+ python -m lidar_slam --no-model /working/8e5b840f-676e-45f7-99be-b47f5ddd538d Lidar SLAM 0.0.13 ===================================================== The recording path: /working/8e5b840f-676e-45f7-99be-b47f5ddd538d 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 0.006338938 Adjusted end_distance from 9.223372036854776e+18 to 30.029138938 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.006338938 meters Centerline goodness [0,1] 0.989454301975226 Centerline is valid? [0, True] SLAMing on 0.036338938 meters Centerline goodness [0,1] 0.9914257767788391 Centerline is valid? [True, True] Translation: X:-0.03, Y:-0.01, Z:0.01 [[ 9.99997253e-01 1.64788827e-03 -1.66696101e-03 -3.07316617e-02] [-1.64794406e-03 9.99998642e-01 -3.20966416e-05 -7.42443068e-03] [ 1.66690585e-03 3.48436120e-05 9.99998610e-01 5.18598690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.066338938 meters Centerline goodness [0,1] 0.9930638005373993 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.02, Z:0.01 [[ 9.99994404e-01 2.26004699e-03 -2.46660439e-03 -5.86161653e-02] [-2.26016190e-03 9.99997445e-01 -4.38010284e-05 -1.63718839e-02] [ 2.46649909e-03 4.93757085e-05 9.99996957e-01 1.20044310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09633893800000001 meters Centerline goodness [0,1] 0.9934974550742702 Centerline is valid? [True, True] Translation: X:-0.09, Y:-0.02, Z:0.02 [[ 9.99989631e-01 3.43527010e-03 -2.98960548e-03 -8.69886348e-02] [-3.43545121e-03 9.99994097e-01 -5.54452258e-05 -1.71964387e-02] [ 2.98939737e-03 6.57152946e-05 9.99995530e-01 1.51489513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.126338938 meters Centerline goodness [0,1] 0.9951603896506794 Centerline is valid? [True, True] Translation: X:-0.12, Y:-0.02, Z:0.02 [[ 9.99974707e-01 4.96816994e-03 -5.08939752e-03 -1.15616383e-01] [-4.96871583e-03 9.99987651e-01 -9.46215774e-05 -1.81022612e-02] [ 5.08886458e-03 1.19906954e-04 9.99987044e-01 1.84440567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.156338938 meters Centerline goodness [0,1] 0.9956581069346235 Centerline is valid? [True, True] Translation: X:-0.14, Y:-0.02, Z:0.02 [[ 9.99961215e-01 5.85334023e-03 -6.58072478e-03 -1.43671453e-01] [-5.85426862e-03 9.99982856e-01 -1.21823266e-04 -2.26162326e-02] [ 6.57989889e-03 1.60343872e-04 9.99978339e-01 1.84192733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.186338938 meters Centerline goodness [0,1] 0.9943119531718617 Centerline is valid? [True, True] Translation: X:-0.17, Y:-0.02, Z:0.02 [[ 9.99961802e-01 6.60769621e-03 -5.72134566e-03 -1.71406513e-01] [-6.60838816e-03 9.99978159e-01 -1.02045610e-04 -2.29362408e-02] [ 5.72054642e-03 1.39850585e-04 9.99983628e-01 1.86472481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.216338938 meters Centerline goodness [0,1] 0.9953632469746746 Centerline is valid? [True, True] Translation: X:-0.20, Y:-0.03, Z:0.02 [[ 9.99959181e-01 7.95351168e-03 -4.28685720e-03 -1.98750505e-01] [-7.95391670e-03 9.99968364e-01 -7.74389104e-05 -3.20678754e-02] [ 4.28610567e-03 1.11533055e-04 9.99990808e-01 2.24048262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.246338938 meters Centerline goodness [0,1] 0.995714019504317 Centerline is valid? [True, True] Translation: X:-0.23, Y:-0.03, Z:0.03 [[ 9.99956947e-01 8.96403528e-03 -2.39781997e-03 -2.26994072e-01] [-8.96416448e-03 9.99959820e-01 -4.31431381e-05 -3.45723317e-02] [ 2.39733688e-03 6.46357333e-05 9.99997124e-01 2.84204251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27633893800000003 meters Centerline goodness [0,1] 0.9950776455080941 Centerline is valid? [True, True] Translation: X:-0.26, Y:-0.03, Z:0.03 [[ 9.99927561e-01 1.07463883e-02 -5.42099231e-03 -2.58553342e-01] [-1.07470852e-02 9.99942243e-01 -9.94560133e-05 -3.28614914e-02] [ 5.41961042e-03 1.57708675e-04 9.99985301e-01 2.82391805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30633893800000006 meters Centerline goodness [0,1] 0.994601277560272 Centerline is valid? [True, True] Translation: X:-0.29, Y:-0.03, Z:0.03 [[ 9.99913570e-01 1.09113526e-02 -7.33445884e-03 -2.87788426e-01] [-1.09126243e-02 9.99940447e-01 -1.33390259e-04 -3.39014154e-02] [ 7.33256658e-03 2.13416924e-04 9.99973094e-01 2.82974120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33633893800000003 meters Centerline goodness [0,1] 0.9947765168585357 Centerline is valid? [True, True] Translation: X:-0.32, Y:-0.04, Z:0.03 [[ 9.99934969e-01 9.64671537e-03 -6.08272770e-03 -3.16028890e-01] [-9.64754379e-03 9.99953456e-01 -1.06863939e-04 -4.43876719e-02] [ 6.08141369e-03 1.65540372e-04 9.99981494e-01 3.32637012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36633893800000006 meters Centerline goodness [0,1] 0.9938489297137701 Centerline is valid? [True, True] Translation: X:-0.35, Y:-0.04, Z:0.03 [[ 9.99927965e-01 1.07651246e-02 -5.30826370e-03 -3.45037625e-01] [-1.07657634e-02 9.99942043e-01 -9.17851701e-05 -4.21103911e-02] [ 5.30696798e-03 1.48926070e-04 9.99985907e-01 3.17767775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39633893800000003 meters Centerline goodness [0,1] 0.9943976445571276 Centerline is valid? [True, True] Translation: X:-0.38, Y:-0.04, Z:0.03 [[ 9.99913510e-01 1.19939743e-02 -5.39595033e-03 -3.75150066e-01] [-1.19946635e-02 9.99928057e-01 -9.53813812e-05 -4.03717009e-02] [ 5.39441812e-03 1.60095740e-04 9.99985437e-01 2.80723912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42633893800000006 meters Centerline goodness [0,1] 0.9945181942768312 Centerline is valid? [True, True] Translation: X:-0.40, Y:-0.05, Z:0.03 [[ 9.99914507e-01 1.11355356e-02 -6.85403402e-03 -4.04062858e-01] [-1.11366284e-02 9.99937978e-01 -1.21298613e-04 -5.11816257e-02] [ 6.85225820e-03 1.97619073e-04 9.99976503e-01 3.28037240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.456338938 meters Centerline goodness [0,1] 0.9949931539043182 Centerline is valid? [True, True] Translation: X:-0.43, Y:-0.06, Z:0.04 [[ 9.99919201e-01 1.04086505e-02 -7.29741084e-03 -4.32605104e-01] [-1.04098404e-02 9.99945808e-01 -1.25089835e-04 -5.98190082e-02] [ 7.29571336e-03 2.01044610e-04 9.99973366e-01 3.66858425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48633893800000005 meters Centerline goodness [0,1] 0.9948387096774194 Centerline is valid? [True, True] Translation: X:-0.46, Y:-0.07, Z:0.05 [[ 9.99935562e-01 8.47502583e-03 -7.55292162e-03 -4.60112093e-01] [-8.47625368e-03 9.99964067e-01 -1.30570290e-04 -6.50229050e-02] [ 7.55154363e-03 1.94582356e-04 9.99971468e-01 4.64943360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.516338938 meters Centerline goodness [0,1] 0.9951766824683793 Centerline is valid? [True, True] Translation: X:-0.49, Y:-0.07, Z:0.04 [[ 9.99906818e-01 9.59824777e-03 -9.70711545e-03 -4.87829465e-01] [-9.60032280e-03 9.99953902e-01 -1.67188676e-04 -6.74704519e-02] [ 9.70506325e-03 2.60364539e-04 9.99952871e-01 4.18708328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.546338938 meters Centerline goodness [0,1] 0.9946412314822478 Centerline is valid? [True, True] Translation: X:-0.52, Y:-0.07, Z:0.04 [[ 9.99895732e-01 1.04030507e-02 -1.00150917e-02 -5.15728600e-01] [-1.04052912e-02 9.99945849e-01 -1.71632203e-04 -6.83191436e-02] [ 1.00127638e-02 2.75824253e-04 9.99949833e-01 4.42223290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.576338938 meters Centerline goodness [0,1] 0.9953203296475752 Centerline is valid? [True, True] Translation: X:-0.54, Y:-0.07, Z:0.05 [[ 9.99894228e-01 1.15122111e-02 -8.88825762e-03 -5.43590350e-01] [-1.15139769e-02 9.99933701e-01 -1.47521273e-04 -6.98374591e-02] [ 8.88597004e-03 2.49844862e-04 9.99960488e-01 4.96396283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.606338938 meters Centerline goodness [0,1] 0.9944421401907922 Centerline is valid? [True, True] Translation: X:-0.57, Y:-0.07, Z:0.05 [[ 9.99888765e-01 1.28042384e-02 -7.64912384e-03 -5.71584450e-01] [-1.28055642e-02 9.99917998e-01 -1.24362763e-04 -6.79178800e-02] [ 7.64690422e-03 2.22300276e-04 9.99970737e-01 4.97124980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.636338938 meters Centerline goodness [0,1] 0.9944565555901588 Centerline is valid? [True, True] Translation: X:-0.60, Y:-0.07, Z:0.05 [[ 9.99865458e-01 1.40711946e-02 -8.43014471e-03 -6.00809684e-01] [-1.40728428e-02 9.99900963e-01 -1.36222454e-04 -6.80250288e-02] [ 8.42739300e-03 2.54840228e-04 9.99964456e-01 5.05387741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.666338938 meters Centerline goodness [0,1] 0.9950548537234043 Centerline is valid? [True, True] Translation: X:-0.63, Y:-0.08, Z:0.05 [[ 9.99816169e-01 1.57108877e-02 -1.09906886e-02 -6.28801181e-01] [-1.57138056e-02 9.99876514e-01 -1.79185682e-04 -8.06284903e-02] [ 1.09865162e-02 3.51858287e-04 9.99939585e-01 5.30613891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.696338938 meters Centerline goodness [0,1] 0.9951021926470892 Centerline is valid? [True, True] Translation: X:-0.66, Y:-0.08, Z:0.06 [[ 9.99827007e-01 1.52951705e-02 -1.05836907e-02 -6.57037346e-01] [-1.52978404e-02 9.99882967e-01 -1.71353288e-04 -7.91219816e-02] [ 1.05798312e-02 3.33231256e-04 9.99943976e-01 5.66551918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.726338938 meters Centerline goodness [0,1] 0.9947360755674843 Centerline is valid? [True, True] Translation: X:-0.68, Y:-0.08, Z:0.06 [[ 9.99824674e-01 1.57066511e-02 -1.01942696e-02 -6.83766629e-01] [-1.57091162e-02 9.99876591e-01 -1.61773735e-04 -8.31164389e-02] [ 1.01904706e-02 3.21888337e-04 9.99948024e-01 6.18012616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7563389380000001 meters Centerline goodness [0,1] 0.9941859253547836 Centerline is valid? [True, True] Translation: X:-0.71, Y:-0.08, Z:0.06 [[ 9.99831465e-01 1.53116531e-02 -1.01288957e-02 -7.12293070e-01] [-1.53140343e-02 9.99882721e-01 -1.57567628e-04 -8.01705230e-02] [ 1.01252951e-02 3.12655328e-04 9.99948689e-01 6.06183511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.786338938 meters Centerline goodness [0,1] 0.9958471587470523 Centerline is valid? [True, True] Translation: X:-0.74, Y:-0.09, Z:0.06 [[ 9.99858622e-01 1.25729267e-02 -1.11650241e-02 -7.39328734e-01] [-1.25756577e-02 9.99920908e-01 -1.74428202e-04 -9.00141521e-02] [ 1.11619479e-02 3.14811063e-04 9.99937654e-01 6.03030502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.816338938 meters Centerline goodness [0,1] 0.9965650046840845 Centerline is valid? [True, True] Translation: X:-0.77, Y:-0.09, Z:0.07 [[ 9.99894944e-01 1.04015761e-02 -1.00949314e-02 -7.67391682e-01] [-1.04036933e-02 9.99945868e-01 -1.57236181e-04 -9.32601455e-02] [ 1.00927494e-02 2.62244233e-04 9.99949033e-01 6.82925680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.846338938 meters Centerline goodness [0,1] 0.9953599197391523 Centerline is valid? [True, True] Translation: X:-0.79, Y:-0.09, Z:0.06 [[ 9.99842300e-01 1.22009210e-02 -1.29039897e-02 -7.94858579e-01] [-1.22045154e-02 9.99925502e-01 -1.99832823e-04 -9.44694540e-02] [ 1.29005903e-02 3.57288250e-04 9.99916720e-01 6.45805117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8763389380000001 meters Centerline goodness [0,1] 0.994796020732319 Centerline is valid? [True, True] Translation: X:-0.82, Y:-0.09, Z:0.07 [[ 9.99856061e-01 1.13479195e-02 -1.26127677e-02 -8.23208616e-01] [-1.13512215e-02 9.99935555e-01 -1.90241031e-04 -9.15166959e-02] [ 1.26097960e-02 3.33383968e-04 9.99920438e-01 6.74592349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.906338938 meters Centerline goodness [0,1] 0.9961519156767609 Centerline is valid? [True, True] Translation: X:-0.85, Y:-0.09, Z:0.07 [[ 9.99886653e-01 1.07459166e-02 -1.05454066e-02 -8.50944930e-01] [-1.07481958e-02 9.99942224e-01 -1.59477921e-04 -9.39204094e-02] [ 1.05430836e-02 2.72803940e-04 9.99944383e-01 7.41800166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.936338938 meters Centerline goodness [0,1] 0.9959924464960135 Centerline is valid? [True, True] Translation: X:-0.88, Y:-0.10, Z:0.08 [[ 9.99892650e-01 1.14002374e-02 -9.20454644e-03 -8.79845829e-01] [-1.14019622e-02 9.99934986e-01 -1.34922404e-04 -9.89872677e-02] [ 9.20240988e-03 2.39857810e-04 9.99957628e-01 7.63724083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.966338938 meters Centerline goodness [0,1] 0.9959924464960135 Centerline is valid? [True, True] Translation: X:-0.91, Y:-0.10, Z:0.08 [[ 9.99889307e-01 1.16897122e-02 -9.20459138e-03 -9.07132933e-01] [-1.16914210e-02 9.99931644e-01 -1.31862443e-04 -9.95681403e-02] [ 9.20242076e-03 2.39462600e-04 9.99957628e-01 7.66770296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9963389380000001 meters Centerline goodness [0,1] 0.997410949179438 Centerline is valid? [True, True] Translation: X:-0.94, Y:-0.10, Z:0.08 [[ 9.99856756e-01 1.26667095e-02 -1.12259366e-02 -9.35671529e-01] [-1.26692934e-02 9.99919729e-01 -1.59081584e-04 -1.02002522e-01] [ 1.12230204e-02 3.01283481e-04 9.99936975e-01 7.72962964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.026338938 meters Centerline goodness [0,1] 0.9969855557881515 Centerline is valid? [True, True] Translation: X:-0.96, Y:-0.10, Z:0.08 [[ 9.99831636e-01 1.37042673e-02 -1.22021695e-02 -9.63141684e-01] [-1.37073967e-02 9.99906034e-01 -1.72857590e-04 -1.04845500e-01] [ 1.21986540e-02 3.40088464e-04 9.99925536e-01 7.86726373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0563389380000001 meters Centerline goodness [0,1] 0.9972736042951218 Centerline is valid? [True, True] Translation: X:-0.99, Y:-0.10, Z:0.08 [[ 9.99847380e-01 1.36163426e-02 -1.09458703e-02 -9.91407553e-01] [-1.36188481e-02 9.99907247e-01 -1.54390377e-04 -1.03713459e-01] [ 1.09427528e-02 3.03436959e-04 9.99940080e-01 8.22534694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0863389380000001 meters Centerline goodness [0,1] 0.9971492055506644 Centerline is valid? [True, True] Translation: X:-1.02, Y:-0.10, Z:0.08 [[ 9.99850258e-01 1.35964650e-02 -1.07050408e-02 -1.01926352e+00] [-1.35988496e-02 9.99907520e-01 -1.49993043e-04 -1.04744804e-01] [ 1.07020114e-02 2.95546822e-04 9.99942688e-01 8.36485230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1163389380000002 meters Centerline goodness [0,1] 0.9972914973852532 Centerline is valid? [True, True] Translation: X:-1.05, Y:-0.10, Z:0.08 [[ 9.99835116e-01 1.42065027e-02 -1.13099557e-02 -1.04795563e+00] [-1.42091506e-02 9.99899033e-01 -1.53797652e-04 -1.01938361e-01] [ 1.13066288e-02 3.14477157e-04 9.99936029e-01 8.09761896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1463389380000002 meters Centerline goodness [0,1] 0.9975183516850183 Centerline is valid? [True, True] Translation: X:-1.08, Y:-0.11, Z:0.09 [[ 9.99807799e-01 1.58688440e-02 -1.15128188e-02 -1.07593289e+00] [-1.58716628e-02 9.99874025e-01 -1.53513938e-04 -1.07332262e-01] [ 1.15089324e-02 3.36212010e-04 9.99933714e-01 8.54148699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1763389380000002 meters Centerline goodness [0,1] 0.9956899257244481 Centerline is valid? [True, True] Translation: X:-1.10, Y:-0.11, Z:0.09 [[ 9.99791654e-01 1.62816204e-02 -1.23108420e-02 -1.10463205e+00] [-1.62848369e-02 9.99867380e-01 -1.61069705e-04 -1.08482840e-01] [ 1.23065868e-02 3.61516200e-04 9.99924206e-01 9.22694848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2063389380000002 meters Centerline goodness [0,1] 0.9972236035140063 Centerline is valid? [True, True] Translation: X:-1.13, Y:-0.11, Z:0.09 [[ 9.99828670e-01 1.39370755e-02 -1.21815003e-02 -1.13331081e+00] [-1.39400123e-02 9.99902821e-01 -1.56211962e-04 -1.05122041e-01] [ 1.21781393e-02 3.25995462e-04 9.99925791e-01 8.75433878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2363389380000003 meters Centerline goodness [0,1] 0.9972356743499677 Centerline is valid? [True, True] Translation: X:-1.16, Y:-0.11, Z:0.09 [[ 9.99885753e-01 1.14816055e-02 -9.83122523e-03 -1.16161260e+00] [-1.14834116e-02 9.99934055e-01 -1.27279279e-04 -1.07386813e-01] [ 9.82911554e-03 2.40160743e-04 9.99951664e-01 9.33098329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.266338938 meters Centerline goodness [0,1] 0.9975501391022713 Centerline is valid? [True, True] Translation: X:-1.19, Y:-0.11, Z:0.09 [[ 9.99882693e-01 1.16990298e-02 -9.88601152e-03 -1.18910500e+00] [-1.17008127e-02 9.99931536e-01 -1.22530434e-04 -1.07602510e-01] [ 9.88390119e-03 2.38190429e-04 9.99951125e-01 9.06919404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.296338938 meters Centerline goodness [0,1] 0.9962530624009224 Centerline is valid? [True, True] Translation: X:-1.22, Y:-0.12, Z:0.09 [[ 9.99895029e-01 7.93994738e-03 -1.21197686e-02 -1.21624548e+00] [-7.94235511e-03 9.99968448e-01 -1.50541549e-04 -1.18574607e-01] [ 1.21181909e-02 2.46785253e-04 9.99926542e-01 8.94876946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3263389380000001 meters Centerline goodness [0,1] 0.9967686117539142 Centerline is valid? [True, True] Translation: X:-1.24, Y:-0.12, Z:0.09 [[ 9.99878006e-01 4.80887361e-03 -1.48609526e-02 -1.24402156e+00] [-4.81207033e-03 9.99988406e-01 -1.79358124e-04 -1.21655804e-01] [ 1.48599178e-02 2.50848193e-04 9.99889554e-01 9.40360059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3563389380000002 meters Centerline goodness [0,1] 0.9965320319800643 Centerline is valid? [True, True] Translation: X:-1.27, Y:-0.12, Z:0.09 [[ 9.99909830e-01 2.41595546e-03 -1.32096724e-02 -1.27253014e+00] [-2.41823015e-03 9.99997064e-01 -1.56228526e-04 -1.21994000e-01] [ 1.32092562e-02 1.88158467e-04 9.99912736e-01 9.23461743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3863389380000002 meters Centerline goodness [0,1] 0.99678055872884 Centerline is valid? [True, True] Translation: X:-1.30, Y:-0.13, Z:0.10 [[ 9.99953985e-01 -2.25120144e-03 -9.32520319e-03 -1.30082256e+00] [ 2.25026328e-03 9.99997462e-01 -1.11095844e-04 -1.26002696e-01] [ 9.32542962e-03 9.01065696e-05 9.99956513e-01 1.01639663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4163389380000002 meters Centerline goodness [0,1] 0.9968831816481736 Centerline is valid? [True, True] Translation: X:-1.33, Y:-0.13, Z:0.10 [[ 9.99955815e-01 -2.82465097e-03 -8.96601919e-03 -1.32987595e+00] [ 2.82384771e-03 9.99996008e-01 -1.02246926e-04 -1.32944795e-01] [ 8.96627221e-03 7.69237356e-05 9.99959799e-01 9.87210086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4463389380000002 meters Centerline goodness [0,1] 0.9971862689926843 Centerline is valid? [True, True] Translation: X:-1.36, Y:-0.14, Z:0.10 [[ 9.99908900e-01 -5.62322153e-03 -1.22707254e-02 -1.35902888e+00] [ 5.62194607e-03 9.99984187e-01 -1.38434596e-04 -1.38938380e-01] [ 1.22713098e-02 6.94366285e-05 9.99924702e-01 9.55491146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4763389380000003 meters Centerline goodness [0,1] 0.9970635399962513 Centerline is valid? [True, True] Translation: X:-1.39, Y:-0.14, Z:0.09 [[ 9.99862347e-01 -6.49845775e-03 -1.52661836e-02 -1.38749774e+00] [ 6.49663668e-03 9.99978882e-01 -1.68877686e-04 -1.40888041e-01] [ 1.52669587e-02 6.96755914e-05 9.99883451e-01 9.23106734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5063389380000003 meters Centerline goodness [0,1] 0.9970873382432489 Centerline is valid? [True, True] Translation: X:-1.41, Y:-0.14, Z:0.10 [[ 9.99896276e-01 -6.01174883e-03 -1.30879907e-02 -1.41497812e+00] [ 6.01036712e-03 9.99981927e-01 -1.44901984e-04 -1.36339212e-01] [ 1.30886253e-02 6.62233256e-05 9.99914338e-01 9.96866453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.536338938 meters Centerline goodness [0,1] 0.9973033521407235 Centerline is valid? [True, True] Translation: X:-1.44, Y:-0.13, Z:0.10 [[ 9.99964470e-01 -5.28956809e-03 -6.56341754e-03 -1.44458357e+00] [ 5.28920604e-03 9.99986009e-01 -7.25188881e-05 -1.33170807e-01] [ 6.56370931e-03 3.78010439e-05 9.99978458e-01 1.03545192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5663389380000001 meters Centerline goodness [0,1] 0.9976993865030674 Centerline is valid? [True, True] Translation: X:-1.47, Y:-0.14, Z:0.11 [[ 9.99983590e-01 -4.14546872e-03 -3.95413828e-03 -1.47252445e+00] [ 4.14533531e-03 9.99991407e-01 -4.19339227e-05 -1.35357331e-01] [ 3.95427814e-03 2.55420055e-05 9.99992181e-01 1.05316132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5963389380000002 meters Centerline goodness [0,1] 0.9977738479142827 Centerline is valid? [True, True] Translation: X:-1.50, Y:-0.13, Z:0.11 [[ 9.99941618e-01 -2.89070963e-03 -1.04117616e-02 -1.50144618e+00] [ 2.88968429e-03 9.99995818e-01 -1.13521432e-04 -1.32535234e-01] [ 1.04120462e-02 8.34281009e-05 9.99945790e-01 1.07307430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6263389380000002 meters Centerline goodness [0,1] 0.9973213173304539 Centerline is valid? [True, True] Translation: X:-1.53, Y:-0.13, Z:0.10 [[ 9.99914689e-01 -2.54704915e-03 -1.28111936e-02 -1.53047150e+00] [ 2.54554152e-03 9.99996751e-01 -1.33985255e-04 -1.25378857e-01] [ 1.28114932e-02 1.01362400e-04 9.99917924e-01 9.93842012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6563389380000002 meters Centerline goodness [0,1] 0.9974035685354049 Centerline is valid? [True, True] Translation: X:-1.56, Y:-0.12, Z:0.10 [[ 9.99915160e-01 -2.96303145e-03 -1.26843478e-02 -1.55821208e+00] [ 2.96163793e-03 9.99995606e-01 -1.28644140e-04 -1.24553728e-01] [ 1.26846732e-02 9.10667801e-05 9.99919542e-01 9.89850529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6863389380000002 meters Centerline goodness [0,1] 0.9978193599302195 Centerline is valid? [True, True] Translation: X:-1.59, Y:-0.13, Z:0.10 [[ 9.99956259e-01 -3.68835176e-03 -8.59514952e-03 -1.58732195e+00] [ 3.68773254e-03 9.99993196e-01 -8.78905621e-05 -1.26233703e-01] [ 8.59541522e-03 5.61901051e-05 9.99963057e-01 1.03239590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7163389380000003 meters Centerline goodness [0,1] 0.9975829941950545 Centerline is valid? [True, True] Translation: X:-1.62, Y:-0.13, Z:0.11 [[ 9.99956165e-01 -6.95471791e-03 -6.26896245e-03 -1.61603709e+00] [ 6.95447561e-03 9.99975816e-01 -6.04494179e-05 -1.25271163e-01] [ 6.26923124e-03 1.68494217e-05 9.99980348e-01 1.05426442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7463389380000003 meters Centerline goodness [0,1] 0.9974713977781462 Centerline is valid? [True, True] Translation: X:-1.64, Y:-0.13, Z:0.10 [[ 9.99890508e-01 -1.05959429e-02 -1.03294454e-02 -1.64372304e+00] [ 1.05954528e-02 9.99943861e-01 -1.02171623e-04 -1.25624021e-01] [ 1.03299481e-02 -7.28471468e-06 9.99946645e-01 1.00187642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7763389380000003 meters Centerline goodness [0,1] 0.9974408056260663 Centerline is valid? [True, True] Translation: X:-1.67, Y:-0.13, Z:0.10 [[ 9.99777678e-01 -1.55099545e-02 -1.42840995e-02 -1.67297228e+00] [ 1.55095835e-02 9.99879710e-01 -1.36756981e-04 -1.28369139e-01] [ 1.42845024e-02 -8.48138565e-05 9.99897968e-01 9.64761475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8063389380000001 meters Centerline goodness [0,1] 0.997357029884292 Centerline is valid? [True, True] Translation: X:-1.70, Y:-0.13, Z:0.11 [[ 9.99777959e-01 -1.79790903e-02 -1.09902137e-02 -1.70149441e+00] [ 1.79790587e-02 9.99838358e-01 -1.01690243e-04 -1.30820646e-01] [ 1.09902655e-02 -9.59260319e-05 9.99939601e-01 1.05339628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8363389380000001 meters Centerline goodness [0,1] 0.9973386560212908 Centerline is valid? [True, True] Translation: X:-1.73, Y:-0.13, Z:0.11 [[ 9.99820162e-01 -1.84351527e-02 -4.44836174e-03 -1.73133016e+00] [ 1.84351495e-02 9.99830057e-01 -4.17241798e-05 -1.28823181e-01] [ 4.44837497e-03 -4.02895375e-05 9.99990105e-01 1.10727898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8663389380000002 meters Centerline goodness [0,1] 0.9966051478303808 Centerline is valid? [True, True] Translation: X:-1.76, Y:-0.12, Z:0.10 [[ 9.99850642e-01 -1.69585368e-02 -3.33181863e-03 -1.75983751e+00] [ 1.69585375e-02 9.99856193e-01 -2.80435966e-05 -1.16559448e-01] [ 3.33181507e-03 -2.84633631e-05 9.99994449e-01 1.02372708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8963389380000002 meters Centerline goodness [0,1] 0.9975453486437011 Centerline is valid? [True, True] Translation: X:-1.79, Y:-0.11, Z:0.10 [[ 9.99850982e-01 -1.34850541e-02 -1.07780732e-02 -1.78793426e+00] [ 1.34847865e-02 9.99909071e-01 -9.74959877e-05 -1.08076044e-01] [ 1.07784079e-02 -4.78585575e-05 9.99941910e-01 9.62533668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9263389380000002 meters Centerline goodness [0,1] 0.9977324263038548 Centerline is valid? [True, True] Translation: X:-1.82, Y:-0.10, Z:0.09 [[ 9.99836978e-01 -1.10653771e-02 -1.42679533e-02 -1.81580062e+00] [ 1.10646761e-02 9.99938776e-01 -1.28074623e-04 -1.03248002e-01] [ 1.42684969e-02 -2.98165374e-05 9.99898199e-01 9.39416187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9563389380000002 meters Centerline goodness [0,1] 0.9969449466924372 Centerline is valid? [True, True] Translation: X:-1.84, Y:-0.10, Z:0.10 [[ 9.99905090e-01 -8.84213642e-03 -1.05653994e-02 -1.84487663e+00] [ 8.84163266e-03 9.99960908e-01 -9.43888437e-05 -1.00767360e-01] [ 1.05658210e-02 9.64505014e-07 9.99944180e-01 1.01056859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9863389380000003 meters Centerline goodness [0,1] 0.9975497830104446 Centerline is valid? [True, True] Translation: X:-1.87, Y:-0.09, Z:0.11 [[ 9.99966259e-01 -6.95451336e-03 -4.37219569e-03 -1.87402245e+00] [ 6.95441162e-03 9.99975817e-01 -3.84728758e-05 -9.39686051e-02] [ 4.37235752e-03 8.06552921e-06 9.99990441e-01 1.10187499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.016338938 meters Centerline goodness [0,1] 0.9981705162054842 Centerline is valid? [True, True] Translation: X:-1.90, Y:-0.08, Z:0.11 [[ 9.99987353e-01 -4.99924355e-03 -5.48449791e-04 -1.90195301e+00] [ 4.99924219e-03 9.99987504e-01 -3.85730880e-06 -8.28629957e-02] [ 5.48462221e-04 1.11542668e-06 9.99999850e-01 1.09560877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.046338938 meters Centerline goodness [0,1] 0.9970508826583593 Centerline is valid? [True, True] Translation: X:-1.93, Y:-0.07, Z:0.10 [[ 9.99982835e-01 -4.42890241e-03 -3.83605199e-03 -1.93129659e+00] [ 4.42880895e-03 9.99990192e-01 -3.28583955e-05 -7.29520659e-02] [ 3.83615989e-03 1.58686900e-05 9.99992642e-01 9.99240179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.076338938 meters Centerline goodness [0,1] 0.998082734187767 Centerline is valid? [True, True] Translation: X:-1.96, Y:-0.07, Z:0.09 [[ 9.99908223e-01 -5.16100361e-03 -1.25263750e-02 -1.96064541e+00] [ 5.16004218e-03 9.99986681e-01 -1.09070678e-04 -7.31264061e-02] [ 1.25267710e-02 4.44240447e-05 9.99921536e-01 9.05043275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.106338938 meters Centerline goodness [0,1] 0.9971756140424286 Centerline is valid? [True, True] Translation: X:-1.99, Y:-0.08, Z:0.08 [[ 9.99825383e-01 -9.15778570e-03 -1.62891889e-02 -1.98913451e+00] [ 9.15671422e-03 9.99958067e-01 -1.40361828e-04 -7.91859289e-02] [ 1.62897912e-02 -8.81812892e-06 9.99867313e-01 8.35523162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.136338938 meters Centerline goodness [0,1] 0.9972707196133173 Centerline is valid? [True, True] Translation: X:-2.02, Y:-0.08, Z:0.09 [[ 9.99820164e-01 -1.33920821e-02 -1.34272702e-02 -2.01699976e+00] [ 1.33917568e-02 9.99910320e-01 -1.14146402e-04 -8.02488524e-02] [ 1.34275947e-02 -6.56888619e-05 9.99909844e-01 9.12300332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.166338938 meters Centerline goodness [0,1] 0.997502445522093 Centerline is valid? [True, True] Translation: X:-2.05, Y:-0.07, Z:0.10 [[ 9.99859181e-01 -1.57473344e-02 -5.80004797e-03 -2.04595289e+00] [ 1.57473161e-02 9.99876002e-01 -4.88150010e-05 -7.23209445e-02] [ 5.80009748e-03 -4.25270622e-05 9.99983178e-01 1.02419875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1963389380000002 meters Centerline goodness [0,1] 0.9980954352551495 Centerline is valid? [True, True] Translation: X:-2.07, Y:-0.07, Z:0.10 [[ 9.99886720e-01 -1.49778383e-02 -1.48717512e-03 -2.07425850e+00] [ 1.49778376e-02 9.99887826e-01 -1.15669314e-05 -6.62595496e-02] [ 1.48718154e-03 -1.07090463e-05 9.99998894e-01 1.04823449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.226338938 meters Centerline goodness [0,1] 0.9975577681758407 Centerline is valid? [True, True] Translation: X:-2.10, Y:-0.07, Z:0.10 [[ 9.99878173e-01 -1.52874317e-02 -3.15185091e-03 -2.10272391e+00] [ 1.52874270e-02 9.99883140e-01 -2.55768667e-05 -6.68835435e-02] [ 3.15187359e-03 -2.26099400e-05 9.99995033e-01 9.62122800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.256338938 meters Centerline goodness [0,1] 0.997366991265098 Centerline is valid? [True, True] Translation: X:-2.13, Y:-0.06, Z:0.09 [[ 9.99873355e-01 -1.43510532e-02 -6.87900316e-03 -2.13088691e+00] [ 1.43510074e-02 9.99897017e-01 -5.60224520e-05 -6.44089938e-02] [ 6.87909873e-03 -4.27052681e-05 9.99976338e-01 9.44844011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.286338938 meters Centerline goodness [0,1] 0.9974711058164566 Centerline is valid? [True, True] Translation: X:-2.16, Y:-0.06, Z:0.10 [[ 9.99913183e-01 -1.09487529e-02 -7.33152770e-03 -2.15825150e+00] [ 1.09486140e-02 9.99940060e-01 -5.90862668e-05 -5.51050318e-02] [ 7.33173517e-03 -2.11889296e-05 9.99973122e-01 9.72950025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.316338938 meters Centerline goodness [0,1] 0.9978859678499665 Centerline is valid? [True, True] Translation: X:-2.19, Y:-0.05, Z:0.10 [[ 9.99941704e-01 -8.76979490e-03 -6.29908326e-03 -2.18563477e+00] [ 8.76965399e-03 9.99961545e-01 -4.99912751e-05 -4.67608774e-02] [ 6.29927944e-03 -5.25241986e-06 9.99980159e-01 9.94000426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.346338938 meters Centerline goodness [0,1] 0.998162647457981 Centerline is valid? [True, True] Translation: X:-2.21, Y:-0.04, Z:0.09 [[ 9.99955625e-01 -7.26729723e-03 -5.99451476e-03 -2.21388998e+00] [ 7.26716738e-03 9.99973593e-01 -4.34433583e-05 -3.80950137e-02] [ 5.99467217e-03 -1.21711613e-07 9.99982032e-01 9.48415250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.376338938 meters Centerline goodness [0,1] 0.99815578441327 Centerline is valid? [True, True] Translation: X:-2.24, Y:-0.03, Z:0.09 [[ 9.99964447e-01 -3.69380330e-03 -7.58022191e-03 -2.24216770e+00] [ 3.69349720e-03 9.99993178e-01 -5.43799756e-05 -3.17451715e-02] [ 7.58037106e-03 2.63805139e-05 9.99971268e-01 8.96957116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.406338938 meters Centerline goodness [0,1] 0.9979465258570112 Centerline is valid? [True, True] Translation: X:-2.27, Y:-0.03, Z:0.09 [[ 9.99958554e-01 -1.97732113e-03 -8.88710643e-03 -2.27045745e+00] [ 1.97684866e-03 9.99998044e-01 -6.19475604e-05 -3.00430246e-02] [ 8.88721154e-03 4.43765285e-05 9.99960507e-01 8.64204498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.436338938 meters Centerline goodness [0,1] 0.9973735633391465 Centerline is valid? [True, True] Translation: X:-2.30, Y:-0.03, Z:0.09 [[ 9.99951219e-01 -3.10434967e-04 -9.87239303e-03 -2.29862881e+00] [ 3.09791244e-04 9.99999950e-01 -6.67334212e-05 -2.65115680e-02] [ 9.87241325e-03 6.36717849e-05 9.99951265e-01 8.79315736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4663389380000003 meters Centerline goodness [0,1] 0.9975184016824395 Centerline is valid? [True, True] Translation: X:-2.33, Y:-0.02, Z:0.08 [[ 9.99937151e-01 2.20665466e-03 -1.09920235e-02 -2.32751438e+00] [-2.20757738e-03 9.99997561e-01 -7.18121601e-05 -2.24689164e-02] [ 1.09918382e-02 9.60733892e-05 9.99939583e-01 8.22979566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.496338938 meters Centerline goodness [0,1] 0.9966856855177043 Centerline is valid? [True, True] Translation: X:-2.36, Y:-0.02, Z:0.09 [[ 9.99940207e-01 1.29595349e-03 -1.08583192e-02 -2.35550525e+00] [-1.29679805e-03 9.99999157e-01 -7.07394750e-05 -2.20769979e-02] [ 1.08582184e-02 8.48162924e-05 9.99941044e-01 8.57314115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.526338938 meters Centerline goodness [0,1] 0.9984680922502256 Centerline is valid? [True, True] Translation: X:-2.38, Y:-0.02, Z:0.09 [[ 9.99969040e-01 1.39053962e-03 -7.74508244e-03 -2.38388578e+00] [-1.39094368e-03 9.99999032e-01 -4.67831115e-05 -2.43304231e-02] [ 7.74500988e-03 5.75546365e-05 9.99970005e-01 8.54952883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.556338938 meters Centerline goodness [0,1] 0.9974604906919639 Centerline is valid? [True, True] Translation: X:-2.41, Y:-0.02, Z:0.09 [[ 9.99976671e-01 1.31388143e-03 -6.70314529e-03 -2.41223872e+00] [-1.31416883e-03 9.99999136e-01 -3.84705394e-05 -2.24451130e-02] [ 6.70308895e-03 4.72787065e-05 9.99977533e-01 8.99072500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.586338938 meters Centerline goodness [0,1] 0.9978244953456752 Centerline is valid? [True, True] Translation: X:-2.44, Y:-0.02, Z:0.08 [[ 9.99963575e-01 2.91261414e-03 -8.02274269e-03 -2.44099007e+00] [-2.91306531e-03 9.99995756e-01 -4.45510364e-05 -1.88395627e-02] [ 8.02257888e-03 6.79201871e-05 9.99967816e-01 8.23850867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.616338938 meters Centerline goodness [0,1] 0.998072854479566 Centerline is valid? [True, True] Translation: X:-2.47, Y:-0.02, Z:0.08 [[ 9.99945905e-01 3.41929413e-03 -9.82324549e-03 -2.46893623e+00] [-3.42001029e-03 9.99994150e-01 -5.61076722e-05 -2.05413052e-02] [ 9.82299618e-03 8.97002377e-05 9.99951749e-01 7.84975084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.646338938 meters Centerline goodness [0,1] 0.9977143576086729 Centerline is valid? [True, True] Translation: X:-2.50, Y:-0.02, Z:0.08 [[ 9.99957987e-01 2.60869992e-03 -8.78744153e-03 -2.49764685e+00] [-2.60920592e-03 9.99996595e-01 -4.61176234e-05 -2.46219431e-02] [ 8.78729130e-03 6.90439303e-05 9.99961389e-01 7.81792198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6763389380000002 meters Centerline goodness [0,1] 0.9977799652334178 Centerline is valid? [True, True] Translation: X:-2.53, Y:-0.02, Z:0.08 [[ 9.99961802e-01 3.47510394e-03 -8.01982219e-03 -2.52570330e+00] [-3.47555955e-03 9.99993959e-01 -4.28748787e-05 -2.49691084e-02] [ 8.01962475e-03 7.07466106e-05 9.99967840e-01 8.11363234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.706338938 meters Centerline goodness [0,1] 0.9975608217507412 Centerline is valid? [True, True] Translation: X:-2.55, Y:-0.02, Z:0.08 [[ 9.99955112e-01 4.80860629e-03 -8.16407859e-03 -2.55400245e+00] [-4.80909101e-03 9.99988435e-01 -3.97424062e-05 -2.17801775e-02] [ 8.16379307e-03 7.90024192e-05 9.99966673e-01 7.62994097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7363389380000003 meters Centerline goodness [0,1] 0.9976742236935842 Centerline is valid? [True, True] Translation: X:-2.58, Y:-0.02, Z:0.07 [[ 9.99898679e-01 7.17207975e-03 -1.22960357e-02 -2.58254853e+00] [-7.17339010e-03 9.99974269e-01 -6.24659607e-05 -1.54116425e-02] [ 1.22952713e-02 1.50663893e-04 9.99924399e-01 6.90882800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.766338938 meters Centerline goodness [0,1] 0.9981293482144734 Centerline is valid? [True, True] Translation: X:-2.61, Y:-0.02, Z:0.07 [[ 9.99878156e-01 8.55883406e-03 -1.30544817e-02 -2.61143740e+00] [-8.56036082e-03 9.99963358e-01 -6.10787877e-05 -1.65293905e-02] [ 1.30534806e-02 1.72822419e-04 9.99914785e-01 6.78011814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.796338938 meters Centerline goodness [0,1] 0.9982134975514407 Centerline is valid? [True, True] Translation: X:-2.64, Y:-0.02, Z:0.07 [[ 9.99890172e-01 1.06508391e-02 -1.03054904e-02 -2.64045043e+00] [-1.06518685e-02 9.99943266e-01 -4.49978842e-05 -1.87804707e-02] [ 1.03044265e-02 1.54765671e-04 9.99946896e-01 6.90792475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.826338938 meters Centerline goodness [0,1] 0.9979387948259544 Centerline is valid? [True, True] Translation: X:-2.67, Y:-0.02, Z:0.07 [[ 9.99876132e-01 1.25459211e-02 -9.50368518e-03 -2.66808972e+00] [-1.25468892e-02 9.99921284e-01 -4.22448849e-05 -2.12693045e-02] [ 9.50240708e-03 1.61481337e-04 9.99954838e-01 7.16673143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.856338938 meters Centerline goodness [0,1] 0.9982564124109825 Centerline is valid? [True, True] Translation: X:-2.70, Y:-0.02, Z:0.07 [[ 9.99832212e-01 1.48472623e-02 -1.07287774e-02 -2.69698901e+00] [-1.48485814e-02 9.99889753e-01 -4.33003392e-05 -1.68242939e-02] [ 1.07269517e-02 2.02600198e-04 9.99942444e-01 6.59721117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.886338938 meters Centerline goodness [0,1] 0.9982564124109825 Centerline is valid? [True, True] Translation: X:-2.72, Y:-0.02, Z:0.07 [[ 9.99827870e-01 1.51367970e-02 -1.07287916e-02 -2.72424644e+00] [-1.51380950e-02 9.99885412e-01 -3.97839020e-05 -1.71118817e-02] [ 1.07269600e-02 2.02190520e-04 9.99942444e-01 6.62766400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.916338938 meters Centerline goodness [0,1] 0.9981016663151234 Centerline is valid? [True, True] Translation: X:-2.75, Y:-0.01, Z:0.06 [[ 9.99754328e-01 1.73229619e-02 -1.38274927e-02 -2.75298611e+00] [-1.73253594e-02 9.99849903e-01 -5.36086939e-05 -1.33228169e-02] [ 1.38244886e-02 2.93161805e-04 9.99904394e-01 5.84243169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9463389380000002 meters Centerline goodness [0,1] 0.9982977113675052 Centerline is valid? [True, True] Translation: X:-2.78, Y:-0.02, Z:0.05 [[ 9.99733761e-01 1.72096885e-02 -1.53698968e-02 -2.78049827e+00] [-1.72126145e-02 9.99851850e-01 -5.80953039e-05 -1.63483669e-02] [ 1.53666200e-02 3.22635946e-04 9.99881874e-01 5.47677597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.976338938 meters Centerline goodness [0,1] 0.9986122208671517 Centerline is valid? [True, True] Translation: X:-2.81, Y:-0.02, Z:0.06 [[ 9.99689015e-01 1.92692166e-02 -1.58293947e-02 -2.80929851e+00] [-1.92724862e-02 9.99814267e-01 -5.40167741e-05 -1.74950883e-02] [ 1.58254138e-02 3.59071767e-04 9.99874706e-01 5.51049923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0063389380000003 meters Centerline goodness [0,1] 0.9980075921226484 Centerline is valid? [True, True] Translation: X:-2.84, Y:-0.02, Z:0.06 [[ 9.99707378e-01 1.93395570e-02 -1.45306737e-02 -2.83703108e+00] [-1.93423236e-02 9.99812919e-01 -4.98725359e-05 -1.63187512e-02] [ 1.45269908e-02 3.30914936e-04 9.99894423e-01 5.90373033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.036338938 meters Centerline goodness [0,1] 0.9985088732542267 Centerline is valid? [True, True] Translation: X:-2.87, Y:-0.01, Z:0.05 [[ 9.99682512e-01 2.05069740e-02 -1.46403095e-02 -2.86568909e+00] [-2.05098269e-02 9.99789650e-01 -4.47320540e-05 -1.09140451e-02] [ 1.46363126e-02 3.44988066e-04 9.99892824e-01 5.30272794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.066338938 meters Centerline goodness [0,1] 0.9986126292777264 Centerline is valid? [True, True] Translation: X:-2.89, Y:-0.01, Z:0.05 [[ 9.99642969e-01 2.23999322e-02 -1.45663424e-02 -2.89306095e+00] [-2.24029643e-02 9.99749021e-01 -4.49949339e-05 -1.12330460e-02] [ 1.45616787e-02 3.71308118e-04 9.99893904e-01 5.49024557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.096338938 meters Centerline goodness [0,1] 0.9989748953974895 Centerline is valid? [True, True] Translation: X:-2.92, Y:-0.02, Z:0.06 [[ 9.99659988e-01 2.23371588e-02 -1.34521267e-02 -2.92164227e+00] [-2.23396678e-02 9.99750438e-01 -3.62621205e-05 -1.72224711e-02] [ 1.34479595e-02 3.36765833e-04 9.99909515e-01 5.63925776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.126338938 meters Centerline goodness [0,1] 0.9982845188284519 Centerline is valid? [True, True] Translation: X:-2.95, Y:-0.03, Z:0.06 [[ 9.99764172e-01 1.70381121e-02 -1.34648935e-02 -2.95105923e+00] [-1.70401714e-02 9.99854805e-01 -3.82153276e-05 -2.60009154e-02] [ 1.34622873e-02 2.67650408e-04 9.99909343e-01 5.77565385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.156338938 meters Centerline goodness [0,1] 0.9986533970164327 Centerline is valid? [True, True] Translation: X:-2.98, Y:-0.03, Z:0.06 [[ 9.99786308e-01 1.55387739e-02 -1.36339525e-02 -2.97947582e+00] [-1.55406665e-02 9.99879236e-01 -3.28747670e-05 -2.77750482e-02] [ 1.36317952e-02 2.44748451e-04 9.99907053e-01 5.68533798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.186338938 meters Centerline goodness [0,1] 0.9984915779770385 Centerline is valid? [True, True] Translation: X:-3.01, Y:-0.03, Z:0.06 [[ 9.99825612e-01 1.23870584e-02 -1.39752128e-02 -3.00783319e+00] [-1.23886908e-02 9.99923257e-01 -3.02425170e-05 -3.09599084e-02] [ 1.39737657e-02 2.03371834e-04 9.99902341e-01 6.00294044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2163389380000003 meters Centerline goodness [0,1] 0.9983892561291942 Centerline is valid? [True, True] Translation: X:-3.04, Y:-0.04, Z:0.06 [[ 9.99889560e-01 9.25744802e-03 -1.16261324e-02 -3.03744253e+00] [-9.25838364e-03 9.99957140e-01 -2.66555742e-05 -3.86528844e-02] [ 1.16253873e-02 1.34291824e-04 9.99932414e-01 6.00005018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.246338938 meters Centerline goodness [0,1] 0.9982473710565849 Centerline is valid? [True, True] Translation: X:-3.06, Y:-0.05, Z:0.06 [[ 9.99938479e-01 1.51346264e-03 -1.09885483e-02 -3.06482022e+00] [-1.51381315e-03 9.99998854e-01 -2.35801017e-05 -5.10889098e-02] [ 1.09885000e-02 4.02132600e-05 9.99939624e-01 6.28834477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2763389380000003 meters Centerline goodness [0,1] 0.9978398587599958 Centerline is valid? [True, True] Translation: X:-3.09, Y:-0.05, Z:0.06 [[ 9.99928412e-01 1.31217254e-04 -1.19646899e-02 -3.09333941e+00] [-1.31476728e-04 9.99999991e-01 -2.09000930e-05 -5.35853564e-02] [ 1.19646870e-02 2.24716750e-05 9.99928420e-01 6.08351239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.306338938 meters Centerline goodness [0,1] 0.9988280596015403 Centerline is valid? [True, True] Translation: X:-3.12, Y:-0.05, Z:0.06 [[ 9.99918352e-01 -7.26420904e-04 -1.27578378e-02 -3.12189722e+00] [ 7.26234406e-04 9.99999736e-01 -1.92510941e-05 -5.42466049e-02] [ 1.27578484e-02 9.98434150e-06 9.99918615e-01 5.75150296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.336338938 meters Centerline goodness [0,1] 0.9982214596585203 Centerline is valid? [True, True] Translation: X:-3.15, Y:-0.06, Z:0.06 [[ 9.99886626e-01 -1.77969509e-03 -1.49521863e-02 -3.14937476e+00] [ 1.77954270e-03 9.99998416e-01 -2.34965741e-05 -5.56756057e-02] [ 1.49522045e-02 -3.11414384e-06 9.99888210e-01 5.70339172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.366338938 meters Centerline goodness [0,1] 0.997727604394688 Centerline is valid? [True, True] Translation: X:-3.18, Y:-0.06, Z:0.05 [[ 9.99860449e-01 -2.50738780e-03 -1.65165379e-02 -3.17765130e+00] [ 2.50739943e-03 9.99996856e-01 -2.00039319e-05 -6.13334852e-02] [ 1.65165362e-02 -2.14124175e-05 9.99863592e-01 5.00295609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.396338938 meters Centerline goodness [0,1] 0.9984104741388325 Centerline is valid? [True, True] Translation: X:-3.21, Y:-0.06, Z:0.05 [[ 9.99843832e-01 -2.35331633e-03 -1.75149550e-02 -3.20663367e+00] [ 2.35337964e-03 9.99997231e-01 -1.69968975e-05 -6.33265923e-02] [ 1.75149465e-02 -2.42250954e-05 9.99846601e-01 4.79724758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4263389380000002 meters Centerline goodness [0,1] 0.9986007560094396 Centerline is valid? [True, True] Translation: X:-3.24, Y:-0.06, Z:0.05 [[ 9.99892133e-01 -1.66977090e-03 -1.45922635e-02 -3.23524872e+00] [ 1.66980188e-03 9.99998606e-01 -1.00611056e-05 -5.98288836e-02] [ 1.45922599e-02 -1.43061685e-05 9.99893527e-01 4.92804839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.456338938 meters Centerline goodness [0,1] 0.9982681272822118 Centerline is valid? [True, True] Translation: X:-3.26, Y:-0.05, Z:0.05 [[ 9.99924938e-01 -1.96128701e-05 -1.22522751e-02 -3.26321739e+00] [ 1.95080828e-05 1.00000000e+00 -8.67198807e-06 -5.42765190e-02] [ 1.22522753e-02 8.43231873e-06 9.99924938e-01 5.03824480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4863389380000003 meters Centerline goodness [0,1] 0.9988675684177414 Centerline is valid? [True, True] Translation: X:-3.29, Y:-0.05, Z:0.05 [[ 9.99910463e-01 2.92421167e-03 -1.30581153e-02 -3.29154649e+00] [-2.92451544e-03 9.99995724e-01 -4.16773862e-06 -5.27109449e-02] [ 1.30580473e-02 4.23560253e-05 9.99914739e-01 4.50786162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.516338938 meters Centerline goodness [0,1] 0.9985746027753323 Centerline is valid? [True, True] Translation: X:-3.32, Y:-0.05, Z:0.04 [[ 9.99815578e-01 5.92245504e-03 -1.82684257e-02 -3.32009643e+00] [-5.92360249e-03 9.99982455e-01 -8.69866381e-06 -5.44996792e-02] [ 1.82680536e-02 1.16911951e-04 9.99833118e-01 3.74969639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5463389380000003 meters Centerline goodness [0,1] 0.998342112442551 Centerline is valid? [True, True] Translation: X:-3.35, Y:-0.05, Z:0.03 [[ 9.99642301e-01 9.37158704e-03 -2.50488069e-02 -3.34998542e+00] [-9.37481755e-03 9.99956055e-01 -1.15364221e-05 -4.60849013e-02] [ 2.50475980e-02 2.46360290e-04 9.99686229e-01 2.63241530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.576338938 meters Centerline goodness [0,1] 0.9988243197850185 Centerline is valid? [True, True] Translation: X:-3.38, Y:-0.04, Z:0.03 [[ 9.99644619e-01 1.10840054e-02 -2.42441799e-02 -3.37874407e+00] [-1.10873280e-02 9.99938534e-01 -2.62487413e-06 -4.30631372e-02] [ 2.42426606e-02 2.71427115e-04 9.99706067e-01 2.51652985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.606338938 meters Centerline goodness [0,1] 0.9988052067830717 Centerline is valid? [True, True] Translation: X:-3.41, Y:-0.04, Z:0.03 [[ 9.99705655e-01 1.42450758e-02 -1.96387670e-02 -3.40706696e+00] [-1.42478767e-02 9.99898494e-01 -2.70426357e-06 -3.91650963e-02] [ 1.96367350e-02 2.82514198e-04 9.99807141e-01 3.26167327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.636338938 meters Centerline goodness [0,1] 0.998323378392539 Centerline is valid? [True, True] Translation: X:-3.44, Y:-0.04, Z:0.03 [[ 9.99721770e-01 1.76696553e-02 -1.56257916e-02 -3.43525802e+00] [-1.76718160e-02 9.99843841e-01 -2.01210290e-07 -3.90319966e-02] [ 1.56233479e-02 2.76337268e-04 9.99877910e-01 3.46557191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.666338938 meters Centerline goodness [0,1] 0.9987189987189987 Centerline is valid? [True, True] Translation: X:-3.46, Y:-0.04, Z:0.03 [[ 9.99599358e-01 1.91660865e-02 -2.08274773e-02 -3.46496322e+00] [-1.91702555e-02 9.99816234e-01 -5.16947920e-07 -3.79461274e-02] [ 2.08236400e-02 3.99784803e-04 9.99783085e-01 2.75730931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6963389380000002 meters Centerline goodness [0,1] 0.998805932629462 Centerline is valid? [True, True] Translation: X:-3.49, Y:-0.04, Z:0.02 [[ 9.99466657e-01 1.89856394e-02 -2.65696741e-02 -3.49409094e+00] [-1.89923390e-02 9.99819629e-01 2.04574341e-07 -3.67239314e-02] [ 2.65648856e-02 5.04415792e-04 9.99646964e-01 1.84049004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.726338938 meters Centerline goodness [0,1] 0.999140929472405 Centerline is valid? [True, True] Translation: X:-3.52, Y:-0.04, Z:0.02 [[ 9.99525838e-01 1.68891703e-02 -2.57459619e-02 -3.52247969e+00] [-1.68945360e-02 9.99857277e-01 9.11233850e-06 -3.81101580e-02] [ 2.57424412e-02 4.25858062e-04 9.99668518e-01 1.58391092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7563389380000003 meters Centerline goodness [0,1] 0.9983459307803438 Centerline is valid? [True, True] Translation: X:-3.55, Y:-0.04, Z:0.03 [[ 9.99695727e-01 1.30401999e-02 -2.09381388e-02 -3.55295439e+00] [-1.30429517e-02 9.99914937e-01 5.13525576e-06 -4.29818737e-02] [ 2.09364247e-02 2.67961440e-04 9.99780773e-01 2.57017365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.786338938 meters Centerline goodness [0,1] 0.998415015641293 Centerline is valid? [True, True] Translation: X:-3.58, Y:-0.05, Z:0.03 [[ 9.99766527e-01 1.18076032e-02 -1.80961917e-02 -3.58261537e+00] [-1.18094382e-02 9.99930266e-01 5.46200989e-06 -4.74432328e-02] [ 1.80949943e-02 2.08245123e-04 9.99836251e-01 3.33142339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8163389380000003 meters Centerline goodness [0,1] 0.9984661609900616 Centerline is valid? [True, True] Translation: X:-3.61, Y:-0.05, Z:0.03 [[ 9.99798610e-01 1.01974082e-02 -1.72844277e-02 -3.61074028e+00] [-1.01987809e-02 9.99947991e-01 8.72983518e-06 -4.83150322e-02] [ 1.72836178e-02 1.67552014e-04 9.99850613e-01 3.28903294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.846338938 meters Centerline goodness [0,1] 0.9983080233116788 Centerline is valid? [True, True] Translation: X:-3.64, Y:-0.05, Z:0.03 [[ 9.99793461e-01 7.52778888e-03 -1.88776949e-02 -3.63938832e+00] [-7.52883778e-03 9.99971658e-01 1.55070170e-05 -4.69074803e-02] [ 1.88772766e-02 1.26623288e-04 9.99821800e-01 2.59313177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.876338938 meters Centerline goodness [0,1] 0.9976147017340081 Centerline is valid? [True, True] Translation: X:-3.67, Y:-0.05, Z:0.02 [[ 9.99720824e-01 5.03714370e-03 -2.30846341e-02 -3.66835513e+00] [-5.03794711e-03 9.99987309e-01 2.33547197e-05 -5.20207445e-02] [ 2.30844588e-02 9.29509661e-05 9.99733514e-01 2.01707429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.906338938 meters Centerline goodness [0,1] 0.9981804872947819 Centerline is valid? [True, True] Translation: X:-3.70, Y:-0.06, Z:0.03 [[ 9.99726880e-01 2.95065760e-03 -2.31831452e-02 -3.69540006e+00] [-2.95086471e-03 9.99995646e-01 2.52760837e-05 -6.18751204e-02] [ 2.31831188e-02 4.31411445e-05 9.99731234e-01 2.79388137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.936338938 meters Centerline goodness [0,1] 0.9987648376494233 Centerline is valid? [True, True] Translation: X:-3.73, Y:-0.07, Z:0.03 [[ 9.99805866e-01 1.41524801e-03 -1.96526673e-02 -3.72525559e+00] [-1.41510160e-03 9.99998999e-01 2.13563235e-05 -6.56707433e-02] [ 1.96526779e-02 6.45834354e-06 9.99806867e-01 3.34857911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9663389380000003 meters Centerline goodness [0,1] 0.9983311081441922 Centerline is valid? [True, True] Translation: X:-3.75, Y:-0.06, Z:0.03 [[ 9.99848684e-01 3.43313472e-04 -1.73922913e-02 -3.75394028e+00] [-3.42915973e-04 9.99999941e-01 2.58371195e-05 -6.21627448e-02] [ 1.73922991e-02 -1.98691154e-05 9.99848742e-01 3.13295126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.996338938 meters Centerline goodness [0,1] 0.9982056417960273 Centerline is valid? [True, True] Translation: X:-3.78, Y:-0.06, Z:0.03 [[ 9.99810359e-01 -1.68426747e-03 -1.94012698e-02 -3.78168188e+00] [ 1.68513495e-03 9.99998580e-01 2.83642135e-05 -5.86768995e-02] [ 1.94011945e-02 -6.10525922e-05 9.99811777e-01 2.82789691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.026338938 meters Centerline goodness [0,1] 0.9981128119102537 Centerline is valid? [True, True] Translation: X:-3.81, Y:-0.06, Z:0.02 [[ 9.99696629e-01 -3.22880688e-03 -2.44177147e-02 -3.81147873e+00] [ 3.23064264e-03 9.99994781e-01 3.57334169e-05 -6.30821965e-02] [ 2.44174719e-02 -1.14607487e-04 9.99701843e-01 1.77154235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.056338938000001 meters Centerline goodness [0,1] 0.9981623405099506 Centerline is valid? [True, True] Translation: X:-3.84, Y:-0.07, Z:0.02 [[ 9.99719576e-01 -3.63460741e-03 -2.33999768e-02 -3.83887444e+00] [ 3.63646866e-03 9.99993387e-01 3.69885416e-05 -6.68316395e-02] [ 2.33996876e-02 -1.22071451e-04 9.99726182e-01 2.18254327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.086338938 meters Centerline goodness [0,1] 0.9981534329360416 Centerline is valid? [True, True] Translation: X:-3.87, Y:-0.07, Z:0.02 [[ 9.99759892e-01 -2.83041602e-03 -2.17289686e-02 -3.86718063e+00] [ 2.83187595e-03 9.99995990e-01 3.64177508e-05 -6.62520600e-02] [ 2.17287784e-02 -9.79427501e-05 9.99763897e-01 1.64691348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.116338938 meters Centerline goodness [0,1] 0.998322182840125 Centerline is valid? [True, True] Translation: X:-3.89, Y:-0.06, Z:0.02 [[ 9.99772054e-01 -2.78403269e-03 -2.11681121e-02 -3.89488804e+00] [ 2.78544786e-03 9.99996120e-01 3.73694849e-05 -6.39310456e-02] [ 2.11679260e-02 -9.63236394e-05 9.99775930e-01 2.06120673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.146338938 meters Centerline goodness [0,1] 0.9980572789371436 Centerline is valid? [True, True] Translation: X:-3.92, Y:-0.06, Z:0.02 [[ 9.99759434e-01 -1.11611477e-03 -2.19049644e-02 -3.92362233e+00] [ 1.11738926e-03 9.99999375e-01 4.59430861e-05 -5.77497624e-02] [ 2.19048995e-02 -7.04084058e-05 9.99760056e-01 1.50168956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.176338938 meters Centerline goodness [0,1] 0.9984380857178558 Centerline is valid? [True, True] Translation: X:-3.95, Y:-0.06, Z:0.01 [[ 9.99753535e-01 -7.30947578e-04 -2.21886246e-02 -3.95187610e+00] [ 7.32307160e-04 9.99999730e-01 5.31484331e-05 -5.70793606e-02] [ 2.21885797e-02 -6.93842225e-05 9.99753801e-01 7.82963910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.206338938 meters Centerline goodness [0,1] 0.9980587793270435 Centerline is valid? [True, True] Translation: X:-3.98, Y:-0.06, Z:0.01 [[ 9.99727332e-01 8.73316690e-04 -2.33344932e-02 -3.97972813e+00] [-8.72256702e-04 9.99999618e-01 5.56039921e-05 -5.77641003e-02] [ 2.33345328e-02 -3.52351626e-05 9.99727712e-01 7.91016484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.236338938 meters Centerline goodness [0,1] 0.9980675922619673 Centerline is valid? [True, True] Translation: X:-4.01, Y:-0.06, Z:0.01 [[ 9.99737212e-01 2.35423522e-03 -2.28027297e-02 -4.00705223e+00] [-2.35356080e-03 9.99997229e-01 5.64136337e-05 -5.88101530e-02] [ 2.28027993e-02 -2.73119809e-06 9.99739982e-01 1.06511196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2663389380000005 meters Centerline goodness [0,1] 0.9978462246199528 Centerline is valid? [True, True] Translation: X:-4.04, Y:-0.06, Z:0.01 [[ 9.99753860e-01 2.71212297e-03 -2.20196094e-02 -4.03532562e+00] [-2.71153629e-03 9.99996322e-01 5.65007793e-05 -5.69948123e-02] [ 2.20196817e-02 3.22009776e-06 9.99757537e-01 1.26112390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.296338938 meters Centerline goodness [0,1] 0.9982283546625537 Centerline is valid? [True, True] Translation: X:-4.06, Y:-0.05, Z:0.01 [[ 9.99722074e-01 4.12936385e-03 -2.32104206e-02 -4.06393201e+00] [-4.12891645e-03 9.99991474e-01 6.71994349e-05 -5.18798559e-02] [ 