-01 -1.86280686e-01 -2.38011198e+01] [-1.24524307e-01 9.91914162e-01 2.44947447e-02 3.15604013e+00] [ 1.87883049e-01 -6.67916271e-04 9.82191180e-01 -4.64455555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.525285570000005 meters Centerline goodness [0,1] 0.9960528788923 Centerline is valid? [True, True] Translation: X:-23.83, Y:3.17, Z:-0.46 [[ 9.74300357e-01 1.30404942e-01 -1.83666453e-01 -2.38280006e+01] [-1.28139375e-01 9.91460816e-01 2.42023008e-02 3.16746788e+00] [ 1.85254191e-01 -4.54057415e-05 9.82690634e-01 -4.64817806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.555285570000002 meters Centerline goodness [0,1] 0.9972981960262699 Centerline is valid? [True, True] Translation: X:-23.85, Y:3.18, Z:-0.48 [[ 9.73165405e-01 1.36988649e-01 -1.84887002e-01 -2.38530112e+01] [-1.34800599e-01 9.90571933e-01 2.44140007e-02 3.17977747e+00] [ 1.86488316e-01 1.16401778e-03 9.82456489e-01 -4.76062973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.585285570000003 meters Centerline goodness [0,1] 0.9959627910848439 Centerline is valid? [True, True] Translation: X:-23.88, Y:3.19, Z:-0.48 [[ 9.73394326e-01 1.37317750e-01 -1.83432065e-01 -2.38810201e+01] [-1.35160748e-01 9.90526362e-01 2.42713666e-02 3.18548622e+00] [ 1.85027185e-01 1.16720446e-03 9.82732710e-01 -4.80820169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.615285570000005 meters Centerline goodness [0,1] 0.995892333732403 Centerline is valid? [True, True] Translation: X:-23.91, Y:3.20, Z:-0.48 [[ 9.74334039e-01 1.38341875e-01 -1.77580143e-01 -2.39086796e+01] [-1.36330397e-01 9.90383715e-01 2.35397560e-02 3.19777592e+00] [ 1.79129015e-01 1.27398585e-03 9.83824767e-01 -4.77631543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.645285570000002 meters Centerline goodness [0,1] 0.9965806263291772 Centerline is valid? [True, True] Translation: X:-23.94, Y:3.21, Z:-0.48 [[ 9.74800279e-01 1.35571496e-01 -1.77157517e-01 -2.39351815e+01] [-1.33515661e-01 9.90767308e-01 2.35310528e-02 3.20740108e+00] [ 1.78712016e-01 7.15226066e-04 9.83901166e-01 -4.77419528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.675285570000003 meters Centerline goodness [0,1] 0.9967556253270539 Centerline is valid? [True, True] Translation: X:-23.96, Y:3.21, Z:-0.49 [[ 9.74277452e-01 1.31815806e-01 -1.82778662e-01 -2.39605222e+01] [-1.29550928e-01 9.91274227e-01 2.43303227e-02 3.21118242e+00] [ 1.84390898e-01 -2.53396360e-05 9.82852988e-01 -4.94984746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.705285570000004 meters Centerline goodness [0,1] 0.99651596847781 Centerline is valid? [True, True] Translation: X:-23.99, Y:3.22, Z:-0.50 [[ 9.74709145e-01 1.26284348e-01 -1.84375560e-01 -2.39880878e+01] [-1.23872029e-01 9.91993440e-01 2.45913604e-02 3.21515881e+00] [ 1.86004850e-01 -1.13044918e-03 9.82548176e-01 -5.01502112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.735285570000002 meters Centerline goodness [0,1] 0.996309963099631 Centerline is valid? [True, True] Translation: X:-24.02, Y:3.23, Z:-0.49 [[ 9.76124403e-01 1.25693847e-01 -1.77150236e-01 -2.40174772e+01] [-1.23453508e-01 9.92068325e-01 2.36573346e-02 3.22567878e+00] [ 1.78718719e-01 -1.22268343e-03 9.83899448e-01 -4.92333878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.765285570000003 meters Centerline goodness [0,1] 0.998086999916826 Centerline is valid? [True, True] Translation: X:-24.05, Y:3.23, Z:-0.49 [[ 9.76769099e-01 1.25387570e-01 -1.73781718e-01 -2.40458376e+01] [-1.23219955e-01 9.92106988e-01 2.32500879e-02 3.23357551e+00] [ 1.75325328e-01 -1.29659210e-03 9.84509699e-01 -4.90333961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.795285570000004 meters Centerline goodness [0,1] 0.9968045849052714 Centerline is valid? [True, True] Translation: X:-24.07, Y:3.24, Z:-0.50 [[ 9.75994381e-01 1.22060856e-01 -1.80377703e-01 -2.40722507e+01] [-1.19659347e-01 9.92520576e-01 2.41773867e-02 3.23705137e+00] [ 1.81979694e-01 -2.01311549e-03 9.83300228e-01 -5.04283374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.825285570000005 meters Centerline goodness [0,1] 0.9964547141873996 Centerline is valid? [True, True] Translation: X:-24.10, Y:3.25, Z:-0.51 [[ 9.75958229e-01 1.19354268e-01 -1.82373502e-01 -2.40975813e+01] [-1.16843905e-01 9.92848353e-01 2.44877580e-02 3.25065662e+00] [ 1.83991949e-01 -2.58979688e-03 9.82924339e-01 -5.08708449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.855285570000003 meters Centerline goodness [0,1] 0.9970485533754573 Centerline is valid? [True, True] Translation: X:-24.12, Y:3.27, Z:-0.51 [[ 9.75514279e-01 1.19844433e-01 -1.84415841e-01 -2.41242818e+01] [-1.17279409e-01 9.92789384e-01 2.47947402e-02 3.26740473e+00] [ 1.86057601e-01 -2.55944229e-03 9.82535505e-01 -5.10230935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.885285570000004 meters Centerline goodness [0,1] 0.9967979837626789 Centerline is valid? [True, True] Translation: X:-24.15, Y:3.29, Z:-0.51 [[ 9.76168764e-01 1.22231196e-01 -1.79315583e-01 -2.41492163e+01] [-1.19839137e-01 9.92499456e-01 2.41539116e-02 3.28847247e+00] [ 1.80922980e-01 -2.08926928e-03 9.83495048e-01 -5.08191740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.915285570000005 meters Centerline goodness [0,1] 0.997592561846256 Centerline is valid? [True, True] Translation: X:-24.18, Y:3.30, Z:-0.51 [[ 9.75878968e-01 1.27901631e-01 -1.76922051e-01 -2.41761842e+01] [-1.25659406e-01 9.91786292e-01 2.38676417e-02 3.30233454e+00] [ 1.78521575e-01 -1.06000970e-03 9.83935427e-01 -5.09803482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.945285570000003 meters Centerline goodness [0,1] 0.9972300886785043 Centerline is valid? [True, True] Translation: X:-24.20, Y:3.31, Z:-0.52 [[ 9.75181347e-01 1.29695422e-01 -1.79444806e-01 -2.42010373e+01] [-1.27409822e-01 9.91553566e-01 2.42541240e-02 3.31421719e+00] [ 1.81074786e-01 -7.89138631e-04 9.83469013e-01 -5.17279418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.975285570000004 meters Centerline goodness [0,1] 0.9965829312237248 Centerline is valid? [True, True] Translation: X:-24.23, Y:3.33, Z:-0.52 [[ 9.74600730e-01 1.28694430e-01 -1.83278917e-01 -2.42275431e+01] [-1.26284666e-01 9.91683757e-01 2.48094455e-02 3.32716959e+00] [ 1.84947563e-01 -1.03398687e-03 9.82747847e-01 -5.21380342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.005285570000005 meters Centerline goodness [0,1] 0.9967043605429566 Centerline is valid? [True, True] Translation: X:-24.25, Y:3.34, Z:-0.52 [[ 9.74413439e-01 1.27468632e-01 -1.85122117e-01 -2.42541150e+01] [-1.24977761e-01 9.91841707e-01 2.51115108e-02 3.34315710e+00] [ 1.86812767e-01 -1.33284591e-03 9.82394632e-01 -5.22996187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.035285570000003 meters Centerline goodness [0,1] 0.9970896030713976 Centerline is valid? [True, True] Translation: X:-24.28, Y:3.36, Z:-0.52 [[ 9.75080814e-01 1.26758277e-01 -1.82070715e-01 -2.42815144e+01] [-1.24328150e-01 9.91932512e-01 2.47467754e-02 3.35854254e+00] [ 1.83738720e-01 -1.49359076e-03 9.82973983e-01 -5.22853278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.065285570000004 meters Centerline goodness [0,1] 0.997406100850799 Centerline is valid? [True, True] Translation: X:-24.31, Y:3.37, Z:-0.53 [[ 9.76042592e-01 1.25264123e-01 -1.77903789e-01 -2.43074053e+01] [-1.22912199e-01 9.92121836e-01 2.42250642e-02 3.37081605e+00] [ 1.79536765e-01 -1.77814868e-03 9.83749657e-01 -5.26484101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.095285570000005 meters Centerline goodness [0,1] 0.9958103729387241 Centerline is valid? [True, True] Translation: X:-24.33, Y:3.38, Z:-0.53 [[ 9.75758620e-01 1.25893860e-01 -1.79013554e-01 -2.43340420e+01] [-1.23513603e-01 9.92042220e-01 2.44258658e-02 3.38073735e+00] [ 1.80664070e-01 -1.72313998e-03 9.83543352e-01 -5.33126585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.125285570000003 meters Centerline goodness [0,1] 0.9975221969853396 Centerline is valid? [True, True] Translation: X:-24.36, Y:3.39, Z:-0.54 [[ 9.74980924e-01 1.26158298e-01 -1.83019893e-01 -2.43594808e+01] [-1.23664595e-01 9.92008557e-01 2.50218157e-02 3.39334741e+00] [ 1.84714009e-01 -1.76271202e-03 9.82790734e-01 -5.37096475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.155285570000004 meters Centerline goodness [0,1] 0.997970438098362 Centerline is valid? [True, True] Translation: X:-24.39, Y:3.41, Z:-0.54 [[ 9.74719341e-01 1.26131309e-01 -1.84426406e-01 -2.43859335e+01] [-1.23591742e-01 9.92011891e-01 2.52485389e-02 3.40795806e+00] [ 1.86137819e-01 -1.81665847e-03 9.82521965e-01 -5.36518165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.185285570000005 meters Centerline goodness [0,1] 0.9973597904333656 Centerline is valid? [True, True] Translation: X:-24.41, Y:3.42, Z:-0.54 [[ 9.74719440e-01 1.28070025e-01 -1.83084903e-01 -2.44117960e+01] [-1.25594795e-01 9.91764036e-01 2.51006831e-02 3.42321055e+00] [ 1.84791668e-01 -1.47161274e-03 9.82776614e-01 -5.38045130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.215285570000002 meters Centerline goodness [0,1] 0.9964276182068286 Centerline is valid? [True, True] Translation: X:-24.44, Y:3.43, Z:-0.54 [[ 9.75207090e-01 1.28668364e-01 -1.80043283e-01 -2.44391278e+01] [-1.26276818e-01 9.91686715e-01 2.47310463e-02 3.43255078e+00] [ 1.81728635e-01 -1.38259878e-03 9.83347747e-01 -5.41924648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.245285570000004 meters Centerline goodness [0,1] 0.9969886922320551 Centerline is valid? [True, True] Translation: X:-24.47, Y:3.44, Z:-0.54 [[ 9.75450623e-01 1.28162726e-01 -1.79082096e-01 -2.44655800e+01] [-1.25779740e-01 9.91751993e-01 2.46463158e-02 3.44097093e+00] [ 1.80763765e-01 -1.51636469e-03 9.83525374e-01 -5.43563961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.275285570000005 meters Centerline goodness [0,1] 0.9957266704833565 Centerline is valid? [True, True] Translation: X:-24.49, Y:3.45, Z:-0.55 [[ 9.74904492e-01 1.28966491e-01 -1.81463155e-01 -2.44918080e+01] [-1.26524417e-01 9.91647918e-01 2.50195693e-02 3.45077683e+00] [ 1.83174246e-01 -1.43217074e-03 9.83079419e-01 -5.50174365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.305285570000002 meters Centerline goodness [0,1] 0.9967209083083985 Centerline is valid? [True, True] Translation: X:-24.52, Y:3.47, Z:-0.55 [[ 9.75072393e-01 1.29090801e-01 -1.80469924e-01 -2.45174120e+01] [-1.26669042e-01 9.91631720e-01 2.49296255e-02 3.46774459e+00] [ 1.82177887e-01 -1.44823724e-03 9.83264522e-01 -5.50925436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.335285570000003 meters Centerline goodness [0,1] 0.9971332623474486 Centerline is valid? [True, True] Translation: X:-24.54, Y:3.48, Z:-0.55 [[ 9.75148129e-01 1.31143434e-01 -1.78570785e-01 -2.45444643e+01] [-1.28799037e-01 9.91362798e-01 2.47105473e-02 3.48461259e+00] [ 1.80269059e-01 -1.09669883e-03 9.83616726e-01 -5.48490807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.365285570000005 meters Centerline goodness [0,1] 0.996483049114628 Centerline is valid? [True, True] Translation: X:-24.57, Y:3.49, Z:-0.55 [[ 9.74979343e-01 1.32100322e-01 -1.78786984e-01 -2.45712251e+01] [-1.29757724e-01 9.91235880e-01 2.47863612e-02 3.49474298e+00] [ 1.80494360e-01 -9.67198054e-04 9.83575544e-01 -5.54411479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.395285570000002 meters Centerline goodness [0,1] 0.9965695035023932 Centerline is valid? [True, True] Translation: X:-24.60, Y:3.50, Z:-0.57 [[ 9.74233730e-01 1.33060696e-01 -1.82108458e-01 -2.45970650e+01] [-1.30636686e-01 9.91107522e-01 2.52969593e-02 3.49776714e+00] [ 1.83855094e-01 -8.55105551e-04 9.82952986e-01 -5.70624191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.425285570000003 meters Centerline goodness [0,1] 0.9956144844969977 Centerline is valid? [True, True] Translation: X:-24.62, Y:3.50, Z:-0.57 [[ 9.74215577e-01 1.32642811e-01 -1.82509985e-01 -2.46237906e+01] [-1.30191833e-01 9.91163416e-01 2.54002007e-02 3.50408190e+00] [ 1.84266374e-01 -9.83961751e-04 9.82875849e-01 -5.73720542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.455285570000004 meters Centerline goodness [0,1] 0.9959639418152018 Centerline is valid? [True, True] Translation: X:-24.65, Y:3.52, Z:-0.56 [[ 9.75244748e-01 1.31988347e-01 -1.77416905e-01 -2.46507414e+01] [-1.29655600e-01 9.91250641e-01 2.47303947e-02 3.52180821e+00] [ 1.79128745e-01 -1.11509225e-03 9.83825010e-01 -5.64806084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.485285570000002 meters Centerline goodness [0,1] 0.9963644579550589 Centerline is valid? [True, True] Translation: X:-24.68, Y:3.54, Z:-0.56 [[ 9.75626922e-01 1.32259831e-01 -1.75098392e-01 -2.46784556e+01] [-1.29986855e-01 9.91214490e-01 2.44387469e-02 3.54112402e+00] [ 1.76792328e-01 -1.08261011e-03 9.84247581e-01 -5.60229534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.515285570000003 meters Centerline goodness [0,1] 0.9965065680606345 Centerline is valid? [True, True] Translation: X:-24.70, Y:3.56, Z:-0.57 [[ 9.74725317e-01 1.30101059e-01 -1.81615724e-01 -2.47037319e+01] [-1.27607717e-01 9.91499479e-01 2.53979119e-02 3.55562903e+00] [ 1.83376191e-01 -1.58041980e-03 9.83041543e-01 -5.69700776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.545285570000004 meters Centerline goodness [0,1] 0.9957735787119674 Centerline is valid? [True, True] Translation: X:-24.73, Y:3.56, Z:-0.58 [[ 9.74556007e-01 1.28897535e-01 -1.83373977e-01 -2.47308584e+01] [-1.26324435e-01 9.91656142e-01 2.56950085e-02 3.55893052e+00] [ 1.85155954e-01 -1.87661080e-03 9.82707358e-01 -5.79189560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.575285570000005 meters Centerline goodness [0,1] 0.9972823289617261 Centerline is valid? [True, True] Translation: X:-24.76, Y:3.56, Z:-0.58 [[ 9.75483400e-01 1.25237781e-01 -1.80963078e-01 -2.47584684e+01] [-1.22661216e-01 9.92123388e-01 2.54049119e-02 3.56406440e+00] [ 1.82719357e-01 -2.58491858e-03 9.83161713e-01 -5.76025273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.605285570000003 meters Centerline goodness [0,1] 0.997013459886266 Centerline is valid? [True, True] Translation: X:-24.79, Y:3.58, Z:-0.57 [[ 9.76482716e-01 1.21857795e-01 -1.77854388e-01 -2.47864503e+01] [-1.19305809e-01 9.92542387e-01 2.50146581e-02 3.57544230e+00] [ 1.79576250e-01 -3.20731962e-03 9.83738829e-01 -5.74421804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.635285570000004 meters Centerline goodness [0,1] 0.997013459886266 Centerline is valid? [True, True] Translation: X:-24.81, Y:3.58, Z:-0.58 [[ 9.76450880e-01 1.22122898e-01 -1.77847339e-01 -2.48135036e+01] [-1.19566163e-01 9.92509796e-01 2.50646808e-02 3.57918311e+00] [ 1.79576198e-01 -3.20990569e-03 9.83738830e-01 -5.78870742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.665285570000005 meters Centerline goodness [0,1] 0.9968114212832486 Centerline is valid? [True, True] Translation: X:-24.84, Y:3.59, Z:-0.58 [[ 9.76448677e-01 1.19951156e-01 -1.79331261e-01 -2.48407658e+01] [-1.17305833e-01 9.92772938e-01 2.53226122e-02 3.59454886e+00] [ 1.81072699e-01 -3.68962827e-03 9.83462793e-01 -5.78124780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.695285570000003 meters Centerline goodness [0,1] 0.996323302865359 Centerline is valid? [True, True] Translation: X:-24.87, Y:3.61, Z:-0.58 [[ 9.76271130e-01 1.20046486e-01 -1.80231856e-01 -2.48660895e+01] [-1.17367487e-01 9.92761239e-01 2.54949899e-02 3.60600802e+00] [ 1.81987785e-01 -3.73666260e-03 9.83293691e-01 -5.84689270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.725285570000004 meters Centerline goodness [0,1] 0.9977166131819304 Centerline is valid? [True, True] Translation: X:-24.89, Y:3.61, Z:-0.59 [[ 9.76595578e-01 1.19674053e-01 -1.78715410e-01 -2.48930018e+01] [-1.17027034e-01 9.92805915e-01 2.53197170e-02 3.61140951e+00] [ 1.80459830e-01 -3.81258925e-03 9.83574966e-01 -5.91028146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.755285570000005 meters Centerline goodness [0,1] 0.9968855650035857 Centerline is valid? [True, True] Translation: X:-24.92, Y:3.62, Z:-0.59 [[ 9.76810508e-01 1.19702866e-01 -1.77517481e-01 -2.49198317e+01] [-1.17083501e-01 9.92802381e-01 2.51969343e-02 3.62237174e+00] [ 1.79255923e-01 -3.82826200e-03 9.83795029e-01 -5.91210863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.785285570000003 meters Centerline goodness [0,1] 0.9961147577858209 Centerline is valid? [True, True] Translation: X:-24.95, Y:3.63, Z:-0.60 [[ 9.76186219e-01 1.20089576e-01 -1.80662556e-01 -2.49466185e+01] [-1.17373527e-01 9.92755506e-01 2.56897097e-02 3.63480191e+00] [ 1.82438814e-01 -3.87293921e-03 9.83209581e-01 -5.97233805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.815285570000004 meters Centerline goodness [0,1] 0.9972006668999445 Centerline is valid? [True, True] Translation: X:-24.97, Y:3.65, Z:-0.60 [[ 9.75460123e-01 1.22244897e-01 -1.83122181e-01 -2.49739601e+01] [-1.19482343e-01 9.92493559e-01 2.60864761e-02 3.64537084e+00] [ 1.84936524e-01 -3.56645001e-03 9.82743996e-01 -6.00560002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.845285570000005 meters Centerline goodness [0,1] 0.9973493189788761 Centerline is valid? [True, True] Translation: X:-25.00, Y:3.65, Z:-0.61 [[ 9.75759078e-01 1.24759703e-01 -1.79803331e-01 -2.50011821e+01] [-1.22131449e-01 9.92182216e-01 2.56585296e-02 3.65433519e+00] [ 1.81598818e-01 -3.07690188e-03 9.83367887e-01 -6.07574730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.875285570000003 meters Centerline goodness [0,1] 0.9968942838583956 Centerline is valid? [True, True] Translation: X:-25.03, Y:3.67, Z:-0.60 [[ 9.76032750e-01 1.26303656e-01 -1.77221493e-01 -2.50292007e+01] [-1.23768787e-01 9.91987703e-01 2.53314834e-02 3.67215532e+00] [ 1.79001001e-01 -2.78986809e-03 9.83844936e-01 -5.97406256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.905285570000004 meters Centerline goodness [0,1] 0.9957055214723927 Centerline is valid? [True, True] Translation: X:-25.05, Y:3.70, Z:-0.60 [[ 9.75255607e-01 1.29917047e-01 -1.78880022e-01 -2.50546328e+01] [-1.27386705e-01 9.91522450e-01 2.56097400e-02 3.69597283e+00] [ 1.80690700e-01 -2.18910590e-03 9.83537533e-01 -5.99314248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.935285570000005 meters Centerline goodness [0,1] 0.9953645088829896 Centerline is valid? [True, True] Translation: X:-25.08, Y:3.70, Z:-0.61 [[ 9.75336786e-01 1.30416218e-01 -1.78072354e-01 -2.50819089e+01] [-1.27908444e-01 9.91457035e-01 2.55416735e-02 3.70074418e+00] [ 1.79882137e-01 -2.13477598e-03 9.83685854e-01 -6.07360238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.965285570000002 meters Centerline goodness [0,1] 0.9964705402317611 Centerline is valid? [True, True] Translation: X:-25.11, Y:3.70, Z:-0.62 [[ 9.75122693e-01 1.31764140e-01 -1.78252475e-01 -2.51085727e+01] [-1.29264803e-01 9.91279205e-01 2.56154003e-02 3.70275699e+00] [ 1.80073162e-01 -1.93638703e-03 9.83651314e-01 -6.16100960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.995285570000004 meters Centerline goodness [0,1] 0.9966014945234927 Centerline is valid? [True, True] Translation: X:-25.14, Y:3.71, Z:-0.62 [[ 9.75028792e-01 1.30324235e-01 -1.79817821e-01 -2.51361438e+01] [-1.27747323e-01 9.91468830e-01 2.58878623e-02 3.70597756e+00] [ 1.81657581e-01 -2.27016591e-03 9.83359227e-01 -6.15201214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.025285570000005 meters Centerline goodness [0,1] 0.9963895214064455 Centerline is valid? [True, True] Translation: X:-25.16, Y:3.73, Z:-0.61 [[ 9.75109585e-01 1.29414143e-01 -1.80036875e-01 -2.51615622e+01] [-1.26809470e-01 9.91587541e-01 2.59520259e-02 3.72668970e+00] [ 1.81880881e-01 -2.47568840e-03 9.83317454e-01 -6.11697907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.055285570000002 meters Centerline goodness [0,1] 0.9961021203648905 Centerline is valid? [True, True] Translation: X:-25.19, Y:3.74, Z:-0.61 [[ 9.75850133e-01 1.27783453e-01 -1.77166325e-01 -2.51887243e+01] [-1.25227830e-01 9.91798208e-01 2.55793808e-02 3.73982260e+00] [ 1.78981866e-01 -2.77548759e-03 9.83848458e-01 -6.11719385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.085285570000003 meters Centerline goodness [0,1] 0.9968550890377389 Centerline is valid? [True, True] Translation: X:-25.22, Y:3.74, Z:-0.62 [[ 9.76155982e-01 1.27742064e-01 -1.75503461e-01 -2.52158982e+01] [-1.25225337e-01 9.91803458e-01 2.53872981e-02 3.74454944e+00] [ 1.77307965e-01 -2.80448286e-03 9.84151421e-01 -6.18344306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.115285570000005 meters Centerline goodness [0,1] 0.9966419591301855 Centerline is valid? [True, True] Translation: X:-25.24, Y:3.75, Z:-0.63 [[ 9.75826105e-01 1.26677721e-01 -1.78090338e-01 -2.52419322e+01] [-1.24059614e-01 9.91939117e-01 2.58069965e-02 3.74961114e+00] [ 1.79923944e-01 -3.08932225e-03 9.83675673e-01 -6.25602871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.145285570000002 meters Centerline goodness [0,1] 0.9958887102354833 Centerline is valid? [True, True] Translation: X:-25.27, Y:3.76, Z:-0.62 [[ 9.75736022e-01 1.24679728e-01 -1.79983833e-01 -2.52702918e+01] [-1.21965493e-01 9.92190768e-01 2.61131787e-02 3.75633088e+00] [ 1.81834082e-01 -3.52775207e-03 9.83322898e-01 -6.23775490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.175285570000003 meters Centerline goodness [0,1] 0.9959314687602224 Centerline is valid? [True, True] Translation: X:-25.30, Y:3.77, Z:-0.62 [[ 9.75842523e-01 1.23082106e-01 -1.80505308e-01 -2.52973658e+01] [-1.20315623e-01 9.92388878e-01 2.62386342e-02 3.77143935e+00] [ 1.82360966e-01 -3.88716656e-03 9.83223966e-01 -6.24722591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.205285570000004 meters Centerline goodness [0,1] 0.9960267070822922 Centerline is valid? [True, True] Translation: X:-25.32, Y:3.78, Z:-0.62 [[ 9.76213548e-01 1.22094446e-01 -1.79164885e-01 -2.53230872e+01] [-1.19344242e-01 9.92510069e-01 2.60904981e-02 3.78459697e+00] [ 1.81008457e-01 -4.08760037e-03 9.83473045e-01 -6.22498040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.235285570000006 meters Centerline goodness [0,1] 0.9955652742581542 Centerline is valid? [True, True] Translation: X:-25.35, Y:3.79, Z:-0.63 [[ 9.76990345e-01 1.19787471e-01 -1.76467641e-01 -2.53508841e+01] [-1.17075025e-01 9.92789407e-01 2.57416212e-02 3.78774228e+00] [ 1.78278729e-01 -4.48936181e-03 9.83969786e-01 -6.28238588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.265285570000003 meters Centerline goodness [0,1] 0.9957838564474408 Centerline is valid? [True, True] Translation: X:-25.38, Y:3.80, Z:-0.63 [[ 9.77013574e-01 1.18956173e-01 -1.76900834e-01 -2.53781668e+01] [-1.16207837e-01 9.92888371e-01 2.58538443e-02 3.79500362e+00] [ 1.78718255e-01 -4.70229354e-03 9.83889056e-01 -6.30857184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.295285570000004 meters Centerline goodness [0,1] 0.9953951792008802 Centerline is valid? [True, True] Translation: X:-25.40, Y:3.80, Z:-0.64 [[ 9.76825607e-01 1.19362656e-01 -1.77663420e-01 -2.54045250e+01] [-1.16588276e-01 9.92839613e-01 2.60130037e-02 3.80491437e+00] [ 1.79496262e-01 -4.69669618e-03 9.83747444e-01 -6.35145280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.325285570000005 meters Centerline goodness [0,1] 0.9951496871752022 Centerline is valid? [True, True] Translation: X:-25.43, Y:3.83, Z:-0.64 [[ 9.76659074e-01 1.18400106e-01 -1.79216263e-01 -2.54288741e+01] [-1.15551627e-01 9.92953552e-01 2.62881289e-02 3.82815816e+00] [ 1.81065942e-01 -4.96580883e-03 9.83458421e-01 -6.35112825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.355285570000003 meters Centerline goodness [0,1] 0.995590126783855 Centerline is valid? [True, True] Translation: X:-25.46, Y:3.83, Z:-0.64 [[ 9.76703754e-01 1.19404217e-01 -1.78304260e-01 -2.54568405e+01] [-1.16595962e-01 9.92834192e-01 2.61848832e-02 3.83226329e+00] [ 1.80153152e-01 -4.78531700e-03 9.83626933e-01 -6.41246831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.385285570000004 meters Centerline goodness [0,1] 0.9959041572803604 Centerline is valid? [True, True] Translation: X:-25.49, Y:3.83, Z:-0.64 [[ 9.76735594e-01 1.20103873e-01 -1.77658773e-01 -2.54850834e+01] [-1.17319659e-01 9.92750286e-01 2.61336265e-02 3.83454886e+00] [ 1.79509547e-01 -4.68277663e-03 9.83745086e-01 -6.44709874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.415285570000005 meters Centerline goodness [0,1] 0.9969856665367974 Centerline is valid? [True, True] Translation: X:-25.51, Y:3.85, Z:-0.65 [[ 9.76623740e-01 1.22348201e-01 -1.76739888e-01 -2.55121605e+01] [-1.19621228e-01 9.92477953e-01 2.60437028e-02 3.84533394e+00] [ 1.78596843e-01 -4.29305607e-03 9.83912973e-01 -6.48428020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.445285570000003 meters Centerline goodness [0,1] 0.9969396498959481 Centerline is valid? [True, True] Translation: X:-25.54, Y:3.86, Z:-0.65 [[ 9.76491244e-01 1.24332751e-01 -1.76085826e-01 -2.55391424e+01] [-1.21653355e-01 9.92232750e-01 2.59736513e-02 3.86486808e+00] [ 1.77947499e-01 -3.94161162e-03 9.84032089e-01 -6.49048006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.475285570000004 meters Centerline goodness [0,1] 0.9964859232623707 Centerline is valid? [True, True] Translation: X:-25.57, Y:3.88, Z:-0.66 [[ 9.75886885e-01 1.26440041e-01 -1.77926119e-01 -2.55653038e+01] [-1.23730531e-01 9.91967574e-01 2.62885404e-02 3.87852814e+00] [ 1.79820865e-01 -3.63974855e-03 9.83692639e-01 -6.55485389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.505285570000005 meters Centerline goodness [0,1] 0.9961609148458239 Centerline is valid? [True, True] Translation: X:-25.59, Y:3.89, Z:-0.66 [[ 9.75414809e-01 1.29167844e-01 -1.78554246e-01 -2.55921404e+01] [-1.26475694e-01 9.91617596e-01 2.64280580e-02 3.88888946e+00] [ 1.80471187e-01 -3.19554687e-03 9.83575081e-01 -6.59184450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.535285570000003 meters Centerline goodness [0,1] 0.9962295683365263 Centerline is valid? [True, True] Translation: X:-25.62, Y:3.89, Z:-0.67 [[ 9.75498338e-01 1.31355313e-01 -1.76490154e-01 -2.56203054e+01] [-1.28756165e-01 9.91331440e-01 2.61500488e-02 3.89376280e+00] [ 1.78395187e-01 -2.78513371e-03 9.83954979e-01 -6.65625119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.565285570000004 meters Centerline goodness [0,1] 0.9967766942755723 Centerline is valid? [True, True] Translation: X:-25.65, Y:3.91, Z:-0.66 [[ 9.75585303e-01 1.31554487e-01 -1.75859981e-01 -2.56469390e+01] [-1.28969986e-01 9.91305046e-01 2.60969223e-02 3.90796561e+00] [ 1.77764053e-01 -2.77911463e-03 9.84069214e-01 -6.64249256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.595285570000005 meters Centerline goodness [0,1] 0.9960468670402445 Centerline is valid? [True, True] Translation: X:-25.67, Y:3.92, Z:-0.67 [[ 9.75553833e-01 1.30662741e-01 -1.76697386e-01 -2.56729641e+01] [-1.28034399e-01 9.91422394e-01 2.62455397e-02 3.92224176e+00] [ 1.78611060e-01 -2.98059321e-03 9.83915243e-01 -6.67270388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.625285570000003 meters Centerline goodness [0,1] 0.9967035891976004 Centerline is valid? [True, True] Translation: X:-25.70, Y:3.93, Z:-0.67 [[ 9.75803781e-01 1.29044329e-01 -1.76506496e-01 -2.57006763e+01] [-1.26386890e-01 9.91633266e-01 2.62644387e-02 3.93057439e+00] [ 1.78418989e-01 -3.32083159e-03 9.83949001e-01 -6.70068827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.655285570000004 meters Centerline goodness [0,1] 0.9957749339833435 Centerline is valid? [True, True] Translation: X:-25.73, Y:3.93, Z:-0.67 [[ 9.76201593e-01 1.29243256e-01 -1.74145432e-01 -2.57294602e+01] [-1.26652562e-01 9.91607486e-01 2.59561640e-02 3.93172239e+00] [ 1.76038573e-01 -3.28248363e-03 9.84377796e-01 -6.74250555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.685285570000005 meters Centerline goodness [0,1] 0.9960275423728814 Centerline is valid? [True, True] Translation: X:-25.76, Y:3.94, Z:-0.68 [[ 9.76088925e-01 1.29671620e-01 -1.74458252e-01 -2.57555500e+01] [-1.27070922e-01 9.91551658e-01 2.60440006e-02 3.93825871e+00] [ 1.76361537e-01 -3.25268971e-03 9.84320084e-01 -6.75909957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.715285570000002 meters Centerline goodness [0,1] 0.9964232427902794 Centerline is valid? [True, True] Translation: X:-25.78, Y:3.95, Z:-0.68 [[ 9.76090366e-01 1.29992581e-01 -1.74211154e-01 -2.57813639e+01] [-1.27398609e-01 9.91509730e-01 2.60394007e-02 3.95454948e+00] [ 1.76116983e-01 -3.22254954e-03 9.84363969e-01 -6.75541478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.745285570000004 meters Centerline goodness [0,1] 0.9960297969875573 Centerline is valid? [True, True] Translation: X:-25.81, Y:3.97, Z:-0.68 [[ 9.75918815e-01 1.30064738e-01 -1.75116049e-01 -2.58081373e+01] [-1.27439175e-01 9.91500153e-01 2.62050131e-02 3.96638280e+00] [ 1.77035937e-01 -3.25732052e-03 9.84198998e-01 -6.80911330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.775285570000005 meters Centerline goodness [0,1] 0.9959627518208192 Centerline is valid? [True, True] Translation: X:-25.84, Y:3.97, Z:-0.69 [[ 9.76259982e-01 1.28417243e-01 -1.74428950e-01 -2.58355926e+01] [-1.25778264e-01 9.91713741e-01 2.61473684e-02 3.97418808e+00] [ 1.76341359e-01 -3.58725891e-03 9.84322537e-01 -6.86019259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.805285570000002 meters Centerline goodness [0,1] 0.9965385241896074 Centerline is valid? [True, True] Translation: X:-25.86, Y:3.98, Z:-0.69 [[ 9.76663361e-01 1.27878764e-01 -1.72556368e-01 -2.58632979e+01] [-1.25280934e-01 9.91782958e-01 2.59085263e-02 3.97946565e+00] [ 1.74451615e-01 -3.68588558e-03 9.84658849e-01 -6.90110505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.835285570000003 meters Centerline goodness [0,1] 0.9973288746610117 Centerline is valid? [True, True] Translation: X:-25.89, Y:3.99, Z:-0.69 [[ 9.76396558e-01 1.28861583e-01 -1.73333358e-01 -2.58901937e+01] [-1.26247821e-01 9.91656165e-01 2.60679492e-02 3.98835658e+00] [ 1.75246250e-01 -3.56969710e-03 9.84518161e-01 -6.92007160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.865285570000005 meters Centerline goodness [0,1] 0.9960524977108556 Centerline is valid? [True, True] Translation: X:-25.92, Y:4.00, Z:-0.69 [[ 9.75765636e-01 1.30370608e-01 -1.75741084e-01 -2.59174354e+01] [-1.27698522e-01 9.91459520e-01 2.64784480e-02 4.00069414e+00] [ 1.77692182e-01 -3.39488299e-03 9.84080263e-01 -6.92741198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.895285570000002 meters Centerline goodness [0,1] 0.9965991272459077 Centerline is valid? [True, True] Translation: X:-25.94, Y:4.01, Z:-0.70 [[ 9.75584014e-01 1.27366744e-01 -1.78923291e-01 -2.59435608e+01] [-1.24537401e-01 9.91847373e-01 2.70041583e-02 4.00943892e+00] [ 1.80904027e-01 -4.06218361e-03 9.83492365e-01 -7.00114833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.925285570000003 meters Centerline goodness [0,1] 0.9968842276753894 Centerline is valid? [True, True] Translation: X:-25.97, Y:4.01, Z:-0.71 [[ 9.75949788e-01 1.23362714e-01 -1.79732167e-01 -2.59710376e+01] [-1.20431202e-01 9.92349671e-01 2.71745574e-02 4.00879635e+00] [ 1.81709484e-01 -4.87564245e-03 9.83340171e-01 -7.09492794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.955285570000004 meters Centerline goodness [0,1] 0.9974076342110635 Centerline is valid? [True, True] Translation: X:-26.00, Y:4.02, Z:-0.71 [[ 9.76805582e-01 1.20963968e-01 -1.76687786e-01 -2.59982544e+01] [-1.18084358e-01 9.92642870e-01 2.67622346e-02 4.01581055e+00] [ 1.78625137e-01 -5.27743629e-03 9.83903049e-01 -7.09163801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.985285570000006 meters Centerline goodness [0,1] 0.9975587427525175 Centerline is valid? [True, True] Translation: X:-26.02, Y:4.03, Z:-0.71 [[ 9.77374964e-01 1.21278844e-01 -1.73290571e-01 -2.60247945e+01] [-1.18508120e-01 9.92605092e-01 2.62860746e-02 4.03448371e+00] [ 1.75197048e-01 -5.15501155e-03 9.84519893e-01 -7.06988821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.015285570000003 meters Centerline goodness [0,1] 0.9970595988887312 Centerline is valid? [True, True] Translation: X:-26.05, Y:4.04, Z:-0.71 [[ 9.77295188e-01 1.22827807e-01 -1.72648326e-01 -2.60513728e+01] [-1.20095963e-01 9.92415942e-01 2.62213191e-02 4.04344149e+00] [ 1.74559659e-01 -4.89160203e-03 9.84634449e-01 -7.14185308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.045285570000004 meters Centerline goodness [0,1] 0.9970496072925569 Centerline is valid? [True, True] Translation: X:-26.08, Y:4.06, Z:-0.71 [[ 9.77003863e-01 1.24215935e-01 -1.73302780e-01 -2.60781976e+01] [-1.21479624e-01 9.92244121e-01 2.63496578e-02 4.05548260e+00] [ 1.75231712e-01 -4.69096093e-03 9.84516045e-01 -7.14968987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.075285570000005 meters Centerline goodness [0,1] 0.9979630497219563 Centerline is valid? [True, True] Translation: X:-26.10, Y:4.07, Z:-0.72 [[ 9.76535142e-01 1.27599642e-01 -1.73486159e-01 -2.61043233e+01] [-1.24906095e-01 9.91817230e-01 2.64017146e-02 4.06807874e+00] [ 1.75435411e-01 -4.11272351e-03 9.84482352e-01 -7.22708210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.105285570000003 meters Centerline goodness [0,1] 0.9967877691259885 Centerline is valid? [True, True] Translation: X:-26.13, Y:4.08, Z:-0.73 [[ 9.76391002e-01 1.29837153e-01 -1.72635237e-01 -2.61310675e+01] [-1.27197747e-01 9.91528306e-01 2.63125665e-02 4.08001679e+00] [ 1.74589073e-01 -3.73253992e-03 9.84634310e-01 -7.26022039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.135285570000004 meters Centerline goodness [0,1] 0.9971631780511033 Centerline is valid? [True, True] Translation: X:-26.16, Y:4.09, Z:-0.73 [[ 9.76428213e-01 1.32394992e-01 -1.70468506e-01 -2.61590629e+01] [-1.29854946e-01 9.91191657e-01 2.60152358e-02 4.09144557e+00] [ 1.72411248e-01 -3.26583144e-03 9.85019642e-01 -7.27502319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.165285570000005 meters Centerline goodness [0,1] 0.9974660450030407 Centerline is valid? [True, True] Translation: X:-26.19, Y:4.11, Z:-0.73 [[ 9.75842361e-01 1.34836796e-01 -1.71903245e-01 -2.61856394e+01] [-1.32283930e-01 9.90863579e-01 2.62741272e-02 4.10712517e+00] [ 1.73875384e-01 -2.89936953e-03 9.84763395e-01 -7.27056435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.195285570000003 meters Centerline goodness [0,1] 0.9957841140529532 Centerline is valid? [True, True] Translation: X:-26.21, Y:4.12, Z:-0.73 [[ 9.75335303e-01 1.36476464e-01 -1.73479743e-01 -2.62116034e+01] [-1.33897321e-01 9.90639750e-01 2.65404235e-02 4.11772723e+00] [ 1.75478072e-01 -2.65733916e-03 9.84479753e-01 -7.31488823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.225285570000004 meters Centerline goodness [0,1] 0.9969179270508032 Centerline is valid? [True, True] Translation: X:-26.24, Y:4.13, Z:-0.74 [[ 9.75321175e-01 1.36512716e-01 -1.73530646e-01 -2.62365360e+01] [-1.33924146e-01 9.90634641e-01 2.65957031e-02 4.12926748e+00] [ 1.75536120e-01 -2.69940877e-03 9.84469290e-01 -7.37948535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.255285570000005 meters Centerline goodness [0,1] 0.9964728429293753 Centerline is valid? [True, True] Translation: X:-26.26, Y:4.14, Z:-0.74 [[ 9.75366569e-01 1.35906477e-01 -1.73751218e-01 -2.62644983e+01] [-1.33296655e-01 9.90717598e-01 2.66578708e-02 4.13610501e+00] [ 1.75761367e-01 -2.84073987e-03 9.84428703e-01 -7.38880300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.285285570000003 meters Centerline goodness [0,1] 0.9968898346701588 Centerline is valid? [True, True] Translation: X:-26.29, Y:4.14, Z:-0.74 [[ 9.75652446e-01 1.33200893e-01 -1.74240716e-01 -2.62921281e+01] [-1.30525885e-01 9.91083295e-01 2.67749211e-02 4.14340415e+00] [ 1.76253507e-01 -3.38009364e-03 9.84339005e-01 -7.37004442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.315285570000004 meters Centerline goodness [0,1] 0.9973344185573303 Centerline is valid? [True, True] Translation: X:-26.32, Y:4.15, Z:-0.74 [[ 9.75519803e-01 1.32492360e-01 -1.75518912e-01 -2.63200860e+01] [-1.29761317e-01 9.91177627e-01 2.69983925e-02 4.14996205e+00] [ 1.77547499e-01 -3.56190140e-03 9.84105786e-01 -7.41448154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.345285570000005 meters Centerline goodness [0,1] 0.9972054503916449 Centerline is valid? [True, True] Translation: X:-26.35, Y:4.16, Z:-0.74 [[ 9.75650793e-01 1.31680244e-01 -1.75401948e-01 -2.63468091e+01] [-1.28932050e-01 9.91285148e-01 2.70237206e-02 4.16319174e+00] [ 1.77431836e-01 -3.75078172e-03 9.84125945e-01 -7.42459689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.375285570000003 meters Centerline goodness [0,1] 0.997469439399196 Centerline is valid? [True, True] Translation: X:-26.37, Y:4.17, Z:-0.75 [[ 9.76090082e-01 1.30103989e-01 -1.74129559e-01 -2.63734331e+01] [-1.27363799e-01 9.91492091e-01 2.68681261e-02 4.16832828e+00] [ 1.76143731e-01 -4.04790913e-03 9.84356135e-01 -7.46817841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.405285570000004 meters Centerline goodness [0,1] 0.9965737455651292 Centerline is valid? [True, True] Translation: X:-26.40, Y:4.17, Z:-0.75 [[ 9.76195486e-01 1.29603148e-01 -1.73912039e-01 -2.64014600e+01] [-1.26858788e-01 9.91557257e-01 2.68524579e-02 4.17295703e+00] [ 1.75923908e-01 -4.15097772e-03 9.84395016e-01 -7.51088192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.435285570000005 meters Centerline goodness [0,1] 0.9965791777809452 Centerline is valid? [True, True] Translation: X:-26.43, Y:4.19, Z:-0.75 [[ 9.76471317e-01 1.24825437e-01 -1.75847598e-01 -2.64282663e+01] [-1.21934055e-01 9.92165537e-01 2.71962136e-02 4.18855823e+00] [ 1.77864706e-01 -5.11451174e-03 9.84041660e-01 -7.53147469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.465285570000002 meters Centerline goodness [0,1] 0.9973245103445458 Centerline is valid? [True, True] Translation: X:-26.46, Y:4.20, Z:-0.76 [[ 9.76390886e-01 1.24002303e-01 -1.76873588e-01 -2.64550014e+01] [-1.21055194e-01 9.92267554e-01 2.73996453e-02 4.20131781e+00] [ 1.78903542e-01 -5.34129753e-03 9.83852120e-01 -7.58613025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.495285570000004 meters Centerline goodness [0,1] 0.9964693877551021 Centerline is valid? [True, True] Translation: X:-26.48, Y:4.21, Z:-0.76 [[ 9.76270813e-01 1.25372403e-01 -1.76570271e-01 -2.64828143e+01] [-1.22449727e-01 9.92096512e-01 2.73966252e-02 4.21128901e+00] [ 1.78609531e-01 -5.12554407e-03 9.83906685e-01 -7.59402296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.525285570000005 meters Centerline goodness [0,1] 0.9973906307334774 Centerline is valid? [True, True] Translation: X:-26.51, Y:4.22, Z:-0.76 [[ 9.76344353e-01 1.27729145e-01 -1.74461946e-01 -2.65106491e+01] [-1.24906140e-01 9.91798046e-01 2.71125707e-02 4.22175305e+00] [ 1.76494083e-01 -4.67983703e-03 9.84290576e-01 -7.62241273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.555285570000002 meters Centerline goodness [0,1] 0.9973906307334774 Centerline is valid? [True, True] Translation: X:-26.54, Y:4.23, Z:-0.77 [[ 9.76309444e-01 1.28004798e-01 -1.74455269e-01 -2.65375526e+01] [-1.25178496e-01 9.91762534e-01 2.71554705e-02 4.22584839e+00] [ 1.76494230e-01 -4.67409405e-03 9.84290577e-01 -7.66694272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.585285570000003 meters Centerline goodness [0,1] 0.9974063867725725 Centerline is valid? [True, True] Translation: X:-26.56, Y:4.24, Z:-0.77 [[ 9.76668805e-01 1.30114105e-01 -1.70846025e-01 -2.65646589e+01] [-1.27428572e-01 9.91489928e-01 2.66398539e-02 4.23726595e+00] [ 1.72858334e-01 -4.24764923e-03 9.84937538e-01 -7.68825586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.615285570000005 meters Centerline goodness [0,1] 0.997397210134613 Centerline is valid? [True, True] Translation: X:-26.59, Y:4.25, Z:-0.77 [[ 9.76598552e-01 1.32326383e-01 -1.69543495e-01 -2.65909752e+01] [-1.29711278e-01 9.91198730e-01 2.64586765e-02 4.25117145e+00] [ 1.71552477e-01 -3.84780179e-03 9.85167469e-01 -7.72805009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.645285570000002 meters Centerline goodness [0,1] 0.9958405194278178 Centerline is valid? [True, True] Translation: X:-26.62, Y:4.27, Z:-0.78 [[ 9.75832397e-01 1.35181794e-01 -1.71688718e-01 -2.66157546e+01] [-1.32540662e-01 9.90814963e-01 2.68082413e-02 4.26816523e+00] [ 1.73735737e-01 -3.40461395e-03 9.84786425e-01 -7.79642936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.675285570000003 meters Centerline goodness [0,1] 0.997173201954529 Centerline is valid? [True, True] Translation: X:-26.64, Y:4.28, Z:-0.78 [[ 9.74766293e-01 1.36359542e-01 -1.76739215e-01 -2.66428858e+01] [-1.33575000e-01 9.90653883e-01 2.76152728e-02 4.28163376e+00] [ 1.78852996e-01 -3.31049631e-03 9.83870239e-01 -7.84518293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.705285570000004 meters Centerline goodness [0,1] 0.9971126474176495 Centerline is valid? [True, True] Translation: X:-26.67, Y:4.29, Z:-0.78 [[ 9.74947853e-01 1.37475299e-01 -1.74863451e-01 -2.66699080e+01] [-1.34760903e-01 9.90500310e-01 2.73612020e-02 4.29222333e+00] [ 1.76963791e-01 -3.11098869e-03 9.84212446e-01 -7.83862452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.735285570000006 meters Centerline goodness [0,1] 0.9967261118002319 Centerline is valid? [True, True] Translation: X:-26.70, Y:4.30, Z:-0.78 [[ 9.75587238e-01 1.38286708e-01 -1.70605764e-01 -2.66979538e+01] [-1.35711170e-01 9.90387936e-01 2.67247839e-02 4.29921635e+00] [ 1.72661573e-01 -2.91925030e-03 9.84976883e-01 -7.84667677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.765285570000003 meters Centerline goodness [0,1] 0.9965733287374035 Centerline is valid? [True, True] Translation: X:-26.72, Y:4.31, Z:-0.79 [[ 9.75829329e-01 1.38306731e-01 -1.69199199e-01 -2.67242721e+01] [-1.35766934e-01 9.90385100e-01 2.65460454e-02 4.31231794e+00] [ 1.71243862e-01 -2.93275323e-03 9.85224309e-01 -7.88280960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.795285570000004 meters Centerline goodness [0,1] 0.9968844814596103 Centerline is valid? [True, True] Translation: X:-26.75, Y:4.32, Z:-0.80 [[ 9.74881667e-01 1.37297888e-01 -1.75371107e-01 -2.67502334e+01] [-1.34546799e-01 9.90524462e-01 2.75399371e-02 4.32061475e+00] [ 1.77490546e-01 -3.25255883e-03 9.84117131e-01 -7.97270523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.825285570000005 meters Centerline goodness [0,1] 0.9959539687703318 Centerline is valid? [True, True] Translation: X:-26.78, Y:4.32, Z:-0.80 [[ 9.74652946e-01 1.35442474e-01 -1.78064517e-01 -2.67782393e+01] [-1.32565645e-01 9.90778315e-01 2.80121461e-02 4.32446782e+00] [ 1.80216496e-01 -3.69688317e-03 9.83620022e-01 -8.03336928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.855285570000003 meters Centerline goodness [0,1] 0.9978335070615406 Centerline is valid? [True, True] Translation: X:-26.81, Y:4.33, Z:-0.81 [[ 9.75035964e-01 1.33919334e-01 -1.77117141e-01 -2.68067866e+01] [-1.31040385e-01 9.90984159e-01 2.79072408e-02 4.32708355e+00] [ 1.79257600e-01 -4.00106506e-03 9.83794036e-01 -8.06710023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.885285570000004 meters Centerline goodness [0,1] 0.9977348325612717 Centerline is valid? [True, True] Translation: X:-26.83, Y:4.33, Z:-0.80 [[ 9.75976833e-01 1.31003357e-01 -1.74090038e-01 -2.68349894e+01] [-1.28169911e-01 9.91371728e-01 2.74694707e-02 4.33459197e+00] [ 1.76186535e-01 -4.49646235e-03 9.84346528e-01 -8.03878424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.915285570000005 meters Centerline goodness [0,1] 0.998797636030161 Centerline is valid? [True, True] Translation: X:-26.86, Y:4.35, Z:-0.81 [[ 9.76513976e-01 1.29739632e-01 -1.72011870e-01 -2.68602863e+01] [-1.26951914e-01 9.91537043e-01 2.71570338e-02 4.34629552e+00] [ 1.74079485e-01 -4.68198683e-03 9.84720474e-01 -8.07865988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.945285570000003 meters Centerline goodness [0,1] 0.9978622037625213 Centerline is valid? [True, True] Translation: X:-26.89, Y:4.35, Z:-0.81 [[ 9.76396879e-01 1.29356080e-01 -1.72962827e-01 -2.68883317e+01] [-1.26526431e-01 9.91586569e-01 2.73338449e-02 4.35427176e+00] [ 1.75043415e-01 -4.80431170e-03 9.84548994e-01 -8.12443156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.975285570000004 meters Centerline goodness [0,1] 0.9980015498185081 Centerline is valid? [True, True] Translation: X:-26.91, Y:4.37, Z:-0.81 [[ 9.76048397e-01 1.29884132e-01 -1.74526902e-01 -2.69144545e+01] [-1.27003583e-01 9.91517586e-01 2.76218587e-02 4.36616794e+00] [ 1.76634134e-01 -4.79472901e-03 9.84264900e-01 -8.14732531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.005285570000005 meters Centerline goodness [0,1] 0.9983482871125612 Centerline is valid? [True, True] Translation: X:-26.94, Y:4.37, Z:-0.82 [[ 9.75796361e-01 1.30486690e-01 -1.75484145e-01 -2.69414226e+01] [-1.27578457e-01 9.91438721e-01 2.78028750e-02 4.37137700e+00] [ 1.77609681e-01 -4.74194796e-03 9.84089587e-01 -8.19559229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.035285570000003 meters Centerline goodness [0,1] 0.9980738889002725 Centerline is valid? [True, True] Translation: X:-26.97, Y:4.38, Z:-0.82 [[ 9.75096799e-01 1.34602815e-01 -1.76262066e-01 -2.69682131e+01] [-1.31725823e-01 9.90891306e-01 2.79772645e-02 4.38277332e+00] [ 1.78422367e-01 -4.06227541e-03 9.83945607e-01 -8.24702649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.065285570000004 meters Centerline goodness [0,1] 0.9984494226139471 Centerline is valid? [True, True] Translation: X:-26.99, Y:4.39, Z:-0.83 [[ 9.75268352e-01 1.36298007e-01 -1.73995676e-01 -2.69940622e+01] [-1.33514879e-01 9.90660814e-01 2.76573466e-02 4.39448716e+00] [ 1.76140340e-01 -3.74232325e-03 9.84357951e-01 -8.26725552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.095285570000005 meters Centerline goodness [0,1] 0.9984726606251909 Centerline is valid? [True, True] Translation: X:-27.02, Y:4.42, Z:-0.83 [[ 9.74402822e-01 1.42219917e-01 -1.74105244e-01 -2.70200502e+01] [-1.39523215e-01 9.89831417e-01 2.76954774e-02 4.41642514e+00] [ 1.76273689e-01 -2.69482797e-03 9.84337505e-01 -8.28462274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.125285570000003 meters Centerline goodness [0,1] 0.997433913078897 Centerline is valid? [True, True] Translation: X:-27.05, Y:4.43, Z:-0.83 [[ 9.73812665e-01 1.46838779e-01 -1.73572081e-01 -2.70466077e+01] [-1.44223719e-01 9.89158620e-01 2.76539878e-02 4.42799684e+00] [ 1.75750998e-01 -1.89659252e-03 9.84432826e-01 -8.33878421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.155285570000004 meters Centerline goodness [0,1] 0.997370151216305 Centerline is valid? [True, True] Translation: X:-27.07, Y:4.44, Z:-0.84 [[ 9.73025359e-01 1.50968238e-01 -1.74442661e-01 -2.70738670e+01] [-1.48384718e-01 9.88537885e-01 2.78356777e-02 4.43632815e+00] [ 1.76645482e-01 -1.20019531e-03 9.84273810e-01 -8.36260720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.185285570000005 meters Centerline goodness [0,1] 0.9972379056826028 Centerline is valid? [True, True] Translation: X:-27.10, Y:4.45, Z:-0.84 [[ 9.72382159e-01 1.53372492e-01 -1.75925597e-01 -2.70997784e+01] [-1.50778324e-01 9.88168123e-01 2.81008321e-02 4.44683162e+00] [ 1.78153962e-01 -7.98981136e-04 9.84002301e-01 -8.44411149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.215285570000002 meters Centerline goodness [0,1] 0.9983517489774739 Centerline is valid? [True, True] Translation: X:-27.13, Y:4.46, Z:-0.85 [[ 9.71982779e-01 1.55600275e-01 -1.76176140e-01 -2.71250156e+01] [-1.53026273e-01 9.87820005e-01 2.81886170e-02 4.46131826e+00] [ 1.78416472e-01 -4.39272121e-04 9.83954963e-01 -8.48003978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.245285570000004 meters Centerline goodness [0,1] 0.9962435785498183 Centerline is valid? [True, True] Translation: X:-27.15, Y:4.47, Z:-0.85 [[ 9.71991523e-01 1.58613100e-01 -1.73419618e-01 -2.71525821e+01] [-1.56163243e-01 9.87340811e-01 2.77698622e-02 4.47499394e+00] [ 1.75628930e-01 8.96992294e-05 9.84456434e-01 -8.49518122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.275285570000005 meters Centerline goodness [0,1] 0.9979642108263268 Centerline is valid? [True, True] Translation: X:-27.18, Y:4.48, Z:-0.85 [[ 9.71798914e-01 1.60382828e-01 -1.72870526e-01 -2.71787830e+01] [-1.57969216e-01 9.87054818e-01 2.77220828e-02 4.48354337e+00] [ 1.75078832e-01 3.67931418e-04 9.84554350e-01 -8.52413917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.305285570000002 meters Centerline goodness [0,1] 0.997589229166241 Centerline is valid? [True, True] Translation: X:-27.21, Y:4.49, Z:-0.86 [[ 9.71490731e-01 1.60256842e-01 -1.74709773e-01 -2.72056123e+01] [-1.57785548e-01 9.87075294e-01 2.80371975e-02 4.48795717e+00] [ 1.76944853e-01 3.28799716e-04 9.84220713e-01 -8.58719267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.335285570000003 meters Centerline goodness [0,1] 0.9970515366817503 Centerline is valid? [True, True] Translation: X:-27.23, Y:4.49, Z:-0.87 [[ 