2.32105002e-02 2.86531288e-05 9.99730600e-01 6.16718704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.326338938 meters Centerline goodness [0,1] 0.9978570685530012 Centerline is valid? [True, True] Translation: X:-4.09, Y:-0.05, Z:0.00 [[ 9.99621824e-01 7.30108808e-03 -2.65123052e-02 -4.09296075e+00] [-7.30167021e-03 9.99973340e-01 7.48530990e-05 -4.62674742e-02] [ 2.65121448e-02 1.18759317e-04 9.99648484e-01 2.75826352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.356338938 meters Centerline goodness [0,1] 0.9985281439895708 Centerline is valid? [True, True] Translation: X:-4.12, Y:-0.05, Z:0.00 [[ 9.99613013e-01 7.04251759e-03 -2.69114838e-02 -4.12083339e+00] [-7.04294201e-03 9.99975195e-01 7.90152025e-05 -4.53285067e-02] [ 2.69113727e-02 1.10551395e-04 9.99637817e-01 8.96437230e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.386338938000001 meters Centerline goodness [0,1] 0.9981562185719075 Centerline is valid? [True, True] Translation: X:-4.15, Y:-0.05, Z:0.01 [[ 9.99696335e-01 9.44835350e-03 -2.27588893e-02 -4.15062802e+00] [-9.44927134e-03 9.99955352e-01 6.72148143e-05 -4.51222046e-02] [ 2.27585082e-02 1.47860517e-04 9.99740981e-01 7.54568841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.416338938 meters Centerline goodness [0,1] 0.9983029450112793 Centerline is valid? [True, True] Translation: X:-4.18, Y:-0.05, Z:0.01 [[ 9.99731960e-01 1.17008618e-02 -1.99774191e-02 -4.17878133e+00] [-1.17019707e-02 9.99931528e-01 6.13932753e-05 -4.69849399e-02] [ 1.99767695e-02 1.72398354e-04 9.99800430e-01 9.73773518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.446338938 meters Centerline goodness [0,1] 0.9983282484222844 Centerline is valid? [True, True] Translation: X:-4.21, Y:-0.05, Z:0.01 [[ 9.99560339e-01 1.46379222e-02 -2.57848587e-02 -4.20757695e+00] [-1.46408070e-02 9.99892815e-01 7.69172877e-05 -4.52629145e-02] [ 2.57832209e-02 3.00627669e-04 9.99667512e-01 6.80910864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4763389380000005 meters Centerline goodness [0,1] 0.9978403539303462 Centerline is valid? [True, True] Translation: X:-4.23, Y:-0.04, Z:0.01 [[ 9.99554417e-01 1.53833240e-02 -2.55796986e-02 -4.23439047e+00] [-1.53862824e-02 9.99881621e-01 8.11737155e-05 -4.25189910e-02] [ 2.55779192e-02 3.12438920e-04 9.99672783e-01 6.73083669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.506338938 meters Centerline goodness [0,1] 0.9985303071658024 Centerline is valid? [True, True] Translation: X:-4.26, Y:-0.04, Z:0.01 [[ 9.99621593e-01 1.62419036e-02 -2.22006971e-02 -4.26318380e+00] [-1.62443303e-02 9.99868050e-01 7.10410371e-05 -3.87495453e-02] [ 2.21989216e-02 2.89621303e-04 9.99753532e-01 1.25183698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.536338938 meters Centerline goodness [0,1] 0.9978444216562375 Centerline is valid? [True, True] Translation: X:-4.29, Y:-0.04, Z:0.01 [[ 9.99629696e-01 1.85972434e-02 -1.98648674e-02 -4.29174838e+00] [-1.85995068e-02 9.99827012e-01 7.08242271e-05 -3.97961929e-02] [ 1.98627481e-02 2.98678736e-04 9.99802672e-01 1.37544476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.566338938 meters Centerline goodness [0,1] 0.998514395714764 Centerline is valid? [True, True] Translation: X:-4.32, Y:-0.05, Z:0.01 [[ 9.99532671e-01 2.05276295e-02 -2.26507268e-02 -4.32078927e+00] [-2.05309601e-02 9.99789214e-01 8.55221308e-05 -4.57945431e-02] [ 2.26477079e-02 3.79559004e-04 9.99743436e-01 8.20834380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.596338938000001 meters Centerline goodness [0,1] 0.9985160413836347 Centerline is valid? [True, True] Translation: X:-4.35, Y:-0.05, Z:0.01 [[ 9.99462965e-01 2.04049406e-02 -2.56401837e-02 -4.34879070e+00] [-2.04091606e-02 9.99791707e-01 9.71198766e-05 -4.88544429e-02] [ 2.56368248e-02 4.26226908e-04 9.99671232e-01 6.25754758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.626338938 meters Centerline goodness [0,1] 0.9982858456843029 Centerline is valid? [True, True] Translation: X:-4.38, Y:-0.05, Z:0.00 [[ 9.99440498e-01 2.07947290e-02 -2.61967679e-02 -4.37761604e+00] [-2.07990496e-02 9.99783671e-01 1.07569591e-04 -4.80725727e-02] [ 2.61933376e-02 4.37358468e-04 9.99656800e-01 9.57968395e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.656338938 meters Centerline goodness [0,1] 0.9975472726510419 Centerline is valid? [True, True] Translation: X:-4.41, Y:-0.05, Z:0.01 [[ 9.99487552e-01 2.03544998e-02 -2.47048188e-02 -4.40653197e+00] [-2.03580576e-02 9.99792747e-01 1.07513674e-04 -4.78766474e-02] [ 2.47018870e-02 3.95483546e-04 9.99694784e-01 5.90150250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6863389380000005 meters Centerline goodness [0,1] 0.9983969020652899 Centerline is valid? [True, True] Translation: X:-4.43, Y:-0.05, Z:0.01 [[ 9.99565640e-01 2.03045009e-02 -2.13602247e-02 -4.43469174e+00] [-2.03071486e-02 9.99793784e-01 9.29675509e-05 -5.47130587e-02] [ 2.13577075e-02 3.40838087e-04 9.99771840e-01 1.33751312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.716338938 meters Centerline goodness [0,1] 0.9984611545499917 Centerline is valid? [True, True] Translation: X:-4.46, Y:-0.06, Z:0.02 [[ 9.99617894e-01 1.91989888e-02 -1.98862794e-02 -4.46208840e+00] [-1.92009945e-02 9.99815640e-01 9.00930069e-05 -6.13461940e-02] [ 1.98843428e-02 2.91777758e-04 9.99802244e-01 1.59314137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.746338938 meters Centerline goodness [0,1] 0.9980027046707584 Centerline is valid? [True, True] Translation: X:-4.49, Y:-0.06, Z:0.01 [[ 9.99628596e-01 1.79014032e-02 -2.05477662e-02 -4.49026918e+00] [-1.79031128e-02 9.99839721e-01 1.00765431e-04 -6.00715981e-02] [ 2.05462767e-02 2.67140970e-04 9.99788867e-01 1.08760061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.776338938 meters Centerline goodness [0,1] 0.9980027046707584 Centerline is valid? [True, True] Translation: X:-4.52, Y:-0.06, Z:0.01 [[ 9.99623819e-01 1.81662010e-02 -2.05477407e-02 -4.51756248e+00] [-1.81678610e-02 9.99834945e-01 1.05898060e-04 -6.01365992e-02] [ 2.05462730e-02 2.67450274e-04 9.99788867e-01 1.11811496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.806338938000001 meters Centerline goodness [0,1] 0.9978887959866221 Centerline is valid? [True, True] Translation: X:-4.55, Y:-0.06, Z:0.01 [[ 9.99551227e-01 1.73966554e-02 -2.43865112e-02 -4.54597924e+00] [-1.73988063e-02 9.99848622e-01 1.23993667e-04 -6.36159186e-02] [ 2.43849766e-02 3.00358161e-04 9.99702597e-01 6.61530371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.836338938 meters Centerline goodness [0,1] 0.9977227143573458 Centerline is valid? [True, True] Translation: X:-4.57, Y:-0.07, Z:0.01 [[ 9.99534861e-01 1.64844850e-02 -2.56578314e-02 -4.57450716e+00] [-1.64863564e-02 9.99864081e-01 1.38610369e-04 -6.55873296e-02] [ 2.56566289e-02 2.84458258e-04 9.99670774e-01 6.28302944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.866338938 meters Centerline goodness [0,1] 0.9982892430943837 Centerline is valid? [True, True] Translation: X:-4.60, Y:-0.07, Z:0.00 [[ 9.99558656e-01 1.53470440e-02 -2.54354526e-02 -4.60205358e+00] [-1.53485029e-02 9.99882195e-01 1.37882925e-04 -6.86361885e-02] [ 2.54345722e-02 2.52574046e-04 9.99676457e-01 4.94981517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.896338938 meters Centerline goodness [0,1] 0.9978559533721898 Centerline is valid? [True, True] Translation: X:-4.63, Y:-0.07, Z:0.02 [[ 9.99704750e-01 1.41869864e-02 -1.97266726e-02 -4.63105629e+00] [-1.41876428e-02 9.99899345e-01 1.06683188e-04 -7.24983198e-02] [ 1.97262005e-02 1.73223294e-04 9.99805405e-01 1.73251058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.926338938000001 meters Centerline goodness [0,1] 0.9977287881313552 Centerline is valid? [True, True] Translation: X:-4.66, Y:-0.08, Z:0.02 [[ 9.99717883e-01 1.33771411e-02 -1.96266710e-02 -4.65943300e+00] [-1.33774868e-02 9.99910511e-01 1.13683015e-04 -7.51087473e-02] [ 1.96264354e-02 1.48904588e-04 9.99807372e-01 1.77555355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.956338938 meters Centerline goodness [0,1] 0.9983346170660116 Centerline is valid? [True, True] Translation: X:-4.69, Y:-0.08, Z:0.01 [[ 9.99679016e-01 1.57188683e-02 -1.98691493e-02 -4.68790144e+00] [-1.57195926e-02 9.99876432e-01 1.19738097e-04 -8.14565368e-02] [ 1.98685762e-02 1.92635269e-04 9.99802582e-01 1.46331606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.986338938 meters Centerline goodness [0,1] 0.9984797367653796 Centerline is valid? [True, True] Translation: X:-4.72, Y:-0.08, Z:0.01 [[ 9.99496999e-01 1.82103946e-02 -2.59640288e-02 -4.71847553e+00] [-1.82125492e-02 9.99834126e-01 1.53505721e-04 -7.84275816e-02] [ 2.59625174e-02 3.19442646e-04 9.99662866e-01 7.82711341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0163389380000005 meters Centerline goodness [0,1] 0.9981542162677838 Centerline is valid? [True, True] Translation: X:-4.75, Y:-0.07, Z:0.01 [[ 9.99423346e-01 2.19791247e-02 -2.58823059e-02 -4.74591171e+00] [-2.19824076e-02 9.99758345e-01 1.57712776e-04 -7.20373402e-02] [ 2.58795178e-02 4.11333569e-04 9.99664985e-01 9.53914442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.046338938 meters Centerline goodness [0,1] 0.998394060108036 Centerline is valid? [True, True] Translation: X:-4.77, Y:-0.07, Z:0.01 [[ 9.99334211e-01 2.77143825e-02 -2.37286338e-02 -4.77472960e+00] [-2.77185828e-02 9.99615755e-01 1.51939070e-04 -7.33511728e-02] [ 2.37237271e-02 5.05886192e-04 9.99718425e-01 1.32983353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.076338938 meters Centerline goodness [0,1] 0.998316148345252 Centerline is valid? [True, True] Translation: X:-4.80, Y:-0.08, Z:0.02 [[ 9.99288357e-01 3.21743413e-02 -1.96873532e-02 -4.80187427e+00] [-3.21780464e-02 9.99482144e-01 1.28636467e-04 -7.87162812e-02] [ 1.96812968e-02 5.04955643e-04 9.99806177e-01 2.18497137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.106338938 meters Centerline goodness [0,1] 0.9991426898628304 Centerline is valid? [True, True] Translation: X:-4.83, Y:-0.08, Z:0.02 [[ 9.99265944e-01 3.38003255e-02 -1.80308581e-02 -4.83020974e+00] [-3.38035944e-02 9.99428488e-01 1.23542073e-04 -7.75259903e-02] [ 1.80247290e-02 4.86056428e-04 9.99837423e-01 2.46047671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.136338938000001 meters Centerline goodness [0,1] 0.9985854551506074 Centerline is valid? [True, True] Translation: X:-4.86, Y:-0.07, Z:0.02 [[ 9.99150351e-01 3.65525130e-02 -1.90391891e-02 -4.85798684e+00] [-3.65566608e-02 9.99331573e-01 1.30247227e-04 -7.10538722e-02] [ 1.90312236e-02 5.65872615e-04 9.99818730e-01 2.05676923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.166338938 meters Centerline goodness [0,1] 0.9986046899079511 Centerline is valid? [True, True] Translation: X:-4.89, Y:-0.07, Z:0.01 [[ 9.99016096e-01 3.88693854e-02 -2.13543960e-02 -4.88775482e+00] [-3.88751313e-02 9.99244066e-01 1.46142175e-04 -6.76594466e-02] [ 2.13439339e-02 6.84156562e-04 9.99771958e-01 9.11330339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.196338938 meters Centerline goodness [0,1] 0.9986471579911337 Centerline is valid? [True, True] Translation: X:-4.92, Y:-0.08, Z:0.01 [[ 9.98983271e-01 3.85998539e-02 -2.32910990e-02 -4.91526724e+00] [-3.86065552e-02 9.99254476e-01 1.62036678e-04 -7.80035955e-02] [ 2.32799895e-02 7.37317169e-04 9.99728712e-01 1.33242296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2263389380000005 meters Centerline goodness [0,1] 0.9987484616507791 Centerline is valid? [True, True] Translation: X:-4.94, Y:-0.08, Z:0.02 [[ 9.98982443e-01 3.85117188e-02 -2.34718048e-02 -4.94219478e+00] [-3.85184204e-02 9.99257876e-01 1.66697617e-04 -8.26590779e-02] [ 2.34608057e-02 7.37568852e-04 9.99724485e-01 1.70016416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.256338938 meters Centerline goodness [0,1] 0.9990428033377031 Centerline is valid? [True, True] Translation: X:-4.97, Y:-0.08, Z:0.02 [[ 9.99072688e-01 3.74984157e-02 -2.11573136e-02 -4.97117746e+00] [-3.75036226e-02 9.99296480e-01 1.50761929e-04 -8.19835553e-02] [ 2.11480823e-02 6.42853778e-04 9.99776148e-01 2.20882874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.286338938 meters Centerline goodness [0,1] 0.9991661107404937 Centerline is valid? [True, True] Translation: X:-5.00, Y:-0.08, Z:0.02 [[ 9.99014482e-01 3.88424858e-02 -2.14784943e-02 -5.00034353e+00] [-3.88480105e-02 9.99245118e-01 1.60122725e-04 -7.87321166e-02] [ 2.14685002e-02 6.74431852e-04 9.99769298e-01 2.07395718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.316338938 meters Centerline goodness [0,1] 0.9992292469534424 Centerline is valid? [True, True] Translation: X:-5.03, Y:-0.08, Z:0.02 [[ 9.98965134e-01 4.12367249e-02 -1.91883664e-02 -5.02804116e+00] [-4.12414515e-02 9.99149198e-01 1.49489336e-04 -7.66769827e-02] [ 1.91782053e-02 6.42021448e-04 9.99815875e-01 2.05324703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.346338938000001 meters Centerline goodness [0,1] 0.9990818988002087 Centerline is valid? [True, True] Translation: X:-5.06, Y:-0.08, Z:0.03 [[ 9.98783273e-01 4.50713252e-02 -2.00137172e-02 -5.05799526e+00] [-4.50772922e-02 9.98983490e-01 1.53111188e-04 -7.85701318e-02] [ 2.00002740e-02 7.49239284e-04 9.99799694e-01 2.51933089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.376338938 meters Centerline goodness [0,1] 0.998374254866814 Centerline is valid? [True, True] Translation: X:-5.09, Y:-0.08, Z:0.03 [[ 9.98756457e-01 4.51062419e-02 -2.12359706e-02 -5.08895442e+00] [-4.51129845e-02 9.98981878e-01 1.61691997e-04 -8.35018136e-02] [ 2.12216431e-02 7.96527087e-04 9.99774478e-01 2.90054761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.406338938 meters Centerline goodness [0,1] 0.9984995311034698 Centerline is valid? [True, True] Translation: X:-5.12, Y:-0.09, Z:0.04 [[ 9.98826454e-01 4.46273598e-02 -1.88178963e-02 -5.11742587e+00] [-4.46325355e-02 9.99003461e-01 1.45063292e-04 -8.57380075e-02] [ 1.88056173e-02 6.94997369e-04 9.99822917e-01 3.86130914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4363389380000005 meters Centerline goodness [0,1] 0.9988939438206936 Centerline is valid? [True, True] Translation: X:-5.15, Y:-0.08, Z:0.04 [[ 9.98810719e-01 4.60062320e-02 -1.61423212e-02 -5.14885823e+00] [-4.60102441e-02 9.98940960e-01 1.22942857e-04 -7.78676507e-02] [ 1.61308820e-02 6.19915494e-04 9.99869697e-01 4.03266121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.466338938000001 meters Centerline goodness [0,1] 0.9984591037814426 Centerline is valid? [True, True] Translation: X:-5.18, Y:-0.08, Z:0.05 [[ 9.98782301e-01 4.63855376e-02 -1.68016754e-02 -5.18056671e+00] [-4.63899645e-02 9.98923398e-01 1.26380107e-04 -8.21596080e-02] [ 1.67894489e-02 6.53202911e-04 9.99858834e-01 4.50368490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.496338938 meters Centerline goodness [0,1] 0.9984946056703187 Centerline is valid? [True, True] Translation: X:-5.21, Y:-0.09, Z:0.04 [[ 9.98705915e-01 4.65356951e-02 -2.05164570e-02 -5.21191571e+00] [-4.65423318e-02 9.98916307e-01 1.54148765e-04 -8.62949041e-02] [ 2.05013968e-02 8.00934463e-04 9.99789503e-01 3.90204103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.526338938 meters Centerline goodness [0,1] 0.9988325550366911 Centerline is valid? [True, True] Translation: X:-5.24, Y:-0.09, Z:0.04 [[ 9.98651140e-01 4.69141465e-02 -2.22477918e-02 -5.24113148e+00] [-4.69220213e-02 9.98898541e-01 1.68216700e-04 -8.87010246e-02] [ 2.22311785e-02 8.75921562e-04 9.99752473e-01 4.48608094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.556338938000001 meters Centerline goodness [0,1] 0.9981244138793373 Centerline is valid? [True, True] Translation: X:-5.27, Y:-0.08, Z:0.05 [[ 9.98726896e-01 4.69050155e-02 -1.85609029e-02 -5.27020977e+00] [-4.69104511e-02 9.98899089e-01 1.42671037e-04 -7.90116166e-02] [ 1.85471610e-02 7.28210924e-04 9.99827721e-01 4.69407565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.586338938 meters Centerline goodness [0,1] 0.9986206608288575 Centerline is valid? [True, True] Translation: X:-5.30, Y:-0.07, Z:0.05 [[ 9.98650764e-01 4.94595817e-02 -1.58240746e-02 -5.30133879e+00] [-4.94638877e-02 9.98775906e-01 1.19392456e-04 -7.36909767e-02] [ 1.58106095e-02 6.63488881e-04 9.99874784e-01 5.11628238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.616338938 meters Centerline goodness [0,1] 0.9990594038710756 Centerline is valid? [True, True] Translation: X:-5.33, Y:-0.07, Z:0.05 [[ 9.98434584e-01 5.35594158e-02 -1.61174208e-02 -5.33239761e+00] [-5.35644141e-02 9.98564389e-01 1.21719546e-04 -7.21138191e-02] [ 1.61008017e-02 7.41791197e-04 9.99870099e-01 4.86283482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.646338938 meters Centerline goodness [0,1] 0.9985012489592007 Centerline is valid? [True, True] Translation: X:-5.36, Y:-0.08, Z:0.05 [[ 9.98210049e-01 5.69919945e-02 -1.81276018e-02 -5.36243438e+00] [-5.69988783e-02 9.98374233e-01 1.37125905e-04 -7.51252333e-02] [ 1.81059456e-02 8.96372511e-04 9.99835672e-01 5.16598884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.676338938000001 meters Centerline goodness [0,1] 0.9986248567559121 Centerline is valid? [True, True] Translation: X:-5.39, Y:-0.07, Z:0.05 [[ 9.98077634e-01 5.87516112e-02 -1.97302818e-02 -5.39379343e+00] [-5.87601307e-02 9.98272120e-01 1.48155897e-04 -6.52989408e-02] [ 1.97048946e-02 1.01148285e-03 9.99805328e-01 4.73005867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.706338938 meters Centerline goodness [0,1] 0.9988209498593413 Centerline is valid? [True, True] Translation: X:-5.42, Y:-0.06, Z:0.05 [[ 9.97879929e-01 6.24579071e-02 -1.82936190e-02 -5.42347772e+00] [-6.24658450e-02 9.98047093e-01 1.37732561e-04 -5.81886476e-02] [ 1.82664957e-02 1.00528581e-03 9.99832648e-01 4.87335157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.736338938 meters Centerline goodness [0,1] 0.9985382559305045 Centerline is valid? [True, True] Translation: X:-5.46, Y:-0.05, Z:0.05 [[ 9.97855794e-01 6.35735472e-02 -1.55633869e-02 -5.45556968e+00] [-6.35794552e-02 9.97976773e-01 1.15380998e-04 -5.05443201e-02] [ 1.55392338e-02 8.74378061e-04 9.99878877e-01 5.14215227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7663389380000005 meters Centerline goodness [0,1] 0.9978885311702973 Centerline is valid? [True, True] Translation: X:-5.49, Y:-0.04, Z:0.05 [[ 9.97250276e-01 7.23640306e-02 -1.59791921e-02 -5.48546139e+00] [-7.23713636e-02 9.97377748e-01 1.19627924e-04 -4.15279699e-02] [ 1.59459473e-02 1.03713694e-03 9.99872317e-01 4.99802823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.796338938 meters Centerline goodness [0,1] 0.9978337846282025 Centerline is valid? [True, True] Translation: X:-5.51, Y:-0.04, Z:0.05 [[ 9.96883770e-01 7.71093122e-02 -1.66403811e-02 -5.51487750e+00] [-7.71179172e-02 9.97021971e-01 1.24900292e-04 -3.87550928e-02] [ 1.66004565e-02 1.15876046e-03 9.99861531e-01 5.06578607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.826338938 meters Centerline goodness [0,1] 0.9985373701916045 Centerline is valid? [True, True] Translation: X:-5.55, Y:-0.04, Z:0.05 [[ 9.96682076e-01 8.00714017e-02 -1.46085704e-02 -5.54592038e+00] [-8.00783656e-02 9.96788565e-01 1.08563912e-04 -3.76673537e-02] [ 1.45703488e-02 1.06162674e-03 9.99893283e-01 5.12236495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.856338938 meters Centerline goodness [0,1] 0.9966597077244259 Centerline is valid? [True, True] Translation: X:-5.58, Y:-0.03, Z:0.06 [[ 9.96428066e-01 8.32793981e-02 -1.39875290e-02 -5.57672548e+00] [-8.32860977e-02 9.96525672e-01 1.03870091e-04 -2.94520117e-02] [ 1.39475820e-02 1.06146764e-03 9.99902164e-01 5.50895910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.886338938000001 meters Centerline goodness [0,1] 0.9964701950791596 Centerline is valid? [True, True] Translation: X:-5.61, Y:-0.02, Z:0.05 [[ 9.95876327e-01 8.90383921e-02 -1.73926804e-02 -5.60700565e+00] [-8.90496270e-02 9.96027182e-01 1.28982287e-04 -2.19681701e-02] [ 1.73350669e-02 1.42036130e-03 9.99848728e-01 4.63775920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.916338938 meters Centerline goodness [0,1] 0.9950058508859914 Centerline is valid? [True, True] Translation: X:-5.64, Y:-0.01, Z:0.04 [[ 9.95464326e-01 9.24773778e-02 -2.23318104e-02 -5.63818006e+00] [-9.24967689e-02 9.95712971e-01 1.65275716e-04 -1.44826568e-02] [ 2.22513575e-02 1.90109423e-03 9.99750600e-01 4.21748492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.946338938 meters Centerline goodness [0,1] 0.9933497845999415 Centerline is valid? [True, True] Translation: X:-5.67, Y:-0.01, Z:0.04 [[ 9.95197761e-01 9.55371824e-02 -2.13087493e-02 -5.66923855e+00] [-9.55555415e-02 9.95424087e-01 1.57291621e-04 -9.63181172e-03] [ 2.12262696e-02 1.87963281e-03 9.99772930e-01 4.34959502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9763389380000005 meters Centerline goodness [0,1] 0.9919654409616429 Centerline is valid? [True, True] Translation: X:-5.70, Y:-0.00, Z:0.06 [[ 9.95005567e-01 9.83861765e-02 -1.68547512e-02 -5.69919574e+00] [-9.83980724e-02 9.95147127e-01 1.24067292e-04 -4.39098160e-03] [ 1.67851637e-02 1.53502738e-03 9.99857941e-01 5.58013273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.006338938000001 meters Centerline goodness [0,1] 0.9914341961966994 Centerline is valid? [True, True] Translation: X:-5.73, Y:0.00, Z:0.05 [[ 9.94650493e-01 1.02161337e-01 -1.52793052e-02 -5.72881987e+00] [-1.02171547e-01 9.94766788e-01 1.12925663e-04 2.62408859e-03] [ 1.52108819e-02 1.44878868e-03 9.99883258e-01 5.18888232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.036338938 meters Centerline goodness [0,1] 0.9885953756020266 Centerline is valid? [True, True] Translation: X:-5.76, Y:0.01, Z:0.04 [[ 9.94036417e-01 1.07144635e-01 -2.02886193e-02 -5.75961029e+00] [-1.07163682e-01 9.94241381e-01 1.49214504e-04 1.02655713e-02] [ 2.01877724e-02 2.02587850e-03 9.99794154e-01 4.26670046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.066338938 meters Centerline goodness [0,1] 0.9855912623398446 Centerline is valid? [True, True] Translation: X:-5.79, Y:0.01, Z:0.04 [[ 9.93413185e-01 1.11727847e-01 -2.54387697e-02 -5.78999450e+00] [-1.11759280e-01 9.93735291e-01 1.87225852e-04 1.14941086e-02] [ 2.53003215e-02 2.65702595e-03 9.99676365e-01 4.31826435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.096338938000001 meters Centerline goodness [0,1] 0.9819133845126836 Centerline is valid? [True, True] Translation: X:-5.82, Y:0.02, Z:0.05 [[ 9.93408827e-01 1.12516715e-01 -2.18835945e-02 -5.82189554e+00] [-1.12540348e-01 9.93647144e-01 1.52543561e-04 1.62855454e-02] [ 2.17617349e-02 2.31124921e-03 9.99760514e-01 4.98228210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.126338938 meters Centerline goodness [0,1] 0.979579065935212 Centerline is valid? [True, True] Translation: X:-5.85, Y:0.02, Z:0.06 [[ 9.93550116e-01 1.12571078e-01 -1.36352391e-02 -5.85309187e+00] [-1.12580244e-01 9.93642632e-01 9.59321190e-05 1.98553062e-02] [ 1.35593540e-02 1.43974517e-03 9.99907031e-01 6.18859521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.156338938 meters Centerline goodness [0,1] 0.9825083814005788 Centerline is valid? [True, True] Translation: X:-5.88, Y:0.02, Z:0.06 [[ 9.93213935e-01 1.15775107e-01 -1.10546019e-02 -5.88298349e+00] [-1.15781327e-01 9.93274724e-01 7.77886482e-05 1.92388846e-02] [ 1.09892626e-02 1.20265571e-03 9.99938893e-01 6.43316867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1863389380000005 meters Centerline goodness [0,1] 0.9716106604866744 Centerline is valid? [True, True] Translation: X:-5.91, Y:0.03, Z:0.05 [[ 9.93114861e-01 1.16069770e-01 -1.58329163e-02 -5.91483317e+00] [-1.16082587e-01 9.93239559e-01 1.10170619e-04 3.12342264e-02] [ 1.57386663e-02 1.72851381e-03 9.99874645e-01 4.92258149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.216338938000001 meters Centerline goodness [0,1] 0.9530716902145474 Centerline is valid? [True, True] Translation: X:-5.95, Y:0.04, Z:0.05 [[ 9.92902128e-01 1.17491911e-01 -1.84665748e-02 -5.94609731e+00] [-1.17509588e-01 9.93071740e-01 1.28687365e-04 4.41809717e-02] [ 1.83537533e-02 2.04222564e-03 9.99829470e-01 4.63334411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.246338938 meters Centerline goodness [0,1] 0.9676034511643491 Centerline is valid? [True, True] Translation: X:-5.98, Y:0.05, Z:0.05 [[ 9.92740182e-01 1.18854743e-01 -1.84521453e-02 -5.97641155e+00] [-1.18872680e-01 9.92909498e-01 1.25588346e-04 4.56790510e-02] [ 1.83362371e-02 2.06877936e-03 9.99829737e-01 4.61021307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.276338938 meters Centerline goodness [0,1] 0.9495640565683534 Centerline is valid? [True, False] Translation: X:-6.00, Y:0.04, Z:0.05 [[ 9.93498291e-01 1.12399366e-01 -1.80977307e-02 -5.99504935e+00] [-1.12478736e-01 9.93648226e-01 -3.42593010e-03 4.07464184e-02] [ 1.75977057e-02 5.43926559e-03 9.99830353e-01 5.40712671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.306338938000001 meters Centerline goodness [0,1] 0.955360876474032 Centerline is valid? [False, True] Translation: X:-6.02, Y:0.04, Z:0.06 [[ 0.99429087 0.10508999 -0.01848683 -6.01566847] [-0.10521679 0.99443107 -0.00602253 0.0350738 ] [ 0.01775097 0.00793327 0.99981097 0.0598392 ] [ 0. 0. 0. 1. ]] SLAMing on 6.336338938 meters Centerline goodness [0,1] 0.9584299471496313 Centerline is valid? [True, True] Translation: X:-6.05, Y:0.05, Z:0.06 [[ 9.94543242e-01 1.02418272e-01 -1.98553993e-02 -6.04667060e+00] [-1.02441074e-01 9.94739066e-01 -1.32030678e-04 4.52460352e-02] [ 1.97374190e-02 2.16531866e-03 9.99802853e-01 5.82794182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.366338938 meters Centerline goodness [0,1] 0.9711787294431923 Centerline is valid? [True, True] Translation: X:-6.08, Y:0.05, Z:0.06 [[ 9.95039270e-01 9.76733564e-02 -1.88882410e-02 -6.07732468e+00] [-9.76931488e-02 9.95216576e-01 -1.25803736e-04 4.52668858e-02] [ 1.87856028e-02 1.97043139e-03 9.99821593e-01 5.77961071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.396338938 meters Centerline goodness [0,1] 0.9713689917631112 Centerline is valid? [True, True] Translation: X:-6.11, Y:0.05, Z:0.06 [[ 9.95614180e-01 9.17855613e-02 -1.81056667e-02 -6.10827864e+00] [-9.18027934e-02 9.95777200e-01 -1.21158941e-04 4.86877929e-02] [ 1.80180894e-02 1.78277834e-03 9.99836072e-01 6.10382451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.426338938000001 meters Centerline goodness [0,1] 0.9900712191034772 Centerline is valid? [True, True] Translation: X:-6.14, Y:0.04, Z:0.06 [[ 9.95958226e-01 8.77041700e-02 -1.93698309e-02 -6.13863671e+00] [-8.77231485e-02 9.96144885e-01 -1.30668562e-04 3.50646498e-02] [ 1.92836978e-02 1.82932299e-03 9.99812379e-01 6.43290981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.456338938 meters Centerline goodness [0,1] 0.9755975992191231 Centerline is valid? [True, True] Translation: X:-6.17, Y:0.04, Z:0.06 [[ 9.96312197e-01 8.39996063e-02 -1.74949306e-02 -6.16937982e+00] [-8.40145334e-02 9.96464522e-01 -1.18708076e-04 4.42120440e-02] [ 1.74231062e-02 1.58809874e-03 9.99846945e-01 5.97711609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.486338938 meters Centerline goodness [0,1] 0.9949886773463055 Centerline is valid? [True, True] Translation: X:-6.20, Y:0.03, Z:0.07 [[ 9.96832515e-01 7.81608015e-02 -1.46910275e-02 -6.19943398e+00] [-7.81707005e-02 9.96939984e-01 -9.99163226e-05 3.29400304e-02] [ 1.46382632e-02 1.24800775e-03 9.99892076e-01 6.70920045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5163389380000005 meters Centerline goodness [0,1] 0.9976300854416564 Centerline is valid? [True, True] Translation: X:-6.23, Y:0.03, Z:0.07 [[ 9.97087552e-01 7.49429651e-02 -1.41409479e-02 -6.22940072e+00] [-7.49518072e-02 9.97187153e-01 -9.56049654e-05 2.99183316e-02] [ 1.40940066e-02 1.15521612e-03 9.99900007e-01 6.77915386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.546338938000001 meters Centerline goodness [0,1] 0.9973814860590318 Centerline is valid? [True, True] Translation: X:-6.26, Y:0.02, Z:0.06 [[ 9.97436414e-01 6.95541592e-02 -1.68172342e-02 -6.26010038e+00] [-6.95659083e-02 9.97577351e-01 -1.13940612e-04 2.21168466e-02] [ 1.67685669e-02 1.28355468e-03 9.99858574e-01 5.93064514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.576338938 meters Centerline goodness [0,1] 0.9976971067286354 Centerline is valid? [True, True] Translation: X:-6.29, Y:0.01, Z:0.06 [[ 9.97697270e-01 6.51756745e-02 -1.87693394e-02 -6.29046506e+00] [-6.51895431e-02 9.97872891e-01 -1.27361534e-04 1.04460155e-02] [ 1.87211141e-02 1.35063292e-03 9.99823832e-01 6.08531293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.606338938 meters Centerline goodness [0,1] 0.9977015337038739 Centerline is valid? [True, True] Translation: X:-6.32, Y:0.01, Z:0.06 [[ 9.98003015e-01 6.00814761e-02 -1.94986934e-02 -6.32062567e+00] [-6.00954828e-02 9.98192624e-01 -1.32660979e-04 6.65192607e-03] [ 1.94554815e-02 1.30417945e-03 9.99809874e-01 6.11432175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.636338938000001 meters Centerline goodness [0,1] 0.9982480655724029 Centerline is valid? [True, True] Translation: X:-6.35, Y:0.01, Z:0.06 [[ 9.98319179e-01 5.50070604e-02 -1.82493691e-02 -6.35137776e+00] [-5.50184871e-02 9.98485328e-01 -1.24284835e-04 1.01525003e-02] [ 1.82148907e-02 1.12812861e-03 9.99833459e-01 6.24803296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.666338938 meters Centerline goodness [0,1] 0.998621409921671 Centerline is valid? [True, True] Translation: X:-6.38, Y:0.01, Z:0.06 [[ 9.98421568e-01 5.33006122e-02 -1.77035841e-02 -6.38171802e+00] [-5.33111058e-02 9.98577945e-01 -1.20998713e-04 9.06439950e-03] [ 1.76719593e-02 1.06460537e-03 9.99843272e-01 6.33679944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.696338938 meters Centerline goodness [0,1] 0.998621409921671 Centerline is valid? [True, True] Translation: X:-6.41, Y:0.01, Z:0.06 [[ 9.98427308e-01 5.31930006e-02 -1.77035627e-02 -6.41438449e+00] [-5.32035321e-02 9.98583681e-01 -1.24098966e-04 8.97548576e-03] [ 1.76718876e-02 1.06579586e-03 9.99843272e-01 6.38009024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7263389380000005 meters Centerline goodness [0,1] 0.9983694629679954 Centerline is valid? [True, True] Translation: X:-6.44, Y:-0.01, Z:0.07 [[ 9.98720613e-01 4.77820628e-02 -1.65533064e-02 -6.44389017e+00] [-4.77905004e-02 9.98857375e-01 -1.14298675e-04 -6.29199069e-03] [ 1.65289307e-02 9.05243238e-04 9.99862978e-01 6.55749763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.756338938000001 meters Centerline goodness [0,1] 0.9986847873739588 Centerline is valid? [True, True] Translation: X:-6.47, Y:-0.04, Z:0.07 [[ 9.99396984e-01 3.00056904e-02 -1.74736047e-02 -6.47458892e+00] [-3.00123839e-02 9.99549520e-01 -1.20895781e-04 -4.15142921e-02] [ 1.74621057e-02 6.45247412e-04 9.99847318e-01 6.72345384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.786338938 meters Centerline goodness [0,1] 0.99897523841392 Centerline is valid? [True, True] Translation: X:-6.50, Y:-0.05, Z:0.07 [[ 9.99744957e-01 1.59975987e-02 -1.59404506e-02 -6.50490550e+00] [-1.60013817e-02 9.99871964e-01 -1.09797911e-04 -5.40110671e-02] [ 1.59366531e-02 3.64839142e-04 9.99872937e-01 6.90711135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.816338938 meters Centerline goodness [0,1] 0.9985607008760952 Centerline is valid? [True, True] Translation: X:-6.54, Y:-0.06, Z:0.07 [[ 9.99877080e-01 2.88995131e-03 -1.54101528e-02 -6.53521912e+00] [-2.89192572e-03 9.99995813e-01 -1.05841091e-04 -5.67860877e-02] [ 1.54097824e-02 1.50393098e-04 9.99881251e-01 6.78090514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.846338938000001 meters Centerline goodness [0,1] 0.9981223791542361 Centerline is valid? [True, True] Translation: X:-6.56, Y:-0.07, Z:0.06 [[ 9.99778509e-01 -7.40717075e-03 -1.96994098e-02 -6.56348856e+00] [ 7.40598255e-03 9.99972566e-01 -1.33270414e-04 -6.57707466e-02] [ 1.96998565e-02 -1.26525891e-05 9.99805939e-01 5.87575839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.876338938 meters Centerline goodness [0,1] 0.9974770116140871 Centerline is valid? [True, True] Translation: X:-6.59, Y:-0.09, Z:0.06 [[ 9.99489627e-01 -2.21976208e-02 -2.29728440e-02 -6.59372816e+00] [ 2.21998952e-02 9.99753540e-01 -1.56054333e-04 -9.01296602e-02] [ 2.29706462e-02 -3.54020042e-04 9.99736077e-01 6.00440194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.906338938 meters Centerline goodness [0,1] 0.9970821175489788 Centerline is valid? [True, True] Translation: X:-6.62, Y:-0.11, Z:0.07 [[ 9.99280627e-01 -3.27452466e-02 -1.91305491e-02 -6.62251662e+00] [ 3.27488935e-02 9.99463604e-01 -1.22702566e-04 -1.14811460e-01] [ 1.91243055e-02 -5.03890018e-04 9.99816987e-01 6.76011329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9363389380000005 meters Centerline goodness [0,1] 0.9958646772785836 Centerline is valid? [True, True] Translation: X:-6.65, Y:-0.12, Z:0.08 [[ 9.98945853e-01 -4.41918528e-02 -1.24202825e-02 -6.65091599e+00] [ 4.41942595e-02 9.99022953e-01 -8.07554040e-05 -1.18491929e-01] [ 1.24117160e-02 -4.68234912e-04 9.99922862e-01 7.95508497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.966338938000001 meters Centerline goodness [0,1] 0.9965893729853385 Centerline is valid? [True, True] Translation: X:-6.68, Y:-0.11, Z:0.08 [[ 9.98628017e-01 -5.07588853e-02 -1.28693055e-02 -6.67990077e+00] [ 5.07620172e-02 9.98710774e-01 -8.33808179e-05 -1.09444496e-01] [ 1.28569464e-02 -5.70005487e-04 9.99917184e-01 7.73076721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.996338938 meters Centerline goodness [0,1] 0.9963378347447929 Centerline is valid? [True, True] Translation: X:-6.71, Y:-0.12, Z:0.06 [[ 9.98330715e-01 -5.42659367e-02 -1.97734859e-02 -6.70959854e+00] [ 5.42740242e-02 9.98526071e-01 -1.27805460e-04 -1.19467601e-01] [ 1.97512767e-02 -9.45594535e-04 9.99804477e-01 6.13660033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.026338938 meters Centerline goodness [0,1] 0.9960750924118453 Centerline is valid? [True, True] Translation: X:-6.74, Y:-0.13, Z:0.06 [[ 9.98349694e-01 -5.26592298e-02 -2.29105661e-02 -6.73736713e+00] [ 5.26697246e-02 9.98611976e-01 -1.45527075e-04 -1.32996385e-01] [ 2.28864290e-02 -1.06140630e-03 9.99737508e-01 5.95266394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.056338938000001 meters Centerline goodness [0,1] 0.9964150982721607 Centerline is valid? [True, True] Translation: X:-6.76, Y:-0.14, Z:0.08 [[ 9.98266076e-01 -5.57608873e-02 -1.88564043e-02 -6.76446938e+00] [ 5.57685824e-02 9.98443715e-01 -1.17917519e-04 -1.41943832e-01] [ 1.88336335e-02 -9.33881876e-04 9.99822195e-01 7.85983575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.086338938000001 meters Centerline goodness [0,1] 0.994993011077963 Centerline is valid? [True, True] Translation: X:-6.79, Y:-0.14, Z:0.08 [[ 9.98331044e-01 -5.61540716e-02 -1.34850565e-02 -6.79374859e+00] [ 5.61580501e-02 9.98421888e-01 -8.37529248e-05 -1.38414851e-01] [ 1.34684787e-02 -6.73681335e-04 9.99909069e-01 8.31436231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.116338938 meters Centerline goodness [0,1] 0.9951632406287787 Centerline is valid? [True, True] Translation: X:-6.82, Y:-0.13, Z:0.08 [[ 9.98536965e-01 -5.19324490e-02 -1.50648924e-02 -6.82375902e+00] [ 5.19369331e-02 9.98650362e-01 -9.36945379e-05 -1.28086230e-01] [ 1.50494260e-02 -6.88866850e-04 9.99886514e-01 7.50036502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.146338938 meters Centerline goodness [0,1] 0.9966209874225643 Centerline is valid? [True, True] Translation: X:-6.85, Y:-0.13, Z:0.07 [[ 9.98728405e-01 -4.72698525e-02 -1.75252481e-02 -6.85283816e+00] [ 4.72752250e-02 9.98881896e-01 -1.07830676e-04 -1.26536354e-01] [ 1.75107502e-02 -7.20816490e-04 9.99846415e-01 7.37231590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.176338938000001 meters Centerline goodness [0,1] 0.9970838193634394 Centerline is valid? [True, True] Translation: X:-6.88, Y:-0.12, Z:0.07 [[ 9.99061733e-01 -3.84561251e-02 -1.99193252e-02 -6.88213408e+00] [ 3.84613123e-02 9.99260082e-01 -1.22769751e-04 -1.21440637e-01] [ 1.99093078e-02 -6.43468828e-04 9.99801583e-01 6.89866129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.206338938 meters Centerline goodness [0,1] 0.9969398588587963 Centerline is valid? [True, True] Translation: X:-6.91, Y:-0.10, Z:0.07 [[ 9.99351252e-01 -3.06636903e-02 -1.88895096e-02 -6.91179850e+00] [ 3.06669787e-02 9.99529651e-01 -1.15626788e-04 -1.00803081e-01] [ 1.88841705e-02 -4.63732412e-04 9.99821571e-01 7.14999167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.236338938 meters Centerline goodness [0,1] 0.9975246494986896 Centerline is valid? [True, True] Translation: X:-6.94, Y:-0.10, Z:0.07 [[ 9.99583188e-01 -2.18372908e-02 -1.88833956e-02 -6.94195472e+00] [ 2.18390054e-02 9.99761494e-01 -1.15432544e-04 -9.60598565e-02] [ 1.88814125e-02 -2.97010149e-04 9.99821686e-01 6.50548684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2663389380000005 meters Centerline goodness [0,1] 0.9968870626322999 Centerline is valid? [True, True] Translation: X:-6.97, Y:-0.10, Z:0.06 [[ 9.99701203e-01 -1.32836534e-02 -2.05194635e-02 -6.97046672e+00] [ 1.32840387e-02 9.99911756e-01 -1.17535381e-04 -9.97926122e-02] [ 2.05192141e-02 -1.55081086e-04 9.99789447e-01 6.04686831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.296338938000001 meters Centerline goodness [0,1] 0.9984569188422721 Centerline is valid? [True, True] Translation: X:-7.00, Y:-0.09, Z:0.06 [[ 9.99764420e-01 -5.59442394e-03 -2.09715810e-02 -6.99812978e+00] [ 5.59312951e-03 9.99984351e-01 -1.20378133e-04 -9.47999497e-02] [ 2.09719262e-02 3.05300562e-06 9.99780065e-01 6.41193094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.326338938 meters Centerline goodness [0,1] 0.9989163957656081 Centerline is valid? [True, True] Translation: X:-7.03, Y:-0.08, Z:0.07 [[ 9.99821295e-01 3.28498089e-03 -1.86168629e-02 -7.02726460e+00] [-3.28741082e-03 9.99994591e-01 -9.99212494e-05 -7.78352986e-02] [ 1.86164340e-02 1.61104670e-04 9.99826686e-01 6.54144194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.356338938 meters Centerline goodness [0,1] 0.9990329836658328 Centerline is valid? [True, True] Translation: X:-7.06, Y:-0.06, Z:0.06 [[ 9.99816914e-01 1.18467850e-02 -1.50263523e-02 -7.05520513e+00] [-1.18492533e-02 9.99929792e-01 -7.52410174e-05 -6.41347176e-02] [ 1.50244060e-02 2.53278297e-04 9.99887095e-01 6.07350953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.386338938000001 meters Centerline goodness [0,1] 0.9982242834461436 Centerline is valid? [True, True] Translation: X:-7.08, Y:-0.07, Z:0.06 [[ 9.99667516e-01 1.86690539e-02 -1.77854925e-02 -7.08403770e+00] [-1.86736514e-02 9.99825628e-01 -9.24439224e-05 -6.66275118e-02] [ 1.77806654e-02 4.24533274e-04 9.99841821e-01 5.96487077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.416338938 meters Centerline goodness [0,1] 0.9983901990299381 Centerline is valid? [True, True] Translation: X:-7.11, Y:-0.06, Z:0.05 [[ 9.99286024e-01 2.74397569e-02 -2.59711770e-02 -7.11495815e+00] [-2.74525321e-02 9.99623099e-01 -1.35411781e-04 -6.48669734e-02] [ 2.59576728e-02 8.48289671e-04 9.99662683e-01 4.85086477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.446338938 meters Centerline goodness [0,1] 0.997984708717693 Centerline is valid? [True, True] Translation: X:-7.14, Y:-0.06, Z:0.05 [[ 9.99232178e-01 3.13285879e-02 -2.35281651e-02 -7.14390799e+00] [-3.13399314e-02 9.99508777e-01 -1.13451200e-04 -5.69759743e-02] [ 2.35130532e-02 8.50735168e-04 9.99723168e-01 5.42086232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4763389380000005 meters Centerline goodness [0,1] 0.9982671872064135 Centerline is valid? [True, True] Translation: X:-7.17, Y:-0.05, Z:0.06 [[ 9.99269311e-01 3.49933595e-02 -1.53723701e-02 -7.17322939e+00] [-3.49986440e-02 9.99387357e-01 -7.47974077e-05 -5.12393975e-02] [ 1.53603349e-02 6.12754861e-04 9.99881835e-01 6.17039588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.506338938000001 meters Centerline goodness [0,1] 0.9987677269784248 Centerline is valid? [True, True] Translation: X:-7.20, Y:-0.05, Z:0.06 [[ 9.99231579e-01 3.70321444e-02 -1.28402038e-02 -7.20437520e+00] [-3.70360185e-02 9.99313929e-01 -6.39878699e-05 -4.50043514e-02] [ 1.28290249e-02 5.39488727e-04 9.99917559e-01 5.81801223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.536338938 meters Centerline goodness [0,1] 0.9981636826509745 Centerline is valid? [True, True] Translation: X:-7.24, Y:-0.04, Z:0.05 [[ 9.99044179e-01 3.96339097e-02 -1.84358660e-02 -7.23532617e+00] [-3.96423289e-02 9.99213930e-01 -9.13050769e-05 -4.00984342e-02] [ 1.84177553e-02 8.22058469e-04 9.99830041e-01 4.96967387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.566338938 meters Centerline goodness [0,1] 0.9986779703697486 Centerline is valid? [True, True] Translation: X:-7.27, Y:-0.05, Z:0.03 [[ 9.98795949e-01 4.17759555e-02 -2.57181111e-02 -7.26581657e+00] [-4.17930545e-02 9.99126280e-01 -1.27478207e-04 -4.58549630e-02] [ 2.56903152e-02 1.20216314e-03 9.99669227e-01 3.28971240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.596338938000001 meters Centerline goodness [0,1] 0.9984722280356619 Centerline is valid? [True, True] Translation: X:-7.30, Y:-0.06, Z:0.04 [[ 9.98955906e-01 3.87683579e-02 -2.41684063e-02 -7.29600704e+00] [-3.87825620e-02 9.99247666e-01 -1.19090839e-04 -5.71365077e-02] [ 2.41456066e-02 1.05627921e-03 9.99707894e-01 3.63256297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.626338938000001 meters Centerline goodness [0,1] 0.9988697963540467 Centerline is valid? [True, True] Translation: X:-7.33, Y:-0.06, Z:0.05 [[ 9.99152845e-01 3.71076668e-02 -1.77936575e-02 -7.32661187e+00] [-3.71151041e-02 9.99310993e-01 -8.78106079e-05 -6.05668114e-02] [ 1.77781391e-02 7.48149669e-04 9.99841676e-01 4.98975013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.656338938 meters Centerline goodness [0,1] 0.9983035583387438 Centerline is valid? [True, True] Translation: X:-7.36, Y:-0.06, Z:0.05 [[ 9.99239159e-01 3.54184581e-02 -1.63289945e-02 -7.35657613e+00] [-3.54244885e-02 9.99372353e-01 -8.01171700e-05 -5.57839532e-02] [ 1.63159080e-02 6.58502491e-04 9.99866670e-01 4.93113936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6863389380000005 meters Centerline goodness [0,1] 0.9977416724170378 Centerline is valid? [True, True] Translation: X:-7.39, Y:-0.06, Z:0.04 [[ 9.99261535e-01 3.27172703e-02 -2.01485531e-02 -7.38703968e+00] [-3.27259097e-02 9.99464359e-01 -9.91231500e-05 -6.15339198e-02] [ 2.01345177e-02 7.58429680e-04 9.99796992e-01 4.32671552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.716338938000001 meters Centerline goodness [0,1] 0.9978470799715731 Centerline is valid? [True, True] Translation: X:-7.42, Y:-0.08, Z:0.04 [[ 9.99306945e-01 3.06812586e-02 -2.10781721e-02 -7.41501965e+00] [-3.06901972e-02 9.99528940e-01 -1.00643720e-04 -8.10618926e-02] [ 2.10651552e-02 7.47467228e-04 9.99777826e-01 3.99647156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.746338938 meters Centerline goodness [0,1] 0.9986676104426031 Centerline is valid? [True, True] Translation: X:-7.44, Y:-0.10, Z:0.05 [[ 9.99619223e-01 2.36756352e-02 -1.41730055e-02 -7.44384318e+00] [-2.36789704e-02 9.99719612e-01 -6.75311066e-05 -1.03910829e-01] [ 1.41674327e-02 4.03107570e-04 9.99899556e-01 5.33795221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.776338938 meters Centerline goodness [0,1] 0.9980697785434093 Centerline is valid? [True, True] Translation: X:-7.47, Y:-0.11, Z:0.05 [[ 9.99693269e-01 2.01873953e-02 -1.43469997e-02 -7.47290444e+00] [-2.01904390e-02 9.99796150e-01 -6.73231321e-05 -1.05934699e-01] [ 1.43427160e-02 3.56974705e-04 9.99897074e-01 5.49648933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.806338938000001 meters Centerline goodness [0,1] 0.9982906695572418 Centerline is valid? [True, True] Translation: X:-7.50, Y:-0.11, Z:0.05 [[ 9.99724087e-01 1.40774046e-02 -1.88036157e-02 -7.50006906e+00] [-1.40814964e-02 9.99900847e-01 -8.52141138e-05 -1.13872728e-01] [ 1.88005516e-02 3.49973649e-04 9.99823193e-01 4.77484072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.836338938000001 meters Centerline goodness [0,1] 0.9976776299271906 Centerline is valid? [True, True] Translation: X:-7.53, Y:-0.12, Z:0.04 [[ 9.99678682e-01 1.10986487e-02 -2.27893115e-02 -7.52875468e+00] [-1.11038727e-02 9.99938345e-01 -1.02699484e-04 -1.20151075e-01] [ 2.27867666e-02 3.55716100e-04 9.99740285e-01 3.70269372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.866338938 meters Centerline goodness [0,1] 0.9972939780604068 Centerline is valid? [True, True] Translation: X:-7.56, Y:-0.13, Z:0.05 [[ 9.99815633e-01 7.42679733e-03 -1.77071127e-02 -7.55867374e+00] [-7.42937864e-03 9.99972399e-01 -7.99996851e-05 -1.27874863e-01] [ 1.77060298e-02 2.11537781e-04 9.99843214e-01 4.63810979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.896338938 meters Centerline goodness [0,1] 0.9977146656140278 Centerline is valid? [True, True] Translation: X:-7.59, Y:-0.14, Z:0.04 [[ 9.99846179e-01 5.93054976e-03 -1.65059474e-02 -7.58760572e+00] [-5.93247713e-03 9.99982400e-01 -6.78065953e-05 -1.35881129e-01] [ 1.65052548e-02 1.65717321e-04 9.99863765e-01 4.39047995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.926338938000001 meters Centerline goodness [0,1] 0.9972356168939142 Centerline is valid? [True, True] Translation: X:-7.62, Y:-0.15, Z:0.04 [[ 9.99807763e-01 6.06028561e-03 -1.86469883e-02 -7.61641996e+00] [-6.06269342e-03 9.99981619e-01 -7.25977662e-05 -1.46537783e-01] [ 1.86462056e-02 1.85634783e-04 9.99826127e-01 3.82298596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.956338938000001 meters Centerline goodness [0,1] 0.9972846927142709 Centerline is valid? [True, True] Translation: X:-7.64, Y:-0.16, Z:0.04 [[ 9.99778943e-01 7.36353299e-03 -1.96937415e-02 -7.64441076e+00] [-7.36637690e-03 9.99972865e-01 -7.18669876e-05 -1.57068354e-01] [ 1.96926779e-02 2.16922623e-04 9.99806057e-01 4.30698578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.986338938 meters Centerline goodness [0,1] 0.9977790231853374 Centerline is valid? [True, True] Translation: X:-7.67, Y:-0.16, Z:0.04 [[ 9.99819033e-01 8.23986028e-03 -1.71465737e-02 -7.67274446e+00] [-8.24206450e-03 9.99966032e-01 -5.78872660e-05 -1.60371966e-01] [ 1.71455143e-02 1.99199956e-04 9.99852985e-01 4.28007271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.016338938 meters Centerline goodness [0,1] 0.998028759363393 Centerline is valid? [True, True] Translation: X:-7.70, Y:-0.16, Z:0.04 [[ 9.99799275e-01 9.83148482e-03 -1.74571530e-02 -7.70058528e+00] [-9.83402471e-03 9.99951643e-01 -5.96533996e-05 -1.56485207e-01] [ 1.74557223e-02 2.31315499e-04 9.99847611e-01 4.32326764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.046338938000002 meters Centerline goodness [0,1] 0.9976576427179636 Centerline is valid? [True, True] Translation: X:-7.73, Y:-0.16, Z:0.04 [[ 9.99751830e-01 9.42567645e-03 -2.01850084e-02 -7.72906902e+00] [-9.42896957e-03 9.99955544e-01 -6.79795098e-05 -1.59130476e-01] [ 2.01834703e-02 2.58286469e-04 9.99796260e-01 4.04626525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.076338938000001 meters Centerline goodness [0,1] 0.9969778513765266 Centerline is valid? [True, True] Translation: X:-7.76, Y:-0.17, Z:0.04 [[ 9.99772747e-01 7.98540673e-03 -1.97658275e-02 -7.75652608e+00] [-7.98824480e-03 9.99968091e-01 -6.46326639e-05 -1.73618802e-01] [ 1.97646807e-02 2.22512245e-04 9.99804635e-01 4.33537926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.106338938000002 meters Centerline goodness [0,1] 0.9972953442758336 Centerline is valid? [True, True] Translation: X:-7.79, Y:-0.18, Z:0.05 [[ 9.99837092e-01 8.41703880e-03 -1.59669017e-02 -7.78542061e+00] [-8.41893608e-03 9.99964559e-01 -5.16119656e-05 -1.83990054e-01] [ 1.59659014e-02 1.86027882e-04 9.99872520e-01 4.78545322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.136338938000002 meters Centerline goodness [0,1] 0.9974448460675558 Centerline is valid? [True, True] Translation: X:-7.81, Y:-0.19, Z:0.05 [[ 9.99838570e-01 9.55995126e-03 -1.52132170e-02 -7.81312098e+00] [-9.56177837e-03 9.99954284e-01 -4.73662087e-05 -1.87832268e-01] [ 1.52120687e-02 1.92823972e-04 9.99884271e-01 4.60615565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.166338938 meters Centerline goodness [0,1] 0.9969496485912736 Centerline is valid? [True, True] Translation: X:-7.84, Y:-0.19, Z:0.04 [[ 9.99820575e-01 8.12138202e-03 -1.71132039e-02 -7.84162019e+00] [-8.12337888e-03 9.99967004e-01 -4.71735833e-05 -1.88407311e-01] [ 1.71122561e-02 1.86182158e-04 9.99853557e-01 3.91559691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.196338938000002 meters Centerline goodness [0,1] 0.9975856874600194 Centerline is valid? [True, True] Translation: X:-7.87, Y:-0.19, Z:0.04 [[ 9.99804081e-01 7.30438611e-03 -1.83968825e-02 -7.86960838e+00] [-7.30657056e-03 9.99973305e-01 -5.15272710e-05 -1.92257403e-01] [ 1.83960151e-02 1.85935296e-04 9.99830762e-01 3.72312658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.226338938000001 meters Centerline goodness [0,1] 0.9974509723307158 Centerline is valid? [True, True] Translation: X:-7.90, Y:-0.19, Z:0.04 [[ 9.99837822e-01 7.50357653e-03 -1.63714829e-02 -7.89690410e+00] [-7.50529963e-03 9.99971834e-01 -4.38111143e-05 -1.93549364e-01] [ 1.63706931e-02 1.66676894e-04 9.99865977e-01 3.98429802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.256338938 meters Centerline goodness [0,1] 0.9965681207359934 Centerline is valid? [True, True] Translation: X:-7.93, Y:-0.20, Z:0.05 [[ 9.99899556e-01 4.85892493e-03 -1.33142349e-02 -7.92593361e+00] [-4.85982653e-03 9.99988190e-01 -3.53635393e-05 -2.00747998e-01] [ 1.33139059e-02 1.00064859e-04 9.99911361e-01 4.65620199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.286338938000002 meters Centerline goodness [0,1] 0.9968598285301106 Centerline is valid? [True, True] Translation: X:-7.95, Y:-0.21, Z:0.04 [[ 9.99848412e-01 6.97680549e-03 -1.59523191e-02 -7.95447367e+00] [-6.97835012e-03 9.99975650e-01 -4.11652207e-05 -2.10006690e-01] [ 1.59516435e-02 1.52479849e-04 9.99872753e-01 3.70007680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.316338938000001 meters Centerline goodness [0,1] 0.9956333685147244 Centerline is valid? [True, True] Translation: X:-7.98, Y:-0.22, Z:0.03 [[ 9.99768746e-01 5.21275264e-03 -2.08633974e-02 -7.98486157e+00] [-5.21502381e-03 9.99986400e-01 -5.44529931e-05 -2.17778703e-01] [ 2.08628298e-02 1.63243515e-04 9.99782334e-01 3.27076733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.346338938 meters Centerline goodness [0,1] 0.9967240810944453 Centerline is valid? [True, True] Translation: X:-8.01, Y:-0.22, Z:0.04 [[ 9.99820414e-01 5.01146796e-03 -1.82763338e-02 -8.01318674e+00] [-5.01315071e-03 9.99987433e-01 -4.62585005e-05 -2.20938906e-01] [ 1.82758723e-02 1.37872209e-04 9.99832973e-01 3.90766748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.376338938000002 meters Centerline goodness [0,1] 0.9970112952428065 Centerline is valid? [True, True] Translation: X:-8.04, Y:-0.23, Z:0.04 [[ 9.99906515e-01 6.45100258e-03 -1.20559096e-02 -8.04341292e+00] [-6.45183883e-03 9.99979186e-01 -3.04728665e-05 -2.29667934e-01] [ 1.20554621e-02 1.08252804e-04 9.99927324e-01 4.41546190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.406338938000001 meters Centerline goodness [0,1] 0.996580914914214 Centerline is valid? [True, True] Translation: X:-8.07, Y:-0.24, Z:0.04 [[ 9.99902084e-01 6.73563452e-03 -1.22659344e-02 -8.07071087e+00] [-6.73649750e-03 9.99977309e-01 -2.90401062e-05 -2.41388438e-01] [ 1.22654605e-02 1.11666699e-04 9.99924770e-01 4.36531200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.436338938000002 meters Centerline goodness [0,1] 0.9960735944084695 Centerline is valid? [True, True] Translation: X:-8.10, Y:-0.24, Z:0.03 [[ 9.99839867e-01 4.40408973e-03 -1.73448499e-02 -8.10033647e+00] [-4.40547448e-03 9.99990295e-01 -4.16278300e-05 -2.43855567e-01] [ 1.73444982e-02 1.18033458e-04 9.99849566e-01 3.10915512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.466338938000002 meters Centerline goodness [0,1] 0.9957182263576104 Centerline is valid? [True, True] Translation: X:-8.13, Y:-0.24, Z:0.03 [[ 9.99820250e-01 2.51079519e-03 -1.87926363e-02 -8.12851237e+00] [-2.51201885e-03 9.99996844e-01 -4.15082850e-05 -2.44916683e-01] [ 1.87924728e-02 8.87082806e-05 9.99823402e-01 2.70600636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.496338938000001 meters Centerline goodness [0,1] 0.996609477124183 Centerline is valid? [True, True] Translation: X:-8.16, Y:-0.27, Z:0.03 [[ 9.99940956e-01 3.54097731e-03 -1.02735448e-02 -8.15855937e+00] [-3.54140279e-03 9.99993729e-01 -2.32228424e-05 -2.65690448e-01] [ 1.02733982e-02 5.96042314e-05 9.99947225e-01 3.44102489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.526338938000002 meters Centerline goodness [0,1] 0.9955942601856999 Centerline is valid? [True, True] Translation: X:-8.19, Y:-0.28, Z:0.03 [[ 9.99929768e-01 2.34806830e-03 -1.16166140e-02 -8.18675781e+00] [-2.34846484e-03 9.99997242e-01 -2.04946149e-05 -2.75967890e-01] [ 1.16165339e-02 4.77743851e-05 9.99932525e-01 3.47640652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.556338938000001 meters Centerline goodness [0,1] 0.9967032740609483 Centerline is valid? [True, True] Translation: X:-8.22, Y:-0.27, Z:0.02 [[ 9.99847538e-01 2.79308527e-03 -1.72365822e-02 -8.21598181e+00] [-2.79408807e-03 9.99996096e-01 -3.40966192e-05 -2.72028404e-01] [ 1.72364197e-02 8.22519494e-05 9.99851439e-01 2.47996922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.586338938 meters Centerline goodness [0,1] 0.9967032740609483 Centerline is valid? [True, True] Translation: X:-8.24, Y:-0.27, Z:0.03 [[ 9.99846705e-01 3.07659550e-03 -1.72365974e-02 -8.24331514e+00] [-3.07749941e-03 9.99995264e-01 -2.59167053e-05 -2.72248904e-01] [ 1.72364360e-02 7.89583506e-05 9.99851438e-01 2.51623540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.616338938000002 meters Centerline goodness [0,1] 0.9967480344132055 Centerline is valid? [True, True] Translation: X:-8.27, Y:-0.26, Z:0.01 [[ 9.99844985e-01 4.43206440e-03 -1.70400273e-02 -8.27097884e+00] [-4.43306136e-03 9.99990174e-01 -2.07348310e-05 -2.61482522e-01] [ 1.70397679e-02 9.62711032e-05 9.99854808e-01 1.37361991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.646338938000001 meters Centerline goodness [0,1] 0.9967880746978526 Centerline is