9.71542396e-01 1.59185388e-01 -1.75400644e-01 -2.72330152e+01] [-1.56673547e-01 9.87248702e-01 2.81673703e-02 4.49129071e+00] [ 1.77647892e-01 1.14846619e-04 9.84094108e-01 -8.65238586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.365285570000005 meters Centerline goodness [0,1] 0.997532072854841 Centerline is valid? [True, True] Translation: X:-27.26, Y:4.49, Z:-0.87 [[ 9.71444050e-01 1.56557213e-01 -1.78287118e-01 -2.72606692e+01] [-1.53907817e-01 9.87668800e-01 2.86831798e-02 4.49377028e+00] [ 1.80579183e-01 -4.24323255e-04 9.83560358e-01 -8.74439820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.395285570000006 meters Centerline goodness [0,1] 0.9976533964535679 Centerline is valid? [True, True] Translation: X:-27.29, Y:4.50, Z:-0.88 [[ 9.72837072e-01 1.51120269e-01 -1.75358762e-01 -2.72893459e+01] [-1.48462407e-01 9.88514315e-01 2.82553098e-02 4.49531053e+00] [ 1.77614596e-01 -1.45362904e-03 9.84099051e-01 -8.76375978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.425285570000003 meters Centerline goodness [0,1] 0.9970567796263745 Centerline is valid? [True, True] Translation: X:-27.32, Y:4.50, Z:-0.87 [[ 9.73775682e-01 1.49126521e-01 -1.71820263e-01 -2.73179053e+01] [-1.46537697e-01 9.88816447e-01 2.77261293e-02 4.50352252e+00] [ 1.74033403e-01 -1.82088482e-03 9.84738066e-01 -8.70230359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.455285570000004 meters Centerline goodness [0,1] 0.9977411937079017 Centerline is valid? [True, True] Translation: X:-27.34, Y:4.51, Z:-0.88 [[ 9.74453946e-01 1.47532288e-01 -1.69333196e-01 -2.73438641e+01] [-1.44990184e-01 9.89055011e-01 2.73501725e-02 4.51093598e+00] [ 1.71514880e-01 -2.09983226e-03 9.85179292e-01 -8.76918923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.485285570000006 meters Centerline goodness [0,1] 0.9980602533794023 Centerline is valid? [True, True] Translation: X:-27.37, Y:4.51, Z:-0.89 [[ 9.74011400e-01 1.47990541e-01 -1.71466008e-01 -2.73713759e+01] [-1.45381647e-01 9.88986556e-01 2.77447060e-02 4.51494649e+00] [ 1.73683531e-01 -2.09564931e-03 9.84799289e-01 -8.85375739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.515285570000003 meters Centerline goodness [0,1] 0.9981923428455367 Centerline is valid? [True, True] Translation: X:-27.40, Y:4.52, Z:-0.89 [[ 9.73780154e-01 1.49176269e-01 -1.71751718e-01 -2.73978481e+01] [-1.46569486e-01 9.88808737e-01 2.78328594e-02 4.51672265e+00] [ 1.73981601e-01 -1.92952505e-03 9.84747013e-01 -8.92707451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.545285570000004 meters Centerline goodness [0,1] 0.9974217386008364 Centerline is valid? [True, True] Translation: X:-27.43, Y:4.52, Z:-0.90 [[ 9.73568584e-01 1.50491247e-01 -1.71803948e-01 -2.74269408e+01] [-1.47897990e-01 9.88609837e-01 2.78706616e-02 4.51960995e+00] [ 1.74041364e-01 -1.72454188e-03 9.84736833e-01 -8.95386456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.575285570000005 meters Centerline goodness [0,1] 0.9969358990072312 Centerline is valid? [True, True] Translation: X:-27.45, Y:4.53, Z:-0.89 [[ 9.72911386e-01 1.52663158e-01 -1.73601252e-01 -2.74535284e+01] [-1.50041157e-01 9.88277295e-01 2.82070693e-02 4.53325463e+00] [ 1.75872356e-01 -1.39564625e-03 9.84411990e-01 -8.92091878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.605285570000003 meters Centerline goodness [0,1] 0.9983490950595141 Centerline is valid? [True, True] Translation: X:-27.48, Y:4.55, Z:-0.90 [[ 9.72954871e-01 1.54739748e-01 -1.71506357e-01 -2.74792794e+01] [-1.52204611e-01 9.87954703e-01 2.79152580e-02 4.54762153e+00] [ 1.73760111e-01 -1.05622797e-03 9.84787443e-01 -8.98804995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.635285570000004 meters Centerline goodness [0,1] 0.9980440894829061 Centerline is valid? [True, True] Translation: X:-27.51, Y:4.56, Z:-0.91 [[ 9.72464877e-01 1.58522348e-01 -1.70829529e-01 -2.75064444e+01] [-1.56057629e-01 9.87355299e-01 2.78483366e-02 4.55910003e+00] [ 1.73084025e-01 -4.22277953e-04 9.84906971e-01 -9.05060450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.665285570000005 meters Centerline goodness [0,1] 0.9981225639246577 Centerline is valid? [True, True] Translation: X:-27.53, Y:4.56, Z:-0.91 [[ 9.71840656e-01 1.61102302e-01 -1.71964494e-01 -2.75343940e+01] [-1.58636783e-01 9.86937712e-01 2.80770870e-02 4.56430078e+00] [ 1.74241528e-01 -6.56045242e-06 9.84702945e-01 -9.07423941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.695285570000003 meters Centerline goodness [0,1] 0.9982569569711587 Centerline is valid? [True, True] Translation: X:-27.56, Y:4.57, Z:-0.91 [[ 9.71023813e-01 1.64223920e-01 -1.73618143e-01 -2.75614322e+01] [-1.61751160e-01 9.86422954e-01 2.83957435e-02 4.57047128e+00] [ 1.75924181e-01 5.09992738e-04 9.84403587e-01 -9.13944781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.725285570000004 meters Centerline goodness [0,1] 0.998226191204355 Centerline is valid? [True, True] Translation: X:-27.59, Y:4.58, Z:-0.92 [[ 9.70001223e-01 1.67808940e-01 -1.75891404e-01 -2.75874684e+01] [-1.65320608e-01 9.85818890e-01 2.88134108e-02 4.58347236e+00] [ 1.78232217e-01 1.12943018e-03 9.83987805e-01 -9.23554415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.755285570000005 meters Centerline goodness [0,1] 0.9979349403995175 Centerline is valid? [True, True] Translation: X:-27.62, Y:4.59, Z:-0.92 [[ 9.69425330e-01 1.68967272e-01 -1.77945472e-01 -2.76160848e+01] [-1.66430907e-01 9.85620789e-01 2.91961318e-02 4.59228325e+00] [ 1.80319947e-01 1.31215658e-03 9.83607134e-01 -9.24126085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.785285570000003 meters Centerline goodness [0,1] 0.9972210302621631 Centerline is valid? [True, True] Translation: X:-27.64, Y:4.60, Z:-0.93 [[ 9.69836090e-01 1.68506501e-01 -1.76134940e-01 -2.76441159e+01] [-1.66007304e-01 9.85699842e-01 2.89377920e-02 4.59753762e+00] [ 1.78492389e-01 1.17477151e-03 9.83940591e-01 -9.25726372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.815285570000004 meters Centerline goodness [0,1] 0.998207191606397 Centerline is valid? [True, True] Translation: X:-27.67, Y:4.60, Z:-0.92 [[ 9.70434293e-01 1.67333057e-01 -1.73945193e-01 -2.76732382e+01] [-1.64874109e-01 9.85899988e-01 2.85961932e-02 4.60340631e+00] [ 1.76277652e-01 9.28332119e-04 9.84340047e-01 -9.24624364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.845285570000005 meters Centerline goodness [0,1] 0.9980473914369978 Centerline is valid? [True, True] Translation: X:-27.70, Y:4.61, Z:-0.93 [[ 9.71038713e-01 1.66959512e-01 -1.70904476e-01 -2.77016636e+01] [-1.64573051e-01 9.85963427e-01 2.81395147e-02 4.60716011e+00] [ 1.73203722e-01 8.01713000e-04 9.84885693e-01 -9.29818142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.875285570000003 meters Centerline goodness [0,1] 0.9983712360282591 Centerline is valid? [True, True] Translation: X:-27.73, Y:4.61, Z:-0.94 [[ 9.71116444e-01 1.65975766e-01 -1.71420236e-01 -2.77294746e+01] [-1.63551712e-01 9.86129659e-01 2.82689457e-02 4.60946301e+00] [ 1.73734538e-01 5.83634894e-04 9.84792348e-01 -9.35068538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.905285570000004 meters Centerline goodness [0,1] 0.9986732256945153 Centerline is valid? [True, True] Translation: X:-27.76, Y:4.61, Z:-0.94 [[ 9.71678777e-01 1.62548186e-01 -1.71518053e-01 -2.77552700e+01] [-1.60059817e-01 9.86700604e-01 2.83332636e-02 4.61110283e+00] [ 1.73842487e-01 -7.76827853e-05 9.84773468e-01 -9.43124164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.935285570000005 meters Centerline goodness [0,1] 0.9984569781134527 Centerline is valid? [True, True] Translation: X:-27.78, Y:4.62, Z:-0.95 [[ 9.72342469e-01 1.58737958e-01 -1.71325374e-01 -2.77829620e+01] [-1.56192285e-01 9.87320439e-01 2.83252788e-02 4.61591097e+00] [ 1.73649340e-01 -7.82170034e-04 9.84807237e-01 -9.46611245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.965285570000002 meters Centerline goodness [0,1] 0.9980912930474334 Centerline is valid? [True, True] Translation: X:-27.81, Y:4.62, Z:-0.95 [[ 9.72333155e-01 1.57457982e-01 -1.72554975e-01 -2.78119424e+01] [-1.54846328e-01 9.87525109e-01 2.85792504e-02 4.62020745e+00] [ 1.74902401e-01 -1.06904846e-03 9.84585195e-01 -9.48828651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.995285570000004 meters Centerline goodness [0,1] 0.9978619425778864 Centerline is valid? [True, True] Translation: X:-27.84, Y:4.62, Z:-0.95 [[ 9.72650398e-01 1.56964830e-01 -1.71211113e-01 -2.78409466e+01] [-1.54378806e-01 9.87603474e-01 2.84000517e-02 4.62173857e+00] [ 1.73546500e-01 -1.19195442e-03 9.84824955e-01 -9.51210498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.025285570000005 meters Centerline goodness [0,1] 0.9984870788354596 Centerline is valid? [True, True] Translation: X:-27.87, Y:4.62, Z:-0.95 [[ 9.72563883e-01 1.56605420e-01 -1.72029751e-01 -2.78689799e+01] [-1.53981531e-01 9.87660389e-01 2.85769992e-02 4.62373260e+00] [ 1.74382284e-01 -1.30355290e-03 9.84677165e-01 -9.53512632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.055285570000002 meters Centerline goodness [0,1] 0.9990449483865724 Centerline is valid? [True, True] Translation: X:-27.90, Y:4.63, Z:-0.96 [[ 9.72455155e-01 1.56819757e-01 -1.72448647e-01 -2.78961419e+01] [-1.54183127e-01 9.87626402e-01 2.86645060e-02 4.62733481e+00] [ 1.74809998e-01 -1.28627493e-03 9.84601346e-01 -9.61683248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.085285570000003 meters Centerline goodness [0,1] 0.9980824153406773 Centerline is valid? [True, True] Translation: X:-27.92, Y:4.64, Z:-0.96 [[ 9.72276957e-01 1.57691508e-01 -1.72658352e-01 -2.79213171e+01] [-1.55053619e-01 9.87487721e-01 2.87467534e-02 4.63968213e+00] [ 1.75031122e-01 -1.17850366e-03 9.84562196e-01 -9.63538167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.115285570000005 meters Centerline goodness [0,1] 0.9977806283468735 Centerline is valid? [True, True] Translation: X:-27.95, Y:4.65, Z:-0.96 [[ 9.71523590e-01 1.61577993e-01 -1.73304548e-01 -2.79471196e+01] [-1.58977707e-01 9.86859818e-01 2.88753839e-02 4.65325577e+00] [ 1.75692922e-01 -5.01556781e-04 9.84444892e-01 -9.64363972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.145285570000006 meters Centerline goodness [0,1] 0.9984743383714071 Centerline is valid? [True, True] Translation: X:-27.97, Y:4.66, Z:-0.97 [[ 9.71127689e-01 1.64142268e-01 -1.73113629e-01 -2.79735724e+01] [-1.61584963e-01 9.86436674e-01 2.88615154e-02 4.66052789e+00] [ 1.75503027e-01 -5.56575187e-05 9.84478890e-01 -9.69567679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.175285570000003 meters Centerline goodness [0,1] 0.9981630028779621 Centerline is valid? [True, True] Translation: X:-28.00, Y:4.66, Z:-0.98 [[ 9.70069154e-01 1.69008245e-01 -1.74361837e-01 -2.80016324e+01] [-1.66482670e-01 9.85614328e-01 2.91190150e-02 4.66216700e+00] [ 1.76774878e-01 7.80766033e-04 9.84251001e-01 -9.76609195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.205285570000004 meters Centerline goodness [0,1] 0.9977216322877253 Centerline is valid? [True, True] Translation: X:-28.03, Y:4.67, Z:-0.98 [[ 9.69807825e-01 1.71932399e-01 -1.72950958e-01 -2.80288443e+01] [-1.69486628e-01 9.85107943e-01 2.89244611e-02 4.66645899e+00] [ 1.75348414e-01 1.26170597e-03 9.84505633e-01 -9.77230506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.235285570000006 meters Centerline goodness [0,1] 0.9973636345057325 Centerline is valid? [True, True] Translation: X:-28.06, Y:4.68, Z:-0.97 [[ 9.69381701e-01 1.74510491e-01 -1.72757653e-01 -2.80560859e+01] [-1.72107122e-01 9.84653838e-01 2.89129321e-02 4.67911874e+00] [ 1.75152096e-01 1.70515519e-03 9.84539911e-01 -9.74641749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.265285570000003 meters Centerline goodness [0,1] 0.9980442887118789 Centerline is valid? [True, True] Translation: X:-28.08, Y:4.69, Z:-0.98 [[ 9.68968176e-01 1.77173721e-01 -1.72366314e-01 -2.80820299e+01] [-1.74819910e-01 9.84177216e-01 2.88653293e-02 4.69298326e+00] [ 1.74753177e-01 2.16347810e-03 9.84609896e-01 -9.80745241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.295285570000004 meters Centerline goodness [0,1] 0.9983271792570227 Centerline is valid? [True, True] Translation: X:-28.11, Y:4.70, Z:-0.99 [[ 9.68554307e-01 1.78057340e-01 -1.73776115e-01 -2.81089612e+01] [-1.75670648e-01 9.84017431e-01 2.91464890e-02 4.70167049e+00] [ 1.76188473e-01 2.29740532e-03 9.84353770e-01 -9.90407455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.325285570000005 meters Centerline goodness [0,1] 0.996852839597 Centerline is valid? [True, True] Translation: X:-28.14, Y:4.70, Z:-0.99 [[ 9.67953949e-01 1.79416086e-01 -1.75712894e-01 -2.81368993e+01] [-1.76989839e-01 9.83770027e-01 2.95149303e-02 4.70334139e+00] [ 1.78156532e-01 2.53030341e-03 9.83998906e-01 -9.93592673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.355285570000003 meters Centerline goodness [0,1] 0.9983025890629473 Centerline is valid? [True, True] Translation: X:-28.16, Y:4.71, Z:-1.00 [[ 9.67819223e-01 1.79285579e-01 -1.76586051e-01 -2.81644305e+01] [-1.76828132e-01 9.83793914e-01 2.96874882e-02 4.70757340e+00] [ 1.79046820e-01 2.49325978e-03 9.83837395e-01 -9.96542272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.385285570000004 meters Centerline goodness [0,1] 0.9982494707702328 Centerline is valid? [True, True] Translation: X:-28.19, Y:4.72, Z:-1.00 [[ 9.69096681e-01 1.77458408e-01 -1.71347999e-01 -2.81920237e+01] [-1.75108927e-01 9.84126181e-01 2.88534773e-02 4.71612509e+00] [ 1.73748344e-01 2.04275520e-03 9.84787967e-01 -9.97086217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.415285570000005 meters Centerline goodness [0,1] 0.9982260827012479 Centerline is valid? [True, True] Translation: X:-28.22, Y:4.72, Z:-1.00 [[ 9.69599581e-01 1.75645165e-01 -1.70368510e-01 -2.82193701e+01] [-1.73288772e-01 9.84452120e-01 2.87232340e-02 4.72279848e+00] [ 1.72764738e-01 1.67291424e-03 9.84961698e-01 -1.00014216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.445285570000003 meters Centerline goodness [0,1] 0.9982260827012479 Centerline is valid? [True, True] Translation: X:-28.25, Y:4.73, Z:-1.00 [[ 9.69552786e-01 1.75905954e-01 -1.70365756e-01 -2.82461537e+01] [-1.73550688e-01 9.84405504e-01 2.87395615e-02 4.72718543e+00] [ 1.72764447e-01 1.70257213e-03 9.84961698e-01 -1.00459393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.475285570000004 meters Centerline goodness [0,1] 0.9979452333482525 Centerline is valid? [True, True] Translation: X:-28.27, Y:4.73, Z:-1.01 [[ 9.69522472e-01 1.75147031e-01 -1.71317524e-01 -2.82721764e+01] [-1.72745325e-01 9.84541099e-01 2.89461065e-02 4.73053311e+00] [ 1.73738968e-01 1.53040073e-03 9.84790551e-01 -1.01443709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.505285570000005 meters Centerline goodness [0,1] 0.9980871759391152 Centerline is valid? [True, True] Translation: X:-28.30, Y:4.73, Z:-1.02 [[ 9.69319624e-01 1.72340158e-01 -1.75266470e-01 -2.83004762e+01] [-1.69775767e-01 9.85036960e-01 2.96374026e-02 4.73049304e+00] [ 1.77751666e-01 1.02788343e-03 9.84074839e-01 -1.01944904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.535285570000003 meters Centerline goodness [0,1] 0.9988980491388458 Centerline is valid? [True, True] Translation: X:-28.33, Y:4.73, Z:-1.03 [[ 9.69730664e-01 1.68899961e-01 -1.76338431e-01 -2.83274702e+01] [-1.66239571e-01 9.85633135e-01 2.98618302e-02 4.73005769e+00] [ 1.78848662e-01 3.56492657e-04 9.83876531e-01 -1.02528948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.565285570000004 meters Centerline goodness [0,1] 0.9986789960369881 Centerline is valid? [True, True] Translation: X:-28.36, Y:4.73, Z:-1.03 [[ 9.70627449e-01 1.64136610e-01 -1.75902043e-01 -2.83561179e+01] [-1.61405239e-01 9.86437460e-01 2.98242469e-02 4.73204675e+00] [ 1.78411615e-01 -5.56721541e-04 9.83955784e-01 -1.02683277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.595285570000005 meters Centerline goodness [0,1] 0.999078416514776 Centerline is valid? [True, True] Translation: X:-28.38, Y:4.73, Z:-1.03 [[ 9.71762608e-01 1.58273243e-01 -1.75005758e-01 -2.83847453e+01] [-1.55466429e-01 9.87393930e-01 2.97223165e-02 4.73419842e+00] [ 1.77503870e-01 -1.67551561e-03 9.84118676e-01 -1.02815616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.625285570000003 meters Centerline goodness [0,1] 0.9987590275658631 Centerline is valid? [True, True] Translation: X:-28.41, Y:4.73, Z:-1.03 [[ 9.73216656e-01 1.50556247e-01 -1.73730127e-01 -2.84123742e+01] [-1.47660970e-01 9.88596575e-01 2.95474034e-02 4.73429313e+00] [ 1.76197554e-01 -3.10286606e-03 9.84349935e-01 -1.03278282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.655285570000004 meters Centerline goodness [0,1] 0.9990230200891494 Centerline is valid? [True, True] Translation: X:-28.44, Y:4.73, Z:-1.04 [[ 9.74194741e-01 1.44746369e-01 -1.73185149e-01 -2.84405152e+01] [-1.41774977e-01 9.89460049e-01 2.94731564e-02 4.73280912e+00] [ 1.75625918e-01 -4.15927345e-03 9.84448189e-01 -1.03930264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.685285570000005 meters Centerline goodness [0,1] 0.998796409628723 Centerline is valid? [True, True] Translation: X:-28.47, Y:4.73, Z:-1.04 [[ 9.74657594e-01 1.40715158e-01 -1.73901751e-01 -2.84690650e+01] [-1.37646464e-01 9.90037719e-01 2.96439915e-02 4.73226731e+00] [ 1.76340651e-01 -4.95578026e-03 9.84316725e-01 -1.04312829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.715285570000002 meters Centerline goodness [0,1] 0.9988576324432387 Centerline is valid? [True, True] Translation: X:-28.50, Y:4.73, Z:-1.05 [[ 9.75051484e-01 1.38046168e-01 -1.73832847e-01 -2.84972203e+01] [-1.34929160e-01 9.90410605e-01 2.96808736e-02 4.73140022e+00] [ 1.76263226e-01 -5.48525978e-03 9.84327784e-01 -1.04823279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.745285570000004 meters Centerline goodness [0,1] 0.9989992647659505 Centerline is valid? [True, True] Translation: X:-28.52, Y:4.74, Z:-1.05 [[ 9.75504603e-01 1.36641237e-01 -1.72394729e-01 -2.85246258e+01] [-1.33545922e-01 9.90603981e-01 2.94828720e-02 4.74319994e+00] [ 1.74803481e-01 -5.73806427e-03 9.84586623e-01 -1.05013984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.775285570000005 meters Centerline goodness [0,1] 0.9986971479754901 Centerline is valid? [True, True] Translation: X:-28.55, Y:4.77, Z:-1.05 [[ 9.75384105e-01 1.38549871e-01 -1.71551103e-01 -2.85491852e+01] [-1.35507956e-01 9.90340708e-01 2.93747467e-02 4.76833006e+00] [ 1.73963908e-01 -5.40512165e-03 9.84737195e-01 -1.05105039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.805285570000006 meters Centerline goodness [0,1] 0.9985358116077602 Centerline is valid? [True, True] Translation: X:-28.58, Y:4.78, Z:-1.06 [[ 9.75017590e-01 1.42678441e-01 -1.70245590e-01 -2.85764785e+01] [-1.39742499e-01 9.89758177e-01 2.91682135e-02 4.77567962e+00] [ 1.72663640e-01 -4.64897710e-03 9.84969875e-01 -1.05814975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.835285570000003 meters Centerline goodness [0,1] 0.9978638564511535 Centerline is valid? [True, True] Translation: X:-28.60, Y:4.80, Z:-1.06 [[ 9.73493191e-01 1.50750647e-01 -1.72003635e-01 -2.86025937e+01] [-1.47870342e-01 9.88566325e-01 2.95124132e-02 4.79534983e+00] [ 1.74486017e-01 -3.29589703e-03 9.84654136e-01 -1.06066115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.865285570000005 meters Centerline goodness [0,1] 0.9985697356054105 Centerline is valid? [True, True] Translation: X:-28.63, Y:4.81, Z:-1.06 [[ 9.72604492e-01 1.56952567e-01 -1.71482923e-01 -2.86274828e+01] [-1.54178443e-01 9.87603655e-01 2.94623053e-02 4.81294418e+00] [ 1.73981346e-01 -2.21620029e-03 9.84746454e-01 -1.06430245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.895285570000006 meters Centerline goodness [0,1] 0.999024310919587 Centerline is valid? [True, True] Translation: X:-28.65, Y:4.83, Z:-1.07 [[ 9.71769401e-01 1.61356559e-01 -1.72128707e-01 -2.86536844e+01] [-1.58623340e-01 9.86895080e-01 2.96097378e-02 4.82888400e+00] [ 1.74650700e-01 -1.47020660e-03 9.84629357e-01 -1.07009965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.925285570000003 meters Centerline goodness [0,1] 0.9982338969976249 Centerline is valid? [True, True] Translation: X:-28.68, Y:4.85, Z:-1.08 [[ 9.70943377e-01 1.63599380e-01 -1.74654522e-01 -2.86794974e+01] [-1.60812839e-01 9.86526215e-01 3.00874896e-02 4.84516383e+00] [ 1.77223559e-01 -1.12655919e-03 9.84169976e-01 -1.07578182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.955285570000004 meters Centerline goodness [0,1] 0.9980230306735962 Centerline is valid? [True, True] Translation: X:-28.71, Y:4.86, Z:-1.08 [[ 9.70591044e-01 1.63929677e-01 -1.76295453e-01 -2.87052313e+01] [-1.61087548e-01 9.86471391e-01 3.04137480e-02 4.86082769e+00] [ 1.78896136e-01 -1.12030919e-03 9.83867327e-01 -1.07974862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.985285570000006 meters Centerline goodness [0,1] 0.9983670803396473 Centerline is valid? [True, True] Translation: X:-28.73, Y:4.87, Z:-1.08 [[ 9.70848882e-01 1.62197256e-01 -1.76478039e-01 -2.87319623e+01] [-1.59312779e-01 9.86757237e-01 3.04892491e-02 4.87230298e+00] [ 1.79086255e-01 -1.48524653e-03 9.83832256e-01 -1.08266593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.01528557 meters Centerline goodness [0,1] 0.9980913318036915 Centerline is valid? [True, True] Translation: X:-28.76, Y:4.88, Z:-1.09 [[ 9.71705205e-01 1.59775081e-01 -1.73956656e-01 -2.87599900e+01] [-1.56926888e-01 9.87151525e-01 3.00968131e-02 4.87770700e+00] [ 1.76530299e-01 -1.94675321e-03 9.84293281e-01 -1.08840650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04528557 meters Centerline goodness [0,1] 0.998390120639061 Centerline is valid? [True, True] Translation: X:-28.79, Y:4.88, Z:-1.09 [[ 9.72765450e-01 1.54768607e-01 -1.72551608e-01 -2.87879100e+01] [-1.51880758e-01 9.87946562e-01 2.98969070e-02 4.88267807e+00] [ 1.75098871e-01 -2.87540920e-03 9.84546656e-01 -1.08996850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07528557 meters Centerline goodness [0,1] 0.9977009155645982 Centerline is valid? [True, True] Translation: X:-28.82, Y:4.89, Z:-1.09 [[ 9.73555666e-01 1.48851195e-01 -1.73299415e-01 -2.88151511e+01] [-1.45837456e-01 9.88851517e-01 3.00684719e-02 4.89227429e+00] [ 1.75843117e-01 -3.99978544e-03 9.84410077e-01 -1.09016868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10528557 meters Centerline goodness [0,1] 0.9973629877961528 Centerline is valid? [True, True] Translation: X:-28.84, Y:4.90, Z:-1.09 [[ 9.73799173e-01 1.47771860e-01 -1.72854412e-01 -2.88415659e+01] [-1.44750158e-01 9.89012466e-01 3.00288960e-02 4.90078252e+00] [ 1.75392594e-01 -4.22141053e-03 9.84489521e-01 -1.09356677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13528557 meters Centerline goodness [0,1] 0.9983450135872342 Centerline is valid? [True, True] Translation: X:-28.87, Y:4.91, Z:-1.10 [[ 9.73849359e-01 1.46036850e-01 -1.74042136e-01 -2.88680223e+01] [-1.42942671e-01 9.89268538e-01 3.02514814e-02 4.91097842e+00] [ 1.76592240e-01 -4.58233801e-03 9.84273429e-01 -1.09746361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16528557 meters Centerline goodness [0,1] 0.9975926228170393 Centerline is valid? [True, True] Translation: X:-28.90, Y:4.92, Z:-1.10 [[ 9.74210358e-01 1.45877995e-01 -1.72144673e-01 -2.88958415e+01] [-1.42845903e-01 9.89291998e-01 2.99397830e-02 4.92367509e+00] [ 1.74668903e-01 -4.57748543e-03 9.84616586e-01 -1.09695283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.19528557 meters Centerline goodness [0,1] 0.9987348487940252 Centerline is valid? [True, True] Translation: X:-28.92, Y:4.93, Z:-1.10 [[ 9.74009823e-01 1.47554971e-01 -1.71849918e-01 -2.89221372e+01] [-1.44551227e-01 9.89044445e-01 2.99337346e-02 4.93299504e+00] [ 1.74384079e-01 -4.31463499e-03 9.84668257e-01 -1.10397225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.225285570000004 meters Centerline goodness [0,1] 0.9981642393831844 Centerline is valid? [True, True] Translation: X:-28.95, Y:4.94, Z:-1.11 [[ 9.73367487e-01 1.49336796e-01 -1.73937510e-01 -2.89481715e+01] [-1.46279091e-01 9.88777927e-01 3.03420248e-02 4.94441484e+00] [ 1.76516751e-01 -4.09051960e-03 9.84289137e-01 -1.11108999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.25528557 meters Centerline goodness [0,1] 0.9977506492444226 Centerline is valid? [True, True] Translation: X:-28.97, Y:4.96, Z:-1.12 [[ 9.72724258e-01 1.48511534e-01 -1.78190466e-01 -2.89740175e+01] [-1.45277832e-01 