valid? [True, True] Translation: X:-8.30, Y:-0.26, Z:0.03 [[ 9.99901169e-01 5.77274695e-03 -1.28190678e-02 -8.30027780e+00] [-5.77344659e-03 9.99983333e-01 -1.75715259e-05 -2.59679695e-01] [ 1.28187527e-02 9.15799925e-05 9.99917832e-01 3.02724436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.676338938 meters Centerline goodness [0,1] 0.996191501252251 Centerline is valid? [True, True] Translation: X:-8.33, Y:-0.27, Z:0.03 [[ 9.99900241e-01 9.26951859e-03 -1.06575493e-02 -8.32817532e+00] [-9.27018345e-03 9.99957031e-01 -1.29840518e-05 -2.71644771e-01] [ 1.06569710e-02 1.11780194e-04 9.99943207e-01 2.84710250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.706338938000002 meters Centerline goodness [0,1] 0.9961322443269488 Centerline is valid? [True, True] Translation: X:-8.36, Y:-0.29, Z:0.02 [[ 9.99843713e-01 1.13208737e-02 -1.35789635e-02 -8.35623339e+00] [-1.13221305e-02 9.99935903e-01 -1.56775305e-05 -2.86490860e-01] [ 1.35779156e-02 1.69417876e-04 9.99907802e-01 2.33803099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.736338938000001 meters Centerline goodness [0,1] 0.9956045761702302 Centerline is valid? [True, True] Translation: X:-8.38, Y:-0.29, Z:0.03 [[ 9.99850679e-01 9.70279380e-03 -1.42994811e-02 -8.38287586e+00] [-9.70398990e-03 9.99952915e-01 -1.42625591e-05 -2.92918228e-01] [ 1.42986695e-02 1.53022450e-04 9.99897757e-01 2.91914866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.766338938000002 meters Centerline goodness [0,1] 0.9964884179398719 Centerline is valid? [True, True] Translation: X:-8.41, Y:-0.29, Z:0.04 [[ 9.99905405e-01 7.59407065e-03 -1.14678295e-02 -8.41181466e+00] [-7.59470119e-03 9.99971160e-01 -1.14347910e-05 -2.89160771e-01] [ 1.14674120e-02 9.85284480e-05 9.99934242e-01 4.14948275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.796338938000002 meters Centerline goodness [0,1] 0.997595808075619 Centerline is valid? [True, True] Translation: X:-8.44, Y:-0.29, Z:0.02 [[ 9.99891188e-01 9.46590991e-03 -1.13141207e-02 -8.44128859e+00] [-9.46661286e-03 9.99955191e-01 -8.57577129e-06 -2.86338016e-01] [ 1.13135325e-02 1.15681238e-04 9.99935993e-01 2.36440046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.826338938000001 meters Centerline goodness [0,1] 0.9970591864434665 Centerline is valid? [True, True] Translation: X:-8.47, Y:-0.30, Z:0.03 [[ 9.99893666e-01 6.79931902e-03 -1.29006387e-02 -8.46998368e+00] [-6.79995667e-03 9.99976880e-01 -5.56410341e-06 -2.95158334e-01] [ 1.29003026e-02 9.32872962e-05 9.99916783e-01 2.88718465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.856338938000002 meters Centerline goodness [0,1] 0.9963661140131729 Centerline is valid? [True, True] Translation: X:-8.50, Y:-0.31, Z:0.02 [[ 9.99898580e-01 2.78587655e-03 -1.39666656e-02 -8.49808535e+00] [-2.78624831e-03 9.99996118e-01 -7.15966291e-06 -3.05718478e-01] [ 1.39665914e-02 4.60735352e-05 9.99902461e-01 2.30323379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.886338938000002 meters Centerline goodness [0,1] 0.9959531635168447 Centerline is valid? [True, True] Translation: X:-8.53, Y:-0.31, Z:0.02 [[ 9.99924621e-01 1.88437766e-04 -1.22767098e-02 -8.52671012e+00] [-1.88466067e-04 9.99999982e-01 -1.14828043e-06 -3.07362291e-01] [ 1.22767094e-02 3.46193708e-06 9.99924638e-01 2.44187551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.916338938 meters Centerline goodness [0,1] 0.9964880573411924 Centerline is valid? [True, True] Translation: X:-8.56, Y:-0.32, Z:0.03 [[ 9.99933392e-01 -1.71614735e-03 -1.14134256e-02 -8.55577549e+00] [ 1.71627862e-03 9.99998527e-01 1.70729397e-06 -3.15554382e-01] [ 1.14134058e-02 -2.12957986e-05 9.99934865e-01 2.92565441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.946338938000002 meters Centerline goodness [0,1] 0.9964624339277267 Centerline is valid? [True, True] Translation: X:-8.58, Y:-0.33, Z:0.02 [[ 9.99928015e-01 -8.75197486e-04 -1.19665716e-02 -8.58468918e+00] [ 8.75313284e-04 9.99999617e-01 4.43933201e-06 -3.29379615e-01] [ 1.19665631e-02 -1.49135115e-05 9.99928398e-01 2.47938439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.976338938000001 meters Centerline goodness [0,1] 0.9960883099860736 Centerline is valid? [True, True] Translation: X:-8.61, Y:-0.33, Z:0.03 [[ 9.99958554e-01 -2.13819726e-04 -9.10191006e-03 -8.61322005e+00] [ 2.13885764e-04 9.99999977e-01 6.28190936e-06 -3.33050942e-01] [ 9.10190851e-03 -8.22841799e-06 9.99958577e-01 2.88615685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.006338938 meters Centerline goodness [0,1] 0.9980401864917275 Centerline is valid? [True, True] Translation: X:-8.64, Y:-0.32, Z:0.03 [[ 9.99966280e-01 2.74330978e-04 -8.20758039e-03 -8.64062999e+00] [-2.74294201e-04 9.99999962e-01 5.60647799e-06 -3.23411156e-01] [ 8.20758162e-03 -3.35499724e-06 9.99966317e-01 2.62530919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.036338938000002 meters Centerline goodness [0,1] 0.997057310422883 Centerline is valid? [True, True] Translation: X:-8.67, Y:-0.32, Z:0.03 [[ 9.99930500e-01 3.62204671e-03 -1.12194325e-02 -8.66814249e+00] [-3.62217954e-03 9.99993440e-01 8.48111696e-06 -3.19547270e-01] [ 1.12193896e-02 3.21582712e-05 9.99937060e-01 2.61721531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.066338938000001 meters Centerline goodness [0,1] 0.9967489711934157 Centerline is valid? [True, True] Translation: X:-8.70, Y:-0.33, Z:0.02 [[ 9.99895832e-01 6.81622151e-03 -1.27226042e-02 -8.69555237e+00] [-6.81664573e-03 9.99976766e-01 1.00210114e-05 -3.30576519e-01] [ 1.27223769e-02 7.67055180e-05 9.99919064e-01 2.46120762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.096338938 meters Centerline goodness [0,1] 0.9967109320396332 Centerline is valid? [True, True] Translation: X:-8.72, Y:-0.34, Z:0.03 [[ 9.99923822e-01 8.77963836e-03 -8.67571631e-03 -8.72391140e+00] [-8.77986851e-03 9.99961456e-01 1.15582187e-05 -3.41846711e-01] [ 8.67548339e-03 6.46143102e-05 9.99962365e-01 2.77340875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.126338938000002 meters Centerline goodness [0,1] 0.9971000185105201 Centerline is valid? [True, True] Translation: X:-8.75, Y:-0.34, Z:0.03 [[ 9.99918267e-01 1.08052047e-02 -6.83422657e-03 -8.75300997e+00] [-1.08053802e-02 9.99941620e-01 1.12507130e-05 -3.38915373e-01] [ 6.83394915e-03 6.25966227e-05 9.99976646e-01 3.06613420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.156338938000001 meters Centerline goodness [0,1] 0.9966761048873569 Centerline is valid? [True, True] Translation: X:-8.78, Y:-0.34, Z:0.03 [[ 9.99892859e-01 1.18105862e-02 -8.64753506e-03 -8.78088531e+00] [-1.18109230e-02 9.99930249e-01 1.21162399e-05 -3.35415444e-01] [ 8.64707498e-03 9.00204291e-05 9.99962609e-01 3.03846615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.186338938000002 meters Centerline goodness [0,1] 0.9974036678343293 Centerline is valid? [True, True] Translation: X:-8.81, Y:-0.33, Z:0.02 [[ 9.99841503e-01 1.04988466e-02 -1.43785429e-02 -8.81074416e+00] [-1.04996558e-02 9.99944877e-01 1.92120968e-05 -3.28595422e-01] [ 1.43779520e-02 1.31760699e-04 9.99896623e-01 2.14779427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.216338938000002 meters Centerline goodness [0,1] 0.9965979423699636 Centerline is valid? [True, True] Translation: X:-8.84, Y:-0.33, Z:0.02 [[ 9.99843434e-01 1.19979390e-02 -1.30060631e-02 -8.83885028e+00] [-1.19987041e-02 9.99928013e-01 1.92097998e-05 -3.33395529e-01] [ 1.30053573e-02 1.36849110e-04 9.99915417e-01 1.79580126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.246338938000001 meters Centerline goodness [0,1] 0.9959557389501345 Centerline is valid? [True, True] Translation: X:-8.87, Y:-0.34, Z:0.03 [[ 9.99935123e-01 8.32674489e-03 -7.77274147e-03 -8.86776351e+00] [-8.32690413e-03 9.99965331e-01 1.18754856e-05 -3.42304134e-01] [ 7.77257088e-03 5.28481579e-05 9.99969792e-01 3.31431674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.276338938000002 meters Centerline goodness [0,1] 0.9957335083688874 Centerline is valid? [True, True] Translation: X:-8.90, Y:-0.35, Z:0.04 [[ 9.99931009e-01 9.63592701e-03 -6.71765959e-03 -8.89599552e+00] [-9.63604786e-03 9.99953572e-01 1.43774141e-05 -3.45493829e-01] [ 6.71748624e-03 5.03552672e-05 9.99977436e-01 3.53184251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.306338938000001 meters Centerline goodness [0,1] 0.9970406296882386 Centerline is valid? [True, True] Translation: X:-8.92, Y:-0.34, Z:0.03 [[ 9.99886424e-01 1.09821415e-02 -1.03214510e-02 -8.92469048e+00] [-1.09825315e-02 9.99939690e-01 1.89005203e-05 -3.43205029e-01] [ 1.03210360e-02 9.44572866e-05 9.99946732e-01 2.90463051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.336338938 meters Centerline goodness [0,1] 0.9961821092819902 Centerline is valid? [True, True] Translation: X:-8.95, Y:-0.34, Z:0.02 [[ 9.99849345e-01 1.09094845e-02 -1.35007533e-02 -8.95231954e+00] [-1.09101301e-02 9.99940482e-01 2.58285031e-05 -3.44144805e-01] [ 1.35002315e-02 1.21470363e-04 9.99908860e-01 1.76919556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.366338938000002 meters Centerline goodness [0,1] 0.9964066446274203 Centerline is valid? [True, True] Translation: X:-8.98, Y:-0.35, Z:0.02 [[ 9.99865646e-01 1.03697054e-02 -1.26948331e-02 -8.98058616e+00] [-1.03701671e-02 9.99946228e-01 2.94574320e-05 -3.46658340e-01] [ 1.26944559e-02 1.02194067e-04 9.99919417e-01 2.30542384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.396338938000001 meters Centerline goodness [0,1] 0.9959671611695232 Centerline is valid? [True, True] Translation: X:-9.01, Y:-0.35, Z:0.03 [[ 9.99893515e-01 1.10714364e-02 -9.50695764e-03 -9.00897837e+00] [-1.10717213e-02 9.99938706e-01 2.26717066e-05 -3.49514461e-01] [ 9.50662593e-03 8.25890928e-05 9.99954808e-01 2.51362919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.426338938 meters Centerline goodness [0,1] 0.9960526315789474 Centerline is valid? [True, True] Translation: X:-9.04, Y:-0.35, Z:0.03 [[ 9.99901690e-01 1.17593122e-02 -7.63739156e-03 -9.03689175e+00] [-1.17595129e-02 9.99930854e-01 1.86269462e-05 -3.51480887e-01] [ 7.63708251e-03 7.11868896e-05 9.99970835e-01 3.14065902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.456338938000002 meters Centerline goodness [0,1] 0.9960764980177071 Centerline is valid? [True, True] Translation: X:-9.07, Y:-0.36, Z:0.03 [[ 9.99886449e-01 1.20172537e-02 -9.09255103e-03 -9.06576449e+00] [-1.20175116e-02 9.99927787e-01 2.62730330e-05 -3.55710051e-01] [ 9.09221016e-03 8.29997876e-05 9.99958662e-01 2.62457079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.486338938000001 meters Centerline goodness [0,1] 0.9965210273201678 Centerline is valid? [True, True] Translation: X:-9.09, Y:-0.36, Z:0.03 [[ 9.99868763e-01 1.28582369e-02 -9.85510758e-03 -9.09411079e+00] [-1.28585615e-02 9.99917325e-01 3.04214961e-05 -3.62729842e-01] [ 9.85468397e-03 9.63050036e-05 9.99951437e-01 2.63514485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.516338938000002 meters Centerline goodness [0,1] 0.997263261862628 Centerline is valid? [True, True] Translation: X:-9.12, Y:-0.36, Z:0.03 [[ 9.99894016e-01 1.24300439e-02 -7.57958092e-03 -9.12172518e+00] [-1.24302283e-02 9.99922741e-01 2.27735461e-05 -3.60538979e-01] [ 7.57927841e-03 7.14447890e-05 9.99971274e-01 2.76565165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.546338938000002 meters Centerline goodness [0,1] 0.9954014493646199 Centerline is valid? [True, True] Translation: X:-9.15, Y:-0.36, Z:0.03 [[ 9.99911279e-01 1.15866052e-02 -6.57155225e-03 -9.15013867e+00] [-1.15867007e-02 9.99932872e-01 2.35404916e-05 -3.56497928e-01] [ 6.57138387e-03 5.26042062e-05 9.99978407e-01 3.09413566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.576338938000001 meters Centerline goodness [0,1] 0.9959279368213229 Centerline is valid? [True, True] Translation: X:-9.18, Y:-0.36, Z:0.04 [[ 9.99916127e-01 1.04050762e-02 -7.71189955e-03 -9.17773063e+00] [-1.04051876e-02 9.99945864e-01 2.56888741e-05 -3.55704784e-01] [ 7.71174935e-03 5.45570418e-05 9.99970263e-01 3.64472689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.606338938000002 meters Centerline goodness [0,1] 0.9966516710831741 Centerline is valid? [True, True] Translation: X:-9.21, Y:-0.36, Z:0.04 [[ 9.99911016e-01 1.03798428e-02 -8.37968166e-03 -9.20587550e+00] [-1.03799674e-02 9.99946126e-01 2.86250880e-05 -3.62252470e-01] [ 8.37952733e-03 5.83582817e-05 9.99964889e-01 3.71412529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.636338938000002 meters Centerline goodness [0,1] 0.9969859755597474 Centerline is valid? [True, True] Translation: X:-9.23, Y:-0.37, Z:0.03 [[ 9.99909779e-01 1.18830679e-02 -6.26305737e-03 -9.23381614e+00] [-1.18831556e-02 9.99929393e-01 2.32134528e-05 -3.70115394e-01] [ 6.26289100e-03 5.12135267e-05 9.99980387e-01 2.82302790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.666338938 meters Centerline goodness [0,1] 0.996949221949222 Centerline is valid? [True, True] Translation: X:-9.26, Y:-0.37, Z:0.03 [[ 9.99901474e-01 1.29680040e-02 -5.37335494e-03 -9.26208774e+00] [-1.29680668e-02 9.99915911e-01 2.31425917e-05 -3.71600352e-01] [ 5.37320321e-03 4.65417144e-05 9.99985563e-01 2.70307093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.696338938000002 meters Centerline goodness [0,1] 0.9966302293087861 Centerline is valid? [True, True] Translation: X:-9.29, Y:-0.37, Z:0.03 [[ 9.99872909e-01 1.36194437e-02 -8.28711469e-03 -9.29025008e+00] [-1.36196162e-02 9.99907248e-01 3.56325621e-05 -3.68050049e-01] [ 8.28683134e-03 7.72392875e-05 9.99965661e-01 2.71783504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.726338938000001 meters Centerline goodness [0,1] 0.9967660205573979 Centerline is valid? [True, True] Translation: X:-9.32, Y:-0.37, Z:0.03 [[ 9.99861759e-01 1.32930216e-02 -9.98789222e-03 -9.31761825e+00] [-1.32932740e-02 9.99911640e-01 4.11219373e-05 -3.68798463e-01] [ 9.98755633e-03 9.16555355e-05 9.99950119e-01 2.70951247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.756338938 meters Centerline goodness [0,1] 0.9969173859432799 Centerline is valid? [True, True] Translation: X:-9.35, Y:-0.38, Z:0.02 [[ 9.99891178e-01 1.22175396e-02 -8.26826698e-03 -9.34610958e+00] [-1.22176397e-02 9.99925361e-01 3.84031635e-05 -3.75180462e-01] [ 8.26811904e-03 6.26197229e-05 9.99965817e-01 2.35029778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.786338938000002 meters Centerline goodness [0,1] 0.9963658761934093 Centerline is valid? [True, True] Translation: X:-9.37, Y:-0.37, Z:0.04 [[ 9.99918372e-01 1.10434644e-02 -6.42588035e-03 -9.37474242e+00] [-1.10434879e-02 9.99939018e-01 3.18288082e-05 -3.74777812e-01] [ 6.42583999e-03 3.91379217e-05 9.99979353e-01 3.84473081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.816338938000001 meters Centerline goodness [0,1] 0.9961446178454976 Centerline is valid? [True, True] Translation: X:-9.40, Y:-0.36, Z:0.03 [[ 9.99891448e-01 1.25843628e-02 -7.66326445e-03 -9.40283481e+00] [-1.25844493e-02 9.99920812e-01 3.69291238e-05 -3.64652095e-01] [ 7.66312234e-03 5.95128478e-05 9.99970636e-01 3.11454022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.846338938000002 meters Centerline goodness [0,1] 0.9965385090864136 Centerline is valid? [True, True] Translation: X:-9.43, Y:-0.38, Z:0.02 [[ 9.99860402e-01 1.26707899e-02 -1.08916434e-02 -9.43172123e+00] [-1.26709356e-02 9.99919719e-01 5.56337212e-05 -3.77631141e-01] [ 1.08914740e-02 8.23813576e-05 9.99940683e-01 1.92987930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.876338938000002 meters Centerline goodness [0,1] 0.9967128240949994 Centerline is valid? [True, True] Translation: X:-9.46, Y:-0.39, Z:0.02 [[ 9.99843925e-01 1.38040483e-02 -1.10260813e-02 -9.45927183e+00] [-1.38042774e-02 9.99904715e-01 5.53250605e-05 -3.86217335e-01] [ 1.10257944e-02 9.68906598e-05 9.99939209e-01 2.09619171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.906338938000001 meters Centerline goodness [0,1] 0.996875 Centerline is valid? [True, True] Translation: X:-9.49, Y:-0.39, Z:0.03 [[ 9.99902463e-01 1.17418490e-02 -7.56263918e-03 -9.48759796e+00] [-1.17418956e-02 9.99931061e-01 3.82488863e-05 -3.92285541e-01] [ 7.56256693e-03 5.05545639e-05 9.99971402e-01 3.22436811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.936338938000002 meters Centerline goodness [0,1] 0.9971267316572602 Centerline is valid? [True, True] Translation: X:-9.52, Y:-0.37, Z:0.04 [[ 9.99908158e-01 1.22113390e-02 -5.87862105e-03 -9.51582250e+00] [-1.22113511e-02 9.99925438e-01 3.38278119e-05 -3.68875805e-01] [ 5.87859581e-03 3.79612006e-05 9.99982720e-01 3.83457096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.966338938000002 meters Centerline goodness [0,1] 0.9970940345850814 Centerline is valid? [True, True] Translation: X:-9.54, Y:-0.37, Z:0.04 [[ 9.99886645e-01 1.26664535e-02 -8.13992193e-03 -9.54366088e+00] [-1.26665127e-02 9.99919776e-01 4.42861474e-05 -3.68453110e-01] [ 8.13982986e-03 5.88232969e-05 9.99966869e-01 3.82416745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.996338938000001 meters Centerline goodness [0,1] 0.9970018071299491 Centerline is valid? [True, True] Translation: X:-9.57, Y:-0.38, Z:0.03 [[ 9.99820130e-01 1.53288436e-02 -1.11684618e-02 -9.57304881e+00] [-1.53290761e-02 9.99882501e-01 6.47872977e-05 -3.79688377e-01] [ 1.11681427e-02 1.06426557e-04 9.99937629e-01 2.75172435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.026338938000002 meters Centerline goodness [0,1] 0.9964201950376497 Centerline is valid? [True, True] Translation: X:-9.60, Y:-0.39, Z:0.04 [[ 9.99852645e-01 1.39213131e-02 -1.00442100e-02 -9.60148901e+00] [-1.39213999e-02 9.99903091e-01 6.12810889e-05 -3.86246129e-01] [ 1.00440898e-02 7.85574056e-05 9.99949554e-01 3.52998545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.056338938000001 meters Centerline goodness [0,1] 0.9971367362913526 Centerline is valid? [True, True] Translation: X:-9.63, Y:-0.38, Z:0.04 [[ 9.99860256e-01 1.45074988e-02 -8.30663193e-03 -9.63049433e+00] [-1.45075568e-02 9.99894758e-01 5.32760772e-05 -3.81563709e-01] [ 8.30653063e-03 6.72403023e-05 9.99965498e-01 3.99351447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.086338938 meters Centerline goodness [0,1] 0.9970203846786125 Centerline is valid? [True, True] Translation: X:-9.66, Y:-0.38, Z:0.04 [[ 9.99849800e-01 1.58477656e-02 -7.01610238e-03 -9.65876326e+00] [-1.58478468e-02 9.99874414e-01 4.40303269e-05 -3.77653067e-01] [ 7.01591904e-03 6.71664021e-05 9.99975386e-01 3.73978188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.116338938000002 meters Centerline goodness [0,1] 0.9968694371125161 Centerline is valid? [True, True] Translation: X:-9.69, Y:-0.38, Z:0.03 [[ 9.99842080e-01 1.60911710e-02 -7.54247250e-03 -9.68638612e+00] [-1.60912365e-02 9.99870526e-01 5.20136539e-05 -3.75543118e-01] [ 7.54233290e-03 6.93622686e-05 9.99971554e-01 3.47115807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.146338938000001 meters Centerline goodness [0,1] 0.9970635947350048 Centerline is valid? [True, True] Translation: X:-9.71, Y:-0.38, Z:0.03 [[ 9.99838240e-01 1.56311457e-02 -8.89726637e-03 -9.71374937e+00] [-1.56312410e-02 9.99877823e-01 5.88339859e-05 -3.77101436e-01] [ 8.89709897e-03 8.02508462e-05 9.99960417e-01 3.42358532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.176338938 meters Centerline goodness [0,1] 0.9973318008291943 Centerline is valid? [True, True] Translation: X:-9.74, Y:-0.38, Z:0.04 [[ 9.99862025e-01 1.54802059e-02 -6.02454620e-03 -9.74276002e+00] [-1.54802229e-02 9.99880173e-01 4.38086910e-05 -3.80490387e-01] [ 6.02450246e-03 4.94586715e-05 9.99981851e-01 3.88232469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.206338938000002 meters Centerline goodness [0,1] 0.9971760661373495 Centerline is valid? [True, True] Translation: X:-9.77, Y:-0.39, Z:0.04 [[ 9.99871919e-01 1.49205824e-02 -5.78988818e-03 -9.77156928e+00] [-1.49205807e-02 9.99888681e-01 4.34984231e-05 -3.85467901e-01] [ 5.78989268e-03 4.28956422e-05 9.99983238e-01 3.98693660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.236338938000001 meters Centerline goodness [0,1] 0.9973645741110585 Centerline is valid? [True, True] Translation: X:-9.80, Y:-0.38, Z:0.05 [[ 9.99853739e-01 1.53943993e-02 -7.45067307e-03 -9.79965879e+00] [-1.53944257e-02 9.99881497e-01 5.38112811e-05 -3.84946391e-01] [ 7.45061854e-03 6.08954220e-05 9.99972242e-01 4.51578092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.266338938000002 meters Centerline goodness [0,1] 0.9961760654591806 Centerline is valid? [True, True] Translation: X:-9.83, Y:-0.38, Z:0.04 [[ 9.99829182e-01 1.56569295e-02 -9.82182955e-03 -9.82850311e+00] [-1.56569451e-02 9.99877420e-01 7.53089402e-05 -3.80537483e-01] [ 9.82180469e-03 7.84837699e-05 9.99951762e-01 3.94648788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.296338938000002 meters Centerline goodness [0,1] 0.9970796915167095 Centerline is valid? [True, True] Translation: X:-9.86, Y:-0.39, Z:0.03 [[ 9.99867496e-01 1.36572183e-02 -8.85835098e-03 -9.85768970e+00] [-1.36571322e-02 9.99906735e-01 7.02078091e-05 -3.87199449e-01] [ 8.85848365e-03 5.07811642e-05 9.99960762e-01 3.14073983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.326338938000001 meters Centerline goodness [0,1] 0.997645083343572 Centerline is valid? [True, True] Translation: X:-9.89, Y:-0.39, Z:0.04 [[ 9.99913611e-01 1.20267277e-02 -5.30369470e-03 -9.88514754e+00] [-1.20266707e-02 9.99927676e-01 4.26357599e-05 -3.88158711e-01] [ 5.30382389e-03 2.11537133e-05 9.99985934e-01 4.08021174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.356338938000002 meters Centerline goodness [0,1] 0.997195496417605 Centerline is valid? [True, True] Translation: X:-9.91, Y:-0.37, Z:0.05 [[ 9.99903468e-01 1.29379900e-02 -5.06588737e-03 -9.91239189e+00] [-1.29379323e-02 9.99916300e-01 4.41612218e-05 -3.74984609e-01] [ 5.06603472e-03 2.13851491e-05 9.99987167e-01 4.84049571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.386338938000002 meters Centerline goodness [0,1] 0.9981739469418741 Centerline is valid? [True, True] Translation: X:-9.94, Y:-0.37, Z:0.04 [[ 9.99868388e-01 1.51767287e-02 -5.73361644e-03 -9.94067870e+00] [-1.51766899e-02 9.99884826e-01 5.02846386e-05 -3.72612209e-01] [ 5.73371923e-03 3.67392980e-05 9.99983561e-01 3.93239747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.416338938 meters Centerline goodness [0,1] 0.9968496479018243 Centerline is valid? [True, True] Translation: X:-9.97, Y:-0.39, Z:0.04 [[ 9.99899990e-01 1.27917375e-02 -6.03173153e-03 -9.96873032e+00] [-1.27916612e-02 9.99918182e-01 5.12412509e-05 -3.87051097e-01] [ 6.03189349e-03 2.59197398e-05 9.99981808e-01 3.92035107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.446338938000002 meters Centerline goodness [0,1] 0.997756878562756 Centerline is valid? [True, True] Translation: X:-10.00, Y:-0.40, Z:0.03 [[ 9.99914026e-01 1.05356816e-02 -7.80635491e-03 -9.99788784e+00] [-1.05354564e-02 9.99944498e-01 6.99673555e-05 -3.98873486e-01] [ 7.80665879e-03 1.22821719e-05 9.99969527e-01 3.31405505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.476338938000001 meters Centerline goodness [0,1] 0.9970440316124397 Centerline is valid? [True, True] Translation: X:-10.03, Y:-0.40, Z:0.04 [[ 9.99909813e-01 1.00424353e-02 -8.91715632e-03 -1.00265576e+01] [-1.00421064e-02 9.99949573e-01 8.16522122e-05 -3.97885766e-01] [ 8.91752664e-03 7.90218464e-06 9.99960238e-01 4.05719292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.506338938 meters Centerline goodness [0,1] 0.9970440316124397 Centerline is valid? [True, True] Translation: X:-10.05, Y:-0.40, Z:0.04 [[ 9.99907037e-01 1.03151289e-02 -8.91713082e-03 -1.00539252e+01] [-1.03147859e-02 9.99946798e-01 8.44582415e-05 -3.97824007e-01] [ 8.91752760e-03 7.52790528e-06 9.99960238e-01 4.09361842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.536338938000002 meters Centerline goodness [0,1] 0.9976846160150807 Centerline is valid? [True, True] Translation: X:-10.08, Y:-0.38, Z:0.04 [[ 9.99893583e-01 1.31345834e-02 -6.34861290e-03 -1.00819246e+01] [-1.31344666e-02 9.99913737e-01 6.00949793e-05 -3.83246850e-01] [ 6.34885458e-03 2.32970600e-05 9.99979846e-01 4.33736026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.566338938000001 meters Centerline goodness [0,1] 0.9976096766881658 Centerline is valid? [True, True] Translation: X:-10.11, Y:-0.37, Z:0.05 [[ 9.99885563e-01 1.48025614e-02 -3.12175287e-03 -1.01093835e+01] [-1.48025395e-02 9.99890436e-01 3.01355705e-05 -3.71246061e-01] [ 3.12185693e-03 1.60777483e-05 9.99995127e-01 5.37108660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.596338938000002 meters Centerline goodness [0,1] 0.9973233955815438 Centerline is valid? [True, True] Translation: X:-10.14, Y:-0.37, Z:0.05 [[ 9.99848536e-01 1.65229808e-02 -5.46766539e-03 -1.01394630e+01] [-1.65229574e-02 9.99863485e-01 4.94529970e-05 -3.74596944e-01] [ 5.46773608e-03 4.08964957e-05 9.99985051e-01 4.83034333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.626338938000002 meters Centerline goodness [0,1] 0.9983140754142851 Centerline is valid? [True, True] Translation: X:-10.17, Y:-0.39, Z:0.03 [[ 9.99771663e-01 1.93704023e-02 -9.02274962e-03 -1.01688671e+01] [-1.93704167e-02 9.99812372e-01 8.58048958e-05 -3.85588331e-01] [ 9.02271877e-03 8.89891162e-05 9.99959290e-01 3.29576701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.656338938000001 meters Centerline goodness [0,1] 0.9969676341357757 Centerline is valid? [True, True] Translation: X:-10.20, Y:-0.39, Z:0.05 [[ 9.99766754e-01 1.99269529e-02 -8.32789402e-03 -1.01967399e+01] [-1.99269811e-02 9.99801435e-01 7.96052940e-05 -3.86002013e-01] [ 8.32782668e-03 8.63630601e-05 9.99965319e-01 4.83634159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.686338938000002 meters Centerline goodness [0,1] 0.9975874796379157 Centerline is valid? [True, True] Translation: X:-10.23, Y:-0.37, Z:0.05 [[ 9.99660726e-01 2.54307850e-02 -5.63092220e-03 -1.02257995e+01] [-2.54308652e-02 9.99676582e-01 5.73525190e-05 -3.67521402e-01] [ 5.63055957e-03 8.58661628e-05 9.99984145e-01 4.72063891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.716338938000002 meters Centerline goodness [0,1] 0.9974754212762463 Centerline is valid? [True, True] Translation: X:-10.26, Y:-0.36, Z:0.05 [[ 9.99603039e-01 2.77153158e-02 -5.06225213e-03 -1.02582740e+01] [-2.77154302e-02 9.99615853e-01 4.75665134e-05 -3.61029089e-01] [ 5.06162580e-03 9.27548642e-05 9.99987186e-01 5.30419380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.746338938000001 meters Centerline goodness [0,1] 0.9972462547008898 Centerline is valid? [True, True] Translation: X:-10.29, Y:-0.37, Z:0.05 [[ 9.99502198e-01 3.01537109e-02 -9.27949458e-03 -1.02892032e+01] [-3.01541921e-02 9.99545255e-01 8.80784509e-05 -3.65011986e-01] [ 9.27793067e-03 1.91781057e-04 9.99956941e-01 4.75990016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.776338938000002 meters Centerline goodness [0,1] 0.996616812790098 Centerline is valid? [True, True] Translation: X:-10.32, Y:-0.36, Z:0.05 [[ 9.99471312e-01 3.09229005e-02 -1.00434657e-02 -1.03197541e+01] [-3.09234979e-02 9.99521750e-01 9.58440669e-05 -3.56922601e-01] [ 1.00416262e-02 2.14785695e-04 9.99949559e-01 5.00753970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.806338938000001 