9.88900894e-01 3.11347574e-02 4.95902952e+00] [ 1.80836582e-01 -4.39840911e-03 9.83503322e-01 -1.11528305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28528557 meters Centerline goodness [0,1] 0.9979763705490372 Centerline is valid? [True, True] Translation: X:-29.00, Y:4.97, Z:-1.12 [[ 9.72778714e-01 1.47720893e-01 -1.78550027e-01 -2.90017154e+01] [-1.44452284e-01 9.89018385e-01 3.12437460e-02 4.96725584e+00] [ 1.81204614e-01 -4.60129175e-03 9.83434653e-01 -1.12065184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.31528557 meters Centerline goodness [0,1] 0.9977604039416891 Centerline is valid? [True, True] Translation: X:-29.03, Y:4.97, Z:-1.12 [[ 9.73521013e-01 1.46937344e-01 -1.75117828e-01 -2.90309183e+01] [-1.43774167e-01 9.89134655e-01 3.06858905e-02 4.97173495e+00] [ 1.77724015e-01 -4.69593946e-03 9.84069166e-01 -1.11993088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34528557 meters Centerline goodness [0,1] 0.9968981490929126 Centerline is valid? [True, True] Translation: X:-29.06, Y:4.98, Z:-1.12 [[ 9.73932419e-01 1.46431775e-01 -1.73243695e-01 -2.90597196e+01] [-1.43323989e-01 9.89209311e-01 3.03837673e-02 4.97676253e+00] [ 1.75823425e-01 -4.76175859e-03 9.84410204e-01 -1.11914974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.37528557 meters Centerline goodness [0,1] 0.9975121841799384 Centerline is valid? [True, True] Translation: X:-29.08, Y:4.99, Z:-1.12 [[ 9.73655330e-01 1.46191165e-01 -1.74995546e-01 -2.90849084e+01] [-1.43007833e-01 9.89244227e-01 3.07346528e-02 4.99452907e+00] [ 1.77606468e-01 -4.89922475e-03 9.84089396e-01 -1.12116076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.405285570000004 meters Centerline goodness [0,1] 0.997538999735595 Centerline is valid? [True, True] Translation: X:-29.11, Y:5.01, Z:-1.13 [[ 9.73499181e-01 1.46902901e-01 -1.75268027e-01 -2.91098246e+01] [-1.43712683e-01 9.89139158e-01 3.08284014e-02 5.00717025e+00] [ 1.77893251e-01 -4.82318511e-03 9.84037971e-01 -1.12930745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43528557 meters Centerline goodness [0,1] 0.9980268912349219 Centerline is valid? [True, True] Translation: X:-29.14, Y:5.01, Z:-1.14 [[ 9.73646205e-01 1.46754499e-01 -1.74574297e-01 -2.91361517e+01] [-1.43578158e-01 9.89160899e-01 3.07575851e-02 5.01452023e+00] [ 1.77195883e-01 -4.88194994e-03 9.84163495e-01 -1.13668537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46528557 meters Centerline goodness [0,1] 0.9975308138111174 Centerline is valid? [True, True] Translation: X:-29.16, Y:5.03, Z:-1.13 [[ 9.73516896e-01 1.48881561e-01 -1.73491020e-01 -2.91625945e+01] [-1.45770539e-01 9.88844750e-01 3.06106168e-02 5.03001175e+00] [ 1.76113041e-01 -4.51007311e-03 9.84359617e-01 -1.13217445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.49528557 meters Centerline goodness [0,1] 0.9973073863288661 Centerline is valid? [True, True] Translation: X:-29.19, Y:5.04, Z:-1.13 [[ 9.73006622e-01 1.50415016e-01 -1.75024101e-01 -2.91896148e+01] [-1.47269996e-01 9.88613648e-01 3.08966408e-02 5.03860070e+00] [ 1.77678533e-01 -4.28683748e-03 9.84079246e-01 -1.13497570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52528557 meters Centerline goodness [0,1] 0.9974900008162599 Centerline is valid? [True, True] Translation: X:-29.22, Y:5.05, Z:-1.14 [[ 9.72654088e-01 1.53001885e-01 -1.74741090e-01 -2.92167383e+01] [-1.49905211e-01 9.88218489e-01 3.08649538e-02 5.04821597e+00] [ 1.77404772e-01 -3.82632347e-03 9.84130533e-01 -1.14200084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.55528557 meters Centerline goodness [0,1] 0.996099859838713 Centerline is valid? [True, True] Translation: X:-29.24, Y:5.06, Z:-1.14 [[ 9.72229325e-01 1.55034926e-01 -1.75312038e-01 -2.92443276e+01] [-1.51942447e-01 9.87902747e-01 3.10105684e-02 5.05830584e+00] [ 1.77998965e-01 -3.51204391e-03 9.84024407e-01 -1.14436805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58528557 meters Centerline goodness [0,1] 0.995910478128179 Centerline is valid? [True, True] Translation: X:-29.27, Y:5.07, Z:-1.14 [[ 9.71724111e-01 1.57247571e-01 -1.76140440e-01 -2.92698985e+01] [-1.54153663e-01 9.87554141e-01 3.12004359e-02 5.07423844e+00] [ 1.78854413e-01 -3.16552187e-03 9.83870458e-01 -1.14349191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61528557 meters Centerline goodness [0,1] 0.9963038595058199 Centerline is valid? [True, True] Translation: X:-29.30, Y:5.09, Z:-1.15 [[ 9.71370762e-01 1.58632336e-01 -1.76846330e-01 -2.92960089e+01] [-1.55531883e-01 9.87333330e-01 3.13485129e-02 5.08734768e+00] [ 1.79579164e-01 -2.94578619e-03 9.83739115e-01 -1.14727304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64528557 meters Centerline goodness [0,1] 0.9971429154507051 Centerline is valid? [True, True] Translation: X:-29.32, Y:5.10, Z:-1.15 [[ 9.71167995e-01 1.59442174e-01 -1.77231255e-01 -2.93221337e+01] [-1.56337769e-01 9.87203235e-01 3.14368486e-02 5.09639644e+00] [ 1.79975627e-01 -2.82252219e-03 9.83667020e-01 -1.15261776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.67528557 meters Centerline goodness [0,1] 0.9963468642217188 Centerline is valid? [True, True] Translation: X:-29.35, Y:5.11, Z:-1.16 [[ 9.71192617e-01 1.59113330e-01 -1.77391797e-01 -2.93494144e+01] [-1.55988211e-01 9.87255951e-01 3.15177074e-02 5.10549455e+00] [ 1.80145995e-01 -2.93873561e-03 9.83635494e-01 -1.15798786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70528557 meters Centerline goodness [0,1] 0.9980061037639878 Centerline is valid? [True, True] Translation: X:-29.38, Y:5.11, Z:-1.16 [[ 9.71262604e-01 1.59079821e-01 -1.77038315e-01 -2.93762074e+01] [-1.55958397e-01 9.87261213e-01 3.15004037e-02 5.11375899e+00] [ 1.79794140e-01 -2.98455235e-03 9.83699730e-01 -1.16196089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73528557 meters Centerline goodness [0,1] 0.9959186172275167 Centerline is valid? [True, True] Translation: X:-29.40, Y:5.12, Z:-1.17 [[ 9.71223286e-01 1.60527715e-01 -1.75943689e-01 -2.94040613e+01] [-1.57459577e-01 9.87027504e-01 3.13558440e-02 5.12307374e+00] [ 1.78694742e-01 -2.74950711e-03 9.83900721e-01 -1.16500296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76528557 meters Centerline goodness [0,1] 0.9977557432570286 Centerline is valid? [True, True] Translation: X:-29.43, Y:5.13, Z:-1.17 [[ 9.71235837e-01 1.60566410e-01 -1.75839066e-01 -2.94308571e+01] [-1.57494382e-01 9.87021107e-01 3.13823768e-02 5.12916492e+00] [ 1.78595826e-01 -2.78602390e-03 9.83918579e-01 -1.17121358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.79528557 meters Centerline goodness [0,1] 0.9964677297506993 Centerline is valid? [True, True] Translation: X:-29.46, Y:5.14, Z:-1.17 [[ 9.71308690e-01 1.61552340e-01 -1.74528708e-01 -2.94580834e+01] [-1.58533360e-01 9.86860631e-01 3.11972405e-02 5.14223376e+00] [ 1.77275498e-01 -2.63352834e-03 9.84157743e-01 -1.17103435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82528557 meters Centerline goodness [0,1] 0.9967219122857026 Centerline is valid? [True, True] Translation: X:-29.49, Y:5.15, Z:-1.18 [[ 9.71128486e-01 1.61635050e-01 -1.75452486e-01 -2.94851170e+01] [-1.58577314e-01 9.86846975e-01 3.14051614e-02 5.15294851e+00] [ 1.78220930e-01 -2.67566285e-03 9.83986860e-01 -1.17633929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.85528557 meters Centerline goodness [0,1] 0.996514756236752 Centerline is valid? [True, True] Translation: X:-29.51, Y:5.16, Z:-1.18 [[ 9.70741290e-01 1.62920782e-01 -1.76403422e-01 -2.95111277e+01] [-1.59842600e-01 9.86635993e-01 3.16189801e-02 5.16369570e+00] [ 1.79197354e-01 -2.49706798e-03 9.83809978e-01 -1.18094315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88528557 meters Centerline goodness [0,1] 0.9965604078373564 Centerline is valid? [True, True] Translation: X:-29.54, Y:5.18, Z:-1.18 [[ 9.70485356e-01 1.64630904e-01 -1.76223831e-01 -2.95376605e+01] [-1.61578792e-01 9.86352735e-01 3.16318738e-02 5.17626039e+00] [ 1.79026441e-01 -2.22423660e-03 9.83841749e-01 -1.18088417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91528557 meters Centerline goodness [0,1] 0.9956356813639515 Centerline is valid? [True, True] Translation: X:-29.56, Y:5.19, Z:-1.19 [[ 9.70024299e-01 1.67471209e-01 -1.76085924e-01 -2.95642990e+01] [-1.64466920e-01 9.85875471e-01 3.16257434e-02 5.19014925e+00] [ 1.78895195e-01 -1.71742998e-03 9.83866637e-01 -1.18519252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94528557 meters Centerline goodness [0,1] 0.9958826766678217 Centerline is valid? [True, True] Translation: X:-29.59, Y:5.21, Z:-1.19 [[ 9.69493819e-01 1.70101423e-01 -1.76485811e-01 -2.95899944e+01] [-1.67118376e-01 9.85425729e-01 3.17424155e-02 5.20663596e+00] [ 1.79313089e-01 -1.28005347e-03 9.83791227e-01 -1.19255555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.975285570000004 meters Centerline goodness [0,1] 0.9959550561797753 Centerline is valid? [True, True] Translation: X:-29.62, Y:5.22, Z:-1.20 [[ 9.69133977e-01 1.72374794e-01 -1.76256249e-01 -2.96161067e+01] [-1.69429323e-01 9.85031025e-01 3.17424600e-02 5.21827360e+00] [ 1.79089474e-01 -8.99719565e-04 9.83832379e-01 -1.19524666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00528557 meters Centerline goodness [0,1] 0.9962593516209476 Centerline is valid? [True, True] Translation: X:-29.64, Y:5.22, Z:-1.20 [[ 9.68749784e-01 1.75337534e-01 -1.75444026e-01 -2.96438787e+01] [-1.72464197e-01 9.84508310e-01 3.16146710e-02 5.22352423e+00] [ 1.78269340e-01 -3.68892651e-04 9.83981660e-01 -1.19875616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.03528557 meters Centerline goodness [0,1] 0.9952777153136946 Centerline is valid? [True, True] Translation: X:-29.67, Y:5.24, Z:-1.20 [[ 9.68420882e-01 1.76020995e-01 -1.76571810e-01 -2.96712418e+01] [-1.73113304e-01 9.84386370e-01 3.18631257e-02 5.23506964e+00] [ 1.79423463e-01 -2.89986819e-04 9.83771893e-01 -1.20108827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06528557 meters Centerline goodness [0,1] 0.9950937301960464 Centerline is valid? [True, True] Translation: X:-29.70, Y:5.25, Z:-1.20 [[ 9.68430023e-01 1.75831695e-01 -1.76710233e-01 -2.96954695e+01] [-1.72908500e-01 9.84420174e-01 3.19307193e-02 5.25263348e+00] [ 1.79571551e-01 -3.67965712e-04 9.83744846e-01 -1.20363372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.09528557 meters Centerline goodness [0,1] 0.9951942740286298 Centerline is valid? [True, True] Translation: X:-29.72, Y:5.26, Z:-1.21 [[ 9.68623062e-01 1.74703497e-01 -1.76771183e-01 -2.97205529e+01] [-1.71753365e-01 9.84620899e-01 3.19760480e-02 5.26467153e+00] [ 1.79638929e-01 -6.11692034e-04 9.83732424e-01 -1.21394725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12528557 meters Centerline goodness [0,1] 0.9952628796812101 Centerline is valid? [True, True] Translation: X:-29.75, Y:5.27, Z:-1.22 [[ 9.68731758e-01 1.74047538e-01 -1.76822612e-01 -2.97469586e+01] [-1.71079285e-01 9.84736955e-01 3.20157346e-02 5.26905618e+00] [ 1.79696021e-01 -7.63972707e-04 9.83721890e-01 -1.21612915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.155285570000004 meters Centerline goodness [0,1] 0.9949379490529066 Centerline is valid? [True, True] Translation: X:-29.77, Y:5.27, Z:-1.22 [[ 9.68689787e-01 1.73654497e-01 -1.77437913e-01 -2.97743879e+01] [-1.70655084e-01 9.84806263e-01 3.21475829e-02 5.27207981e+00] [ 1.80324541e-01 -8.60353285e-04 9.83606791e-01 -1.21832659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18528557 meters Centerline goodness [0,1] 0.9939997550920445 Centerline is valid? [True, True] Translation: X:-29.80, Y:5.28, Z:-1.22 [[ 9.69335470e-01 1.71028977e-01 -1.76459160e-01 -2.98018672e+01] [-1.68016171e-01 9.85265060e-01 3.19895042e-02 5.27714741e+00] [ 1.79330177e-01 -1.36056873e-03 9.83788004e-01 -1.22114052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.21528557 meters Centerline goodness [0,1] 0.9953132004727554 Centerline is valid? [True, True] Translation: X:-29.83, Y:5.29, Z:-1.23 [[ 9.69867868e-01 1.68125256e-01 -1.76324181e-01 -2.98296337e+01] [-1.65060360e-01 9.85763719e-01 3.20151117e-02 5.28577689e+00] [ 1.79196530e-01 -1.94629537e-03 9.83811372e-01 -1.22524282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24528557 meters Centerline goodness [0,1] 0.99496842534121 Centerline is valid? [True, True] Translation: X:-29.86, Y:5.30, Z:-1.23 [[ 9.69880929e-01 1.67359850e-01 -1.76979274e-01 -2.98562727e+01] [-1.64252196e-01 9.85893566e-01 3.21728477e-02 5.29536345e+00] [ 1.79867171e-01 -2.13459699e-03 9.83688591e-01 -1.22830165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27528557 meters Centerline goodness [0,1] 0.9935039652451895 Centerline is valid? [True, True] Translation: X:-29.88, Y:5.31, Z:-1.24 [[ 9.69338607e-01 1.67847688e-01 -1.79470939e-01 -2.98818574e+01] [-1.64655691e-01 9.85810717e-01 3.26455711e-02 5.30664831e+00] [ 1.82403859e-01 -2.09370097e-03 9.83221465e-01 -1.23714924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.30528557 meters Centerline goodness [0,1] 0.9933799266258121 Centerline is valid? [True, True] Translation: X:-29.91, Y:5.31, Z:-1.24 [[ 9.69233817e-01 1.66762159e-01 -1.81041959e-01 -2.99097952e+01] [-1.63485995e-01 9.85994314e-01 3.29779126e-02 5.31412578e+00] [ 1.84005810e-01 -2.36548346e-03 9.82922309e-01 -1.24116460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.33528557 meters Centerline goodness [0,1] 0.9940416470443703 Centerline is valid? [True, True] Translation: X:-29.94, Y:5.33, Z:-1.24 [[ 9.69611122e-01 1.67025876e-01 -1.78764172e-01 -2.99365771e+01] [-1.63829049e-01 9.85949765e-01 3.26052752e-02 5.32677060e+00] [ 1.81698418e-01 -2.32767320e-03 9.83351548e-01 -1.23868238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36528557 meters Centerline goodness [0,1] 0.9940416470443703 Centerline is valid? [True, True] Translation: X:-29.96, Y:5.33, Z:-1.24 [[ 9.69564337e-01 1.67301064e-01 -1.78760597e-01 -2.99632217e+01] [-1.64105263e-01 9.85903180e-01 3.26248628e-02 5.33150485e+00] [ 1.81698815e-01 -2.29634861e-03 9.83351548e-01 -1.24312558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.39528557 meters Centerline goodness [0,1] 0.994450338692565 Centerline is valid? [True, True] Translation: X:-29.99, Y:5.34, Z:-1.25 [[ 9.70074310e-01 1.67763854e-01 -1.75530974e-01 -2.99893147e+01] [-1.64681968e-01 9.85824714e-01 3.20855472e-02 5.34151304e+00] [ 1.78425568e-01 -2.21857872e-03 9.83950911e-01 -1.24565094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42528557 meters Centerline goodness [0,1] 0.9945629956667484 Centerline is valid? [True, True] Translation: X:-30.02, Y:5.35, Z:-1.25 [[ 9.69766018e-01 1.69445395e-01 -1.75619271e-01 -3.00158295e+01] [-1.66379525e-01 9.85537637e-01 3.21468405e-02 5.34897444e+00] [ 1.78526536e-01 -1.95546254e-03 9.83933154e-01 -1.25371973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45528557 meters Centerline goodness [0,1] 0.993348069916902 Centerline is valid? [True, True] Translation: X:-30.04, Y:5.36, Z:-1.26 [[ 9.69286774e-01 1.69752577e-01 -1.77952835e-01 -3.00419774e+01] [-1.66600906e-01 9.85484746e-01 3.26183075e-02 5.35848758e+00] [ 1.80906846e-01 -1.96939057e-03 9.83498264e-01 -1.25748424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48528557 meters Centerline goodness [0,1] 0.9931485899553435 Centerline is valid? [True, True] Translation: X:-30.07, Y:5.36, Z:-1.27 [[ 9.69243244e-01 1.69725792e-01 -1.78215291e-01 -3.00678068e+01] [-1.66559364e-01 9.85489289e-01 3.26931090e-02 5.36499954e+00] [ 1.81178124e-01 -2.00414949e-03 9.83448255e-01 -1.26752807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.51528557 meters Centerline goodness [0,1] 0.9937969311132876 Centerline is valid? [True, True] Translation: X:-30.09, Y:5.38, Z:-1.27 [[ 9.69113022e-01 1.70746933e-01 -1.77947847e-01 -3.00945159e+01] [-1.67598375e-01 9.85313164e-01 3.26917894e-02 5.37847022e+00] [ 1.80916379e-01 -1.85826882e-03 9.83496726e-01 -1.26534651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54528557 meters Centerline goodness [0,1] 0.9933200827817962 Centerline is valid? [True, True] Translation: X:-30.12, Y:5.40, Z:-1.27 [[ 9.68857146e-01 1.72437478e-01 -1.77710853e-01 -3.01208904e+01] [-1.69322052e-01 9.85019230e-01 3.26674009e-02 5.39600796e+00] [ 1.80681692e-01 -1.55967841e-03 9.83540387e-01 -1.26784818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.57528557 meters Centerline goodness [0,1] 0.9920116343376826 Centerline is valid? [True, True] Translation: X:-30.15, Y:5.41, Z:-1.27 [[ 9.68889034e-01 1.73457935e-01 -1.76540039e-01 -3.01471344e+01] [-1.70392408e-01 9.84840277e-01 3.24970200e-02 5.40885210e+00] [ 1.79500607e-01 -1.40492406e-03 9.83756859e-01 -1.27050043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60528557 meters Centerline goodness [0,1] 0.9918840817330354 Centerline is valid? [True, True] Translation: X:-30.17, Y:5.42, Z:-1.28 [[ 9.68732827e-01 1.74463376e-01 -1.76406464e-01 -3.01733184e+01] [-1.71410732e-01 9.84662853e-01 3.25180929e-02 5.41829834e+00] [ 1.79374108e-01 -1.26338284e-03 9.83780124e-01 -1.27500015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63528557 meters Centerline goodness [0,1] 0.9937382336089057 Centerline is valid? [True, True] Translation: X:-30.20, Y:5.43, Z:-1.29 [[ 9.68235643e-01 1.77332895e-01 -1.76274739e-01 -3.01990771e+01] [-1.74322613e-01 9.84150614e-01 3.25452770e-02 5.42896185e+00] [ 1.79252241e-01 -7.82824156e-04 9.83802837e-01 -1.28773012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66528557 meters Centerline goodness [0,1] 0.9931976983148376 Centerline is valid? [True, True] Translation: X:-30.23, Y:5.44, Z:-1.29 [[ 9.67479120e-01 1.77310124e-01 -1.80403080e-01 -3.02256719e+01] [-1.74147348e-01 9.84154661e-01 3.33512137e-02 5.43707065e+00] [ 1.83458040e-01 -8.49884886e-04 9.83027174e-01 -1.29334949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.69528557 meters Centerline goodness [0,1] 0.9921860579585308 Centerline is valid? [True, True] Translation: X:-30.25, Y:5.44, Z:-1.30 [[ 9.67133889e-01 1.78410001e-01 -1.81168190e-01 -3.02528931e+01] [-1.75231897e-01 9.83955997e-01 3.35317374e-02 5.44498969e+00] [ 1.84243924e-01 -6.83234001e-04 9.82880313e-01 -1.29897772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.725285570000004 meters Centerline goodness [0,1] 0.9927825962149638 Centerline is valid? [True, True] Translation: X:-30.28, Y:5.45, Z:-1.30 [[ 9.67411854e-01 1.78324300e-01 -1.79763033e-01 -3.02795347e+01] [-1.75186722e-01 9.83971496e-01 3.33122843e-02 5.45487063e+00] [ 1.82822090e-01 -7.34602317e-04 9.83145739e-01 -1.30039313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75528557 meters Centerline goodness [0,1] 0.9941601950699752 Centerline is valid? [True, True] Translation: X:-30.30, Y:5.47, Z:-1.31 [[ 9.67925208e-01 1.78760397e-01 -1.76537565e-01 -3.03046099e+01] [-1.75739626e-01 9.83892418e-01 3.27306268e-02 5.46724525e+00] [ 1.79544911e-01 -6.56153145e-04 9.83749559e-01 -1.30509725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78528557 meters Centerline goodness [0,1] 0.9931009069134236 Centerline is valid? [True, True] Translation: X:-30.33, Y:5.48, Z:-1.31 [[ 9.67899741e-01 1.79749301e-01 -1.75670942e-01 -3.03315265e+01] [-1.76769380e-01 9.83712326e-01 3.25982565e-02 5.47934636e+00] [ 1.78669185e-01 -4.98600489e-04 9.83909078e-01 -1.30927927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.81528557 meters Centerline goodness [0,1] 0.9910785701101336 Centerline is valid? [True, True] Translation: X:-30.36, Y:5.49, Z:-1.32 [[ 9.67598931e-01 1.79989325e-01 -1.77076683e-01 -3.03574628e+01] [-1.76957660e-01 9.83668437e-01 3.28997334e-02 5.48733978e+00] [ 1.80106344e-01 -4.98671512e-04 9.83647018e-01 -1.31637088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84528557 meters Centerline goodness [0,1] 0.9919161246640268 Centerline is valid? [True, True] Translation: X:-30.38, Y:5.49, Z:-1.32 [[ 9.67382027e-01 1.79056365e-01 -1.79194958e-01 -3.03840957e+01] [-1.75932219e-01 9.83838570e-01 3.33094859e-02 5.49347737e+00] [ 1.82263186e-01 -6.96831517e-04 9.83249534e-01 -1.32221487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.87528557 meters Centerline goodness [0,1] 0.9915384773366741 Centerline is valid? [True, True] Translation: X:-30.41, Y:5.50, Z:-1.33 [[ 9.67395842e-01 1.79705803e-01 -1.78468791e-01 -3.04099287e+01] [-1.76613992e-01 9.83720220e-01 3.31967869e-02 5.50017581e+00] [ 1.81529014e-01 -5.94347996e-04 9.83385410e-01 -1.32857723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.905285570000004 meters Centerline goodness [0,1] 0.9922038488367322 Centerline is valid? [True, True] Translation: X:-30.44, Y:5.50, Z:-1.33 [[ 9.67932703e-01 1.77149837e-01 -1.78112933e-01 -3.04374468e+01] [-1.74023470e-01 9.84183285e-01 3.31525659e-02 5.50445108e+00] [ 1.81168743e-01 -1.09362218e-03 9.83451417e-01 -1.32922567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.93528557 meters Centerline goodness [0,1] 0.9918073078813698 Centerline is valid? [True, True] Translation: X:-30.46, Y:5.51, Z:-1.33 [[ 9.68644534e-01 1.72869995e-01 -1.78448119e-01 -3.04646368e+01] [-1.69650493e-01 9.84942725e-01 3.32646935e-02 5.51099364e+00] [ 1.81511644e-01 -1.94785229e-03 9.83386866e-01 -1.33375763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96528557 meters Centerline goodness [0,1] 0.992135015566115 Centerline is valid? [True, True] Translation: X:-30.49, Y:5.52, Z:-1.34 [[ 9.68288707e-01 1.74291803e-01 -1.78995384e-01 -3.04895144e+01] [-1.71068649e-01 9.84692530e-01 3.34086572e-02 5.52232079e+00] [ 1.82078273e-01 -1.72872685e-03 9.83282520e-01 -1.34056629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.99528557 meters Centerline goodness [0,1] 0.9917555373256768 Centerline is valid? [True, True] Translation: X:-30.52, Y:5.53, Z:-1.34 [[ 9.68383063e-01 1.72245916e-01 -1.80459381e-01 -3.05171404e+01] [-1.68929403e-01 9.85051620e-01 3.37070109e-02 5.53020640e+00] [ 1.83567701e-01 -2.15640294e-03 9.83004704e-01 -1.34488540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02528557 meters Centerline goodness [0,1] 0.993672056376225 Centerline is valid? [True, True] Translation: X:-30.54, Y:5.54, Z:-1.35 [[ 9.68352844e-01 1.73303771e-01 -1.79606717e-01 -3.05425185e+01] [-1.70029683e-01 9.84866419e-01 3.35863665e-02 5.54026690e+00] [ 1.82709268e-01 -1.98498029e-03 9.83164983e-01 -1.35081319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.05528557 meters Centerline goodness [0,1] 0.992266933982529 Centerline is valid? [True, True] Translation: X:-30.57, Y:5.55, Z:-1.35 [[ 9.68512353e-01 1.73746578e-01 -1.78314186e-01 -3.05707399e+01] [-1.70523803e-01 9.84788552e-01 3.33637563e-02 5.54716724e+00] [ 1.81398608e-01 -1.90639689e-03 9.83407805e-01 -1.35155326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08528557 meters Centerline goodness [0,1] 0.9932984936981248 Centerline is valid? [True, True] Translation: X:-30.60, Y:5.56, Z:-1.36 [[ 9.68277686e-01 1.74575706e-01 -1.78778202e-01 -3.05954439e+01] [-1.71342018e-01 9.84642111e-01 3.34936773e-02 5.55715914e+00] [ 1.81879728e-01 -1.79896263e-03 9.83319139e-01 -1.35865998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.11528557 meters Centerline goodness [0,1] 0.9926769067580523 Centerline is valid? [True, True] Translation: X:-30.62, Y:5.57, Z:-1.37 [[ 9.67876537e-01 1.74953778e-01 -1.80571824e-01 -3.06212269e+01] [-1.71656019e-01 9.84575054e-01 3.38551871e-02 5.56899157e+00] [ 1.83709606e-01 -1.77140092e-03 9.82978964e-01 -1.36699479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14528557 meters Centerline goodness [0,1] 0.9923639118062522 Centerline is valid? [True, True] Translation: X:-30.65, Y:5.58, Z:-1.37 [[ 9.67764373e-01 1.76491113e-01 -1.79674723e-01 -3.06480633e+01] [-1.73244887e-01 9.84301070e-01 3.37285207e-02 5.58097045e+00] [ 1.82806806e-01 -1.51353366e-03 9.83147690e-01 -1.36570316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.17528557 meters Centerline goodness [0,1] 0.9926977354775188 Centerline is valid? [True, True] Translation: X:-30.68, Y:5.59, Z:-1.37 [[ 9.67674779e-01 1.78600044e-01 -1.78066129e-01 -3.06750779e+01] [-1.75444695e-01 9.83921119e-01 3.34423445e-02 5.58777407e+00] [ 1.81175829e-01 -1.12055563e-03 9.83450082e-01 -1.36786270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20528557 meters Centerline goodness [0,1] 0.9930196271659686 Centerline is valid? [True, True] Translation: X:-30.70, Y:5.60, Z:-1.37 [[ 9.67263440e-01 1.80478102e-01 -1.78407096e-01 -3.07016099e+01] [-1.77338474e-01 9.83578685e-01 3.35266451e-02 5.59573077e+00] [ 