meters Centerline goodness [0,1] 0.9969536042155531 Centerline is valid? [True, True] Translation: X:-10.35, Y:-0.35, Z:0.05 [[ 9.99458985e-01 3.16868437e-02 -8.81371783e-03 -1.03489816e+01] [-3.16873264e-02 9.99497827e-01 8.49059857e-05 -3.52766704e-01] [ 8.81198222e-03 1.94423104e-04 9.99961155e-01 5.25383078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.836338938 meters Centerline goodness [0,1] 0.9972606125517497 Centerline is valid? [True, True] Translation: X:-10.38, Y:-0.36, Z:0.06 [[ 9.99565172e-01 2.91985273e-02 -4.11248732e-03 -1.03789169e+01] [-2.91986123e-02 9.99573629e-01 3.93937587e-05 -3.61807081e-01] [ 4.11188411e-03 8.07022935e-05 9.99991543e-01 6.16494880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.866338938000002 meters Centerline goodness [0,1] 0.9977200369723734 Centerline is valid? [True, True] Translation: X:-10.41, Y:-0.36, Z:0.05 [[ 9.99520161e-01 2.99010645e-02 -8.08545853e-03 -1.04103460e+01] [-2.99014220e-02 9.99552850e-01 7.66941052e-05 -3.61723707e-01] [ 8.08413635e-03 1.65109403e-04 9.99967309e-01 5.01038065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.896338938000001 meters Centerline goodness [0,1] 0.9975257221798388 Centerline is valid? [True, True] Translation: X:-10.44, Y:-0.36, Z:0.05 [[ 9.99522898e-01 2.79028601e-02 -1.32441022e-02 -1.04402110e+01] [-2.79036339e-02 9.99610610e-01 1.26396217e-04 -3.60078267e-01] [ 1.32424719e-02 2.43222665e-04 9.99912285e-01 5.08850361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.926338938000002 meters Centerline goodness [0,1] 0.9974675204348453 Centerline is valid? [True, True] Translation: X:-10.47, Y:-0.36, Z:0.06 [[ 9.99592173e-01 2.62034638e-02 -1.13519166e-02 -1.04690070e+01] [-2.62038521e-02 9.99656614e-01 1.14562791e-04 -3.62335746e-01] [ 1.13510205e-02 1.82947874e-04 9.99935558e-01 6.25170939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.956338938000002 meters Centerline goodness [0,1] 0.9975466952541954 Centerline is valid? [True, True] Translation: X:-10.50, Y:-0.36, Z:0.07 [[ 9.99688699e-01 2.45017384e-02 -4.70846615e-03 -1.04989539e+01] [-2.45017914e-02 9.99699785e-01 4.64491241e-05 -3.63004898e-01] [ 4.70819069e-03 6.89311909e-05 9.99988914e-01 7.14081859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.986338938000001 meters Centerline goodness [0,1] 0.9970579158522785 Centerline is valid? [True, True] Translation: X:-10.53, Y:-0.36, Z:0.07 [[ 9.99679267e-01 2.51788195e-02 -2.71845972e-03 -1.05298522e+01] [-2.51788423e-02 9.99682962e-01 2.58665365e-05 -3.56132627e-01] [ 2.71824916e-03 4.25894283e-05 9.99996305e-01 6.89819932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.016338938000002 meters Centerline goodness [0,1] 0.9972769468798349 Centerline is valid? [True, True] Translation: X:-10.56, Y:-0.35, Z:0.06 [[ 9.99641887e-01 2.51887792e-02 -9.03459328e-03 -1.05604993e+01] [-2.51890177e-02 9.99682703e-01 8.74043821e-05 -3.52353360e-01] [ 9.03392823e-03 1.40199448e-04 9.99959183e-01 6.34879110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.046338938000002 meters Centerline goodness [0,1] 0.997790488776922 Centerline is valid? [True, True] Translation: X:-10.59, Y:-0.36, Z:0.06 [[ 9.99611974e-01 2.49016800e-02 -1.24823336e-02 -1.05893118e+01] [-2.49020232e-02 9.99689888e-01 1.27951005e-04 -3.62657304e-01] [ 1.24816489e-02 1.82934004e-04 9.99922084e-01 5.92660031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.076338938000001 meters Centerline goodness [0,1] 0.9973098958868103 Centerline is valid? [True, True] Translation: X:-10.62, Y:-0.37, Z:0.07 [[ 9.99673609e-01 2.38490325e-02 -9.15962967e-03 -1.06187167e+01] [-2.38491884e-02 9.99715563e-01 9.22253353e-05 -3.69300334e-01] [ 9.15922382e-03 1.26254500e-04 9.99958045e-01 6.56585617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.106338938000002 meters Centerline goodness [0,1] 0.9962475782604262 Centerline is valid? [True, True] Translation: X:-10.65, Y:-0.36, Z:0.09 [[ 9.99747217e-01 2.20711747e-02 -4.28541167e-03 -1.06472702e+01] [-2.20711896e-02 9.99756401e-01 4.38341767e-05 -3.59298981e-01] [ 4.28533522e-03 5.07610371e-05 9.99990817e-01 8.76526498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.136338938000002 meters Centerline goodness [0,1] 0.996834272088147 Centerline is valid? [True, True] Translation: X:-10.68, Y:-0.35, Z:0.07 [[ 9.99705806e-01 2.36533844e-02 -5.36826615e-03 -1.06797583e+01] [-2.36534420e-02 9.99720217e-01 5.27602942e-05 -3.48489337e-01] [ 5.36801216e-03 7.42331997e-05 9.99985589e-01 7.32277824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.166338938 meters Centerline goodness [0,1] 0.9968776319303219 Centerline is valid? [True, True] Translation: X:-10.71, Y:-0.36, Z:0.06 [[ 9.99614148e-01 2.48989239e-02 -1.23125171e-02 -1.07099646e+01] [-2.48992957e-02 9.99689957e-01 1.23117124e-04 -3.59571371e-01] [ 1.23117652e-02 1.83503384e-04 9.99924191e-01 6.00426908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.196338938000002 meters Centerline goodness [0,1] 0.9967489711934157 Centerline is valid? [True, True] Translation: X:-10.74, Y:-0.37, Z:0.07 [[ 9.99608862e-01 2.53733260e-02 -1.17608259e-02 -1.07391144e+01] [-2.53736251e-02 9.99678030e-01 1.23807471e-04 -3.67588006e-01] [ 1.17601807e-02 1.74655743e-04 9.99930831e-01 6.75618734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.226338938000001 meters Centerline goodness [0,1] 0.9970327016739655 Centerline is valid? [True, True] Translation: X:-10.77, Y:-0.37, Z:0.07 [[ 9.99621052e-01 2.59550567e-02 -9.16992086e-03 -1.07675822e+01] [-2.59552354e-02 9.99663101e-01 9.95328822e-05 -3.65634245e-01] [ 9.16941491e-03 1.38512290e-04 9.99957950e-01 7.34781018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.256338938 meters Centerline goodness [0,1] 0.9966779452476161 Centerline is valid? [True, True] Translation: X:-10.80, Y:-0.36, Z:0.08 [[ 9.99672134e-01 2.48237116e-02 -6.27760464e-03 -1.07950868e+01] [-2.48237763e-02 9.99691840e-01 6.76198781e-05 -3.64604021e-01] [ 6.27734871e-03 8.82361457e-05 9.99980293e-01 8.01908110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.286338938000002 meters Centerline goodness [0,1] 0.9967830408512569 Centerline is valid? [True, True] Translation: X:-10.83, Y:-0.37, Z:0.08 [[ 9.99655026e-01 2.44397372e-02 -9.61915047e-03 -1.08252565e+01] [-2.44398926e-02 9.99701296e-01 1.01403021e-04 -3.65176853e-01] [ 9.61875545e-03 1.33722965e-04 9.99953730e-01 8.25004836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.316338938000001 meters Centerline goodness [0,1] 0.9968369379916611 Centerline is valid? [True, True] Translation: X:-10.85, Y:-0.36, Z:0.08 [[ 9.99601069e-01 2.59740557e-02 -1.10928779e-02 -1.08536387e+01] [-2.59742856e-02 9.99662604e-01 1.23370212e-04 -3.60542057e-01] [ 1.10923397e-02 1.64808584e-04 9.99938465e-01 7.58231182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.346338938000002 meters Centerline goodness [0,1] 0.9966573126444371 Centerline is valid? [True, True] Translation: X:-10.88, Y:-0.36, Z:0.08 [[ 9.99620751e-01 2.63236244e-02 -8.08832550e-03 -1.08823100e+01] [-2.63237347e-02 9.99653466e-01 9.28427107e-05 -3.56340886e-01] [ 8.08796657e-03 1.20107434e-04 9.99967285e-01 8.11272981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.376338938000002 meters Centerline goodness [0,1] 0.9964409150757078 Centerline is valid? [True, True] Translation: X:-10.91, Y:-0.35, Z:0.09 [[ 9.99571211e-01 2.84962197e-02 -6.73490867e-03 -1.09115424e+01] [-2.84963593e-02 9.99593893e-01 7.52464977e-05 -3.51903484e-01] [ 6.73431782e-03 1.16706144e-04 9.99977317e-01 8.59249455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.406338938000001 meters Centerline goodness [0,1] 0.9958630058041411 Centerline is valid? [True, True] Translation: X:-10.94, Y:-0.35, Z:0.08 [[ 9.99570032e-01 2.82763334e-02 -7.75891286e-03 -1.09427949e+01] [-2.82765364e-02 9.99600135e-01 8.35601054e-05 -3.49285646e-01] [ 7.75817312e-03 1.35871005e-04 9.99969896e-01 8.17796579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.436338938000002 meters Centerline goodness [0,1] 0.9974905380944545 Centerline is valid? [True, True] Translation: X:-10.97, Y:-0.35, Z:0.08 [[ 9.99580168e-01 2.75662519e-02 -8.92129984e-03 -1.09744676e+01] [-2.75664823e-02 9.99619968e-01 9.71683882e-05 -3.48330148e-01] [ 8.92058803e-03 1.48801260e-04 9.99960200e-01 8.05427344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.466338938000002 meters Centerline goodness [0,1] 0.9969527782890566 Centerline is valid? [True, True] Translation: X:-11.00, Y:-0.35, Z:0.08 [[ 9.99515242e-01 2.98157272e-02 -8.96125066e-03 -1.10036553e+01] [-2.98160011e-02 9.99555399e-01 1.03058845e-04 -3.50292483e-01] [ 8.96033925e-03 1.64179773e-04 9.99959842e-01 7.89786369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.496338938000001 meters Centerline goodness [0,1] 0.9962842928802923 Centerline is valid? [True, True] Translation: X:-11.03, Y:-0.35, Z:0.08 [[ 9.99497201e-01 3.00426632e-02 -1.01381931e-02 -1.10328624e+01] [-3.00430553e-02 9.99548599e-01 1.13651510e-04 -3.54927278e-01] [ 1.01370311e-02 1.90987930e-04 9.99948601e-01 8.47243586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.526338938000002 meters Centerline goodness [0,1] 0.9967160973191789 Centerline is valid? [True, True] Translation: X:-11.06, Y:-0.34, Z:0.09 [[ 9.99422976e-01 3.23221607e-02 -1.04399701e-02 -1.10615976e+01] [-3.23226408e-02 9.99477479e-01 1.22780655e-04 -3.43498744e-01] [ 1.04384835e-02 2.14737596e-04 9.99945494e-01 9.15074328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.556338938000001 meters Centerline goodness [0,1] 0.9972266405644602 Centerline is valid? [True, True] Translation: X:-11.09, Y:-0.35, Z:0.10 [[ 9.99380598e-01 3.41568133e-02 -8.46946807e-03 -1.10911297e+01] [-3.41572115e-02 9.99416467e-01 9.76764814e-05 -3.46863371e-01] [ 8.46786217e-03 1.91677431e-04 9.99964129e-01 9.97950031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.586338938 meters Centerline goodness [0,1] 0.9966744469460682 Centerline is valid? [True, True] Translation: X:-11.12, Y:-0.35, Z:0.09 [[ 9.99327302e-01 3.53254229e-02 -9.85175070e-03 -1.11222534e+01] [-3.53260322e-02 9.99375835e-01 1.12213322e-04 -3.51421255e-01] [ 9.84956557e-03 2.35885427e-04 9.99951464e-01 9.47753557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.616338938000002 meters Centerline goodness [0,1] 0.996592809796188 Centerline is valid? [True, True] Translation: X:-11.15, Y:-0.34, Z:0.10 [[ 9.99213583e-01 3.81144985e-02 -1.09316197e-02 -1.11529365e+01] [-3.81154144e-02 9.99273336e-01 1.24611444e-04 -3.36946732e-01] [ 1.09284256e-02 2.92149767e-04 9.99940240e-01 1.00373184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.646338938000001 meters Centerline goodness [0,1] 0.9971079889242129 Centerline is valid? [True, True] Translation: X:-11.18, Y:-0.33, Z:0.10 [[ 9.99198137e-01 3.88596681e-02 -9.64408010e-03 -1.11831248e+01] [-3.88604174e-02 9.99244643e-01 1.09753057e-04 -3.27814345e-01] [ 9.64106034e-03 2.65107928e-04 9.99953489e-01 1.00584406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.676338938000002 meters Centerline goodness [0,1] 0.9972832798221783 Centerline is valid? [True, True] Translation: X:-11.22, Y:-0.33, Z:0.10 [[ 9.99105316e-01 4.15603840e-02 -7.82961081e-03 -1.12152372e+01] [-4.15609708e-02 9.99135966e-01 8.78229623e-05 -3.30659327e-01] [ 7.82649572e-03 2.37661838e-04 9.99969344e-01 9.87460992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.706338938000002 meters Centerline goodness [0,1] 0.9968561264168114 Centerline is valid? [True, True] Translation: X:-11.25, Y:-0.34, Z:0.10 [[ 9.98999435e-01 4.33753283e-02 -1.08953620e-02 -1.12457098e+01] [-4.33765631e-02 9.99058786e-01 1.23054512e-04 -3.37785919e-01] [ 1.08904446e-02 3.49671969e-04 9.99940636e-01 9.79925798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.736338938000001 meters Centerline goodness [0,1] 0.9958343644312464 Centerline is valid? [True, True] Translation: X:-11.28, Y:-0.33, Z:0.10 [[ 9.99009503e-01 4.22549251e-02 -1.39475258e-02 -1.12776202e+01] [-4.22568633e-02 9.99106768e-01 1.55838900e-04 -3.27778422e-01] [ 1.39416524e-02 4.33694152e-04 9.99902716e-01 1.02102878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.766338938000002 meters Centerline goodness [0,1] 0.9972783505154639 Centerline is valid? [True, True] Translation: X:-11.31, Y:-0.32, Z:0.11 [[ 9.99073864e-01 4.14853001e-02 -1.14185744e-02 -1.13062371e+01] [-4.14865242e-02 9.99139055e-01 1.29744050e-04 -3.21312218e-01] [ 1.14141261e-02 3.44093074e-04 9.99934798e-01 1.10168749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.796338938000002 meters Centerline goodness [0,1] 0.997490950970714 Centerline is valid? [True, True] Translation: X:-11.34, Y:-0.32, Z:0.11 [[ 9.99167513e-01 4.02331377e-02 -6.75093422e-03 -1.13377672e+01] [-4.02335449e-02 9.99190300e-01 7.55336676e-05 -3.21641185e-01] [ 6.74850695e-03 1.96143228e-04 9.99977209e-01 1.11337894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.826338938000001 meters Centerline goodness [0,1] 0.996422657862998 Centerline is valid? [True, True] Translation: X:-11.37, Y:-0.34, Z:0.11 [[ 9.99139698e-01 4.06877317e-02 -8.02323505e-03 -1.13697159e+01] [-4.06883286e-02 9.99171883e-01 8.88815221e-05 -3.35269106e-01] [ 8.02020727e-03 2.37646967e-04 9.99967809e-01 1.12135412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.856338938000002 meters Centerline goodness [0,1] 0.9964893551499723 Centerline is valid? [True, True] Translation: X:-11.40, Y:-0.35, Z:0.11 [[ 9.99139206e-01 3.93464943e-02 -1.31415251e-02 -1.14005410e+01] [-3.93479725e-02 9.99225558e-01 1.46160081e-04 -3.45860119e-01] [ 1.31370987e-02 3.71058102e-04 9.99913636e-01 1.14098209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.886338938000002 meters Centerline goodness [0,1] 0.9967444831351864 Centerline is valid? [True, True] Translation: X:-11.43, Y:-0.33, Z:0.12 [[ 9.99292552e-01 3.54843329e-02 -1.24602793e-02 -1.14293479e+01] [-3.54853392e-02 9.99370187e-01 1.40386215e-04 -3.32159132e-01] [ 1.24574132e-02 3.01870339e-04 9.99922358e-01 1.17162746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.916338938 meters Centerline goodness [0,1] 0.9965835679973497 Centerline is valid? [True, True] Translation: X:-11.46, Y:-0.33, Z:0.12 [[ 9.99352460e-01 3.41975799e-02 -1.11886583e-02 -1.14568569e+01] [-3.41982941e-02 9.99415059e-01 1.27541740e-04 -3.31424008e-01] [ 1.11864753e-02 2.55173876e-04 9.99937397e-01 1.24097912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.946338938000002 meters Centerline goodness [0,1] 0.9960872340863691 Centerline is valid? [True, True] Translation: X:-11.49, Y:-0.34, Z:0.13 [[ 9.99334788e-01 3.41706860e-02 -1.27415288e-02 -1.14851548e+01] [-3.41715964e-02 9.99415970e-01 1.46316813e-04 -3.41354383e-01] [ 1.27390871e-02 2.89178898e-04 9.99918813e-01 1.25842164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.976338938000001 meters Centerline goodness [0,1] 0.9961428983952807 Centerline is valid? [True, True] Translation: X:-11.51, Y:-0.35, Z:0.12 [[ 9.99423806e-01 3.17170498e-02 -1.20865134e-02 -1.15139908e+01] [-3.17176246e-02 9.99496859e-01 1.44170983e-04 -3.48835760e-01] [ 1.20850048e-02 2.39267581e-04 9.99926945e-01 1.18037457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.006338938000003 meters Centerline goodness [0,1] 0.9960370699085637 Centerline is valid? [True, True] Translation: X:-11.54, Y:-0.35, Z:0.12 [[ 9.99488657e-01 3.08293757e-02 -8.48374518e-03 -1.15430434e+01] [-3.08296371e-02 9.99524649e-01 9.99969694e-05 -3.45199912e-01] [ 8.48279527e-03 1.61604948e-04 9.99964007e-01 1.23762844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.036338938000002 meters Centerline goodness [0,1] 0.9958878350174613 Centerline is valid? [True, True] Translation: X:-11.57, Y:-0.34, Z:0.13 [[ 9.99540499e-01 2.90991525e-02 -8.48710370e-03 -1.15735823e+01] [-2.90993579e-02 9.99576519e-01 9.93067022e-05 -3.41908066e-01] [ 8.48639932e-03 1.47708197e-04 9.99963979e-01 1.27333541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.066338938000001 meters Centerline goodness [0,1] 0.9966140886943595 Centerline is valid? [True, True] Translation: X:-11.60, Y:-0.34, Z:0.12 [[ 9.99542156e-01 2.82099847e-02 -1.09396389e-02 -1.16042674e+01] [-2.82102728e-02 9.99602003e-01 1.28003557e-04 -3.40056541e-01] [ 1.09388959e-02 1.80665246e-04 9.99940152e-01 1.19942370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.096338938000002 meters Centerline goodness [0,1] 0.9954631691825456 Centerline is valid? [True, True] Translation: X:-11.63, Y:-0.34, Z:0.13 [[ 9.99567622e-01 2.76705054e-02 -9.94545381e-03 -1.16320276e+01] [-2.76706964e-02 9.99617086e-01 1.18425618e-04 -3.40771985e-01] [ 9.94492246e-03 1.56823220e-04 9.99950536e-01 1.28762150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.126338938000002 meters Centerline goodness [0,1] 0.9962743402906427 Centerline is valid? [True, True] Translation: X:-11.66, Y:-0.34, Z:0.13 [[ 9.99572510e-01 2.78826881e-02 -8.79500407e-03 -1.16607426e+01] [-2.78828064e-02 9.99611193e-01 1.09189598e-04 -3.43287109e-01] [ 8.79462901e-03 1.36086475e-04 9.99961317e-01 1.27785252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.156338938000001 meters Centerline goodness [0,1] 0.9962714238628873 Centerline is valid? [True, True] Translation: X:-11.69, Y:-0.34, Z:0.13 [[ 9.99468957e-01 3.05552608e-02 -1.13216866e-02 -1.16892670e+01] [-3.05556612e-02 9.99533057e-01 1.37644223e-04 -3.44299809e-01] [ 1.13206058e-02 2.08370491e-04 9.99935898e-01 1.26608008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.186338938000002 meters Centerline goodness [0,1] 0.9961025302620997 Centerline is valid? [True, True] Translation: X:-11.72, Y:-0.34, Z:0.12 [[ 9.99342410e-01 3.28134053e-02 -1.54281661e-02 -1.17190152e+01] [-3.28144170e-02 9.99461444e-01 1.87638918e-04 -3.40995822e-01] [ 1.54260142e-02 3.18750747e-04 9.99880961e-01 1.15555658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.216338938000002 meters Centerline goodness [0,1] 0.9963651383725733 Centerline is valid? [True, True] Translation: X:-11.75, Y:-0.35, Z:0.12 [[ 9.99391173e-01 3.14179478e-02 -1.51721953e-02 -1.17473457e+01] [-3.14187354e-02 9.99506292e-01 1.86507101e-04 -3.45409291e-01] [ 1.51705644e-02 2.90297640e-04 9.99884878e-01 1.18925517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.246338938000001 meters Centerline goodness [0,1] 0.9962291366165259 Centerline is valid? [True, True] Translation: X:-11.78, Y:-0.35, Z:0.13 [[ 9.99440941e-01 3.16589876e-02 -1.07477080e-02 -1.17753989e+01] [-3.16593845e-02 9.99498707e-01 1.33256058e-04 -3.46234004e-01] [ 1.07465390e-02 2.07084258e-04 9.99942233e-01 1.29008179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.276338938000002 meters Centerline goodness [0,1] 0.9959604658792651 Centerline is valid? [True, True] Translation: X:-11.80, Y:-0.34, Z:0.14 [[ 9.99405830e-01 3.28853057e-02 -1.03220351e-02 -1.18035228e+01] [-3.28856884e-02 9.99459111e-01 1.32697991e-04 -3.35431657e-01] [ 1.03208158e-02 2.06828083e-04 9.99946718e-01 1.37606483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.306338938000001 meters Centerline goodness [0,1] 0.9958889393876792 Centerline is valid? [True, True] Translation: X:-11.83, Y:-0.34, Z:0.13 [[ 9.99414073e-01 3.29261193e-02 -9.34778310e-03 -1.18320760e+01] [-3.29264509e-02 9.99457770e-01 1.18457751e-04 -3.36426187e-01] [ 9.34661481e-03 1.89400978e-04 9.99956302e-01 1.34179493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.336338938000003 meters Centerline goodness [0,1] 0.9962416883492339 Centerline is valid? [True, True] Translation: X:-11.86, Y:-0.34, Z:0.14 [[ 9.99436451e-01 3.23873396e-02 -8.82278464e-03 -1.18620565e+01] [-3.23876165e-02 9.99475377e-01 1.11531378e-04 -3.40423258e-01] [ 8.82176821e-03 1.74280441e-04 9.99961072e-01 1.42586667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.366338938000002 meters Centerline goodness [0,1] 0.996160356715247 Centerline is valid? [True, True] Translation: X:-11.89, Y:-0.36, Z:0.13 [[ 9.99479652e-01 3.01789647e-02 -1.13865943e-02 -1.18933047e+01] [-3.01792861e-02 9.99544491e-01 1.43632544e-04 -3.56337590e-01] [ 1.13857423e-02 2.00081482e-04 9.99935160e-01 1.26171574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.396338938000001 meters Centerline goodness [0,1] 0.996160356715247 Centerline is valid? [True, True] Translation: X:-11.92, Y:-0.36, Z:0.13 [[ 9.99471124e-01 3.04601254e-02 -1.13865059e-02 -1.19206675e+01] [-3.04603862e-02 9.99535963e-01 1.50564382e-04 -3.56164552e-01] [ 1.13858083e-02 1.96352614e-04 9.99935160e-01 1.26534361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.426338938000002 meters Centerline goodness [0,1] 0.996413332508812 Centerline is valid? [True, True] Translation: X:-11.95, Y:-0.35, Z:0.14 [[ 9.99508938e-01 2.89514264e-02 -1.19873882e-02 -1.19485500e+01] [-2.89516135e-02 9.99580802e-01 1.57964728e-04 -3.48253083e-01] [ 1.19869365e-02 1.89167073e-04 9.99928136e-01 1.43050264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.456338938000002 meters Centerline goodness [0,1] 0.9957517889917716 Centerline is valid? [True, True] Translation: X:-11.98, Y:-0.34, Z:0.14 [[ 9.99489798e-01 2.97495606e-02 -1.16235538e-02 -1.19768035e+01] [-2.97497278e-02 9.99557366e-01 1.58559977e-04 -3.35115722e-01] [ 1.16231259e-02 1.87318482e-04 9.99932432e-01 1.37031378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.486338938000001 meters Centerline goodness [0,1] 0.9950475640205526 Centerline is valid? [True, True] Translation: X:-12.01, Y:-0.33, Z:0.13 [[ 9.99431165e-01 3.09388320e-02 -1.34214180e-02 -1.20061193e+01] [-3.09391737e-02 9.99521253e-01 1.82225216e-04 -3.33464128e-01] [ 1.34206304e-02 2.33126023e-04 9.99909912e-01 1.31987974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.516338938000002 meters Centerline goodness [0,1] 0.9961958319550116 Centerline is valid? [True, True] Translation: X:-12.03, Y:-0.35, Z:0.13 [[ 9.99350266e-01 3.24922716e-02 -1.55980399e-02 -1.20341481e+01] [-3.24929149e-02 9.99471943e-01 2.12251271e-04 -3.49095394e-01] [ 1.55966998e-02 2.94712419e-04 9.99878321e-01 1.31485207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.546338938000002 meters Centerline goodness [0,1] 0.9959422439185153 Centerline is valid? [True, True] Translation: X:-12.06, Y:-0.35, Z:0.14 [[ 9.99435302e-01 3.04760595e-02 -1.41522444e-02 -1.20628685e+01] [-3.04763066e-02 9.99535470e-01 1.98250263e-04 -3.48093625e-01] [ 1.41517122e-02 2.33169830e-04 9.99899832e-01 1.39041652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.576338938000001 meters Centerline goodness [0,1] 0.9955456570155902 Centerline is valid? [True, True] Translation: X:-12.09, Y:-0.34, Z:0.15 [[ 9.99498187e-01 2.96160408e-02 -1.12367199e-02 -1.20914795e+01] [-2.96161580e-02 9.99561333e-01 1.56008208e-04 -3.41517817e-01] [ 1.12364110e-02 1.76858550e-04 9.99936854e-01 1.49531329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.606338938000002 meters Centerline goodness [0,1] 0.9963442185253646 Centerline is valid? [True, True] Translation: X:-12.12, Y:-0.34, Z:0.15 [[ 9.99487178e-01 3.05962993e-02 -9.44706375e-03 -1.21194273e+01] [-3.05964028e-02 9.99531812e-01 1.33601582e-04 -3.37362274e-01] [ 9.44672846e-03 1.55513099e-04 9.99955367e-01 1.54279750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.636338938000002 meters Centerline goodness [0,1] 0.9966961482423919 Centerline is valid? [True, True] Translation: X:-12.15, Y:-0.34, Z:0.15 [[ 9.99460651e-01 3.14784667e-02 -9.35483986e-03 -1.21487745e+01] [-3.14785957e-02 9.99504417e-01 1.33487476e-04 -3.38992367e-01] [ 9.35440574e-03 1.61061743e-04 9.99956234e-01 1.50127157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.666338938 meters Centerline goodness [0,1] 0.997057310422883 Centerline is valid? [True, True] Translation: X:-12.18, Y:-0.34, Z:0.15 [[ 9.99464192e-01 3.03374757e-02 -1.22868595e-02 -1.21786338e+01] [-3.03376294e-02 9.99539693e-01 1.73920111e-04 -3.38240269e-01] [ 1.22864801e-02 1.98927267e-04 9.99924499e-01 1.52682232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.696338938000002 meters Centerline goodness [0,1] 0.9965346534653465 Centerline is valid? [True, True] Translation: X:-12.21, Y:-0.34, Z:0.15 [[ 9.99536950e-01 2.82358469e-02 -1.13411635e-02 -1.22077698e+01] [-2.82357831e-02 9.99601277e-01 1.65772277e-04 -3.36848218e-01] [ 1.13413222e-02 1.54531116e-04 9.99935673e-01 1.49315809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.726338938000001 meters Centerline goodness [0,1] 0.9971336069123379 Centerline is valid? [True, True] Translation: X:-12.24, Y:-0.33, Z:0.15 [[ 9.99529309e-01 2.83351183e-02 -1.17592747e-02 -1.22354137e+01] [-2.83350696e-02 9.99598467e-01 1.70786894e-04 -3.34645379e-01] [ 1.17593922e-02 1.62493360e-04 9.99930843e-01 1.51878997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.756338938000003 meters Centerline goodness [0,1] 0.9968465311843028 Centerline is valid? [True, True] Translation: X:-12.26, Y:-0.33, Z:0.15 [[ 9.99650137e-01 2.38783423e-02 -1.13766798e-02 -1.22644665e+01] [-2.38779555e-02 9.99714867e-01 1.69851767e-04 -3.31823821e-01] [ 1.13774917e-02 1.01859510e-04 9.99935269e-01 1.50221140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.786338938000002 meters Centerline goodness [0,1] 0.9960440103844728 Centerline is valid? [True, True] Translation: X:-12.29, Y:-0.33, Z:0.16 [[ 9.99671948e-01 2.26187306e-02 -1.20161731e-02 -1.22925468e+01] [-2.26181703e-02 9.99744160e-01 1.82542332e-04 -3.30336595e-01] [ 1.20172278e-02 8.93014009e-05 9.99927787e-01 1.58201658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.816338938000001 meters Centerline goodness [0,1] 0.9964493621237769 Centerline is valid? [True, True] Translation: X:-12.32, Y:-0.33, Z:0.17 [[ 9.99707175e-01 2.19525759e-02 -1.01808048e-02 -1.23203502e+01] [-2.19521485e-02 9.99759011e-01 1.53744078e-04 -3.31356565e-01] [ 1.01817264e-02 6.97914809e-05 9.99948162e-01 1.67684397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.846338938000002 meters Centerline goodness [0,1] 0.9966526159186709 Centerline is valid? [True, True] Translation: X:-12.35, Y:-0.33, Z:0.17 [[ 9.99689862e-01 2.27766262e-02 -1.00699727e-02 -1.23474094e+01] [-2.27762332e-02 9.99740576e-01 1.53713956e-04 -3.30553363e-01] [ 1.00708614e-02 7.56897624e-05 9.99949285e-01 1.70471427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.876338938000002 meters Centerline goodness [0,1] 0.996924093226812 Centerline is valid? [True, True] Translation: X:-12.38, Y:-0.33, Z:0.18 [[ 9.99628915e-01 2.46127106e-02 -1.16724915e-02 -1.23762069e+01] [-2.46122606e-02 9.99697056e-01 1.82215038e-04 -3.25959886e-01] [ 1.16734402e-02 1.05138983e-04 9.99931858e-01 1.80760420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.906338938000001 meters Centerline goodness [0,1] 0.9970921839554547 Centerline is valid? [True, True] Translation: X:-12.40, Y:-0.33, Z:0.17 [[ 9.99632341e-01 2.43999083e-02 -1.18248740e-02 -1.24046185e+01] [-2.43993894e-02 9.99702273e-01 1.88169432e-04 -3.25899782e-01] [ 1.18259447e-02 1.00419455e-04 9.99930066e-01 1.68724775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.936338938000002 meters Centerline goodness [0,1] 0.9957114444352366 Centerline is valid? [True, True] Translation: X:-12.43, Y:-0.32, Z:0.17 [[ 9.99592758e-01 2.67255935e-02 -1.00030867e-02 -1.24326171e+01] [-2.67253493e-02 9.99642802e-01 1.58103631e-04 -3.23117990e-01] [ 1.00037391e-02 1.09296743e-04 9.99949955e-01 1.74050335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.966338938000002 meters Centerline goodness [0,1] 0.9968585954614971 Centerline is valid? [True, True] Translation: X:-12.46, Y:-0.31, Z:0.18 [[ 9.99555065e-01 2.91158059e-02 -6.47619610e-03 -1.24599604e+01] [-2.91157420e-02 9.99576041e-01 1.04173746e-04 -3.11683935e-01] [ 6.47648357e-03 8.44318592e-05 9.99979024e-01 1.83520986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.996338938000001 meters Centerline goodness [0,1] 0.9960403390459692 Centerline is valid? [True, True] Translation: X:-12.49, Y:-0.30, Z:0.19 [[ 9.99521785e-01 3.02536049e-02 -6.39689212e-03 -1.24919859e+01] [-3.02535850e-02 9.99542251e-01 9.98985653e-05 -3.00646493e-01] [ 6.39698624e-03 9.36781274e-05 9.99979535e-01 1.88541940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.026338938000002 meters Centerline goodness [0,1] 0.9952835025120476 Centerline is valid? [True, True] Translation: X:-12.52, Y:-0.30, Z:0.18 [[ 9.99619466e-01 2.57719228e-02 -9.83518051e-03 -1.25241637e+01] [-2.57716603e-02 9.99667844e-01 1.53448293e-04 -2.99679406e-01] [ 9.83586835e-03 1.00079030e-04 9.99951622e-01 1.79990221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.056338938000001 meters Centerline goodness [0,1] 0.9945097877940451 Centerline is valid? [True, True] Translation: X:-12.55, Y:-0.30, Z:0.18 [[ 9.99592882e-01 2.54062490e-02 -1.29843357e-02 -1.25524441e+01] [-2.54057228e-02 9.99677201e-01 2.05493095e-04 -3.01640238e-01] [ 1.29853652e-02 1.24466998e-04 9.99915679e-01 1.77145800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.086338938000003 meters Centerline goodness [0,1] 0.9941099882199764 Centerline is valid? [True, True] Translation: X:-12.58, Y:-0.30, Z:0.19 [[ 9.99673403e-01 2.34096350e-02 -1.02506300e-02 -1.25820177e+01] [-2.34092011e-02 9.99725954e-01 1.62322595e-04 -2.99532946e-01] [ 1.02516208e-02 7.76894792e-05 9.99947448e-01 1.89463324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.116338938000002 meters Centerline goodness [0,1] 0.994582681057922 Centerline is valid? [True, True] Translation: X:-12.61, Y:-0.30, Z:0.20 [[ 9.99721256e-01 2.25388972e-02 -7.02916400e-03 -1.26096413e+01] [-2.25386620e-02 9.99745966e-01 1.12683968e-04 -2.95554219e-01] [ 7.02991813e-03 4.57753938e-05 9.99975289e-01 1.99661030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.146338938000001 meters Centerline goodness [0,1] 0.9940362350134699 Centerline is valid? [True, True] Translation: X:-12.64, Y:-0.30, Z:0.19 [[ 9.99840962e-01 1.64797718e-02 -6.81668600e-03 -1.26398095e+01] [-1.64794124e-02 9.99864199e-01 1.08885494e-04 -2.97200776e-01] [ 6.81755470e-03 3.46680323e-06 9.99976760e-01 1.90910732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.176338938000002 meters Centerline goodness [0,1] 0.9933509539935574 Centerline is valid? [True, True] Translation: X:-12.67, Y:-0.30, Z:0.18 [[ 9.99832572e-01 1.44353745e-02 -1.12449422e-02 -1.26681147e+01] [-1.44342571e-02 9.99895804e-01 1.80522277e-04 -3.01811454e-01] [ 1.12463765e-02 -1.81796650e-05 9.99936757e-01 1.83316944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.206338938000002 meters Centerline goodness [0,1] 0.9922198108185578 Centerline is valid? [True, True] Translation: X:-12.70, Y:-0.30, Z:0.19 [[ 9.99928855e-01 1.01518619e-02 -6.26297552e-03 -1.26972699e+01] [-1.01514282e-02 9.99948468e-01 1.01032327e-04 -3.03311789e-01] [ 6.26367844e-03 -3.74469923e-05 9.99980382e-01 1.92979792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.236338938000001 meters Centerline goodness [0,1] 0.9926585506292671 Centerline is valid? [True, True] Translation: X:-12.72, Y:-0.30, Z:0.20 [[ 9.99889371e-01 1.36306346e-02 -5.95415214e-03 -1.27244647e+01] [-1.36302986e-02 9.99907098e-01 9.70164630e-05 -2.96039105e-01] [ 5.95492139e-03 -1.58488586e-05 9.99982269e-01 2.00497829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.266338938000002 meters Centerline goodness [0,1] 0.9930830039525692 Centerline is valid? [True, True] Translation: X:-12.75, Y:-0.28, Z:0.21 [[ 9.99849395e-01 1.67251077e-02 -4.63225242e-03 -1.27523094e+01] [-1.67249345e-02 9.99860126e-01 7.61315843e-05 -2.83165312e-01] [ 4.63287780e-03 1.35399991e-06 9.99989268e-01 2.06297474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.296338938000002 meters Centerline goodness [0,1] 0.9909260359271624 Centerline is valid? [True, True] Translation: X:-12.78, Y:-0.28, Z:0.20 [[ 9.99840111e-01 1.70531737e-02 -5.37977027e-03 -1.27833322e+01] [-1.70529552e-02 9.99854584e-01 8.64799601e-05 -2.81907005e-01] [ 5.38046272e-03 5.27484872e-06 9.99985525e-01 1.99329058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.326338938000001 meters Centerline goodness [0,1] 0.9924299772899319 Centerline is valid? [True, True] Translation: X:-12.81, Y:-0.28, Z:0.20 [[ 9.99806112e-01 1.90075789e-02 -5.14296300e-03 -1.28139121e+01] [-1.90074029e-02 9.99819340e-01 8.31052007e-05 -2.78612506e-01] [ 5.14361350e-03 1.46652821e-05 9.99986771e-01 1.97128846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.356338938000002 meters Centerline goodness [0,1] 0.9895818496286499 Centerline is valid? [True, True] Translation: X:-12.84, Y:-0.28, Z:0.20 [[ 9.99876291e-01 1.55120320e-02 -2.60383207e-03 -1.28447382e+01] [-1.55119757e-02 9.99879681e-01 4.18116188e-05 -2.76635961e-01] [ 2.60416737e-03 -1.41586638e-06 9.99996609e-01 1.99133070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.386338938000002 meters Centerline goodness [0,1] 0.9918435272122121 Centerline is valid? [True, True] Translation: X:-12.88, Y:-0.27, Z:0.21 [[ 9.99828426e-01 1.81934057e-02 -3.48105215e-03 -1.28754586e+01] [-1.81933233e-02 9.99834486e-01 5.53426657e-05 -2.66098015e-01] [ 3.48148286e-03 7.99873690e-06 9.99993940e-01 2.05284301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.416338938000003 meters Centerline goodness [0,1] 0.9892119404204891 Centerline is valid? [True, True] Translation: X:-12.91, Y:-0.26, Z:0.20 [[ 9.99889515e-01 1.47975818e-02 -1.41059942e-03 -1.29080225e+01] [-1.47975660e-02 9.99890510e-01 2.17005067e-05 -2.64536662e-01] [ 1.41076609e-03 -8.24671141e-07 9.99999005e-01 2.02049284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.446338938000002 meters Centerline goodness [0,1] 0.9873165170300698 Centerline is valid? [True, True] Translation: X:-12.94, Y:-0.27, Z:0.20 [[ 9.99914055e-01 1.28171200e-02 -2.75738594e-03 -1.29388500e+01] [-1.28170520e-02 9.99917857e-01 4.23290734e-05 -2.67368657e-01] [ 2.75770198e-03 -6.98387655e-06 9.99996198e-01 2.02257086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.476338938000001 meters Centerline goodness [0,1] 0.986011426712482 Centerline is valid? [True, True] Translation: X:-12.97, Y:-0.28, Z:0.20 [[ 9.99974121e-01 7.15448529e-03 -7.55079616e-04 -1.29706388e+01] [-7.15447862e-03 9.99974406e-01 1.15354050e-05 -2.78011505e-01] [ 7.55142821e-04 -6.13290549e-06 9.99999715e-01 2.00140091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.506338938000003 meters Centerline goodness [0,1] 0.9845528455284552 Centerline is valid? [True, True] Translation: X:-13.00, Y:-0.28, Z:0.21 [[ 9.99979688e-01 6.34434368e-03 -6.11284704e-04 -1.30018593e+01] [-6.34433936e-03 9.99979874e-01 9.00703277e-06 -2.76622582e-01] [ 6.11329545e-04 -5.12865221e-06 9.99999813e-01 2.08285431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.536338938000002 meters Centerline goodness [0,1] 0.9840559668103799 Centerline is valid? [True, True] Translation: X:-13.03, Y:-0.27, Z:0.21 [[ 9.99997023e-01 2.29134046e-03 8.39196323e-04 -1.30326379e+01] [-2.29132977e-03 9.99997375e-01 -1.37015646e-05 -2.74760975e-01] [-8.39225515e-04 1.17786483e-05 9.99999648e-01 2.14453806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.566338938000001 meters Centerline goodness [0,1] 0.980170372918395 Centerline is valid? [True, True] Translation: X:-13.06, Y:-0.27, Z:0.21 [[ 9.99995464e-01 -2.42675016e-03 1.78387993e-03 -1.30643322e+01] [ 2.42680497e-03 9.99997055e-01 -2.85586537e-05 -2.74332116e-01] [-1.78380538e-03 3.28876529e-05 9.99998408e-01 2.12747319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.596338938000002 meters Centerline goodness [0,1] 0.980231641501425 Centerline is valid? [True, True] Translation: X:-13.10, Y:-0.28, Z:0.20 [[ 9.99987823e-01 -4.54986555e-03 1.91097302e-03 -1.30963214e+01] [ 4.54993249e-03 9.99989649e-01 -3.06820991e-05 -2.75020534e-01] [-1.91081364e-03 3.93765237e-05 9.99998174e-01 2.01253641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.626338938000002 meters Centerline goodness [0,1] 0.9790181627803954 Centerline is valid? [True, True] Translation: X:-13.13, Y:-0.28, Z:0.21 [[ 9.99987176e-01 -3.81497491e-03 3.33069556e-03 -1.31271111e+01] [ 3.81517083e-03 9.99992721e-01 -5.24730212e-05 -2.77702566e-01] [-3.33047114e-03 6.51795209e-05 9.99994452e-01 2.08233853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.656338938000001 meters Centerline goodness [0,1] 0.9790902644109006 Centerline is valid? [True, True] Translation: X:-13.16, Y:-0.28, Z:0.21 [[ 9.99975458e-01 6.63700996e-04 6.97441377e-03 -1.31583274e+01] [-6.62944162e-04 9.99999774e-01 -1.10827110e-04 -2.80067203e-01] [-6.97448575e-03 1.06200743e-04 9.99975672e-01 2.11095294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.686338938000002 meters Centerline goodness [0,1] 0.9761635194694918 Centerline is valid? [True, True] Translation: X:-13.19, Y:-0.27, Z:0.21 [[ 9.99968083e-01 -7.11808427e-04 7.95779013e-03 -1.31900154e+01] [ 7.12813148e-04 9.99999738e-01 -1.23420799e-04 -2.72943997e-01] [-7.95770019e-03 1.29089277e-04 9.99968329e-01 2.09064555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.716338938000002 meters Centerline goodness [0,1] 0.9726196499038754 Centerline is valid? [True, True] Translation: X:-13.22, Y:-0.27, Z:0.20 [[ 9.99982602e-01 -4.70747365e-03 3.55467385e-03 -1.32213188e+01] [ 4.70769906e-03 9.99988917e-01 -5.50465181e-05 -2.65747218e-01] [-3.55437533e-03 7.17798951e-05 9.99993681e-01 2.01353722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.746338938000001 meters Centerline goodness [0,1] 0.9705014152850788 Centerline is valid? [True, True] Translation: X:-13.25, Y:-0.27, Z:0.20 [[ 9.99972417e-01 -4.18114378e-03 6.13862778e-03 -1.32520721e+01] [ 4.18180284e-03 9.99991252e-01 -9.45319113e-05 -2.68014109e-01] [-6.13817883e-03 1.20199835e-04 9.99981154e-01 2.03307234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.776338938000002 meters Centerline goodness [0,1] 0.9730999576536065 Centerline is valid? [True, True] Translation: X:-13.28, Y:-0.27, Z:0.21 [[ 9.99930459e-01 -3.26696964e-03 1.13315372e-02 -1.32842840e+01] [ 3.26915260e-03 9.99994641e-01 -1.74127555e-04 -2.73120794e-01] [-1.13309076e-02 2.11159970e-04 9.99935781e-01 2.13622805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.806338938000001 meters Centerline goodness [0,1] 0.9732502377531819 Centerline is valid? [True, True] Translation: X:-13.32, Y:-0.27, Z:0.22 [[ 9.99888265e-01 -5.97870749e-03 1.37008485e-02 -1.33156308e+01] [ 5.98209906e-03 9.99982086e-01 -2.06575911e-04 -2.67987483e-01] [-1.36993680e-02 2.88512663e-04 9.99906118e-01 2.18360211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.836338938000003 meters Centerline goodness [0,1] 0.9610981214222366 Centerline is valid? [True, True] Translation: X:-13.35, Y:-0.27, Z:0.21 [[ 9.99755380e-01 -1.31323784e-02 1.77966320e-02 -1.33466101e+01] [ 1.31391639e-02 9.99913643e-01 -2.64399017e-04 -2.73499642e-01] [-1.77916229e-02 4.98167203e-04 9.99841592e-01 2.06723043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.866338938000002 meters Centerline goodness [0,1] 0.9555988041973476 Centerline is valid? [True, True] Translation: X:-13.38, Y:-0.29, Z:0.20 [[ 9.99780218e-01 -1.55175585e-02 1.40968768e-02 -1.33792904e+01] [ 1.55220470e-02 9.99879504e-01 -2.09046318e-04 -2.87801398e-01] [-1.40919343e-02 4.27812758e-04 9.99900612e-01 1.99234906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.896338938000001 meters Centerline goodness [0,1] 0.9523042217209152 Centerline is valid? [True, True] Translation: X:-13.41, Y:-0.29, Z:0.19 [[ 9.99738880e-01 -1.92979455e-02 1.22377157e-02 -1.34101459e+01] [ 1.93015771e-02 9.99813691e-01 -1.78705405e-04 -2.93092243e-01] [-1.22319871e-02 4.14865955e-04 9.99925100e-01 1.92483819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.926338938000002 meters Centerline goodness [0,1] 0.9496506038696126 Centerline is valid? [True, False] Translation: X:-13.45, Y:-0.29, Z:0.19 [[ 9.99737695e-01 -1.92655376e-02 1.23846938e-02 -1.34484063e+01] [ 1.93154122e-02 9.99805755e-01 -3.92018652e-03 -2.87269674e-01] [-1.23067637e-02 4.15837371e-03 9.99915622e-01 1.93442641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.956338938000002 meters Centerline goodness [0,1] 0.9440344896731502 Centerline is valid? [False, False] Translation: X:-13.48, Y:-0.29, Z:0.20 [[ 9.99716891e-01 -1.64252374e-02 1.72147793e-02 -1.34823669e+01] [ 1.65217838e-02 9.99848482e-01 -5.48119865e-03 -2.86012132e-01] [-1.71221409e-02 5.76406573e-03 9.99836791e-01 1.96243803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.986338938000001 meters Centerline goodness [0,1] 0.9458501922418826 Centerline is valid? [False, False] Translation: X:-13.53, Y:-0.30, Z:0.20 [[ 9.99773413e-01 -1.41662545e-02 1.58883368e-02 -1.35286651e+01] [ 1.41827045e-02 9.99898994e-01 -9.23152193e-04 -2.96309686e-01] [-1.58736544e-02 1.14828261e-03 9.99873346e-01 2.02211346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.016338938000002 meters Centerline goodness [0,1] 0.944118474460475 Centerline is valid? [False, False] Translation: X:-13.56, Y:-0.30, Z:0.20 [[ 9.99863752e-01 -1.07767865e-02 1.25035124e-02 -1.35573336e+01] [ 1.07738562e-02 9.99941915e-01 3.01695972e-04 -3.00134069e-01] [-1.25060374e-02 -1.66943822e-04 9.99921783e-01 2.00660398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.046338938000002 meters Centerline goodness [0,1] 0.9348414656157873 Centerline is valid? [False, False] Translation: X:-13.58, Y:-0.30, Z:0.20 [[ 9.99911500e-01 -8.25075054e-03 1.04363909e-02 -1.35794934e+01] [ 8.31999854e-03 9.99943546e-01 -6.60932127e-03 -3.03337005e-01] [-1.03812698e-02 6.69556710e-03 9.99923696e-01 2.03392389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.076338938000001 meters Centerline goodness [0,1] 0.9359738899186074 Centerline is valid? [False, False] Translation: X:-13.59, Y:-0.31, Z:0.20 [[ 9.99926151e-01 -4.36565844e-03 1.13416721e-02 -1.35925245e+01] [ 4.50387614e-03 9.99915557e-01 -1.21898908e-02 -3.08610369e-01] [-1.12874975e-02 1.22400721e-02 9.99861377e-01 2.03740651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.106338938000002 meters Centerline goodness [0,1] 0.9256151900766729 Centerline is valid? [False, False] Translation: X:-13.63, Y:-0.30, Z:0.21 [[ 9.99882055e-01 -8.06004864e-03 1.30733387e-02 -1.36286943e+01] [ 8.12087928e-03 9.99956414e-01 -4.60663658e-03 -3.02476152e-01] [-1.30356392e-02 4.71226026e-03 9.99903929e-01 2.05991797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.136338938000002 meters Centerline goodness [0,1] 0.9348885934163342 Centerline is valid? [False, False] Translation: X:-13.65, Y:-0.31, Z:0.21 [[ 9.99849111e-01 -9.79246390e-03 1.43479536e-02 -1.36518785e+01] [ 9.79586235e-03 9.99952006e-01 -1.66598376e-04 -3.06597179e-01] [-1.43456335e-02 3.07123816e-04 9.99897049e-01 2.10792383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.166338938000003 meters Centerline goodness [0,1] 0.9337913301996705 Centerline is valid? [False, False] Translation: X:-13.68, Y:-0.31, Z:0.21 [[ 9.99888718e-01 -5.33032768e-03 1.39333949e-02 -1.36773724e+01] [ 5.38152688e-03 9.99978896e-01 -3.63966006e-03 -3.13654286e-01] [-1.39137003e-02 3.71423797e-03 9.99896301e-01 2.14232176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.196338938000002 meters Centerline goodness [0,1] 0.9250150330727601 Centerline is valid? [False, False] Translation: X:-13.70, Y:-0.31, Z:0.21 [[ 9.99897161e-01 -8.16678145e-03 1.17886191e-02 -1.37027304e+01] [ 8.18191458e-03 9.99965764e-01 -1.23604896e-03 -3.07810946e-01] [-1.17781210e-02 1.33237532e-03 9.99929748e-01 2.14612713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.226338938000001 meters Centerline goodness [0,1] 0.9310365754976533 Centerline is valid? [False, False] Translation: X:-13.73, Y:-0.31, Z:0.22 [[ 9.99950468e-01 -6.29719166e-03 7.70754634e-03 -1.37338805e+01] [ 6.31813082e-03 9.99976408e-01 -2.69538034e-03 -3.12400403e-01] [-7.69039117e-03 2.74394412e-03 9.99966664e-01 2.15632098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.256338938000003 meters Centerline goodness [0,1] 0.9207509921234464 Centerline is valid? [False, False] Translation: X:-13.76, Y:-0.31, Z:0.22 [[ 9.99951484e-01 -9.01146499e-03 3.97795497e-03 -1.37606458e+01] [ 9.00307194e-03 9.99957218e-01 2.12277891e-03 -3.12136856e-01] [-3.99691413e-03 -2.08686211e-03 9.99989835e-01 2.20144878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.286338938000002 meters Centerline goodness [0,1] 0.9169644479437951 Centerline is valid? [False, False] Translation: X:-13.79, Y:-0.32, Z:0.22 [[ 9.99948012e-01 -8.55141717e-03 5.55405637e-03 -1.37929080e+01] [ 8.55149296e-03 9.99963435e-01 1.01016607e-05 -3.21627652e-01] [-5.55393967e-03 3.73943384e-05 9.99984576e-01 2.23593456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.316338938000001 meters Centerline goodness [0,1] 0.9169644479437951 Centerline is valid? [False, False] Translation: X:-13.79, Y:-0.32, Z:0.22 [[ 9.99948012e-01 -8.55141717e-03 5.55405637e-03 -1.37929080e+01] [ 8.55149296e-03 9.99963435e-01 1.01016607e-05 -3.21627652e-01] [-5.55393967e-03 3.73943384e-05 9.99984576e-01 2.23593456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.346338938000002 meters Centerline goodness [0,1] 0.9166263603385731 Centerline is valid? [False, False] Translation: X:-13.82, Y:-0.32, Z:0.23 [[ 9.99906942e-01 -1.24590818e-02 5.55684770e-03 -1.38197083e+01] [ 1.24447179e-02 9.99919150e-01 2.61202755e-03 -3.17734118e-01] [-5.58894190e-03 -2.54263108e-03 9.99981149e-01 2.25426072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.376338938000002 meters Centerline goodness [0,1] 0.9173978819969743 Centerline is valid? [False, False] Translation: X:-13.85, Y:-0.32, Z:0.23 [[ 9.99927689e-01 -1.07956283e-02 5.29816659e-03 -1.38512576e+01] [ 1.07942548e-02 9.99941699e-01 2.87757288e-04 -3.21549090e-01] [-5.30096422e-03 -2.30546720e-04 9.99985923e-01 2.25805541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.406338938000001 meters Centerline goodness [0,1] 0.9067898997221215 Centerline is valid? [False, False] Translation: X:-13.87, Y:-0.32, Z:0.23 [[ 9.99885597e-01 -1.39437335e-02 5.86223448e-03 -1.38724916e+01] [ 1.39270180e-02 9.99898859e-01 2.88261171e-03 -3.18649652e-01] [-5.90183594e-03 -2.80063848e-03 9.99978662e-01 2.27163301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.436338938000002 meters Centerline goodness [0,1] 0.908454539952795 Centerline is valid? [False, False] Translation: X:-13.91, Y:-0.33, Z:0.23 [[ 9.99909962e-01 -1.30567760e-02 3.09657619e-03 -1.39078222e+01] [ 1.30465663e-02 9.99909462e-01 3.29470960e-03 -3.27357777e-01] [-3.13931411e-03 -3.25401327e-03 9.99989778e-01 2.29849003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.466338938000002 meters Centerline goodness [0,1] 0.9029859767891683 Centerline is valid? [False, False] Translation: X:-13.93, Y:-0.34, Z:0.23 [[ 9.99936430e-01 -1.12752461e-02 6.78867292e-05 -1.39294656e+01] [ 1.12752900e-02 9.99936197e-01 -6.85099160e-04 -3.39997008e-01] [-6.01577362e-05 6.85821051e-04 9.99999763e-01 2.34554563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.496338938000003 meters Centerline goodness [0,1] 0.8959192292994912 Centerline is valid? [False, False] Translation: X:-13.93, Y:-0.34, Z:0.24 [[ 9.99933380e-01 -1.15409380e-02 2.03509053e-04 -1.39336183e+01] [ 1.15410179e-02 9.99933322e-01 -3.96228213e-04 -3.41485085e-01] [-1.98922638e-04 3.98550518e-04 9.99999901e-01 2.36827852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.526338938000002 meters Centerline goodness [0,1] 0.9021341585949118 Centerline is valid? [False, False] Translation: X:-13.95, Y:-0.35, Z:0.24 [[ 9.99964244e-01 -7.98521823e-03 2.78332511e-03 -1.39548481e+01] [ 7.99933639e-03 9.99955006e-01 -5.09873039e-03 -3.48655207e-01] [-2.74248540e-03 5.12081283e-03 9.99983128e-01 2.40534866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.556338938000001 meters Centerline goodness [0,1] 0.8994016078012612 Centerline is valid? [False, False] Translation: X:-14.00, Y:-0.35, Z:0.24 [[ 9.99979132e-01 -5.63960987e-03 3.15128272e-03 -1.39953998e+01] [ 5.65767344e-03 9.99967447e-01 -5.75292429e-03 -3.48720865e-01] [-3.11873589e-03 5.77063317e-03 9.99978486e-01 2.43321703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.586338938000003 meters Centerline goodness [0,1] 0.89000583043487 Centerline is valid? [False, False] Translation: X:-14.02, Y:-0.35, Z:0.25 [[ 9.99973338e-01 -7.26536244e-03 7.32956443e-04 -1.40192215e+01] [ 7.26553622e-03 9.99973578e-01 -2.34698757e-04 -3.49321134e-01] [-7.31231905e-04 2.40017821e-04 9.99999704e-01 2.46703383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.616338938000002 meters Centerline goodness [0,1] 0.9003675876555178 Centerline is valid? [False, False] Translation: X:-14.05, Y:-0.35, Z:0.25 [[ 9.99987065e-01 -5.07586915e-03 3.24178447e-04 -1.40540936e+01] [ 5.07604225e-03 9.99986973e-01 -5.35407963e-04 -3.54813925e-01] [-3.21456563e-04 5.37046581e-04 9.99999804e-01 2.47601318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.646338938000001 meters Centerline goodness [0,1] 0.893370831659301 Centerline is valid? [False, False] Translation: X:-14.09, Y:-0.35, Z:0.25 [[ 9.99994819e-01 -3.19400284e-03 -3.99940514e-04 -1.40902446e+01] [ 3.19313814e-03 9.99992603e-01 -2.14436752e-03 -3.53906942e-01] [ 4.06786672e-04 2.14307934e-03 9.99997621e-01 2.47405472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.676338938000002 meters Centerline goodness [0,1] 0.8868304470398711 Centerline is valid? [False, False] Translation: X:-14.13, Y:-0.36, Z:0.25 [[ 9.99993135e-01 -7.62988336e-04 -3.62601778e-03 -1.41273175e+01] [ 7.53735044e-04 9.99996458e-01 -2.55259749e-03 -3.56575842e-01] [ 3.62795254e-03 2.54984691e-03 9.99990168e-01 2.49355457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.706338938000002 meters Centerline goodness [0,1] 0.8884031107708426 Centerline is valid? [False, False] Translation: X:-14.16, Y:-0.36, Z:0.25 [[ 9.99961610e-01 -1.42979555e-03 -8.64488926e-03 -1.41557808e+01] [ 1.44825773e-03 9.99996683e-01 2.12973551e-03 -3.58654839e-01] [ 8.64181551e-03 -2.14217378e-03 9.99960364e-01 2.53413511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.736338938000001 meters Centerline goodness [0,1] 0.8870103175882638 Centerline is valid? [False, False] Translation: X:-14.18, Y:-0.36, Z:0.26 [[ 9.99899121e-01 -4.96417157e-03 -1.33081016e-02 -1.41782980e+01] [ 5.01649387e-03 9.99979808e-01 3.90111765e-03 -3.57275688e-01] [ 1.32884671e-02 -3.96748412e-03 9.99903833e-01 2.55225320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.766338938000002 meters Centerline goodness [0,1] 0.8830854793858058 Centerline is valid? [False, False] Translation: X:-14.19, Y:-0.36, Z:0.26 [[ 9.99872126e-01 -7.19058645e-03 -1.42838070e-02 -1.41872426e+01] [ 7.21940329e-03 9.99972005e-01 1.96691026e-03 -3.57957703e-01] [ 1.42692639e-02 -2.06977931e-03 9.99896047e-01 2.59893504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.796338938000002 meters Centerline goodness [0,1] 0.8822161642078256 Centerline is valid? [False, False] Translation: X:-14.20, Y:-0.36, Z:0.27 [[ 9.99888506e-01 -7.23825209e-03 -1.30607547e-02 -1.41961520e+01] [ 7.27992475e-03 9.99968552e-01 3.14596033e-03 -3.62661054e-01] [ 1.30375727e-02 -3.24069088e-03 9.99909756e-01 2.65708038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.826338938000001 meters Centerline goodness [0,1] 0.8844973831438369 Centerline is valid? [False, False] Translation: X:-14.20, Y:-0.37, Z:0.27 [[ 9.99907986e-01 -8.36194592e-03 -1.06816461e-02 -1.42022298e+01] [ 8.39855115e-03 9.99958997e-01 3.38667881e-03 -3.70023190e-01] [ 1.06528889e-02 -3.47607754e-03 9.99937214e-01 2.68384195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.856338938000002 meters Centerline goodness [0,1] 0.878169437212097 Centerline is valid? [False, False] Translation: X:-14.20, Y:-0.38, Z:0.27 [[ 9.99883963e-01 -1.15635083e-02 -9.91690962e-03 -1.42045021e+01] [ 1.15749512e-02 9.99932406e-01 1.09726302e-03 -3.75771457e-01] [ 9.90355109e-03 -1.21192344e-03 9.99950224e-01 2.68732979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.886338938000002 meters Centerline goodness [0,1] 0.8761904761904762 Centerline is valid? [False, False] Translation: X:-14.21, Y:-0.38, Z:0.27 [[ 9.99840277e-01 -1.18941631e-02 -1.33397544e-02 -1.42066752e+01] [ 1.19360226e-02 9.99924073e-01 3.06273602e-03 -3.80392349e-01] [ 1.33023129e-02 -3.22147044e-03 9.99906331e-01 2.70517245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.916338938000003 meters Centerline goodness [0,1] 0.876137522750455 Centerline is valid? [False, False] Translation: X:-14.21, Y:-0.39, Z:0.27 [[ 9.99814120e-01 -1.31950568e-02 -1.40575958e-02 -1.42134648e+01] [ 1.32493249e-02 9.99905101e-01 3.77429622e-03 -3.86419716e-01] [ 1.40064597e-02 -3.95984831e-03 9.99894064e-01 2.73914373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.946338938000002 meters Centerline goodness [0,1] 0.8639354488198483 Centerline is valid? [False, False] Translation: X:-14.23, Y:-0.39, Z:0.28 [[ 9.99887942e-01 -9.67300651e-03 -1.14252209e-02 -1.42322292e+01] [ 9.66280815e-03 9.99952865e-01 -9.47483734e-04 -3.93170863e-01] [ 1.14338474e-02 8.36977843e-04 9.99934281e-01 2.76196457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.976338938000001 meters Centerline goodness [0,1] 0.8654046892564637 Centerline is valid? [False, False] Translation: X:-14.28, Y:-0.39, Z:0.28 [[ 9.99897638e-01 -7.70006517e-03 -1.20591052e-02 -1.42761843e+01] [ 7.66678739e-03 9.99966680e-01 -2.80335950e-03 -3.94123828e-01] [ 1.20802895e-02 2.71061795e-03 9.99923357e-01 2.80117218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.006338938000003 meters Centerline goodness [0,1] 0.8845720947059533 Centerline is valid? [False, False] Translation: X:-14.31, Y:-0.40, Z:0.28 [[ 9.99916363e-01 -4.58852891e-03 -1.20918662e-02 -1.43135246e+01] [ 4.55551408e-03 9.99985824e-01 -2.75646443e-03 -3.95687958e-01] [ 1.21043429e-02 2.70114922e-03 9.99923091e-01 2.81803041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.036338938000002 meters Centerline goodness [0,1] 0.8698268921095008 Centerline is valid? [False, False] Translation: X:-14.32, Y:-0.40, Z:0.29 [[ 9.99927932e-01 -3.63437926e-03 -1.14421448e-02 -1.43233588e+01] [ 3.61259422e-03 9.99991624e-01 -1.92402359e-03 -3.95599601e-01] [ 1.14490416e-02 1.88254910e-03 9.99932685e-01 2.85643703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.066338938000001 meters Centerline goodness [0,1] 0.8759688361886739 Centerline is valid? [False, False] Translation: X:-14.39, Y:-0.40, Z:0.29 [[ 9.99884396e-01 4.18884827e-03 -1.46166940e-02 -1.43905316e+01] [-4.19106852e-03 