1.81528242e-01 -7.90655897e-04 9.83385414e-01 -1.37162000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23528557 meters Centerline goodness [0,1] 0.9934777258183608 Centerline is valid? [True, True] Translation: X:-30.73, Y:5.61, Z:-1.39 [[ 9.66673064e-01 1.80748479e-01 -1.81309610e-01 -3.07271032e+01] [-1.77499586e-01 9.83529022e-01 3.41256349e-02 5.60611854e+00] [ 1.84491420e-01 -8.05951253e-04 9.82833794e-01 -1.38579659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26528557 meters Centerline goodness [0,1] 0.9925256993078593 Centerline is valid? [True, True] Translation: X:-30.75, Y:5.62, Z:-1.39 [[ 9.66433743e-01 1.80284580e-01 -1.83039041e-01 -3.07526680e+01] [-1.76956521e-01 9.83614038e-01 3.44936808e-02 5.61949687e+00] [ 1.86258449e-01 -9.45905050e-04 9.82500328e-01 -1.38927303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.29528557 meters Centerline goodness [0,1] 0.9920195306088955 Centerline is valid? [True, True] Translation: X:-30.78, Y:5.63, Z:-1.39 [[ 9.66841407e-01 1.78809018e-01 -1.82332194e-01 -3.07796273e+01] [-1.75477626e-01 9.83883017e-01 3.43774804e-02 5.62757514e+00] [ 1.85540553e-01 -1.24235091e-03 9.82635823e-01 -1.38972621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32528557 meters Centerline goodness [0,1] 0.9906521027655049 Centerline is valid? [True, True] Translation: X:-30.81, Y:5.63, Z:-1.39 [[ 9.67459682e-01 1.78420343e-01 -1.79409991e-01 -3.08080464e+01] [-1.75184904e-01 9.83953476e-01 3.38497598e-02 5.63145846e+00] [ 1.82570570e-01 -1.31835597e-03 9.83191868e-01 -1.39063672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.35528557 meters Centerline goodness [0,1] 0.9914893617021276 Centerline is valid? [True, True] Translation: X:-30.84, Y:5.64, Z:-1.40 [[ 9.67626771e-01 1.76846511e-01 -1.80065940e-01 -3.08352486e+01] [-1.73556471e-01 9.84237074e-01 3.39931299e-02 5.63722820e+00] [ 1.83239141e-01 -1.64105346e-03 9.83066999e-01 -1.39619059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38528557 meters Centerline goodness [0,1] 0.9920525721326625 Centerline is valid? [True, True] Translation: X:-30.86, Y:5.65, Z:-1.40 [[ 9.67774984e-01 1.76180536e-01 -1.79922204e-01 -3.08604301e+01] [-1.72876558e-01 9.84356211e-01 3.40080160e-02 5.64625668e+00] [ 1.83099089e-01 -1.80777592e-03 9.83092801e-01 -1.40084109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41528557 meters Centerline goodness [0,1] 0.9907733224222586 Centerline is valid? [True, True] Translation: X:-30.89, Y:5.65, Z:-1.41 [[ 9.68068312e-01 1.76179334e-01 -1.78338402e-01 -3.08870985e+01] [-1.72929861e-01 9.84356417e-01 3.37299125e-02 5.65335775e+00] [ 1.81491064e-01 -1.81282435e-03 9.83390923e-01 -1.40792072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44528557 meters Centerline goodness [0,1] 0.9920019687461548 Centerline is valid? [True, True] Translation: X:-30.91, Y:5.66, Z:-1.41 [[ 9.67558098e-01 1.75208236e-01 -1.82025827e-01 -3.09137864e+01] [-1.71801534e-01 9.84529255e-01 3.44438385e-02 5.66240185e+00] [ 1.85244596e-01 -2.05409840e-03 9.82690297e-01 -1.40900330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.475285570000004 meters Centerline goodness [0,1] 0.9916936044846352 Centerline is valid? [True, True] Translation: X:-30.94, Y:5.67, Z:-1.41 [[ 9.67454641e-01 1.76099854e-01 -1.81715051e-01 -3.09414373e+01] [-1.72716709e-01 9.84370475e-01 3.44050462e-02 5.66787036e+00] [ 1.84933655e-01 -1.90009597e-03 9.82749171e-01 -1.41495710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50528557 meters Centerline goodness [0,1] 0.9914713902043996 Centerline is valid? [True, True] Translation: X:-30.97, Y:5.68, Z:-1.42 [[ 9.68194062e-01 1.76680307e-01 -1.77156224e-01 -3.09695085e+01] [-1.73467994e-01 9.84266671e-01 3.35853598e-02 5.67664171e+00] [ 1.80302838e-01 -1.78621112e-03 9.83609524e-01 -1.41564370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.53528557 meters Centerline goodness [0,1] 0.9911706531269754 Centerline is valid? [True, True] Translation: X:-31.00, Y:5.69, Z:-1.42 [[ 9.68308762e-01 1.76388187e-01 -1.76820105e-01 -3.09961820e+01] [-1.73176024e-01 9.84318894e-01 3.35615878e-02 5.68549853e+00] [ 1.79967238e-01 -1.87697672e-03 9.83670814e-01 -1.42066692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56528557 meters Centerline goodness [0,1] 0.9918005903574942 Centerline is valid? [True, True] Translation: X:-31.02, Y:5.70, Z:-1.43 [[ 9.67517514e-01 1.77086368e-01 -1.80416955e-01 -3.10217037e+01] [-1.73743976e-01 9.84193610e-01 3.42924119e-02 5.69590291e+00] [ 1.83637933e-01 -1.83215007e-03 9.82992245e-01 -1.42830449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.59528557 meters Centerline goodness [0,1] 0.9915082564301938 Centerline is valid? [True, True] Translation: X:-31.05, Y:5.70, Z:-1.44 [[ 9.67185331e-01 1.78103708e-01 -1.81194935e-01 -3.10476380e+01] [-1.74746612e-01 9.84010316e-01 3.44575099e-02 5.70342549e+00] [ 1.84434695e-01 -1.66359717e-03 9.82843363e-01 -1.43842775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.62528557 meters Centerline goodness [0,1] 0.9918788994579114 Centerline is valid? [True, True] Translation: X:-31.08, Y:5.71, Z:-1.44 [[ 9.67286829e-01 1.78867731e-01 -1.79895875e-01 -3.10754537e+01] [-1.75567565e-01 9.83871938e-01 3.42350705e-02 5.71327270e+00] [ 1.83118052e-01 -1.53125208e-03 9.83089739e-01 -1.44056778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.655285570000004 meters Centerline goodness [0,1] 0.9884869430073004 Centerline is valid? [True, True] Translation: X:-31.10, Y:5.72, Z:-1.44 [[ 9.67448999e-01 1.79589000e-01 -1.78298135e-01 -3.11019397e+01] [-1.76355218e-01 9.83740723e-01 3.39562377e-02 5.72359426e+00] [ 1.81497303e-01 -1.40712167e-03 9.83390436e-01 -1.44054766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68528557 meters Centerline goodness [0,1] 0.9906591940218842 Centerline is valid? [True, True] Translation: X:-31.13, Y:5.73, Z:-1.44 [[ 9.67101094e-01 1.79338626e-01 -1.80424860e-01 -3.11279977e+01] [-1.76017971e-01 9.83786269e-01 3.43838743e-02 5.73264406e+00] [ 1.83665857e-01 -1.49466463e-03 9.82987599e-01 -1.44349126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.71528557 meters Centerline goodness [0,1] 0.9899636721876732 Centerline is valid? [True, True] Translation: X:-31.15, Y:5.74, Z:-1.45 [[ 9.66867249e-01 1.80089712e-01 -1.80929319e-01 -3.11535331e+01] [-1.76759423e-01 9.83649226e-01 3.45008121e-02 5.74102159e+00] [ 1.84184226e-01 -1.37674337e-03 9.82890775e-01 -1.45206870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74528557 meters Centerline goodness [0,1] 0.9902924551486851 Centerline is valid? [True, True] Translation: X:-31.18, Y:5.75, Z:-1.45 [[ 9.66973607e-01 1.80013183e-01 -1.80436411e-01 -3.11798885e+01] [-1.76690080e-01 9.83663144e-01 3.44591716e-02 5.75410971e+00] [ 1.83691752e-01 -1.43978560e-03 9.82982842e-01 -1.45344975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77528557 meters Centerline goodness [0,1] 0.9888145472457105 Centerline is valid? [True, True] Translation: X:-31.20, Y:5.77, Z:-1.46 [[ 9.66872081e-01 1.80275999e-01 -1.80717853e-01 -3.12047603e+01] [-1.76937392e-01 9.83615007e-01 3.45641184e-02 5.76798910e+00] [ 1.83987873e-01 -1.44333557e-03 9.82927454e-01 -1.45905518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.80528557 meters Centerline goodness [0,1] 0.9906781397254661 Centerline is valid? [True, True] Translation: X:-31.23, Y:5.78, Z:-1.47 [[ 9.66524926e-01 1.80740141e-01 -1.82105925e-01 -3.12302044e+01] [-1.77348840e-01 9.83529870e-01 3.48766973e-02 5.77802088e+00] [ 1.85410236e-01 -1.41292281e-03 9.82660190e-01 -1.46554602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.83528557 meters Centerline goodness [0,1] 0.9895169578622816 Centerline is valid? [True, True] Translation: X:-31.26, Y:5.78, Z:-1.47 [[ 9.66471078e-01 1.81204485e-01 -1.81930181e-01 -3.12571593e+01] [-1.77824045e-01 9.83444523e-01 3.48637146e-02 5.78338671e+00] [ 1.85235702e-01 -1.34321120e-03 9.82693203e-01 -1.47028161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86528557 meters Centerline goodness [0,1] 0.9891302118583236 Centerline is valid? [True, True] Translation: X:-31.29, Y:5.79, Z:-1.47 [[ 9.66676383e-01 1.83106621e-01 -1.78909853e-01 -3.12852146e+01] [-1.79862015e-01 9.83092542e-01 3.43323303e-02 5.78951787e+00] [ 1.82171419e-01 -1.00916622e-03 9.83266269e-01 -1.47326214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.89528557 meters Centerline goodness [0,1] 0.9891244239631336 Centerline is valid? [True, True] Translation: X:-31.31, Y:5.80, Z:-1.47 [[ 9.66646335e-01 1.82743250e-01 -1.79442935e-01 -3.13125031e+01] [-1.79465392e-01 9.83160031e-01 3.44750057e-02 5.79927430e+00] [ 1.82721196e-01 -1.12134139e-03 9.83164130e-01 -1.47231042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92528557 meters Centerline goodness [0,1] 0.9891962946987902 Centerline is valid? [True, True] Translation: X:-31.34, Y:5.81, Z:-1.48 [[ 9.66126429e-01 1.82788755e-01 -1.82175722e-01 -3.13377631e+01] [-1.79406294e-01 9.83151538e-01 3.50204907e-02 5.81225166e+00] [ 1.85507693e-01 -1.15075059e-03 9.82642138e-01 -1.48453731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95528557 meters Centerline goodness [0,1] 0.9893523172558111 Centerline is valid? [True, True] Translation: X:-31.36, Y:5.82, Z:-1.49 [[ 9.65402613e-01 1.85404458e-01 -1.83365703e-01 -3.13630302e+01] [-1.82015799e-01 9.82662049e-01 3.52922966e-02 5.82340447e+00] [ 1.86729867e-01 -6.95820487e-04 9.82411051e-01 -1.49306600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98528557 meters Centerline goodness [0,1] 0.9896328293736502 Centerline is valid? [True, True] Translation: X:-31.39, Y:5.83, Z:-1.50 [[ 9.65777496e-01 1.84381503e-01 -1.82420637e-01 -3.13901519e+01] [-1.81006845e-01 9.82854334e-01 3.51266286e-02 5.82795198e+00] [ 1.85769615e-01 -9.05123455e-04 9.82592912e-01 -1.50022361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.01528557 meters Centerline goodness [0,1] 0.9883979819024858 Centerline is valid? [True, True] Translation: X:-31.42, Y:5.83, Z:-1.50 [[ 9.66221451e-01 1.84938192e-01 -1.79482514e-01 -3.14177891e+01] [-1.81678718e-01 9.82749827e-01 3.45777539e-02 5.83422060e+00] [ 1.82781157e-01 -8.01614494e-04 9.83153297e-01 -1.49738224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.045285570000004 meters Centerline goodness [0,1] 0.9904245524296675 Centerline is valid? [True, True] Translation: X:-31.45, Y:5.84, Z:-1.50 [[ 9.66351386e-01 1.85163978e-01 -1.78547754e-01 -3.14454854e+01] [-1.81937663e-01 9.82707327e-01 3.44237619e-02 5.84042134e+00] [ 1.81834227e-01 -7.80888807e-04 9.83328889e-01 -1.50097859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.07528557 meters Centerline goodness [0,1] 0.9901193063015047 Centerline is valid? [True, True] Translation: X:-31.47, Y:5.85, Z:-1.51 [[ 9.65930273e-01 1.85512554e-01 -1.80454428e-01 -3.14720456e+01] [-1.82214564e-01 9.82641596e-01 3.48331129e-02 5.84666183e+00] [ 1.83784007e-01 -7.64933313e-04 9.82966354e-01 -1.50789003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10528557 meters Centerline goodness [0,1] 0.9896110815130528 Centerline is valid? [True, True] Translation: X:-31.50, Y:5.85, Z:-1.51 [[ 9.65436271e-01 1.86119495e-01 -1.82461885e-01 -3.15001501e+01] [-1.82753992e-01 9.82526883e-01 3.52406470e-02 5.85191412e+00] [ 1.85832679e-01 -6.76960893e-04 9.82581171e-01 -1.51243986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13528557 meters Centerline goodness [0,1] 0.9900480157590184 Centerline is valid? [True, True] Translation: X:-31.53, Y:5.87, Z:-1.51 [[ 9.65491767e-01 1.88481849e-01 -1.79722678e-01 -3.15272525e+01] [-1.85249887e-01 9.82076638e-01 3.47556561e-02 5.86518995e+00] [ 1.83052253e-01 -2.62694047e-04 9.83103150e-01 -1.51347922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16528557 meters Centerline goodness [0,1] 0.9907194480946123 Centerline is valid? [True, True] Translation: X:-31.55, Y:5.88, Z:-1.52 [[ 9.65165847e-01 1.90551158e-01 -1.79290669e-01 -3.15524667e+01] [-1.87362680e-01 9.81677263e-01 3.47127907e-02 5.87957900e+00] [ 1.82620135e-01 8.87801635e-05 9.83183543e-01 -1.51894642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.19528557 meters Centerline goodness [0,1] 0.990648839307686 Centerline is valid? [True, True] Translation: X:-31.58, Y:5.89, Z:-1.53 [[ 9.64335933e-01 1.92183247e-01 -1.81993980e-01 -3.15789818e+01] [-1.88922030e-01 9.81358983e-01 3.52564031e-02 5.88750670e+00] [ 1.85377117e-01 3.83655774e-04 9.82667379e-01 -1.52964594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.225285570000004 meters Centerline goodness [0,1] 0.9904661889465448 Centerline is valid? [True, True] Translation: X:-31.61, Y:5.89, Z:-1.53 [[ 9.63417534e-01 1.94458661e-01 -1.84424740e-01 -3.16072227e+01] [-1.91141269e-01 9.80910400e-01 3.57743379e-02 5.89275658e+00] [ 1.87860776e-01 7.85554556e-04 9.82195353e-01 -1.53306773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.25528557 meters Centerline goodness [0,1] 0.9904661889465448 Centerline is valid? [True, True] Translation: X:-31.63, Y:5.90, Z:-1.54 [[ 9.63365823e-01 1.94723049e-01 -1.84415904e-01 -3.16337417e+01] [-1.91401749e-01 9.80857946e-01 3.58198343e-02 5.89782309e+00] [ 1.87860753e-01 7.89922500e-04 9.82195354e-01 -1.53751648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28528557 meters Centerline goodness [0,1] 0.9905178252570654 Centerline is valid? [True, True] Translation: X:-31.66, Y:5.90, Z:-1.53 [[ 9.63980081e-01 1.95699227e-01 -1.80122781e-01 -3.16623274e+01] [-1.92540457e-01 9.80663541e-01 3.50312850e-02 5.90353615e+00] [ 1.83495440e-01 9.11461525e-04 9.83020139e-01 -1.53472496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31528557 meters Centerline goodness [0,1] 0.9910875636602595 Centerline is valid? [True, True] Translation: X:-31.69, Y:5.92, Z:-1.54 [[ 9.64220570e-01 1.96638476e-01 -1.77797644e-01 -3.16890403e+01] [-1.93573872e-01 9.80475492e-01 3.45971766e-02 5.91530013e+00] [ 1.81129369e-01 1.05766915e-03 9.83458709e-01 -1.54019755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34528557 meters Centerline goodness [0,1] 0.9905972202262415 Centerline is valid? [True, True] Translation: X:-31.71, Y:5.93, Z:-1.55 [[ 9.63723679e-01 1.96936756e-01 -1.80146012e-01 -3.17140310e+01] [-1.93787180e-01 9.80415593e-01 3.50969331e-02 5.92529364e+00] [ 1.83529835e-01 1.08624212e-03 9.83013540e-01 -1.54874462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.37528557 meters Centerline goodness [0,1] 0.9909863560595148 Centerline is valid? [True, True] Translation: X:-31.74, Y:5.93, Z:-1.56 [[ 9.63596047e-01 1.95603440e-01 -1.82268902e-01 -3.17415054e+01] [-1.92351738e-01 9.80682728e-01 3.55274038e-02 5.92970229e+00] [ 1.85697247e-01 8.25674238e-04 9.82606661e-01 -1.56005743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.405285570000004 meters Centerline goodness [0,1] 0.9918281243599721 Centerline is valid? [True, True] Translation: X:-31.77, Y:5.93, Z:-1.56 [[ 9.63881210e-01 1.94498242e-01 -1.81943527e-01 -3.17695582e+01] [-1.91234789e-01 9.80902689e-01 3.54847974e-02 5.93278582e+00] [ 1.85370626e-01 5.90802547e-04 9.82668501e-01 -1.56138936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.43528557 meters Centerline goodness [0,1] 0.9909257016157178 Centerline is valid? [True, True] Translation: X:-31.80, Y:5.94, Z:-1.56 [[ 9.64374363e-01 1.94601456e-01 -1.79199222e-01 -3.17969873e+01] [-1.91435459e-01 9.80882220e-01 3.49647668e-02 5.94072139e+00] [ 1.82577525e-01 5.85960543e-04 9.83191286e-01 -1.55868917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46528557 meters Centerline goodness [0,1] 0.9915125671409242 Centerline is valid? [True, True] Translation: X:-31.83, Y:5.95, Z:-1.56 [[ 9.64811668e-01 1.93713983e-01 -1.77801400e-01 -3.18253480e+01] [-1.90579168e-01 9.81057968e-01 3.47108752e-02 5.94688774e+00] [ 1.81157462e-01 3.95785393e-04 9.83454024e-01 -1.56051826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.49528557 meters Centerline goodness [0,1] 0.9914735371466141 Centerline is valid? [True, True] Translation: X:-31.85, Y:5.95, Z:-1.57 [[ 9.64706631e-01 1.91978876e-01 -1.80236587e-01 -3.18527974e+01] [-1.88718369e-01 9.81399058e-01 3.52316121e-02 5.94839457e+00] [ 1.83647742e-01 2.57848469e-05 9.82992119e-01 -1.56884892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52528557 meters Centerline goodness [0,1] 0.9915722830890665 Centerline is valid? [True, True] Translation: X:-31.88, Y:5.95, Z:-1.58 [[ 9.64370885e-01 1.91316654e-01 -1.82720370e-01 -3.18788165e+01] [-1.87945899e-01 9.81528358e-01 3.57550088e-02 5.95380689e+00] [ 1.86185753e-01 -1.39545380e-04 9.82514553e-01 -1.57821324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.55528557 meters Centerline goodness [0,1] 0.9922619047619048 Centerline is valid? [True, True] Translation: X:-31.90, Y:5.96, Z:-1.58 [[ 9.64295190e-01 1.91724266e-01 -1.82692615e-01 -3.19043385e+01] [-1.88358533e-01 9.81448827e-01 3.57667930e-02 5.95947964e+00] [ 1.86160815e-01 -7.80336706e-05 9.82519285e-01 -1.58407175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58528557 meters Centerline goodness [0,1] 0.9912233933478243 Centerline is valid? [True, True] Translation: X:-31.93, Y:5.97, Z:-1.59 [[ 9.64793830e-01 1.92081430e-01 -1.79659651e-01 -3.19324259e+01] [-1.88828958e-01 9.81378990e-01 3.51980351e-02 5.96541413e+00] [ 1.83075096e-01 -3.39024454e-05 9.83098931e-01 -1.58812031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.61528557 meters Centerline goodness [0,1] 0.9901776213473029 Centerline is valid? [True, True] Translation: X:-31.96, Y:5.97, Z:-1.58 [[ 9.65616064e-01 1.91102620e-01 -1.76253810e-01 -3.19624170e+01] [-1.87949165e-01 9.81570029e-01 3.45744087e-02 5.96957465e+00] [ 1.79612718e-01 -2.58847970e-04 9.83737366e-01 -1.58140933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64528557 meters Centerline goodness [0,1] 0.9917216162363139 Centerline is valid? [True, True] Translation: X:-31.99, Y:5.97, Z:-1.59 [[ 9.64979290e-01 1.92587894e-01 -1.78114775e-01 -3.19893577e+01] [-1.89384483e-01 9.81279727e-01 3.49802121e-02 5.97224143e+00] [ 1.81517183e-01 -2.30055758e-05 9.83387773e-01 -1.58924170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.67528557 meters Centerline goodness [0,1] 0.9922596805321726 Centerline is valid? [True, True] Translation: X:-32.02, Y:5.98, Z:-1.60 [[ 9.64392229e-01 1.94784176e-01 -1.78904314e-01 -3.20167745e+01] [-1.91585972e-01 9.80846056e-01 3.51543692e-02 5.97879948e+00] [ 1.82325106e-01 3.72956461e-04 9.83238230e-01 -1.59581892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70528557 meters Centerline goodness [0,1] 0.9915912828947369 Centerline is valid? [True, True] Translation: X:-32.04, Y:5.99, Z:-1.60 [[ 9.64258037e-01 1.95796301e-01 -1.78522395e-01 -3.20430545e+01] [-1.92621400e-01 9.80644449e-01 3.51206529e-02 5.98661490e+00] [ 1.81943490e-01 5.21861856e-04 9.83308850e-01 -1.60057962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73528557 meters Centerline goodness [0,1] 0.9906745096431719 Centerline is valid? [True, True] Translation: X:-32.07, Y:6.00, Z:-1.60 [[ 9.64240631e-01 1.95373651e-01 -1.79078591e-01 -3.20698863e+01] [-1.92167756e-01 9.80728789e-01 3.52504793e-02 5.99646345e+00] [ 1.82514544e-01 4.23186494e-04 9.83203062e-01 -1.60025490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76528557 meters Centerline goodness [0,1] 0.9930184468603485 Centerline is valid? [True, True] Translation: X:-32.10, Y:6.00, Z:-1.61 [[ 9.64560159e-01 1.95584723e-01 -1.77116673e-01 -3.20959936e+01] [-1.92444044e-01 9.80686723e-01 3.49119188e-02 6.00443895e+00] [ 1.80524207e-01 4.10402851e-04 9.83570456e-01 -1.60946977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.795285570000004 meters Centerline goodness [0,1] 0.9918777759499918 Centerline is valid? [True, True] Translation: X:-32.12, Y:6.01, Z:-1.61 [[ 9.63961536e-01 1.97717135e-01 -1.78005877e-01 -3.21235822e+01] [-1.94577018e-01 9.80258794e-01 3.51067014e-02 6.01004332e+00] [ 1.81433023e-01 7.94343052e-04 9.83402983e-01 -1.61478943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82528557 meters Centerline goodness [0,1] 0.9911591962905719 Centerline is valid? [True, True] Translation: X:-32.15, Y:6.01, Z:-1.62 [[ 9.63615366e-01 1.98489149e-01 -1.79018112e-01 -3.21514558e+01] [-1.95318312e-01 9.80102669e-01 3.53484796e-02 6.01316633e+00] [ 1.82472419e-01 9.03177240e-04 9.83210558e-01 -1.61650862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.85528557 meters Centerline goodness [0,1] 0.9912095134424613 Centerline is valid? [True, True] Translation: X:-32.18, Y:6.02, Z:-1.62 [[ 9.63624186e-01 1.98686833e-01 -1.78751140e-01 -3.21789676e+01] [-1.95525140e-01 9.80062599e-01 3.53160284e-02 6.01711281e+00] [ 1.82204137e-01 9.18962652e-04 9.83260295e-01 -1.62179879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88528557 meters Centerline goodness [0,1] 0.9937351080437105 Centerline is valid? [True, True] Translation: X:-32.21, Y:6.03, Z:-1.62 [[ 9.63900844e-01 1.98757400e-01 -1.77174092e-01 -3.22064331e+01] [-1.95643909e-01 9.80048331e-01 3.50532533e-02 6.02512056e+00] [ 1.80606266e-01 8.75171492e-04 9.83555088e-01 -1.62251570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91528557 meters Centerline goodness [0,1] 0.9922815494226517 Centerline is valid? [True, True] Translation: X:-32.23, Y:6.04, Z:-1.63 [[ 9.64288217e-01 1.98129617e-01 -1.75763731e-01 -3.22331927e+01] [-1.95051196e-01 9.80175559e-01 3.47980645e-02 6.03533219e+00] [ 1.79173840e-01 7.27562352e-04 9.83817161e-01 -1.62514788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94528557 meters Centerline goodness [0,1] 0.9933386788379696 Centerline is valid? [True, True] Translation: X:-32.26, Y:6.04, Z:-1.63 [[ 9.64047276e-01 1.98905512e-01 -1.76208534e-01 -3.22596704e+01] [-1.95819868e-01 9.80018303e-01 3.49099599e-02 6.04467766e+00] [ 1.79631372e-01 8.50279986e-04 9.83733626e-01 -1.62905455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.975285570000004 meters Centerline goodness [0,1] 0.9937416641017749 Centerline is valid? [True, True] Translation: X:-32.29, Y:6.05, Z:-1.64 [[ 9.63934942e-01 1.99924532e-01 -1.75669031e-01 -3.22856466e+01] [-1.96870000e-01 9.79810777e-01 3.48287807e-02 6.05129982e+00] [ 1.79085538e-01 1.01128353e-03 9.83832988e-01 -1.63645636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00528557 meters Centerline goodness [0,1] 0.9936538580025056 Centerline is valid? [True, True] Translation: X:-32.31, Y:6.05, Z:-1.64 [[ 9.64162186e-01 1.98637843e-01 -1.75881457e-01 -3.23122883e+01] [-1.95545987e-01 9.80072691e-01 3.49182848e-02 6.05344889e+00] [ 1.79312706e-01 7.26023307e-04 9.83791861e-01 -1.64010239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.03528557 meters Centerline goodness [0,1] 0.9935111603934372 Centerline is valid? [True, True] Translation: X:-32.34, Y:6.06, Z:-1.64 [[ 9.64011673e-01 1.99139126e-01 -1.76139443e-01 -3.23401119e+01] [-1.96041895e-01 9.79970905e-01 3.49942880e-02 6.05555687e+00] [ 1.79580261e-01 7.95808094e-04 9.83743003e-01 -1.64445303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06528557 meters Centerline goodness [0,1] 0.9934066384094027 Centerline is valid? [True, True] Translation: X:-32.37, Y:6.06, Z:-1.64 [[ 9.64014876e-01 1.98373656e-01 -1.76983647e-01 -3.23680022e+01] [-1.95224931e-01 9.80126278e-01 3.52094416e-02 6.05971287e+00] [ 1.80450949e-01 6.09194858e-04 9.83583796e-01 -1.64191766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.09528557 meters Centerline goodness [0,1] 0.9930445844190484 Centerline is valid? [True, True] Translation: X:-32.40, Y:6.07, Z:-1.64 [[ 9.64682646e-01 1.97856122e-01 -1.73897522e-01 -3.23961858e+01] [-1.94805527e-01 9.80230952e-01 3.46133959e-02 6.06734836e+00] [ 1.77308206e-01 4.85256082e-04 9.84155254e-01 -1.63995929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12528557 meters Centerline goodness [0,1] 0.995076519099003 Centerline is valid? [True, True] Translation: X:-32.42, Y:6.08, Z:-1.65 [[ 9.64968764e-01 1.97933343e-01 -1.72214044e-01 -3.24232711e+01] [-1.94935460e-01 9.80215379e-01 3.43216836e-02 6.07605927e+00] [ 1.75600260e-01 4.51271382e-04 9.84461449e-01 -1.64565820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.155285570000004 meters Centerline goodness [0,1] 0.9930146076880406 Centerline is valid? [True, True] Translation: X:-32.45, Y:6.08, Z:-1.65 [[ 9.64637317e-01 1.97027733e-01 -1.75085460e-01 -3.24509389e+01] [-1.93905557e-01 9.80397884e-01 3.49374300e-02 6.08282711e+00] [ 1.78537057e-01 2.48094850e-04 9.83933157e-01 -1.65287864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18528557 meters Centerline goodness [0,1] 0.9929515418502203 Centerline is valid? [True, True] Translation: X:-32.48, Y:6.09, Z:-1.66 [[ 9.64343471e-01 1.95860164e-01 -1.77990075e-01 -3.24790923e+01] [-1.92608505e-01 9.80631835e-01 3.55410689e-02 6.08527136e+00] [ 1.81503814e-01 8.60458056e-06 9.83390241e-01 -1.66208874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.21528557 meters Centerline goodness [0,1] 0.9921807481789374 Centerline is valid? [True, True] Translation: X:-32.51, Y:6.09, Z:-1.66 [[ 9.64129985e-01 1.95938345e-01 -1.79057358e-01 -3.25081698e+01] [-1.92641499e-01 9.80616217e-01 3.57922932e-02 6.08783713e+00] [ 1.82599631e-01 -1.45453691e-05 9.83187355e-01 -1.65733052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24528557 meters Centerline goodness [0,1] 0.9921446050710482 Centerline is valid? [True, True] Translation: X:-32.54, Y:6.09, Z:-1.65 [[ 9.64968467e-01 1.95721900e-01 -1.74724912e-01 -3.25373134e+01] [-1.92577662e-01 9.80659438e-01 3.49415396e-02 6.09096041e+00] [ 1.78184459e-01 -6.93688035e-05 9.83997101e-01 -1.65321938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27528557 meters Centerline goodness [0,1] 0.9929940624165349 Centerline is valid? [True, True] Translation: X:-32.56, Y:6.10, Z:-1.66 [[ 9.65218531e-01 1.97019082e-01 -1.71862354e-01 -3.25645669e+01] [-1.93995574e-01 9.80399642e-01 3.43839915e-02 6.09904485e+00] [ 1.75268093e-01 1.52470321e-04 9.84520732e-01 -1.65624260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.30528557 meters Centerline goodness [0,1] 0.9938175245450438 Centerline is valid? [True, True] Translation: X:-32.59, Y:6.11, Z:-1.66 [[ 9.64882799e-01 1.96383380e-01 -1.74455590e-01 -3.25909912e+01] [-1.93248580e-01 9.80527189e-01 3.49487974e-02 6.10916435e+00] [ 1.77921813e-01 -8.19825757e-06 9.84044627e-01 -1.66297931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.33528557 meters Centerline goodness [0,1] 0.9929460495827096 Centerline is valid? [True, True] Translation: X:-32.62, Y:6.11, Z:-1.67 [[ 9.64639984e-01 1.96520128e-01 -1.75640373e-01 -3.26180072e+01] [-1.93336291e-01 9.80499790e-01 3.52312348e-02 6.11357326e+00] [ 1.79138995e-01 -2.77995500e-05 9.83823775e-01 -1.67316870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36528557 meters Centerline goodness [0,1] 0.9935905311872876 Centerline is valid? [True, True] Translation: X:-32.65, Y:6.11, Z:-1.68 [[ 9.64817764e-01 1.94636993e-01 -1.76757245e-01 -3.26465951e+01] [-1.91372665e-01 9.80875252e-01 3.54998929e-02 6.11264362e+00] [ 1.80286399e-01 -4.24422249e-04 9.83614068e-01 -1.67788156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39528557 meters Centerline goodness [0,1] 0.9938472302247099 Centerline is valid? [True, True] Translation: X:-32.67, Y:6.12, Z:-1.68 [[ 9.65235353e-01 1.93128232e-01 -1.76131196e-01 -3.26742517e+01] [-1.89854706e-01 9.81173242e-01 3.54155276e-02 6.11728101e+00] [ 1.79654955e-01 -7.44982788e-04 9.83729405e-01 -1.67764624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42528557 meters Centerline goodness [0,1] 0.9939095903376474 Centerline is valid? [True, True] Translation: X:-32.70, Y:6.12, Z:-1.68 [[ 9.65980042e-01 1.92385452e-01 -1.72830545e-01 -3.27022771e+01] [-1.89219951e-01 9.81319042e-01 3.47670643e-02 6.12227364e+00] [ 1.76290582e-01 -8.81303065e-04 9.84337774e-01 -1.67573050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.45528557 meters Centerline goodness [0,1] 0.9931540643887998 Centerline is valid? [True, True] Translation: X:-32.73, Y:6.13, Z:-1.68 [[ 9.66321788e-01 1.91147594e-01 -1.72292771e-01 -3.27291509e+01] [-1.87979140e-01 9.81560665e-01 3.46771445e-02 6.12812878e+00] [ 1.75744260e-01 -1.12183342e-03 9.84435217e-01 -1.68128151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48528557 meters Centerline goodness [0,1] 0.9929759174311926 Centerline is valid? [True, True] Translation: X:-32.76, Y:6.13, Z:-1.69 [[ 9.65886721e-01 1.90850631e-01 -1.75039648e-01 -3.27555038e+01] [-1.87565382e-01 9.81618299e-01 3.52809192e-02 6.13453341e+00] [ 1.78555507e-01 -1.24599300e-03 9.83929052e-01 -1.69112568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51528557 meters Centerline goodness [0,1] 0.9925630810092961 Centerline is valid? [True, True] Translation: X:-32.78, Y:6.14, Z:-1.70 [[ 9.65775394e-01 1.89484145e-01 -1.77126076e-01 -3.27818049e+01] [-1.86089017e-01 9.81882544e-01 3.57427949e-02 6.14201920e+00] [ 1.80689695e-01 -1.55829460e-03 9.83538919e-01 -1.69652210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.545285570000004 meters Centerline goodness [0,1] 0.99255695369685 Centerline is valid? [True, True] Translation: X:-32.81, Y:6.15, Z:-1.70 [[ 9.66446081e-01 1.88521952e-01 -1.74474770e-01 -3.28098037e+01] [-1.85209037e-01 9.82067446e-01 3.52298715e-02 6.14725305e+00] [ 1.77987595e-01 -1.73346713e-03 9.84031204e-01 -1.69638572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57528557 meters Centerline goodness [0,1] 0.9922731651329139 Centerline is valid? [True, True] Translation: X:-32.84, Y:6.15, Z:-1.69 [[ 9.66814127e-01 1.89365708e-01 -1.71496566e-01 -3.28387021e+01] [-1.86175123e-01 9.81905370e-01 3.46506441e-02 6.15041713e+00] [ 1.74955042e-01 -1.57233807e-03 9.84575168e-01 -1.69404506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60528557 meters Centerline goodness [0,1] 0.9923327661493676 Centerline is valid? [True, True] Translation: X:-32.87, Y:6.16, Z:-1.70 [[ 9.66748183e-01 1.90317576e-01 -1.70813265e-01 -3.28672885e+01] [-1.87164271e-01 9.81721563e-01 3.45298070e-02 6.15539042e+00] [ 1.74262694e-01 -1.41148798e-03 9.84698188e-01 -1.69537855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63528557 meters Centerline goodness [0,1] 0.9921497089448225 Centerline is valid? [True, True] Translation: X:-32.89, Y:6.16, Z:-1.70 [[ 9.66247960e-01 1.90952366e-01 -1.72922162e-01 -3.28945401e+01] [-1.87722241e-01 9.81598366e-01 3.50001288e-02 6.16436640e+00] [ 1.76423469e-01 -1.35746729e-03 9.84313424e-01 -1.69965620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66528557 meters Centerline goodness [0,1] 0.9920838902025291 Centerline is valid? [True, True] Translation: X:-32.92, Y:6.18, Z:-1.71 [[ 9.65497040e-01 1.92458609e-01 -1.75428473e-01 -3.29197538e+01] [-1.89150321e-01 9.81304429e-01 3.55495927e-02 6.17528298e+00] [ 1.78990562e-01 -1.14067466e-03 9.83850130e-01 -1.70803710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.69528557 meters Centerline goodness [0,1] 0.9933852140077821 Centerline is valid? [True, True] Translation: X:-32.95, Y:6.18, Z:-1.71 [[ 9.64961995e-01 1.95451474e-01 -1.75063046e-01 -3.29472367e+01] [-1.92202583e-01 9.80713188e-01 3.54937884e-02 6.18498952e+00] [ 1.78623952e-01 -6.02587129e-04 9.83917233e-01 -1.70984286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.725285570000004 meters Centerline goodness [0,1] 0.992301849608934 Centerline is valid? [True, True] Translation: X:-32.98, Y:6.19, Z:-1.71 [[ 9.64989275e-01 1.97490092e-01 -1.72607537e-01 -3.29756928e+01] [-1.94357562e-01 9.80304848e-01 3.50363132e-02 6.19121221e+00] [ 1.76127330e-01 -2.62086379e-04 9.84367358e-01 -1.70700072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.75528557 meters Centerline goodness [0,1] 0.9927317523868187 Centerline is valid? [True, True] Translation: X:-33.00, Y:6.20, Z:-1.71 [[ 9.64865030e-01 1.98762767e-01 -1.71839567e-01 -3.30031279e+01] [-1.95675564e-01 9.80047632e-01 3.48957443e-02 6.19767312e+00] [ 1.75346935e-01 -4.48790873e-05 9.84506704e-01 -1.70562604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78528557 meters Centerline goodness [0,1] 0.9935750911225057 Centerline is valid? [True, True] Translation: X:-33.03, Y:6.20, Z:-1.71 [[ 9.64439165e-01 1.99753771e-01 -1.73076653e-01 -3.30299074e+01] [-1.96634205e-01 9.79846119e-01 3.51649371e-02 6.20427243e+00] [ 1.76612816e-01 1.18347519e-04 9.84280397e-01 -1.71323244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81528557 meters Centerline goodness [0,1] 0.9934937923366757 Centerline is valid? [True, True] Translation: X:-33.06, Y:6.21, Z:-1.72 [[ 9.63865875e-01 1.99431677e-01 -1.76605722e-01 -3.30582062e+01] [-1.96168848e-01 9.79911734e-01 3.59273906e-02 6.20887378e+00] [ 1.80223079e-01 1.53550680e-05 9.83625763e-01 -1.71930294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84528557 meters Centerline goodness [0,1] 0.9925539988923304 Centerline is valid? [True, True] Translation: X:-33.09, Y:6.22, Z:-1.72 [[ 9.63672621e-01 1.98974555e-01 -1.78169036e-01 -3.30860945e+01] [-1.95637592e-01 9.80004650e-01 3.62879995e-02 6.21567542e+00] [ 1.81826872e-01 -1.13190442e-04 9.83330553e-01 -1.72135034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.87528557 meters Centerline goodness [0,1] 0.9917140102959575 Centerline is valid? [True, True] Translation: X:-33.11, Y:6.23, Z:-1.72 [[ 9.64311243e-01 2.00039462e-01 -1.73459043e-01 -3.31136548e+01] [-1.96887878e-01 9.79787840e-01 3.53688000e-02 6.22689521e+00] [ 1.77028217e-01 4.54513599e-05 9.84205775e-01 -1.71834743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.905285570000004 meters Centerline goodness [0,1] 0.9913246306829807 Centerline is valid? [True, True] Translation: X:-33.14, Y:6.23, Z:-1.72 [[ 9.64676565e-01 1.99749572e-01 -1.71753410e-01 -3.31410305e+01] [-1.96653506e-01 9.79846982e-01 3.50327105e-02 6.23084912e+00] [ 1.75289829e-01 -1.93247039e-05 9.84516874e-01 -1.72460773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93528557 meters Centerline goodness [0,1] 0.9923631300929527 Centerline is valid? [True, True] Translation: X:-33.17, Y:6.23, Z:-1.72 [[ 9.64327772e-01 2.00232526e-01 -1.73144110e-01 -3.31694402e+01] [-1.97085990e-01 9.79748404e-01 3.53578568e-02 6.23485602e+00] [ 1.76717459e-01 2.77149906e-05 9.84261621e-01 -1.72323439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96528557 meters Centerline goodness [0,1] 0.991412076510591 Centerline is valid? [True, True] Translation: X:-33.20, Y:6.24, Z:-1.73 [[ 9.63625416e-01 2.00666672e-01 -1.76518963e-01 -3.31969084e+01] [-1.97398960e-01 9.79659573e-01 3.60662170e-02 6.23899941e+00] [ 1.80165780e-01 9.03364959e-05 9.83636256e-01 -1.73194626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.99528557 meters Centerline goodness [0,1] 0.9910756416305931 Centerline is valid? [True, True] Translation: X:-33.22, Y:6.25, Z:-1.74 [[ 9.63658724e-01 2.00962995e-01 -1.75999255e-01 -3.32233163e+01] [-1.97711370e-01 9.79598828e-01 3.60048564e-02 6.25040525e+00] [ 1.79644307e-01 1.00659832e-04 9.83731626e-01 -1.73688037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02528557 meters Centerline goodness [0,1] 0.9920417857656953 Centerline is valid? [True, True] Translation: X:-33.25, Y:6.26, Z:-1.74 [[ 9.63569306e-01 2.02413954e-01 -1.74822150e-01 -3.32504738e+01] [-1.99222327e-01 9.79299997e-01 3.58047580e-02 6.26003058e+00] [ 1.78450713e-01 3.28109686e-04 9.83948797e-01 -1.73632347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.05528557 meters Centerline goodness [0,1] 0.9941341756055541 Centerline is valid? [True, True] Translation: X:-33.28, Y:6.26, Z:-1.73 [[ 9.63539615e-01 2.03119774e-01 -1.74165922e-01 -3.32794592e+01] [-1.99961058e-01 9.79153799e-01 3.56849210e-02 6.26405086e+00] [ 1.77783537e-01 4.42566998e-04 9.84069519e-01 -1.73292048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08528557 meters Centerline goodness [0,1] 0.9928341981714851 Centerline is valid? [True, True] Translation: X:-33.31, Y:6.27, Z:-1.74 [[ 9.62937247e-01 2.04975826e-01 -1.75319050e-01 -3.33062727e+01] [-2.01801912e-01 9.78766732e-01 3.59398559e-02 6.27107390e+00] [ 1.78963255e-01 7.71893528e-04 9.83855456e-01 -1.74216505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.11528557 meters Centerline goodness [0,1] 0.9933777558407371 Centerline is valid? [True, True] Translation: X:-33.33, Y:6.28, Z:-1.75 [[ 9.62769694e-01 2.04558384e-01 -1.76721203e-01 -3.33333146e+01] [-2.01317875e-01 9.78854146e-01 3.62722361e-02 6.27997119e+00] [ 1.80404072e-01 6.55327217e-04 9.83592365e-01 -1.74698399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14528557 meters Centerline goodness [0,1] 0.9935942327497426 Centerline is valid? [True, True] Translation: X:-33.36, Y:6.29, Z:-1.75 [[ 9.62314836e-01 2.06133202e-01 -1.77367582e-01 -3.33596891e+01] [-2.02887897e-01 9.78523514e-01 3.64449422e-02 6.28733908e+00] [ 1.81070862e-01 9.14227086e-04 9.83469627e-01 -1.74978863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.17528557 meters Centerline goodness [0,1] 0.9935942327497426 Centerline is valid? [True, True] Translation: X:-33.39, Y:6.29, Z:-1.75 [[ 9.62260863e-01 2.06388197e-01 -1.77363871e-01 -3.33861481e+01] [-2.03143861e-01 9.78469735e-01 3.64629925e-02 6.29264940e+00] [ 1.81070711e-01 9.43470813e-04 9.83469627e-01 -1.75422326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20528557 meters Centerline goodness [0,1] 0.9930143206426825 Centerline is valid? [True, True] Translation: X:-33.41, Y:6.30, Z:-1.75 [[ 9.62869020e-01 2.05821897e-01 -1.74701451e-01 -3.34147989e+01] [-2.02657647e-01 9.78589157e-01 3.59602428e-02 6.29677107e+00] [ 1.78362351e-01 7.79581078e-04 9.83964564e-01 -1.75137981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23528557 meters Centerline goodness [0,1] 0.9926881720430107 Centerline is valid? [True, True] Translation: X:-33.44, Y:6.30, Z:-1.75 [[ 9.62788292e-01 2.06271498e-01 -1.74616078e-01 -3.34416858e+01] [-2.03114401e-01 9.78494433e-01 3.59608678e-02 6.30290963e+00] [ 1.78278562e-01 8.44337517e-04 9.83979696e-01 -1.75348293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26528557 meters Centerline goodness [0,1] 0.9923585719567808 Centerline is valid? [True, True] Translation: X:-33.47, Y:6.31, Z:-1.76 [[ 9.62498143e-01 2.06512348e-01 -1.75926049e-01 -3.34675289e+01] [-2.03302384e-01 9.78443628e-01 3.62795813e-02 6.31173382e+00] [ 1.79625903e-01 8.47155605e-04 9.83734627e-01 -1.76102350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.295285570000004 meters Centerline goodness [0,1] 0.9935146486586647 Centerline is valid? [True, True] Translation: X:-33.49, Y:6.32, Z:-1.77 [[ 9.62129503e-01 2.07778198e-01 -1.76451241e-01 -3.34943566e+01] [-2.04562106e-01 9.78175409e-01 3.64309496e-02 6.32015490e+00] [ 1.80169822e-01 1.04394613e-03 9.83634966e-01 -1.76912597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32528557 meters Centerline goodness [0,1] 0.9936101579996302 Centerline is valid? [True, True] Translation: X:-33.52, Y:6.33, Z:-1.77 [[ 9.62069086e-01 2.07835722e-01 -1.76712724e-01 -3.35222296e+01] [-2.04602861e-01 9.78163221e-01 3.65291875e-02 6.32528209e+00] [ 1.80445957e-01 1.01232683e-03 9.83584380e-01 -1.76833423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.35528557 meters Centerline goodness [0,1] 0.9935283724370301 Centerline is valid? [True, True] Translation: X:-33.55, Y:6.33, Z:-1.77 [[ 9.62596006e-01 2.07637530e-01 -1.74056269e-01 -3.35507492e+01] [-2.04490346e-01 9.78205408e-01 3.60260760e-02 6.32783257e+00] [ 1.77743149e-01 9.14269773e-04 9.84076489e-01 -1.76702796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38528557 meters Centerline goodness [0,1] 0.9926606636240286 Centerline is valid? [True, True] Translation: X:-33.58, Y:6.33, Z:-1.77 [[ 9.62254658e-01 2.07867229e-01 -1.75662143e-01 -3.35788155e+01] [-2.04660618e-01 9.78156597e-01 3.63827326e-02 6.33420855e+00] [ 1.79387862e-01 9.41668788e-04 9.83777977e-01 -1.77212060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41528557 meters Centerline goodness [0,1] 0.9931820054379171 Centerline is valid? [True, True] Translation: X:-33.61, Y:6.34, Z:-1.78 [[ 9.61159487e-01 2.09584866e-01 -1.79573450e-01 -3.36053597e+01] [-2.06257938e-01 9.77789639e-01 3.72167274e-02 6.34442768e+00] [ 1.83385121e-01 1.26723891e-03 9.83040330e-01 -1.77869140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44528557 meters Centerline goodness [0,1] 0.9921246856059044 Centerline is valid? [True, True] Translation: X:-33.63, Y:6.35, Z:-1.78 [[ 9.61256399e-01 2.09457043e-01 -1.79203468e-01 -3.36324840e+01] [-2.06139260e-01 9.77817080e-01 3.71532487e-02 6.35109424e+00] [ 1.83010221e-01 1.22707230e-03 9.83110245e-01 -1.78245628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.475285570000004 meters Centerline goodness [0,1] 0.9931037322189513 Centerline is valid? [True, True] Translation: X:-33.66, Y:6.36, Z:-1.78 [[ 9.61673668e-01 2.11014021e-01 -1.75090946e-01 -3.36610353e+01] [-2.07870176e-01 9.77481930e-01 3.63189406e-02 6.35581806e+00] [ 1.78812041e-01 1.46921688e-03 9.83882155e-01 -1.78243759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50528557 meters Centerline goodness [0,1] 0.9923948120285297 Centerline is valid? [True, True] Translation: X:-33.69, Y:6.36, Z:-1.78 [[ 9.61909573e-01 2.11852382e-01 -1.72767307e-01 -3.36890990e+01] [-2.08798031e-01 9.77300429e-01 3.58783087e-02 6.36316838e+00] [ 1.76446468e-01 1.56178486e-03 9.84308999e-01 -1.78059076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.53528557 meters Centerline goodness [0,1] 0.9938484251968503 Centerline is valid? [True, True] Translation: X:-33.72, Y:6.37, Z:-1.79 [[ 9.60944779e-01 2.14058474e-01 -1.75396980e-01 -3.37150916e+01] [-2.10942676e-01 9.76818845e-01 3.64435462e-02 6.37378790e+00] [ 1.79132125e-01 1.97847283e-03 9.83823037e-01 -1.78741377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56528557 meters Centerline goodness [0,1] 0.9934573286149289 Centerline is valid? [True, True] Translation: X:-33.74, Y:6.38, Z:-1.80 [[ 9.60078267e-01 2.14808821e-01 -1.79183960e-01 -3.37406499e+01] [-2.11560251e-01 9.76653817e-01 3.72770834e-02 6.38425625e+00] [ 1.83008145e-01 2.11928599e-03 9.83109113e-01 -1.80125705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.59528557 meters Centerline goodness [0,1] 0.9929335880528337 Centerline is valid? [True, True] Translation: X:-33.77, Y:6.39, Z:-1.80 [[ 9.60157512e-01 2.15334533e-01 -1.78125213e-01 -3.37687534e+01] [-2.12125954e-01 9.76537941e-01 3.70975742e-02 6.38891637e+00] [ 1.81934418e-01 2.16546633e-03 9.83308282e-01 -1.80162103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62528557 meters Centerline goodness [0,1] 0.9935847159376571 Centerline is valid? [True, True] Translation: X:-33.80, Y:6.40, Z:-1.80 [[ 9.60798433e-01 2.16274130e-01 -1.73470090e-01 -3.37975669e+01] [-2.13243312e-01 9.76330069e-01 3.61508847e-02 6.39630203e+00] [ 1.77182566e-01 2.25762313e-03 9.84175412e-01 -1.80011802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.655285570000004 meters Centerline goodness [0,1] 0.9938386588336438 Centerline is valid? [True, True] Translation: X:-33.82, Y:6.41, Z:-1.80 [[ 9.60864682e-01 2.16543854e-01 -1.72765220e-01 -3.38233160e+01] [-2.13537871e-01 9.76270243e-01 3.60276363e-02 6.40578376e+00] [ 1.76467107e-01 2.27423400e-03 9.84303910e-01 -1.80335846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68528557 meters Centerline goodness [0,1] 0.9935973977848231 Centerline is valid? [True, True] Translation: X:-33.85, Y:6.42, Z:-1.81 [[ 9.59864002e-01 2.16663790e-01 -1.78095197e-01 -3.38498753e+01] [-2.13467334e-01 9.76243442e-01 3.71542569e-02 6.41671695e+00] [ 1.81914250e-01 2.35447319e-03 9.83311579e-01 -1.81064434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.71528557 meters Centerline goodness [0,1] 0.9938904827757022 Centerline is valid? [True, True] Translation: X:-33.88, Y:6.42, Z:-1.81 [[ 9.59629248e-01 2.15931243e-01 -1.80237077e-01 -3.38775219e+01] [-2.12641649e-01 9.76406024e-01 3.76139078e-02 6.42110140e+00] [ 1.84106586e-01 2.23050325e-03 9.82903754e-01 -1.81403503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74528557 meters Centerline goodness [0,1] 0.9941686786430413 Centerline is valid? [True, True] Translation: X:-33.91, Y:6.42, Z:-1.81 [[ 9.60432383e-01 2.16244158e-01 -1.75522371e-01 -3.39083495e+01] [-2.13128029e-01 9.76336809e-01 3.66453013e-02 6.42422068e+00] [ 1.79293284e-01 2.21340292e-03 9.83793179e-01 -1.80944711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.77528557 meters Centerline goodness [0,1] 0.9948395087212303 Centerline is valid? [True, True] Translation: X:-33.94, Y:6.43, Z:-1.81 [[ 9.60750448e-01 2.15480027e-01 -1.74719591e-01 -3.39351591e+01] [-2.12376395e-01 9.76506114e-01 3.64976076e-02 6.43013715e+00] [ 1.78479254e-01 2.04122404e-03 9.83941558e-01 -1.81262829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.80528557 meters Centerline goodness [0,1] 0.9940071666872606 Centerline is valid? [True, True] Translation: X:-33.96, Y:6.44, Z:-1.82 [[ 9.60642192e-01 2.14830119e-01 -1.76109620e-01 -3.39616260e+01] [-2.11662891e-01 9.76649543e-01 3.68034032e-02 6.43984114e+00] [ 1.79903859e-01 1.92096937e-03 9.83682322e-01 -1.81596791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.83528557 meters Centerline goodness [0,1] 0.9936442426743706 Centerline is valid? [True, True] Translation: X:-33.99, Y:6.45, Z:-1.82 [[ 9.60582599e-01 2.13898611e-01 -1.77562536e-01 -3.39876867e+01] [-2.10659682e-01 9.76854308e-01 3.71235647e-02 6.44687886e+00] [ 1.81393408e-01 1.74501717e-03 9.83409064e-01 -1.82141299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86528557 meters Centerline goodness [0,1] 0.9934770043761869 Centerline is valid? [True, True] Translation: X:-34.01, Y:6.45, Z:-1.83 [[ 9.60903082e-01 2.14334050e-01 -1.75288852e-01 -3.40145443e+01] [-2.11181218e-01 9.76758795e-01 3.66708154e-02 6.44999003e+00] [ 1.79074733e-01 1.78061372e-03 9.83833863e-01 -1.82553985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89528557 meters Centerline goodness [0,1] 0.9946217725483731 Centerline is valid? [True, True] Translation: X:-34.04, Y:6.46, Z:-1.83 [[ 9.61116287e-01 2.13918746e-01 -1.74626036e-01 -3.40424776e+01] [-2.10779283e-01 9.76850020e-01 3.65531406e-02 6.45701482e+00] [ 1.78402848e-01 1.67573174e-03 9.83956105e-01 -1.82567093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92528557 meters Centerline goodness [0,1] 0.9933190366215771 Centerline is valid? [True, True] Translation: X:-34.07, Y:6.46, Z:-1.83 [[ 9.60854194e-01 2.13886477e-01 -1.76101655e-01 -3.40689021e+01] [-2.10685168e-01 9.76857142e-01 3.69037126e-02 6.46457593e+00] [ 1.79919364e-01 1.64291978e-03 9.83679990e-01 -1.83158961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.95528557 meters Centerline goodness [0,1] 0.9934843313682904 Centerline is valid? [True, True] Translation: X:-34.09, Y:6.47, Z:-1.84 [[ 9.60858802e-01 2.12229335e-01 -1.78070414e-01 -3.40948579e+01] [-2.08923834e-01 9.77218983e-01 3.73348350e-02 6.47320277e+00] [ 1.81937336e-01 1.32964879e-03 9.83309228e-01 -1.84389641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98528557 meters Centerline goodness [0,1] 0.9939148490019118 Centerline is valid? [True, True] Translation: X:-34.12, Y:6.48, Z:-1.85 [[ 9.61043564e-01 2.11430193e-01 -1.78023990e-01 -3.41229290e+01] [-2.08105393e-01 9.77392438e-01 3.73653206e-02 6.47836023e+00] [ 1.81899459e-01 1.13805152e-03 9.83316476e-01 -1.84966645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.01528557 meters Centerline goodness [0,1] 0.9933674945245672 Centerline is valid? [True, True] Translation: X:-34.15, Y:6.48, Z:-1.85 [[ 9.60959015e-01 2.11083309e-01 -1.78889931e-01 -3.41508378e+01] [-2.07713391e-01 9.77467518e-01 3.75818925e-02 6.48388515e+00] [ 1.82792007e-01 1.04317576e-03 9.83151053e-01 -1.85068955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.045285570000004 meters Centerline goodness [0,1] 0.9940044503049283 Centerline is valid? [True, True] Translation: X:-34.18, Y:6.49, Z:-1.85 [[ 9.61926105e-01 2.09312250e-01 -1.75745698e-01 -3.41800892e+01] [-2.06029077e-01 9.77848617e-01 3.69337454e-02 6.48702352e+00] [ 1.79583373e-01 6.81189928e-04 9.83742521e-01 -1.85208520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.07528557 meters Centerline goodness [0,1] 0.9935542329949134 Centerline is valid? [True, True] Translation: X:-34.21, Y:6.49, Z:-1.85 [[ 9.62067958e-01 2.09799773e-01 -1.74382622e-01 -3.42085151e+01] [-2.06573782e-01 9.77744079e-01 3.66577189e-02 6.49275993e+00] [ 1.78192358e-01 7.55660955e-04 9.83995382e-01 -1.85472204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10528557 meters Centerline goodness [0,1] 0.9920414584490098 Centerline is valid? [True, True] Translation: X:-34.23, Y:6.50, Z:-1.86 [[ 9.62179723e-01 2.06396953e-01 -1.77793360e-01 -3.42347663e+01] [-2.02978319e-01 9.78468338e-01 3.74100614e-02 6.49687026e+00] [ 1.81686496e-01 9.29948119e-05 9.83356501e-01 -1.86262615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13528557 meters Centerline goodness [0,1] 0.9914872718343292 Centerline is valid? [True, True] Translation: X:-34.26, Y:6.50, Z:-1.87 [[ 9.62257091e-01 2.05051815e-01 -1.78927483e-01 -3.42626727e+01] [-2.01563028e-01 9.78751103e-01 3.76646282e-02 6.50135257e+00] [ 1.82848671e-01 -1.77890351e-04 9.83141054e-01 -1.87091032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16528557 meters Centerline goodness [0,1] 0.9926867848558927 Centerline is valid? [True, True] Translation: X:-34.29, Y:6.51, Z:-1.87 [[ 9.62970692e-01 2.03112382e-01 -1.77292995e-01 -3.42909648e+01] [-1.99648550e-01 9.79155263e-01 3.73554296e-02 6.50557651e+00] [ 1.81184720e-01 -5.75894503e-04 9.83448914e-01 -1.87467608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19528557 meters Centerline goodness [0,1] 0.9913650222013055 Centerline is valid? [True, True] Translation: X:-34.32, Y:6.51, Z:-1.87 [[ 9.63634428e-01 2.02932368e-01 -1.73859550e-01 -3.43185536e+01] [-1.99593413e-01 9.79192553e-01 3.66662554e-02 6.51279168e+00] [ 1.77682747e-01 -6.31644979e-04 9.84087619e-01 -1.87169768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.225285570000004 meters Centerline goodness [0,1] 0.9934761201378631 Centerline is valid? [True, True] Translation: X:-34.35, Y:6.52, Z:-1.88 [[ 9.63967130e-01 2.02217951e-01 -1.72844648e-01 -3.43460447e+01] [-1.98904066e-01 9.79340238e-01 3.64673946e-02 6.51795833e+00] [ 1.76648081e-01 -7.73866266e-04 9.84273771e-01 -1.87671658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25528557 meters Centerline goodness [0,1] 0.9938132039792814 Centerline is valid? [True, True] Translation: X:-34.37, Y:6.52, Z:-1.88 [[ 9.64107417e-01 2.01089802e-01 -1.73377566e-01 -3.43721850e+01] [-1.97730709e-01 9.79572280e-01 3.66157699e-02 6.52385955e+00] [ 1.77198915e-01 -1.01946637e-03 9.84174530e-01 -1.88294333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28528557 meters Centerline goodness [0,1] 0.9918277733731781 Centerline is valid? [True, True] Translation: X:-34.40, Y:6.53, Z:-1.90 [[ 9.63142660e-01 2.01536530e-01 -1.78155109e-01 -3.43982924e+01] [-1.97991783e-01 9.79480504e-01 3.76456725e-02 6.53155184e+00] [ 1.82086434e-01 -9.84905466e-04 9.83282035e-01 -1.89809864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31528557 meters Centerline goodness [0,1] 0.990644042758366 Centerline is valid? [True, True] Translation: X:-34.43, Y:6.53, Z:-1.90 [[ 9.63399457e-01 1.99067418e-01 -1.79537322e-01 -3.44261110e+01] [-1.95420912e-01 9.79984677e-01 3.79565622e-02 6.53421762e+00] [ 1.83499739e-01 -1.48198425e-03 9.83018641e-01 -1.90023143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34528557 meters Centerline goodness [0,1] 0.9915576279193969 Centerline is valid? [True, True] Translation: X:-34.46, Y:6.54, Z:-1.90 [[ 9.63619312e-01 2.00159206e-01 -1.77127393e-01 -3.44558729e+01] [-1.96626133e-01 9.79762560e-01 3.74631886e-02 6.53818627e+00] [ 1.81041390e-01 -1.27237782e-03 9.83474655e-01 -1.89731823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.37528557 meters Centerline goodness [0,1] 0.9915399705738107 Centerline is valid? [True, True] Translation: X:-34.48, Y:6.55, Z:-1.90 [[ 9.64132395e-01 2.00256521e-01 -1.74201178e-01 -3.44842424e+01] [-1.96835055e-01 9.79742677e-01 3.68815357e-02 6.54667737e+00] [ 1.78058097e-01 -1.26978482e-03 9.84019157e-01 -1.89608743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.405285570000004 meters Centerline goodness [0,1] 0.9915786031110112 Centerline is valid? [True, True] Translation: X:-34.51, Y:6.56, Z:-1.90 [[ 9.63460639e-01 2.02772118e-01 -1.75005901e-01 -3.45090759e+01] [-1.99352986e-01 9.79225588e-01 3.70895572e-02 6.55798864e+00] [ 1.78890985e-01 -8.46379471e-04 9.83868538e-01 -1.90031177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.43528557 meters Centerline goodness [0,1] 0.9923731419784726 Centerline is valid? [True, True] Translation: X:-34.53, Y:6.57, Z:-1.91 [[ 9.63017048e-01 2.03170640e-01 -1.76974166e-01 -3.45343255e+01] [-1.99674756e-01 9.79143010e-01 3.75360866e-02 6.56604135e+00] [ 1.80909248e-01 -8.10617878e-04 9.83499459e-01 -1.91297369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46528557 meters Centerline goodness [0,1] 0.9901229508196722 Centerline is valid? [True, True] Translation: X:-34.56, Y:6.57, Z:-1.92 [[ 9.62345603e-01 2.04347918e-01 -1.79256432e-01 -3.45609822e+01] [-2.00778031e-01 9.78898133e-01 3.80345639e-02 6.57266864e+00] [ 1.83246070e-01 -6.11641842e-04 9.83066887e-01 -1.91725578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.49528557 meters Centerline goodness [0,1] 0.9892730659788327 Centerline is valid? [True, True] Translation: X:-34.59, Y:6.58, Z:-1.92 [[ 9.62467348e-01 2.04708636e-01 -1.78188042e-01 -3.45865330e+01] [-2.01185042e-01 9.78822797e-01 3.78221024e-02 6.58225722e+00] [ 1.82157029e-01 -5.53769922e-04 9.83269297e-01 -1.92301405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52528557 meters Centerline goodness [0,1] 0.9899439735670162 Centerline is valid? [True, True] Translation: X:-34.61, Y:6.59, Z:-1.92 [[ 9.62648977e-01 2.04791620e-01 -1.77108270e-01 -3.46141205e+01] [-2.01309210e-01 9.78805439e-01 3.76100272e-02 6.58894739e+00] [ 1.81056756e-01 -5.51728414e-04 9.83472494e-01 -1.92472238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.55528557 meters Centerline goodness [0,1] 0.9914005418274362 Centerline is valid? [True, True] Translation: X:-34.64, Y:6.60, Z:-1.93 [[ 9.62026067e-01 2.07881536e-01 -1.76892941e-01 -3.46395935e+01] [-2.04452488e-01 9.78154010e-01 3.76020385e-02 6.60035361e+00] [ 1.80845309e-01 -7.93938961e-06 9.83511553e-01 -1.92779674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58528557 meters Centerline goodness [0,1] 0.990542813769335 Centerline is valid? [True, True] Translation: X:-34.67, Y:6.61, Z:-1.93 [[ 9.61732430e-01 2.08342402e-01 -1.77944307e-01 -3.46668962e+01] [-2.04876679e-01 9.78055949e-01 3.78431869e-02 6.60842422e+00] [ 1.81923828e-01 6.16185181e-05 9.83312624e-01 -1.93452311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.615285570000005 meters Centerline goodness [0,1] 0.9890166501813387 Centerline is valid? [True, True] Translation: X:-34.69, Y:6.61, Z:-1.94 [[ 9.61536985e-01 2.08878543e-01 -1.78371471e-01 -3.46932971e+01] [-2.05398012e-01 9.77941583e-01 3.79725931e-02 6.61409184e+00] [ 1.82368538e-01 1.25092847e-04 9.83230238e-01 -1.94007417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64528557 meters Centerline goodness [0,1] 0.9895601364741455 Centerline is valid? [True, True] Translation: X:-34.72, Y:6.62, Z:-1.95 [[ 9.61126230e-01 2.09545977e-01 -1.79796698e-01 -3.47196572e+01] [-2.06017223e-01 9.77798767e-01 3.82945903e-02 6.62132865e+00] [ 1.83829467e-01 2.35281179e-04 9.82958123e-01 -1.94784979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.67528557 meters Centerline goodness [0,1] 0.9897468562505137 Centerline is valid? [True, True] Translation: X:-34.75, Y:6.63, Z:-1.95 [[ 9.60799835e-01 2.10409125e-01 -1.80531652e-01 -3.47471993e+01] [-2.06858248e-01 9.77613354e-01 3.84940818e-02 6.63029094e+00] [ 1.84589660e-01 3.59353916e-04 9.82815613e-01 -1.94709641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70528557 meters Centerline goodness [0,1] 0.9875936136943462 Centerline is valid? [True, True] Translation: X:-34.77, Y:6.64, Z:-1.95 [[ 9.61307317e-01 2.09817460e-01 -1.78507353e-01 -3.47748864e+01] [-2.06328485e-01 9.77740555e-01 3.81046362e-02 6.63809717e+00] [ 1.82528897e-01 2.00886183e-04 9.83200469e-01 -1.94960069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73528557 meters Centerline goodness [0,1] 0.9893170701757976 Centerline is valid? [True, True] Translation: X:-34.80, Y:6.65, Z:-1.96 [[ 9.60891905e-01 2.12243127e-01 -1.77875244e-01 -3.48007292e+01] [-2.08812912e-01 9.77216696e-01 3.80091703e-02 6.64520823e+00] [ 1.81889843e-01 6.19943592e-04 9.83318718e-01 -1.95872505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76528557 meters Centerline goodness [0,1] 0.9899355794759915 Centerline is valid? [True, True] Translation: X:-34.83, Y:6.66, Z:-1.96 [[ 9.60290974e-01 2.13448142e-01 -1.79669518e-01 -3.48267929e+01] [-2.09965114e-01 9.76954036e-01 3.84117465e-02 6.65592699e+00] [ 1.83727777e-01 8.37877413e-04 9.82976806e-01 -1.96347189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.795285570000004 meters Centerline goodness [0,1] 0.987101404695991 Centerline is valid? [True, True] Translation: X:-34.85, Y:6.67, Z:-1.98 [[ 9.59771699e-01 2.13516558e-01 -1.82342987e-01 -3.48523378e+01] [-2.09920921e-01 9.76939102e-01 3.90281784e-02 6.66734671e+00] [ 1.86471156e-01 8.19466663e-04 9.82460094e-01 -1.97606705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82528557 meters Centerline goodness [0,1] 0.9875725447572955 Centerline is valid? [True, True] Translation: X:-34.88, Y:6.68, Z:-1.98 [[ 9.59491506e-01 2.13954335e-01 -1.83301915e-01 -3.48788561e+01] [-2.10320209e-01 9.76843279e-01 3.92761851e-02 6.67646490e+00] [ 1.87460554e-01 8.66931051e-04 9.82271749e-01 -1.98423309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.85528557 meters Centerline goodness [0,1] 0.9862423882065897 Centerline is valid? [True, True] Translation: X:-34.91, Y:6.68, Z:-1.99 [[ 9.59659370e-01 2.14607222e-01 -1.81652508e-01 -3.49064280e+01] [-2.11042568e-01 9.76699979e-01 3.89639015e-02 6.68197595e+00] [ 1.85781936e-01 9.44338822e-04 9.82590546e-01 -1.98767475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88528557 meters Centerline goodness [0,1] 0.9865096884964435 Centerline is valid? [True, True] Translation: X:-34.93, Y:6.69, Z:-1.99 [[ 9.59875580e-01 2.15338600e-01 -1.79633402e-01 -3.49341959e+01] [-2.11863126e-01 9.76538872e-01 3.85466865e-02 6.68669468e+00] [ 1.83719589e-01 1.05767102e-03 9.82978125e-01 -1.98673799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91528557 meters Centerline goodness [0,1] 0.9864154521654882 Centerline is valid? [True, True] Translation: X:-34.96, Y:6.70, Z:-1.98 [[ 9.59628408e-01 2.16542058e-01 -1.79507259e-01 -3.49615616e+01] [-2.13088587e-01 9.76272468e-01 3.85398742e-02 6.69507562e+00] [ 1.83593499e-01 1.26699026e-03 9.83001435e-01 -1.98319405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94528557 meters Centerline goodness [0,1] 0.9851649704530532 Centerline is valid? [True, True] Translation: X:-34.99, Y:6.70, Z:-2.00 [[ 9.59140287e-01 2.16435541e-01 -1.82223943e-01 -3.49868922e+01] [-2.12864057e-01 9.76296155e-01 3.91753856e-02 6.70482624e+00] [ 1.86383481e-01 1.21423731e-03 9.82476322e-01 -1.99863255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.975285570000004 meters Centerline goodness [0,1] 0.9835984809606897 Centerline is valid? [True, True] Translation: X:-35.01, Y:6.71, Z:-2.00 [[ 9.59116122e-01 2.16372941e-01 -1.82425368e-01 -3.50123329e+01] [-2.12784296e-01 9.76310095e-01 3.92611925e-02 6.71197055e+00] [ 1.86598788e-01 1.16121095e-03 9.82435516e-01 -2.00428732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00528557 meters Centerline goodness [0,1] 0.9848021194882011 Centerline is valid? [True, True] Translation: X:-35.04, Y:6.72, Z:-2.01 [[ 9.59510506e-01 2.16116334e-01 -1.80646945e-01 -3.50397237e+01] [-2.12588475e-01 9.76367030e-01 3.89045488e-02 6.71828255e+00] [ 1.84785630e-01 1.07413534e-03 9.82778265e-01 -2.00962480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.03528557 meters Centerline goodness [0,1] 0.9839998365245111 Centerline is valid? [True, True] Translation: X:-35.07, Y:6.72, Z:-2.01 [[ 9.59745282e-01 2.15563443e-01 -1.80059424e-01 -3.50673112e+01] [-2.12041032e-01 9.76489402e-01 3.88207285e-02 6.72281452e+00] [ 1.84194450e-01 9.21975193e-04 9.82889391e-01 -2.01426033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06528557 meters Centerline goodness [0,1] 0.9839998365245111 Centerline is valid? [True, True] Translation: X:-35.09, Y:6.73, Z:-2.02 [[ 9.59691342e-01 2.15806810e-01 -1.80055407e-01 -3.50937079e+01] [-2.12285150e-01 9.76435620e-01 3.88393529e-02 6.72837097e+00] [ 1.84194310e-01 9.49298359e-04 9.82889391e-01 -2.01869416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.09528557 meters Centerline goodness [0,1] 0.9833938126576051 Centerline is valid? [True, True] Translation: X:-35.12, Y:6.73, Z:-2.02 [[ 9.59574347e-01 2.15748443e-01 -1.80747561e-01 -3.51202148e+01] [-2.12189887e-01 9.76448567e-01 3.90339197e-02 6.73471208e+00] [ 1.84912205e-01 8.96856596e-04 9.82754635e-01 -2.02148464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12528557 meters Centerline goodness [0,1] 0.9821681406849568 Centerline is valid? [True, True] Translation: X:-35.15, Y:6.75, Z:-2.04 [[ 9.59579970e-01 2.14665917e-01 -1.82002269e-01 -3.51455228e+01] [-2.11032764e-01 9.76687310e-01 3.93328289e-02 6.74577258e+00] [ 1.86202725e-01 6.65447137e-04 9.82511121e-01 -2.03545481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.155285570000004 meters Centerline goodness [0,1] 0.9824539826999549 Centerline is valid? [True, True] Translation: X:-35.17, Y:6.75, Z:-2.04 [[ 9.59864463e-01 2.13400087e-01 -1.81990703e-01 -3.51715364e+01] [-2.09735920e-01 9.76964822e-01 3.93774078e-02 6.75327130e+00] [ 1.86201657e-01 3.73013096e-04 9.82511478e-01 -2.04085258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18528557 meters Centerline goodness [0,1] 0.9817833765592194 Centerline is valid? [True, True] Translation: X:-35.20, Y:6.76, Z:-2.04 [[ 9.60185709e-01 2.12523434e-01 -1.81320696e-01 -3.51995484e+01] [-2.08862476e-01 9.77155957e-01 3.92772309e-02 6.75872423e+00] [ 1.85525930e-01 1.57653773e-04 9.82639356e-01 -2.04034005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.21528557 meters Centerline goodness [0,1] 0.982717313402273 Centerline is valid? [True, True] Translation: X:-35.23, Y:6.76, Z:-2.04 [[ 9.60589545e-01 2.11903058e-01 -1.79902251e-01 -3.52280017e+01] [-2.08285371e-01 9.77290690e-01 3.89885954e-02 6.76408792e+00] [ 1.84078598e-01 1.89700844e-05 9.82911527e-01 -2.04359987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24528557 meters Centerline goodness [0,1] 0.9807550115018074 Centerline is valid? [True, True] Translation: X:-35.26, Y:6.77, Z:-2.05 [[ 9.60588527e-01 2.10710670e-01 -1.81302770e-01 -3.52550455e+01] [-2.07006613e-01 9.77548438e-01 3.93359063e-02 6.76940830e+00] [ 1.85520735e-01 -2.54747868e-04 9.82640317e-01 -2.05229218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27528557 meters Centerline goodness [0,1] 0.9803994006937176 Centerline is valid? [True, True] Translation: X:-35.28, Y:6.78, Z:-2.06 [[ 9.60646862e-01 2.09751536e-01 -1.82104090e-01 -3.52834064e+01] [-2.05989008e-01 9.77754600e-01 3.95533971e-02 6.77541510e+00] [ 1.86349498e-01 -4.85405982e-04 9.82483399e-01 -2.05533099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.30528557 meters Centerline goodness [0,1] 0.9796098200745932 Centerline is valid? [True, True] Translation: X:-35.31, Y:6.78, Z:-2.06 [[ 9.61046097e-01 2.08578887e-01 -1.81342900e-01 -3.53098357e+01] [-2.04819785e-01 9.78005259e-01 3.94280317e-02 6.78354265e+00] [ 1.85578165e-01 -7.49542205e-04 9.82629220e-01 -2.05830584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.33528557 meters Centerline goodness [0,1] 0.9796588060249067 Centerline is valid? [True, True] Translation: X:-35.34, Y:6.79, Z:-2.06 [[ 9.61602747e-01 2.07279187e-01 -1.79876334e-01 -3.53372822e+01] [-2.03555049e-01 9.78281307e-01 3.91283255e-02 6.79022837e+00] [ 1.84080143e-01 -1.01116931e-03 9.82910718e-01 -2.06432239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.365285570000005 meters Centerline goodness [0,1] 0.9800110821515792 Centerline is valid? [True, True] Translation: X:-35.36, Y:6.80, Z:-2.07 [[ 9.61560787e-01 2.05886923e-01 -1.81690474e-01 -3.53632622e+01] [-2.02053873e-01 9.78574881e-01 3.95655820e-02 6.79818508e+00] [ 1.85943770e-01 -1.33344809e-03 9.82559482e-01 -2.07279337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.39528557 meters Centerline goodness [0,1] 0.9784891007334662 Centerline is valid? [True, True] Translation: X:-35.39, Y:6.80, Z:-2.07 [[ 9.62031142e-01 2.03343482e-01 -1.82064575e-01 -3.53912843e+01] [-1.99444949e-01 9.79105714e-01 3.96700605e-02 6.80192505e+00] [ 1.86327114e-01 -1.85197383e-03 9.82486019e-01 -2.07451493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42528557 meters Centerline goodness [0,1] 0.979880469933276 Centerline is valid? [True, True] Translation: X:-35.42, Y:6.80, Z:-2.08 [[ 9.63511886e-01 1.97039232e-01 -1.81163979e-01 -3.54206067e+01] [-1.93064504e-01 9.80390767e-01 3.94973665e-02 6.80400707e+00] [ 1.85394023e-01 -3.07984836e-03 9.82659438e-01 -2.07757748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45528557 meters Centerline goodness [0,1] 0.9793839535733128 Centerline is valid? [True, True] Translation: X:-35.45, Y:6.81, Z:-2.08 [[ 9.64918586e-01 1.92237038e-01 -1.78821261e-01 -3.54492830e+01] [-1.88279173e-01 9.81340477e-01 3.90105391e-02 6.80746959e+00] [ 1.82983812e-01 -3.97367514e-03 9.83107896e-01 -2.08233096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48528557 meters Centerline goodness [0,1] 0.9796387049150075 Centerline is valid? [True, True] Translation: X:-35.48, Y:6.81, Z:-2.09 [[ 9.64895235e-01 1.91452140e-01 -1.79786716e-01 -3.54767908e+01] [-1.87429802e-01 9.81493022e-01 3.92621662e-02 6.81417159e+00] [ 1.83976233e-01 -4.18648843e-03 9.82921777e-01 -2.08769149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.51528557 meters Centerline goodness [0,1] 0.9805004207803937 Centerline is valid? [True, True] Translation: X:-35.50, Y:6.82, Z:-2.09 [[ 9.65495786e-01 1.88941736e-01 -1.79217487e-01 -3.55042694e+01] [-1.84894260e-01 9.81977089e-01 3.91804794e-02 6.82245724e+00] [ 1.83390294e-01 -4.69230311e-03 9.83028983e-01 -2.09078798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.545285570000004 meters Centerline goodness [0,1] 0.9794660352710647 Centerline is valid? [True, True] Translation: X:-35.53, Y:6.83, Z:-2.10 [[ 9.65890603e-01 1.87211629e-01 -1.78905417e-01 -3.55305352e+01] [-1.83141607e-01 9.82306617e-01 3.91517741e-02 6.82783438e+00] [ 1.83069642e-01 -5.05130506e-03 9.83086970e-01 -2.09746718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57528557 meters Centerline goodness [0,1] 0.9804792759436388 Centerline is valid? [True, True] Translation: X:-35.56, Y:6.83, Z:-2.10 [[ 9.65759805e-01 1.87630120e-01 -1.79172926e-01 -3.55596837e+01] [-1.83551311e-01 9.82227035e-01 3.92296900e-02 6.82933484e+00] [ 1.83349163e-01 -4.99903234e-03 9.83035144e-01 -2.09558055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60528557 meters Centerline goodness [0,1] 0.9800098011189611 Centerline is valid? [True, True] Translation: X:-35.59, Y:6.84, Z:-2.10 [[ 9.66149777e-01 1.86483281e-01 -1.78265516e-01 -3.55873821e+01] [-1.82417830e-01 9.82444174e-01 3.90791602e-02 6.83688116e+00] [ 1.82423528e-01 -5.23751330e-03 9.83206095e-01 -2.09858770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63528557 meters Centerline goodness [0,1] 0.9808012155807889 Centerline is valid? [True, True] Translation: X:-35.61, Y:6.85, Z:-2.11 [[ 9.65430172e-01 1.87490920e-01 -1.81084891e-01 -3.56114989e+01] [-1.83304197e-01 9.82252724e-01 3.97386215e-02 6.85370530e+00] [ 1.85321758e-01 -5.17124373e-03 9.82664289e-01 -2.10873818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66528557 meters Centerline goodness [0,1] 0.979778467355788 Centerline is valid? [True, True] Translation: X:-35.64, Y:6.87, Z:-2.12 [[ 9.64841185e-01 1.90535721e-01 -1.81045924e-01 -3.56371529e+01] [-1.86395663e-01 9.81669349e-01 3.97736918e-02 6.86623267e+00] [ 1.85305543e-01 -4.62912086e-03 9.82670050e-01 -2.11874618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69528557 meters Centerline goodness [0,1] 0.9789852095316351 Centerline is valid? [True, True] Translation: X:-35.67, Y:6.87, Z:-2.12 [[ 9.64586356e-01 1.93035480e-01 -1.79751122e-01 -3.56661258e+01] [-1.88990108e-01 9.81182957e-01 3.95315709e-02 6.87154933e+00] [ 1.83999733e-01 -4.16043002e-03 9.82917488e-01 -2.12075105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.725285570000004 meters Centerline goodness [0,1] 0.978077744904668 Centerline is valid? [True, True] Translation: X:-35.69, Y:6.88, Z:-2.12 [[ 9.64059438e-01 1.96155856e-01 -1.79198995e-01 -3.56947442e+01] [-1.92182703e-01 9.80566170e-01 3.94435673e-02 6.87767170e+00] [ 1.83453558e-01 -3.58699613e-03 9.83021834e-01 -2.12145715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.75528557 meters Centerline goodness [0,1] 0.9778119552958064 Centerline is valid? [True, True] Translation: X:-35.72, Y:6.89, Z:-2.12 [[ 9.64117926e-01 1.97356445e-01 -1.77558607e-01 -3.57216443e+01] [-1.93474227e-01 9.80326110e-01 3.90952911e-02 6.88914338e+00] [ 1.81781046e-01 -3.33945671e-03 9.83333361e-01 -2.12218330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78528557 meters Centerline goodness [0,1] 0.9760726242066997 Centerline is valid? [True, True] Translation: X:-35.74, Y:6.91, Z:-2.13 [[ 9.63337820e-01 2.00505363e-01 -1.78263414e-01 -3.57444713e+01] [-1.96637896e-01 9.79688612e-01 3.92907244e-02 6.90937905e+00] [ 1.82520638e-01 -2.79689806e-03 9.83198044e-01 -2.13069240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81528557 meters Centerline goodness [0,1] 0.9764898627892689 Centerline is valid? [True, True] Translation: X:-35.77, Y:6.92, Z:-2.14 [[ 9.62732615e-01 2.02327786e-01 -1.79469716e-01 -3.57711474e+01] [-1.98434841e-01 9.79314695e-01 3.95770396e-02 6.91609514e+00] [ 1.83764865e-01 -2.48906227e-03 9.82967079e-01 -2.13535894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84528557 meters Centerline goodness [0,1] 0.9742927429274293 Centerline is valid? [True, True] Translation: X:-35.80, Y:6.92, Z:-2.15 [[ 9.61584846e-01 2.04870328e-01 -1.82709424e-01 -3.57975510e+01] [-2.00869622e-01 9.78786885e-01 4.03438694e-02 6.92269767e+00] [ 1.87098850e-01 -2.09328054e-03 9.82338861e-01 -2.14578821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.87528557 meters Centerline goodness [0,1] 0.9722233610758066 Centerline is valid? [True, True] Translation: X:-35.83, Y:6.94, Z:-2.14 [[ 9.62081636e-01 2.04570633e-01 -1.80415579e-01 -3.58250727e+01] [-2.00657981e-01 9.78849414e-01 3.98772970e-02 6.93532543e+00] [ 1.84757408e-01 -2.16338918e-03 9.82781776e-01 -2.13937103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.905285570000004 meters Centerline goodness [0,1] 0.9719727501483194 Centerline is valid? [True, True] Translation: X:-35.85, Y:6.94, Z:-2.14 [[ 9.62869603e-01 2.03636572e-01 -1.77240725e-01 -3.58524655e+01] [-1.99842483e-01 9.79043803e-01 3.91945589e-02 6.94258654e+00] [ 1.81507879e-01 -2.31902275e-03 9.83386756e-01 -2.14325990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.93528557 meters Centerline goodness [0,1] 0.971590792629184 Centerline is valid? [True, True] Translation: X:-35.88, Y:6.95, Z:-2.15 [[ 9.62977904e-01 2.01398889e-01 -1.79198340e-01 -3.58790105e+01] [-1.97473299e-01 9.79505265e-01 3.96702779e-02 6.94671600e+00] [ 1.83515267e-01 -2.81471359e-03 9.83012830e-01 -2.15027736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96528557 meters Centerline goodness [0,1] 0.970941471640686 Centerline is valid? [True, True] Translation: X:-35.91, Y:6.95, Z:-2.16 [[ 9.63620143e-01 1.95979043e-01 -1.81737270e-01 -3.59081807e+01] [-1.91841012e-01 9.80600238e-01 4.02516941e-02 6.94865460e+00] [ 1.86100098e-01 -3.92268149e-03 9.82522960e-01 -2.15775212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.99528557 meters Centerline goodness [0,1] 0.9719672131147541 Centerline is valid? [True, True] Translation: X:-35.93, Y:6.96, Z:-2.16 [[ 9.64405381e-01 1.92364490e-01 -1.81433635e-01 -3.59342662e+01] [-1.88170131e-01 9.81312536e-01 4.02207561e-02 6.95752627e+00] [ 1.85780145e-01 -4.64872282e-03 9.82580341e-01 -2.16184467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02528557 meters Centerline goodness [0,1] 0.9707410221136274 Centerline is valid? [True, True] Translation: X:-35.96, Y:6.97, Z:-2.16 [[ 9.65489347e-01 1.89603008e-01 -1.78552568e-01 -3.59613702e+01] [-1.85492978e-01 9.81847547e-01 3.95948045e-02 6.96568847e+00] [ 1.82818695e-01 -5.10811427e-03 9.83133374e-01 -2.16398630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.05528557 meters Centerline goodness [0,1] 0.9718479749759777 Centerline is valid? [True, True] Translation: X:-35.99, Y:6.96, Z:-2.17 [[ 9.67207256e-01 1.83936060e-01 -1.75150363e-01 -3.59916972e+01] [-1.79887811e-01 9.82919445e-01 3.88553767e-02 6.96379912e+00] [ 1.79305603e-01 -6.07378681e-03 9.83774674e-01 -2.16525725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08528557 meters Centerline goodness [0,1] 0.971344419218261 Centerline is valid? [True, True] Translation: X:-36.02, Y:6.97, Z:-2.17 [[ 9.67062621e-01 1.82978174e-01 -1.76943139e-01 -3.60172423e+01] [-1.78827420e-01 9.83096592e-01 3.92663233e-02 6.97471038e+00] [ 1.81137077e-01 -6.33070848e-03 9.83437482e-01 -2.16866149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.115285570000005 meters Centerline goodness [0,1] 0.9712920622552136 Centerline is valid? [True, True] Translation: X:-36.04, Y:6.98, Z:-2.18 [[ 9.66458485e-01 1.83087610e-01 -1.80102536e-01 -3.60435970e+01] [-1.78783041e-01 9.83075437e-01 3.99913620e-02 6.98491763e+00] [ 1.84376302e-01 -6.45071210e-03 9.82834557e-01 -2.17844760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14528557 meters Centerline goodness [0,1] 0.9720088717295765 Centerline is valid? [True, True] Translation: X:-36.07, Y:7.00, Z:-2.18 [[ 9.66346554e-01 1.84235604e-01 -1.79531557e-01 -3.60676228e+01] [-1.79971235e-01 9.82862248e-01 3.99018265e-02 7.00064186e+00] [ 1.83806127e-01 -6.24847654e-03 9.82942656e-01 -2.18307778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.17528557 meters Centerline goodness [0,1] 0.9714690367207865 Centerline is valid? [True, True] Translation: X:-36.09, Y:7.02, Z:-2.19 [[ 9.65796854e-01 1.86687285e-01 -1.79956370e-01 -3.60930484e+01] [-1.82441136e-01 9.82402182e-01 4.00148155e-02 7.01518668e+00] [ 1.84259787e-01 -5.81473845e-03 9.82860376e-01 -2.18668324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20528557 meters Centerline goodness [0,1] 0.971333073594849 Centerline is valid? [True, True] Translation: X:-36.12, Y:7.02, Z:-2.19 [[ 9.65636245e-01 1.86888919e-01 -1.80607792e-01 -3.61192234e+01] [-1.82612128e-01 9.82363849e-01 4.01756143e-02 7.02453145e+00] [ 1.84930943e-01 -5.81385606e-03 9.82734321e-01 -2.19253586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23528557 meters Centerline goodness [0,1] 0.9704773105154305 Centerline is valid? [True, True] Translation: X:-36.15, Y:7.04, Z:-2.20 [[ 9.65058034e-01 1.90329344e-01 -1.80104782e-01 -3.61457260e+01] [-1.86133123e-01 9.81706764e-01 4.00785469e-02 7.03634226e+00] [ 1.84438206e-01 -5.15465811e-03 9.82830595e-01 -2.19940595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26528557 meters Centerline goodness [0,1] 0.9717588497850546 Centerline is valid? [True, True] Translation: X:-36.17, Y:7.06, Z:-2.20 [[ 9.64311001e-01 1.93733501e-01 -1.80476107e-01 -3.61710122e+01] [-1.89576934e-01 9.81043766e-01 4.01710778e-02 7.05646421e+00] [ 1.84837443e-01 -4.52330518e-03 9.82758698e-01 -2.19900297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.295285570000004 meters Centerline goodness [0,1] 0.9719361961164648 Centerline is valid? [True, True] Translation: X:-36.20, Y:7.08, Z:-2.21 [[ 9.63878034e-01 1.96734641e-01 -1.79540015e-01 -3.61958662e+01] [-1.92670815e-01 9.80448860e-01 3.99748674e-02 7.07525594e+00] [ 1.83894244e-01 -3.93877562e-03 9.82938143e-01 -2.20724768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32528557 meters Centerline goodness [0,1] 0.9716386554621849 Centerline is valid? [True, True] Translation: X:-36.22, Y:7.09, Z:-2.21 [[ 9.63368335e-01 1.98622121e-01 -1.80196295e-01 -3.62210944e+01] [-1.94559011e-01 9.80069526e-01 4.01312187e-02 7.08956267e+00] [ 1.84575845e-01 -3.60233235e-03 9.82811671e-01 -2.21222906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.35528557 meters Centerline goodness [0,1] 0.9715403624382207 Centerline is valid? [True, True] Translation: X:-36.25, Y:7.10, Z:-2.22 [[ 9.63156174e-01 1.99216421e-01 -1.80673744e-01 -3.62472025e+01] [-1.95138066e-01 9.79949202e-01 4.02578690e-02 7.09569186e+00] [ 1.85071120e-01 -3.51829009e-03 9.82718832e-01 -2.21980693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38528557 meters Centerline goodness [0,1] 0.9705774181684442 Centerline is valid? [True, True] Translation: X:-36.27, Y:7.11, Z:-2.22 [[ 9.63197085e-01 1.98826665e-01 -1.80884859e-01 -3.62736769e+01] [-1.94722417e-01 9.80027884e-01 4.03550176e-02 7.10644139e+00] [ 1.85295859e-01 -3.64749853e-03 9.82676010e-01 -2.22415477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41528557 meters Centerline goodness [0,1] 0.9696469811943254 Centerline is valid? [True, True] Translation: X:-36.30, Y:7.13, Z:-2.22 [[ 9.63093989e-01 1.98951180e-01 -1.81296433e-01 -3.62984521e+01] [-1.94822616e-01 9.80002522e-01 4.04871052e-02 7.12531761e+00] [ 1.85725918e-01 -3.67224228e-03 9.82594727e-01 -2.22465164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44528557 meters Centerline goodness [0,1] 0.9695757925547265 Centerline is valid? [True, True] Translation: X:-36.32, Y:7.14, Z:-2.23 [[ 9.63369657e-01 1.99101349e-01 -1.79659559e-01 -3.63238223e+01] [-1.95046781e-01 9.79972188e-01 4.01405567e-02 7.13819940e+00] [ 1.84053410e-01 -3.62817576e-03 9.82909548e-01 -2.23316944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.475285570000004 meters Centerline goodness [0,1] 0.9681158821341489 Centerline is valid? [True, True] Translation: X:-36.35, Y:7.15, Z:-2.24 [[ 9.63423218e-01 1.98936528e-01 -1.79554896e-01 -3.63486893e+01] [-1.94876162e-01 9.80005397e-01 4.01584825e-02 7.14832650e+00] [ 1.83953757e-01 -3.69864532e-03 9.82927940e-01 -2.23657497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50528557 meters Centerline goodness [0,1] 0.9674665674541659 Centerline is valid? [True, True] Translation: X:-36.38, Y:7.16, Z:-2.24 [[ 9.62913108e-01 1.99418499e-01 -1.81743250e-01 -3.63760796e+01] [-1.95261232e-01 9.79907516e-01 4.06732380e-02 7.15926999e+00] [ 1.86202573e-01 -3.67738314e-03 9.82504493e-01 -2.23823766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.53528557 meters Centerline goodness [0,1] 0.967680608365019 Centerline is valid? [True, True] Translation: X:-36.40, Y:7.17, Z:-2.25 [[ 9.62755863e-01 1.99819874e-01 -1.82135021e-01 -3.64018970e+01] [-1.95642920e-01 9.79825837e-01 4.08065783e-02 7.16921780e+00] [ 1.86614565e-01 -3.65334514e-03 9.82426413e-01 -2.24581768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56528557 meters Centerline goodness [0,1] 0.9640241895672207 Centerline is valid? [True, True] Translation: X:-36.43, Y:7.19, Z:-2.25 [[ 9.62976393e-01 1.99929454e-01 -1.80844354e-01 -3.64257310e+01] [-1.95805388e-01 9.79803492e-01 4.05631235e-02 7.18928295e+00] [ 1.85301693e-01 -3.65103150e-03 9.82674897e-01 -2.25021822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.59528557 meters Centerline goodness [0,1] 0.9649899646175174 Centerline is valid? [True, True] Translation: X:-36.45, Y:7.20, Z:-2.26 [[ 9.62694968e-01 2.02308057e-01 -1.79693762e-01 -3.64528243e+01] [-1.98274298e-01 9.79316734e-01 4.03241400e-02 7.19851446e+00] [ 1.84135007e-01 -3.19119200e-03 9.82895781e-01 -2.25531671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62528557 meters Centerline goodness [0,1] 0.9638534510958456 Centerline is valid? [True, True] Translation: X:-36.48, Y:7.21, Z:-2.26 [[ 9.62994165e-01 2.04460754e-01 -1.75607628e-01 -3.64788675e+01] [-2.00638326e-01 9.78870890e-01 3.94467075e-02 7.21088247e+00] [ 1.79962498e-01 -2.75332878e-03 9.83669619e-01 -2.25782641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.655285570000004 meters Centerline goodness [0,1] 0.9636687149566548 Centerline is valid? [True, True] Translation: X:-36.50, Y:7.22, Z:-2.26 [[ 9.62303455e-01 2.07290293e-01 -1.76076104e-01 -3.65048488e+01] [-2.03491544e-01 9.78276901e-01 3.95663539e-02 7.22498489e+00] [ 1.80452906e-01 -2.24484101e-03 9.83581064e-01 -2.25581403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68528557 meters Centerline goodness [0,1] 0.9623209466472908 Centerline is valid? [True, True] Translation: X:-36.53, Y:7.24, Z:-2.27 [[ 9.61220518e-01 2.09487692e-01 -1.79360035e-01 -3.65304409e+01] [-2.05578878e-01 9.77809463e-01 4.03234336e-02 7.23879993e+00] [ 1.83827203e-01 -1.88707703e-03 9.82956763e-01 -2.26503125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.71528557 meters Centerline goodness [0,1] 0.9608094952047559 Centerline is valid? [True, True] Translation: X:-36.56, Y:7.25, Z:-2.28 [[ 9.60110420e-01 2.12062721e-01 -1.82256370e-01 -3.65553979e+01] [-2.08063153e-01 9.77254966e-01 4.10177466e-02 7.24701751e+00] [ 1.86809277e-01 -1.46073099e-03 9.82395114e-01 -2.28035076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74528557 meters Centerline goodness [0,1] 0.9581993569131833 Centerline is valid? [True, True] Translation: X:-36.58, Y:7.26, Z:-2.27 [[ 9.60556648e-01 2.12349941e-01 -1.79550629e-01 -3.65820749e+01] [-2.08466716e-01 9.77192650e-01 4.04493758e-02 7.26072170e+00] [ 1.84044977e-01 -1.42358688e-03 9.82916792e-01 -2.27388932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77528557 meters Centerline goodness [0,1] 0.9601661830100837 Centerline is valid? [True, True] Translation: X:-36.61, Y:7.27, Z:-2.27 [[ 9.61350791e-01 2.12199577e-01 -1.75430888e-01 -3.66102028e+01] [-2.08488248e-01 9.77225295e-01 3.95395115e-02 7.26899201e+00] [ 1.79825769e-01 -1.43606211e-03 9.83697428e-01 -2.27160477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.80528557 meters Centerline goodness [0,1] 0.9577423721753618 Centerline is valid? [True, True] Translation: X:-36.64, Y:7.28, Z:-2.28 [[ 9.61426135e-01 2.13006144e-01 -1.74034965e-01 -3.66375484e+01] [-2.09359344e-01 9.77049971e-01 3.92685516e-02 7.27578909e+00] [ 1.78405300e-01 -1.31796572e-03 9.83956204e-01 -2.27781476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.83528557 meters Centerline goodness [0,1] 0.956081924902173 Centerline is valid? [True, True] Translation: X:-36.66, Y:7.29, Z:-2.29 [[ 9.61163810e-01 2.11965141e-01 -1.76734006e-01 -3.66624593e+01] [-2.08178105e-01 9.77275955e-01 3.99197333e-02 7.28653154e+00] [ 1.81179486e-01 -1.57725246e-03 9.83448782e-01 -2.28686510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.865285570000005 meters Centerline goodness [0,1] 0.955478383829982 Centerline is valid? [True, True] Translation: X:-36.69, Y:7.29, Z:-2.29 [[ 9.60912717e-01 2.11306481e-01 -1.78875156e-01 -3.66894244e+01] [-2.07411289e-01 9.77418301e-01 4.04230293e-02 7.29423027e+00] [ 1.83377499e-01 -1.74227627e-03 9.83041025e-01 -2.29175762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89528557 meters Centerline goodness [0,1] 0.9535509437897591 Centerline is valid? [True, True] Translation: X:-36.72, Y:7.30, Z:-2.30 [[ 9.61733412e-01 2.09370064e-01 -1.76728663e-01 -3.67163435e+01] [-2.05528630e-01 9.77834165e-01 3.99790899e-02 7.29996320e+00] [ 1.81181749e-01 -2.12642660e-03 9.83447331e-01 -2.29577465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92528557 meters Centerline goodness [0,1] 0.9541263351134847 Centerline is valid? [True, True] Translation: X:-36.74, Y:7.31, Z:-2.30 [[ 9.62093618e-01 2.09832194e-01 -1.74201956e-01 -3.67444024e+01] [-2.06105516e-01 9.77735318e-01 3.94228902e-02 7.30553993e+00] [ 1.78595596e-01 -2.02452704e-03 9.83920482e-01 -2.29589522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95528557 meters Centerline goodness [0,1] 0.9530912414824664 Centerline is valid? [True, True] Translation: X:-36.77, Y:7.31, Z:-2.29 [[ 9.62381811e-01 2.10744899e-01 -1.71487134e-01 -3.67725743e+01] [-2.07146120e-01 9.77539360e-01 3.88237655e-02 7.31247083e+00] [ 1.75817334e-01 -1.84039136e-03 9.84421088e-01 -2.29387905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98528557 meters Centerline goodness [0,1] 0.9530912414824664 Centerline is valid? [True, True] Translation: X:-36.80, Y:7.32, Z:-2.30 [[ 9.62325474e-01 2.11005144e-01 -1.71483268e-01 -3.67988355e+01] [-2.07407422e-01 9.77483274e-01 3.88408321e-02 7.31832416e+00] [ 1.75817642e-01 -1.81061952e-03 9.84421088e-01 -2.29830460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01528557 meters Centerline goodness [0,1] 0.9525719777694204 Centerline is valid? [True, True] Translation: X:-36.82, Y:7.33, Z:-2.30 [[ 9.62546086e-01 2.11154422e-01 -1.70055411e-01 -3.68245362e+01] [-2.07610936e-01 9.77451031e-01 3.85639797e-02 7.32726730e+00] [ 1.74363791e-01 -1.81424480e-03 9.84679632e-01 -2.30176885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.045285570000004 meters Centerline goodness [0,1] 0.9488117001828154 Centerline is valid? [True, False] Translation: X:-36.90, Y:7.35, Z:-2.31 [[ 9.69315681e-01 1.81526044e-01 -1.65757070e-01 -3.68984595e+01] [-1.78414844e-01 9.83381582e-01 3.35977319e-02 7.35215959e+00] [ 1.69101313e-01 -2.99328651e-03 9.85594129e-01 -2.31370343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07528557 meters Centerline goodness [0,1] 0.9499508296194004 Centerline is valid? [False, False] Translation: X:-36.98, Y:7.38, Z:-2.33 [[ 9.76295609e-01 1.47503197e-01 -1.58397257e-01 -3.69845657e+01] [-1.44892128e-01 9.89051973e-01 2.79725742e-02 7.37787809e+00] [ 1.60789163e-01 -4.35898569e-03 9.86979151e-01 -2.32800447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10528557 meters Centerline goodness [0,1] 0.9481102262672229 Centerline is valid? [False, False] Translation: X:-37.03, Y:7.38, Z:-2.33 [[ 9.78727187e-01 1.32768926e-01 -1.56414529e-01 -3.70320340e+01] [-1.30802919e-01 9.91145203e-01 2.28425800e-02 7.38350829e+00] [ 1.58062295e-01 -1.89717718e-03 9.87427320e-01 -2.32904800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13528557 meters Centerline goodness [0,1] 0.9478038128831779 Centerline is valid? [False, False] Translation: X:-37.06, Y:7.38, Z:-2.33 [[ 9.79425470e-01 1.27472718e-01 -1.56449531e-01 -3.70617987e+01] [-1.26198218e-01 9.91840016e-01 1.80939735e-02 7.38491791e+00] [ 1.57479393e-01 2.02195342e-03 9.87520204e-01 -2.32549982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16528557 meters Centerline goodness [0,1] 0.9453917729779798 Centerline is valid? [False, False] Translation: X:-37.11, Y:7.39, Z:-2.33 [[ 9.79668456e-01 1.24498006e-01 -1.57321210e-01 -3.71091780e+01] [-1.24010466e-01 9.92196401e-01 1.29501353e-02 7.38514806e+00] [ 1.57705804e-01 6.82263758e-03 9.87462572e-01 -2.32646515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19528557 meters Centerline goodness [0,1] 0.9449377209224037 Centerline is valid? [False, False] Translation: X:-37.14, Y:7.39, Z:-2.32 [[ 9.79834924e-01 1.18873107e-01 -1.60601080e-01 -3.71387815e+01] [-1.18416547e-01 9.92886010e-01 1.24456011e-02 7.38508559e+00] [ 1.60938013e-01 6.82319071e-03 9.86940930e-01 -2.32428614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.225285570000004 meters Centerline goodness [0,1] 0.9421278376399205 Centerline is valid? [False, False] Translation: X:-37.17, Y:7.38, Z:-2.32 [[ 9.80225674e-01 1.12643293e-01 -1.62693320e-01 -3.71683712e+01] [-1.12478686e-01 9.93601243e-01 1.02525466e-02 7.38421925e+00] [ 1.62807166e-01 8.24972147e-03 9.86623418e-01 -2.32134246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25528557 meters Centerline goodness [0,1] 0.9425923975992418 Centerline is valid? [False, False] Translation: X:-37.20, Y:7.38, Z:-2.32 [[ 9.80627062e-01 1.08893809e-01 -1.62827219e-01 -3.72042847e+01] [-1.09728598e-01 9.93953993e-01 3.88511741e-03 7.38302107e+00] [ 1.62265829e-01 1.40569512e-02 9.86646949e-01 -2.32213554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28528557 meters Centerline goodness [0,1] 0.9412595074057687 Centerline is valid? [False, False] Translation: X:-37.24, Y:7.38, Z:-2.32 [[ 9.80615218e-01 1.07436916e-01 -1.63863061e-01 -3.72403314e+01] [-1.09090351e-01 9.94031231e-01 -1.09852902e-03 7.37992054e+00] [ 1.62766978e-01 1.89531131e-02 9.86482484e-01 -2.32218118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31528557 meters Centerline goodness [0,1] 0.9393996920415955 Centerline is valid? [False, False] Translation: X:-37.28, Y:7.38, Z:-2.32 [[ 9.80618967e-01 1.01900633e-01 -1.67340081e-01 -3.72761335e+01] [-1.03384730e-01 9.94641429e-01 -1.57978257e-04 7.38184713e+00] [ 1.66427279e-01 1.74553257e-02 9.85899220e-01 -2.32442104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34528557 meters Centerline goodness [0,1] 0.9376380735971722 Centerline is valid? [False, False] Translation: X:-37.31, Y:7.38, Z:-2.33 [[ 9.80287375e-01 1.00393262e-01 -1.70170075e-01 -3.73106121e+01] [-1.02492558e-01 9.94727350e-01 -3.57429501e-03 7.37979478e+00] [ 1.68913993e-01 2.09450027e-02 9.85408225e-01 -2.32676390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.37528557 meters Centerline goodness [0,1] 0.940202080111843 Centerline is valid? [False, False] Translation: X:-37.34, Y:7.38, Z:-2.33 [[ 9.80445764e-01 9.68673381e-02 -1.71297466e-01 -3.73417841e+01] [-9.98725706e-02 9.94959591e-01 -8.99343017e-03 7.37769536e+00] [ 1.69562887e-01 2.59254888e-02 9.85178307e-01 -2.32707753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.405285570000004 meters Centerline goodness [0,1] 0.9376288009420869 Centerline is valid? [False, False] Translation: X:-37.37, Y:7.38, Z:-2.32 [[ 9.81136528e-01 9.13452862e-02 -1.70373565e-01 -3.73670155e+01] [-9.46365353e-02 9.95447979e-01 -1.12803950e-02 7.37760532e+00] [ 1.68567610e-01 2.71911714e-02 9.85314976e-01 -2.32320015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.43528557 meters Centerline goodness [0,1] 0.940754039497307 Centerline is valid? [False, False] Translation: X:-37.42, Y:7.38, Z:-2.33 [[ 9.81975560e-01 8.99160380e-02 -1.66250128e-01 -3.74167445e+01] [-9.34070947e-02 9.95539371e-01 -1.32843698e-02 7.37816367e+00] [ 1.64314070e-01 2.85738680e-02 9.85994128e-01 -2.32700495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46528557 meters Centerline goodness [0,1] 0.9412977179514145 Centerline is valid? [False, False] Translation: X:-37.43, Y:7.38, Z:-2.32 [[ 9.82099374e-01 8.65652413e-02 -1.67293987e-01 -3.74252689e+01] [-9.04259646e-02 9.95781231e-01 -1.55847844e-02 7.37684136e+00] [ 1.65239112e-01 3.04335272e-02 9.85783869e-01 -2.32269128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.49528557 meters Centerline goodness [0,1] 0.9431777283793797 Centerline is valid? [False, False] Translation: X:-37.46, Y:7.37, Z:-2.33 [[ 9.81621280e-01 8.60022943e-02 -1.70362167e-01 -3.74593865e+01] [-9.05631728e-02 9.95706207e-01 -1.91692760e-02 7.37407023e+00] [ 1.67982065e-01 3.42455076e-02 9.85195042e-01 -2.32527195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52528557 meters Centerline goodness [0,1] 0.9456008470089995 Centerline is valid? [False, False] Translation: X:-37.49, Y:7.37, Z:-2.33 [[ 9.80841383e-01 8.62227186e-02 -1.74687789e-01 -3.74927135e+01] [-9.14638505e-02 9.95561748e-01 -2.21623338e-02 7.37069559e+00] [ 1.72001584e-01 3.77153520e-02 9.84374424e-01 -2.32641805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.55528557 meters Centerline goodness [0,1] 0.9475832892649392 Centerline is valid? [False, False] Translation: X:-37.54, Y:7.37, Z:-2.33 [[ 9.80555916e-01 8.57681953e-02 -1.76504711e-01 -3.75423127e+01] [-9.15298018e-02 9.95494745e-01 -2.47489196e-02 7.37077903e+00] [ 1.73586842e-01 4.04231407e-02 9.83988607e-01 -2.32964069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58528557 meters Centerline goodness [0,1] 0.9483684775968486 Centerline is valid? [False, False] Translation: X:-37.57, Y:7.37, Z:-2.33 [[ 9.80513257e-01 8.76133955e-02 -1.75834142e-01 -3.75698795e+01] [-9.44467059e-02 9.95051467e-01 -3.08609547e-02 7.36604623e+00] [ 1.72260188e-01 4.68665307e-02 9.83935951e-01 -2.32656448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.615285570000005 meters Centerline goodness [0,1] 0.9516953088713423 Centerline is valid? [False, True] Translation: X:-37.60, Y:7.36, Z:-2.32 [[ 9.80370818e-01 8.93858313e-02 -1.75736258e-01 -3.75984182e+01] [-9.72646369e-02 9.94580733e-01 -3.67254094e-02 7.36010425e+00] [ 1.71501165e-01 5.30974430e-02 9.83752007e-01 -2.32337493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64528557 meters Centerline goodness [0,1] 0.9546330615270571 Centerline is valid? [True, True] Translation: X:-37.61, Y:7.45, Z:-2.37 [[ 9.79967894e-01 1.00182996e-01 -1.72122902e-01 -3.76101467e+01] [-9.88772877e-02 9.94968331e-01 1.61648483e-02 7.45015090e+00] [ 1.72876280e-01 1.17801336e-03 9.84942843e-01 -2.36745793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.67528557 meters Centerline goodness [0,1] 0.9571250554417386 Centerline is valid? [True, True] Translation: X:-37.64, Y:7.45, Z:-2.37 [[ 9.79076035e-01 1.01539629e-01 -1.76351414e-01 -3.76392021e+01] [-1.00181742e-01 9.94830503e-01 1.66098897e-02 7.45397843e+00] [ 1.77126328e-01 1.40484690e-03 9.84187122e-01 -2.36935099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70528557 meters Centerline goodness [0,1] 0.957962267336344 Centerline is valid? [True, True] Translation: X:-37.67, Y:7.45, Z:-2.38 [[ 9.79102287e-01 1.01370672e-01 -1.76302858e-01 -3.76657333e+01] [-1.00004019e-01 9.94847829e-01 1.66431172e-02 7.44986503e+00] [ 1.77081640e-01 1.33568024e-03 9.84195260e-01 -2.37558715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73528557 meters Centerline goodness [0,1] 0.9601383557599021 Centerline is valid? [True, True] Translation: X:-37.70, Y:7.45, Z:-2.37 [[ 9.79438811e-01 1.00716387e-01 -1.74802244e-01 -3.76956997e+01] [-9.93570495e-02 9.94914484e-01 1.65332063e-02 7.44652970e+00] [ 1.75578449e-01 1.17457130e-03 9.84464742e-01 -2.36850043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76528557 meters Centerline goodness [0,1] 0.9621776263199966 Centerline is valid? [True, True] Translation: X:-37.72, Y:7.45, Z:-2.37 [[ 9.79613028e-01 1.00563969e-01 -1.73911483e-01 -3.77237287e+01] [-9.92133836e-02 9.94929958e-01 1.64645963e-02 7.44979821e+00] [ 1.74685490e-01 1.12541368e-03 9.84623640e-01 -2.36916857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.795285570000004 meters Centerline goodness [0,1] 0.964657706845863 Centerline is valid? [True, True] Translation: X:-37.75, Y:7.45, Z:-2.37 [[ 9.79662628e-01 1.00657694e-01 -1.73577543e-01 -3.77498639e+01] [-9.93054337e-02 9.94920517e-01 1.64801417e-02 7.45249120e+00] [ 1.74354712e-01 1.09221417e-03 9.84682305e-01 -2.37275497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82528557 meters Centerline goodness [0,1] 0.9679120786752963 Centerline is valid? [True, True] Translation: X:-37.78, Y:7.45, Z:-2.37 [[ 9.79294635e-01 1.02213232e-01 -1.74741161e-01 -3.77784080e+01] [-1.00863351e-01 9.94761587e-01 1.66123305e-02 7.45277494e+00] [ 1.75523795e-01 1.35661295e-03 9.84474254e-01 -2.37368298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.85528557 meters Centerline goodness [0,1] 0.9709892233682751 Centerline is valid? [True, True] Translation: X:-37.81, Y:7.45, Z:-2.37 [[ 9.78615038e-01 1.05289784e-01 -1.76710694e-01 -3.78080065e+01] [-1.03951629e-01 9.94439787e-01 1.68395162e-02 7.45001202e+00] [ 1.77501174e-01 1.88996084e-03 9.84118774e-01 -2.37322587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88528557 meters Centerline goodness [0,1] 0.9728172892972018 Centerline is valid? [True, True] Translation: X:-37.84, Y:7.45, Z:-2.37 [[ 9.78433412e-01 1.06922189e-01 -1.76736257e-01 -3.78371437e+01] [-1.05602771e-01 9.94265076e-01 1.68823226e-02 7.44839740e+00] [ 1.77527783e-01 2.14561000e-03 9.84113450e-01 -2.36859171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91528557 meters Centerline goodness [0,1] 0.9766651277961976 Centerline is valid? [True, True] Translation: X:-37.86, Y:7.45, Z:-2.37 [[ 9.78386479e-01 1.07185876e-01 -1.76836323e-01 -3.78649199e+01] [-1.05866330e-01 9.94236613e-01 1.69079333e-02 7.44896241e+00] [ 1.77629438e-01 2.17851916e-03 9.84095034e-01 -2.37259141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94528557 meters Centerline goodness [0,1] 0.9821087736225014 Centerline is valid? [True, True] Translation: X:-37.89, Y:7.45, Z:-2.37 [[ 9.77454216e-01 1.10353882e-01 -1.80014658e-01 -3.78944833e+01] [-1.09030707e-01 9.93888535e-01 1.72593367e-02 7.44849356e+00] [ 1.80819140e-01 2.75691404e-03 9.83512500e-01 -2.36694209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.975285570000004 meters Centerline goodness [0,1] 0.9835445155354828 Centerline is valid? [True, True] Translation: X:-37.92, Y:7.45, Z:-2.37 [[ 9.77278578e-01 1.11803020e-01 -1.80074057e-01 -3.79227941e+01] [-1.10500555e-01 9.93725828e-01 1.72802444e-02 7.44990941e+00] [ 1.80876224e-01 3.01067042e-03 9.83501259e-01 -2.36718316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00528557 meters Centerline goodness [0,1] 0.9850024995834028 Centerline is valid? [True, True] Translation: X:-37.95, Y:7.45, Z:-2.37 [[ 9.77207900e-01 1.12843960e-01 -1.79808123e-01 -3.79499360e+01] [-1.11559614e-01 9.93607630e-01 1.72722083e-02 7.45431680e+00] [ 1.80607787e-01 3.18078643e-03 9.83550055e-01 -2.37058545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1711.19 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%| | 0/1401 [00:00