9.99991210e-01 -1.21270180e-04 -4.04709326e-01] [ 1.46160576e-02 1.82515727e-04 9.99893163e-01 2.87770444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.096338938000002 meters Centerline goodness [0,1] 0.8652651888176538 Centerline is valid? [False, False] Translation: X:-14.44, Y:-0.41, Z:0.29 [[ 9.99772500e-01 6.00066199e-03 -2.04680422e-02 -1.44353813e+01] [-5.97961484e-03 9.99981529e-01 1.08934034e-03 -4.10697439e-01] [ 2.04742009e-02 -9.66701501e-04 9.99789914e-01 2.90072552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.126338938000002 meters Centerline goodness [0,1] 0.8795812574379248 Centerline is valid? [False, False] Translation: X:-14.48, Y:-0.41, Z:0.29 [[ 9.99741045e-01 5.81800080e-03 -2.19998685e-02 -1.44832659e+01] [-5.85466411e-03 9.99981577e-01 -1.60248194e-03 -4.10498904e-01] [ 2.19901400e-02 1.73086881e-03 9.99756689e-01 2.92188083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.156338938000001 meters Centerline goodness [0,1] 0.8698509990523621 Centerline is valid? [False, False] Translation: X:-14.53, Y:-0.41, Z:0.30 [[ 9.99760945e-01 7.14364554e-03 -2.06644900e-02 -1.45304800e+01] [-7.21062329e-03 9.99968983e-01 -3.16850705e-03 -4.10657449e-01] [ 2.06412143e-02 3.31675345e-03 9.99781446e-01 2.97369971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.186338938000002 meters Centerline goodness [0,1] 0.8823114585642038 Centerline is valid? [False, False] Translation: X:-14.57, Y:-0.41, Z:0.30 [[ 9.99699716e-01 8.82326333e-03 -2.28610429e-02 -1.45740748e+01] [-8.90169222e-03 9.99954831e-01 -3.33118670e-03 -4.14936896e-01] [ 2.28306184e-02 3.53368837e-03 9.99733102e-01 3.01029653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.216338938000002 meters Centerline goodness [0,1] 0.8753535924997979 Centerline is valid? [False, False] Translation: X:-14.61, Y:-0.42, Z:0.30 [[ 9.99615196e-01 9.13696146e-03 -2.61911442e-02 -1.46149960e+01] [-9.25393103e-03 9.99947727e-01 -4.34827236e-03 -4.18387599e-01] [ 2.61500452e-02 4.58897017e-03 9.99647496e-01 3.02809010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.246338938000003 meters Centerline goodness [0,1] 0.8659117152523145 Centerline is valid? [False, False] Translation: X:-14.65, Y:-0.42, Z:0.30 [[ 9.99535857e-01 9.21359859e-03 -2.90375777e-02 -1.46530754e+01] [-9.34534094e-03 9.99946631e-01 -4.40451668e-03 -4.21000766e-01] [ 2.89954466e-02 4.67383841e-03 9.99568617e-01 3.03337055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.276338938000002 meters Centerline goodness [0,1] 0.8543299945585361 Centerline is valid? [False, False] Translation: X:-14.68, Y:-0.42, Z:0.31 [[ 9.99376814e-01 5.03318670e-03 -3.49378193e-02 -1.46803597e+01] [-5.08724510e-03 9.99985996e-01 -1.45855075e-03 -4.23312699e-01] [ 3.49299889e-02 1.63537905e-03 9.99388424e-01 3.06173223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.306338938000001 meters Centerline goodness [0,1] 0.8562606301125779 Centerline is valid? [False, False] Translation: X:-14.70, Y:-0.43, Z:0.31 [[ 9.99347086e-01 -8.60532446e-04 -3.61200863e-02 -1.47029033e+01] [ 9.06492094e-04 9.99998800e-01 1.25605512e-03 -4.26383492e-01] [ 3.61189621e-02 -1.28797760e-03 9.99346667e-01 3.08635746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.336338938000003 meters Centerline goodness [0,1] 0.8673568424458105 Centerline is valid? [False, False] Translation: X:-14.71, Y:-0.43, Z:0.31 [[ 9.99391244e-01 -2.98200655e-03 -3.47598814e-02 -1.47070758e+01] [ 2.97275591e-03 9.99995531e-01 -3.17808935e-04 -4.28790264e-01] [ 3.47606737e-02 2.14282824e-04 9.99395642e-01 3.10462965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.366338938000002 meters Centerline goodness [0,1] 0.8535516698299883 Centerline is valid? [False, False] Translation: X:-14.71, Y:-0.43, Z:0.31 [[ 9.99435293e-01 -2.74837488e-03 -3.34894102e-02 -1.47078391e+01] [ 2.76531068e-03 9.99996071e-01 4.59399239e-04 -4.31930079e-01] [ 3.34880160e-02 -5.51748436e-04 9.99438967e-01 3.09840906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.396338938000001 meters Centerline goodness [0,1] 0.8524110958793646 Centerline is valid? [False, False] Translation: X:-14.71, Y:-0.44, Z:0.31 [[ 9.99469378e-01 -2.85160109e-03 -3.24473446e-02 -1.47083669e+01] [ 2.89296950e-03 9.99995061e-01 1.22806420e-03 -4.37119574e-01] [ 3.24436824e-02 -1.32128174e-03 9.99472692e-01 3.09103121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.426338938000002 meters Centerline goodness [0,1] 0.8601333790018737 Centerline is valid? [False, False] Translation: X:-14.71, Y:-0.45, Z:0.31 [[ 9.99468639e-01 -4.53455122e-03 -3.22781331e-02 -1.47107588e+01] [ 4.56486085e-03 9.99989207e-01 8.65384279e-04 -4.45208274e-01] [ 3.22738605e-02 -1.01226963e-03 9.99478551e-01 3.11143912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.456338938000002 meters Centerline goodness [0,1] 0.8587690565732541 Centerline is valid? [False, False] Translation: X:-14.71, Y:-0.45, Z:0.31 [[ 9.99443460e-01 -5.93287169e-03 -3.28263707e-02 -1.47149873e+01] [ 5.96395216e-03 9.99981855e-01 8.48980338e-04 -4.51301686e-01] [ 3.28207381e-02 -1.04428275e-03 9.99460709e-01 3.14161428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.486338938000001 meters Centerline goodness [0,1] 0.8422749158893568 Centerline is valid? [False, False] Translation: X:-14.72, Y:-0.45, Z:0.32 [[ 9.99362861e-01 -7.42686879e-03 -3.49100880e-02 -1.47198664e+01] [ 7.44434046e-03 9.99972222e-01 3.70520099e-04 -4.53095828e-01] [ 3.49063665e-02 -6.30166607e-04 9.99390388e-01 3.17262715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.516338938000002 meters Centerline goodness [0,1] 0.8511299435028249 Centerline is valid? [False, False] Translation: X:-14.74, Y:-0.46, Z:0.32 [[ 9.99463823e-01 -5.81698381e-03 -3.22215585e-02 -1.47386705e+01] [ 5.63731390e-03 9.99968069e-01 -5.66411965e-03 -4.60778015e-01] [ 3.22534777e-02 5.47943964e-03 9.99464701e-01 3.18536286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.546338938000002 meters Centerline goodness [0,1] 0.8543228335320147 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.46, Z:0.32 [[ 9.99610834e-01 -3.85985878e-03 -2.76275707e-02 -1.47690493e+01] [ 3.72251432e-03 9.99980466e-01 -5.02098928e-03 -4.63227290e-01] [ 2.76464113e-02 4.91619125e-03 9.99605676e-01 3.16211593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.576338938000003 meters Centerline goodness [0,1] 0.8462550607287449 Centerline is valid? [False, False] Translation: X:-14.80, Y:-0.47, Z:0.32 [[ 9.99555036e-01 -2.44915867e-03 -2.97276201e-02 -1.48046869e+01] [ 2.33106171e-03 9.99989256e-01 -4.00664067e-03 -4.69595260e-01] [ 2.97371136e-02 3.93556094e-03 9.99550006e-01 3.17606242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.606338938000002 meters Centerline goodness [0,1] 0.8472656801986393 Centerline is valid? [False, False] Translation: X:-14.84, Y:-0.47, Z:0.32 [[ 9.99433619e-01 -7.57288949e-04 -3.36432301e-02 -1.48433546e+01] [ 6.48955266e-04 9.99994570e-01 -3.23087666e-03 -4.73924105e-01] [ 3.36454941e-02 3.20721380e-03 9.99428684e-01 3.19406342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.636338938000002 meters Centerline goodness [0,1] 0.8546119348713184 Centerline is valid? [False, False] Translation: X:-14.88, Y:-0.47, Z:0.32 [[ 9.99352231e-01 -3.21047730e-04 -3.59863109e-02 -1.48830976e+01] [ 1.53151690e-04 9.99989092e-01 -4.66821244e-03 -4.74970418e-01] [ 3.59874171e-02 4.65967716e-03 9.99341380e-01 3.21050413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.666338938000003 meters Centerline goodness [0,1] 0.8334837273656981 Centerline is valid? [False, False] Translation: X:-14.94, Y:-0.47, Z:0.32 [[ 9.99351889e-01 3.63419557e-03 -3.58133193e-02 -1.49441248e+01] [-3.94448313e-03 9.99955264e-01 -8.59718361e-03 -4.74860881e-01] [ 3.57804733e-02 8.73287672e-03 9.99321517e-01 3.21686856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.696338938000002 meters Centerline goodness [0,1] 0.8556982505814541 Centerline is valid? [False, False] Translation: X:-14.98, Y:-0.48, Z:0.32 [[ 9.99198135e-01 5.72039155e-03 -3.96278143e-02 -1.49813887e+01] [-6.05510709e-03 9.99946959e-01 -8.33161225e-03 -4.76225409e-01] [ 3.95780523e-02 8.56488209e-03 9.99179774e-01 3.22637926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.726338938000001 meters Centerline goodness [0,1] 0.8604693579766537 Centerline is valid? [False, False] Translation: X:-15.02, Y:-0.48, Z:0.32 [[ 9.99131296e-01 7.83141909e-03 -4.09306884e-02 -1.50187265e+01] [-8.09595411e-03 9.99947374e-01 -6.30124212e-03 -4.78764806e-01] [ 4.08791867e-02 6.62714118e-03 9.99142119e-01 3.24397429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.756338938000003 meters Centerline goodness [0,1] 0.8537015991557756 Centerline is valid? [False, False] Translation: X:-15.06, Y:-0.48, Z:0.33 [[ 9.99153466e-01 9.36796023e-03 -4.00573704e-02 -1.50553759e+01] [-9.64042949e-03 9.99931655e-01 -6.61422753e-03 -4.79080396e-01] [ 3.99926709e-02 6.99479861e-03 9.99175490e-01 3.25912904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.786338938000002 meters Centerline goodness [0,1] 0.8588612345077994 Centerline is valid? [False, False] Translation: X:-15.09, Y:-0.48, Z:0.33 [[ 9.99106960e-01 9.97559787e-03 -4.10581292e-02 -1.50929150e+01] [-1.03341236e-02 9.99910225e-01 -8.52918839e-03 -4.79031620e-01] [ 4.09693595e-02 8.94587127e-03 9.99120355e-01 3.27408732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.816338938000001 meters Centerline goodness [0,1] 0.8598164914625995 Centerline is valid? [False, False] Translation: X:-15.13, Y:-0.48, Z:0.33 [[ 9.99036607e-01 1.12115148e-02 -4.24282804e-02 -1.51293347e+01] [-1.15148102e-02 9.99909821e-01 -6.91079523e-03 -4.80411695e-01] [ 4.23469738e-02 7.39269102e-03 9.99075614e-01 3.29270842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.846338938000002 meters Centerline goodness [0,1] 0.8653291637899525 Centerline is valid? [False, False] Translation: X:-15.16, Y:-0.48, Z:0.33 [[ 9.99061206e-01 1.16335193e-02 -4.17296969e-02 -1.51633352e+01] [-1.19120026e-02 9.99908369e-01 -6.43106295e-03 -4.83337470e-01] [ 4.16510573e-02 6.92210976e-03 9.99108239e-01 3.28822933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.876338938000002 meters Centerline goodness [0,1] 0.8666085086526952 Centerline is valid? [False, False] Translation: X:-15.21, Y:-0.48, Z:0.33 [[ 9.98991277e-01 7.84363045e-03 -4.42143245e-02 -1.52114708e+01] [-8.12065491e-03 9.99948486e-01 -6.08936184e-03 -4.79875615e-01] [ 4.41642841e-02 6.44226864e-03 9.99003510e-01 3.25839649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.906338938000003 meters Centerline goodness [0,1] 0.8715009873577493 Centerline is valid? [False, False] Translation: X:-15.23, Y:-0.48, Z:0.33 [[ 9.98939079e-01 3.52394907e-03 -4.59162072e-02 -1.52255429e+01] [-3.66719001e-03 9.99988668e-01 -3.03575312e-03 -4.76477294e-01] [ 4.59049890e-02 3.20091588e-03 9.98940682e-01 3.25472831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.936338938000002 meters Centerline goodness [0,1] 0.8751880310606984 Centerline is valid? [False, False] Translation: X:-15.27, Y:-0.48, Z:0.33 [[ 9.98829121e-01 -4.63610057e-03 -4.81549010e-02 -1.52668902e+01] [ 4.75813035e-03 9.99985752e-01 2.41978758e-03 -4.76166609e-01] [ 4.81429965e-02 -2.64608160e-03 9.98836949e-01 3.28995116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.966338938000002 meters Centerline goodness [0,1] 0.87409763856601 Centerline is valid? [False, False] Translation: X:-15.29, Y:-0.48, Z:0.33 [[ 9.98972751e-01 -3.59250528e-03 -4.51723104e-02 -1.52872687e+01] [ 3.44248754e-03 9.99988300e-01 -3.39836493e-03 -4.81635994e-01] [ 4.51839905e-02 3.23936884e-03 9.98973430e-01 3.31341566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.996338938000003 meters Centerline goodness [0,1] 0.8760628127415484 Centerline is valid? [False, False] Translation: X:-15.30, Y:-0.48, Z:0.34 [[ 9.98986677e-01 -3.41464679e-03 -4.48771597e-02 -1.52969132e+01] [ 3.29199447e-03 9.99990643e-01 -2.80668879e-03 -4.80192077e-01] [ 4.48863237e-02 2.65610935e-03 9.98988570e-01 3.36163773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.026338938 meters Centerline goodness [0,1] 0.8685728260205017 Centerline is valid? [False, False] Translation: X:-15.31, Y:-0.49, Z:0.34 [[ 9.98964834e-01 -2.94482325e-03 -4.53937097e-02 -1.53052993e+01] [ 2.86880081e-03 9.99994372e-01 -1.73979054e-03 -4.86163206e-01] [ 4.53985776e-02 1.60776406e-03 9.98967659e-01 3.40840394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.056338938 meters Centerline goodness [0,1] 0.8880502631471584 Centerline is valid? [False, False] Translation: X:-15.31, Y:-0.49, Z:0.34 [[ 9.98936356e-01 -2.67879672e-03 -4.60323882e-02 -1.53071192e+01] [ 2.62216166e-03 9.99995729e-01 -1.29067091e-03 -4.87359668e-01] [ 4.60356490e-02 1.16859373e-03 9.98939114e-01 3.42319392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.086338938 meters Centerline goodness [0,1] 0.8870543631138017 Centerline is valid? [False, False] Translation: X:-15.33, Y:-0.49, Z:0.35 [[ 9.98696195e-01 1.39820934e-03 -5.10289548e-02 -1.53282337e+01] [-1.67356159e-03 9.99984269e-01 -5.35367124e-03 -4.89694693e-01] [ 5.10206665e-02 5.43209119e-03 9.98682825e-01 3.45251701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.116338938000002 meters Centerline goodness [0,1] 0.88497111006758 Centerline is valid? [False, False] Translation: X:-15.34, Y:-0.49, Z:0.35 [[ 9.98647430e-01 1.62671265e-03 -5.19679231e-02 -1.53364170e+01] [-1.93260827e-03 9.99981100e-01 -5.83653055e-03 -4.85727796e-01] [ 5.19574466e-02 5.92906987e-03 9.98631699e-01 3.49917210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.146338938 meters Centerline goodness [0,1] 0.8964419131606345 Centerline is valid? [False, False] Translation: X:-15.34, Y:-0.48, Z:0.35 [[ 9.98575751e-01 3.33467475e-03 -5.32480084e-02 -1.53446979e+01] [-3.61019318e-03 9.99980585e-01 -5.07890073e-03 -4.84555413e-01] [ 5.32300382e-02 5.26390270e-03 9.98568402e-01 3.54373160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.176338938 meters Centerline goodness [0,1] 0.9069975954680687 Centerline is valid? [False, False] Translation: X:-15.35, Y:-0.49, Z:0.36 [[ 9.98541636e-01 5.56933137e-03 -5.36990097e-02 -1.53546126e+01] [-5.76440944e-03 9.99977335e-01 -3.47860589e-03 -4.85235456e-01] [ 5.36784191e-02 3.78307590e-03 9.98551108e-01 3.59475320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.206338938000002 meters Centerline goodness [0,1] 0.9069975954680687 Centerline is valid? [False, False] Translation: X:-15.35, Y:-0.49, Z:0.36 [[ 9.98541636e-01 5.56933137e-03 -5.36990097e-02 -1.53546126e+01] [-5.76440944e-03 9.99977335e-01 -3.47860589e-03 -4.85235456e-01] [ 5.36784191e-02 3.78307590e-03 9.98551108e-01 3.59475320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.236338938 meters Centerline goodness [0,1] 0.9101438025982515 Centerline is valid? [False, False] Translation: X:-15.37, Y:-0.49, Z:0.37 [[ 9.98475189e-01 7.45300930e-03 -5.46968843e-02 -1.53655101e+01] [-7.56845137e-03 9.99969547e-01 -1.90373892e-03 -4.88994772e-01] [ 5.46810300e-02 2.31480679e-03 9.98501190e-01 3.65720579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.266338938 meters Centerline goodness [0,1] 0.910762331838565 Centerline is valid? [False, False] Translation: X:-15.38, Y:-0.49, Z:0.37 [[ 9.98538765e-01 5.20883432e-03 -5.37885045e-02 -1.53820416e+01] [-5.07587364e-03 9.99983716e-01 2.60823204e-03 -4.86489589e-01] [ 5.38012145e-02 -2.33139714e-03 9.98548944e-01 3.66413921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.296338938 meters Centerline goodness [0,1] 0.9203062787136294 Centerline is valid? [False, False] Translation: X:-15.40, Y:-0.49, Z:0.37 [[ 9.98426898e-01 5.57991434e-03 -5.57906198e-02 -1.53979754e+01] [-5.88489164e-03 9.99968619e-01 -5.30366696e-03 -4.90441187e-01] [ 5.57592750e-02 5.62364550e-03 9.98428404e-01 3.66451667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.326338938 meters Centerline goodness [0,1] 0.9170298528840055 Centerline is valid? [False, False] Translation: X:-15.42, Y:-0.49, Z:0.37 [[ 9.98291982e-01 1.17708652e-03 -5.84100382e-02 -1.54166035e+01] [-1.33627910e-03 9.99995499e-01 -2.68644735e-03 -4.87044269e-01] [ 5.84066131e-02 2.75991096e-03 9.98289062e-01 3.68211410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.356338938 meters Centerline goodness [0,1] 0.9242033787376774 Centerline is valid? [False, False] Translation: X:-15.44, Y:-0.49, Z:0.37 [[ 9.98269553e-01 -2.41983548e-03 -5.87541030e-02 -1.54394242e+01] [ 2.53573640e-03 9.99994983e-01 1.89816703e-03 -4.91220007e-01] [ 5.87492150e-02 -2.04386727e-03 9.98270681e-01 3.71653800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.386338938 meters Centerline goodness [0,1] 0.9264216096933042 Centerline is valid? [False, False] Translation: X:-15.47, Y:-0.50, Z:0.37 [[ 9.98350896e-01 -3.42144820e-03 -5.73042874e-02 -1.54715339e+01] [ 3.58925374e-03 9.99989566e-01 2.82565570e-03 -4.99174355e-01] [ 5.72940217e-02 -3.02667553e-03 9.98352760e-01 3.72597643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.416338938 meters Centerline goodness [0,1] 0.9244419939145173 Centerline is valid? [False, False] Translation: X:-15.52, Y:-0.50, Z:0.37 [[ 9.98220062e-01 -9.21362096e-03 -5.89221250e-02 -1.55228693e+01] [ 9.31174275e-03 9.99955677e-01 1.39091797e-03 -5.03138225e-01] [ 5.89066980e-02 -1.93710989e-03 9.98261613e-01 3.73026078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.446338938 meters Centerline goodness [0,1] 0.9267077163862518 Centerline is valid? [False, False] Translation: X:-15.55, Y:-0.51, Z:0.37 [[ 9.97908288e-01 -1.27008952e-02 -6.33856202e-02 -1.55543120e+01] [ 1.26881941e-02 9.99919320e-01 -6.02920870e-04 -5.05836767e-01] [ 6.33881639e-02 -2.02589318e-04 9.97988928e-01 3.71585303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.476338938 meters Centerline goodness [0,1] 0.9317127253315813 Centerline is valid? [False, False] Translation: X:-15.58, Y:-0.51, Z:0.37 [[ 9.97723857e-01 -1.48678777e-02 -6.57727236e-02 -1.55839085e+01] [ 1.47984931e-02 9.99889307e-01 -1.54201164e-03 -5.11724582e-01] [ 6.57883695e-02 5.65164604e-04 9.97833439e-01 3.70268710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.506338938 meters Centerline goodness [0,1] 0.9305703734099302 Centerline is valid? [False, False] Translation: X:-15.60, Y:-0.52, Z:0.37 [[ 9.97869476e-01 -1.26565657e-02 -6.40024972e-02 -1.55975306e+01] [ 1.23141980e-02 9.99907697e-01 -5.74094976e-03 -5.18435841e-01] [ 6.40692503e-02 4.94057910e-03 9.97933225e-01 3.69726783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.536338938 meters Centerline goodness [0,1] 0.9371603191205726 Centerline is valid? [False, False] Translation: X:-15.64, Y:-0.52, Z:0.37 [[ 9.97890235e-01 -1.16479715e-02 -6.38702050e-02 -1.56385449e+01] [ 1.13666951e-02 9.99924041e-01 -4.76548801e-03 -5.22482476e-01] [ 6.39208618e-02 4.02944081e-03 9.97946836e-01 3.72817826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.566338938 meters Centerline goodness [0,1] 0.9468456265648729 Centerline is valid? [False, False] Translation: X:-15.66, Y:-0.53, Z:0.38 [[ 9.97906429e-01 -8.43993824e-03 -6.41211838e-02 -1.56638264e+01] [ 7.91613252e-03 9.99933228e-01 -8.41867107e-03 -5.28393722e-01] [ 6.41879553e-02 7.89345419e-03 9.97906609e-01 3.77053021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.596338938 meters Centerline goodness [0,1] 0.9491221931792455 Centerline is valid? [False, False] Translation: X:-15.69, Y:-0.53, Z:0.38 [[ 9.98004538e-01 -6.76154699e-03 -6.27791613e-02 -1.56925244e+01] [ 6.22202972e-03 9.99942050e-01 -8.78541922e-03 -5.25585675e-01] [ 6.28349263e-02 8.37727445e-03 9.97988774e-01 3.75361483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.626338938 meters Centerline goodness [0,1] 0.955165812388069 Centerline is valid? [False, True] Translation: X:-15.72, Y:-0.52, Z:0.38 [[ 9.97686248e-01 -2.90655183e-03 -6.79242346e-02 -1.57157394e+01] [ 2.03330233e-03 9.99914442e-01 -1.29218296e-02 -5.24940822e-01] [ 6.79559811e-02 1.27538211e-02 9.97606799e-01 3.77175459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.656338938 meters Centerline goodness [0,1] 0.9601458230350964 Centerline is valid? [True, True] Translation: X:-15.74, Y:-0.50, Z:0.37 [[ 9.97236608e-01 1.04859522e-02 -7.35472075e-02 -1.57432919e+01] [-1.03738589e-02 9.99944374e-01 1.90594678e-03 -5.04297172e-01] [ 7.35631020e-02 -1.13771155e-03 9.97289916e-01 3.66391635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.686338938 meters Centerline goodness [0,1] 0.9625159879523043 Centerline is valid? [True, True] Translation: X:-15.77, Y:-0.51, Z:0.35 [[ 9.96810410e-01 1.93704378e-02 -7.74195893e-02 -1.57714233e+01] [-1.92720622e-02 9.99812241e-01 2.01768914e-03 -5.09232000e-01] [ 7.74441365e-02 -5.19218402e-04 9.96996558e-01 3.53562325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.716338938 meters Centerline goodness [0,1] 0.9653860468963236 Centerline is valid? [True, True] Translation: X:-15.80, Y:-0.51, Z:0.35 [[ 9.96201884e-01 2.84357728e-02 -8.22995270e-02 -1.58009251e+01] [-2.83544174e-02 9.99595605e-01 2.15735699e-03 -5.05159660e-01] [ 8.23275916e-02 1.84392045e-04 9.96605305e-01 3.49470007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.746338938 meters Centerline goodness [0,1] 0.9686493849583092 Centerline is valid? [True, True] Translation: X:-15.83, Y:-0.50, Z:0.35 [[ 9.95806194e-01 3.49580378e-02 -8.45456020e-02 -1.58303531e+01] [-3.48953748e-02 9.99388507e-01 2.21928590e-03 -4.97298694e-01] [ 8.45714849e-02 7.40271822e-04 9.96417140e-01 3.53501510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.776338938 meters Centerline goodness [0,1] 0.9672036586873223 Centerline is valid? [True, True] Translation: X:-15.86, Y:-0.49, Z:0.35 [[ 9.95365297e-01 3.82281992e-02 -8.82413211e-02 -1.58595678e+01] [-3.81724741e-02 9.99268473e-01 2.31952847e-03 -4.94479209e-01] [ 8.82654416e-02 1.05961140e-03 9.96096426e-01 3.45983019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.806338938 meters Centerline goodness [0,1] 0.9675823836118954 Centerline is valid? [True, True] Translation: X:-15.89, Y:-0.50, Z:0.34 [[ 9.94919546e-01 4.18364930e-02 -9.15685761e-02 -1.58888338e+01] [-4.17914302e-02 9.99123449e-01 2.41033024e-03 -4.98921526e-01] [ 9.15891514e-02 1.42869709e-03 9.95795856e-01 3.42631852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.836338938 meters Centerline goodness [0,1] 0.9698399884079572 Centerline is valid? [True, True] Translation: X:-15.92, Y:-0.51, Z:0.33 [[ 9.94441055e-01 4.32853325e-02 -9.59862946e-02 -1.59181039e+01] [-4.32422227e-02 9.99061414e-01 2.53019396e-03 -5.06039310e-01] [ 9.60057234e-02 1.63453198e-03 9.95379440e-01 3.33939572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.866338938000002 meters Centerline goodness [0,1] 0.9712418300653595 Centerline is valid? [True, True] Translation: X:-15.95, Y:-0.51, Z:0.34 [[ 9.94496494e-01 3.77020103e-02 -9.77511242e-02 -1.59471091e+01] [-3.76288445e-02 9.99288421e-01 2.59258805e-03 -5.08438412e-01] [ 9.77793123e-02 1.09994212e-03 9.95207514e-01 3.41990079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.896338938 meters Centerline goodness [0,1] 0.971182332345812 Centerline is valid? [True, True] Translation: X:-15.98, Y:-0.51, Z:0.34 [[ 9.94345305e-01 3.84262346e-02 -9.89991884e-02 -1.59761077e+01] [-3.83523523e-02 9.99260764e-01 2.64999269e-03 -5.06937987e-01] [ 9.90278338e-02 1.16184396e-03 9.95083986e-01 3.37353430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.926338938 meters Centerline goodness [0,1] 0.9674539706155849 Centerline is valid? [True, True] Translation: X:-16.01, Y:-0.50, Z:0.33 [[ 9.93564550e-01 4.84299697e-02 -1.02391514e-01 -1.60060291e+01] [-4.84027570e-02 9.98824109e-01 2.75176917e-03 -4.98300052e-01] [ 1.02404381e-01 2.22197130e-03 9.94740371e-01 3.34861770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.956338938000002 meters Centerline goodness [0,1] 0.9709928725343941 Centerline is valid? [True, True] Translation: X:-16.03, Y:-0.50, Z:0.34 [[ 9.93759592e-01 4.96245637e-02 -9.98963277e-02 -1.60347402e+01] [-4.96042775e-02 9.98765332e-01 2.68845982e-03 -4.98847187e-01] [ 9.99064025e-02 2.28360242e-03 9.94994219e-01 3.40060903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.986338938 meters Centerline goodness [0,1] 0.9537270325078351 Centerline is valid? [True, True] Translation: X:-16.06, Y:-0.47, Z:0.35 [[ 9.90777074e-01 7.81481246e-02 -1.10696252e-01 -1.60641818e+01] [-7.82996674e-02 9.96925402e-01 2.98415851e-03 -4.72716336e-01] [ 1.10589112e-01 5.71084385e-03 9.93849805e-01 3.45436286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.016338938 meters Centerline goodness [0,1] 0.9484067712223052 Centerline is valid? [True, False] Translation: X:-16.10, Y:-0.47, Z:0.34 [[ 9.90058937e-01 7.86193392e-02 -1.16628899e-01 -1.60987395e+01] [-7.90094305e-02 9.96873044e-01 1.28190473e-03 -4.71672226e-01] [ 1.16364988e-01 7.94562163e-03 9.93174736e-01 3.42856117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.046338938 meters Centerline goodness [0,1] 0.9414531065487166 Centerline is valid? [False, False] Translation: X:-16.14, Y:-0.47, Z:0.34 [[ 9.89617576e-01 7.94558532e-02 -1.19765693e-01 -1.61366921e+01] [-8.00235677e-02 9.96792969e-01 6.93583169e-05 -4.71494621e-01] [ 1.19387112e-01 9.51543983e-03 9.92802183e-01 3.41908325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.076338938 meters Centerline goodness [0,1] 0.9375674777842372 Centerline is valid? [False, False] Translation: X:-16.18, Y:-0.47, Z:0.34 [[ 9.89640192e-01 8.06464600e-02 -1.18778950e-01 -1.61766913e+01] [-8.14642896e-02 9.96674177e-01 -2.03816428e-03 -4.66868826e-01] [ 1.18219541e-01 1.16932921e-02 9.92918631e-01 3.42515970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.106338938 meters Centerline goodness [0,1] 0.8971873378308252 Centerline is valid? [False, False] Translation: X:-16.22, Y:-0.46, Z:0.34 [[ 9.89564013e-01 8.29671317e-02 -1.17811375e-01 -1.62227314e+01] [-8.44566974e-02 9.96397404e-01 -7.69937354e-03 -4.62611798e-01] [ 1.16748154e-01 1.75689827e-02 9.93006143e-01 3.39774503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.136338938 meters Centerline goodness [0,1] 0.882064494680851 Centerline is valid? [False, False] Translation: X:-16.27, Y:-0.46, Z:0.34 [[ 9.88980743e-01 8.62597485e-02 -1.20317685e-01 -1.62703860e+01] [-8.82512786e-02 9.96033998e-01 -1.13131584e-02 -4.59579318e-01] [ 1.18864635e-01 2.18066853e-02 9.92670976e-01 3.36267768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.166338938 meters Centerline goodness [0,1] 0.8136867170514546 Centerline is valid? [False, False] Translation: X:-16.32, Y:-0.45, Z:0.33 [[ 9.88695545e-01 8.61264662e-02 -1.22732841e-01 -1.63172713e+01] [-8.78525910e-02 9.96095386e-01 -8.71233712e-03 -4.51910283e-01] [ 1.21503254e-01 1.93962470e-02 9.92401504e-01 3.31530510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.196338938 meters Centerline goodness [0,1] 0.7335981201522177 Centerline is valid? [False, False] Translation: X:-16.36, Y:-0.45, Z:0.33 [[ 9.88336039e-01 8.46504640e-02 -1.26594523e-01 -1.63590895e+01] [-8.66146117e-02 9.96190877e-01 -1.00819708e-02 -4.45654553e-01] [ 1.25258865e-01 2.09293106e-02 9.91903312e-01 3.28972144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.226338938 meters Centerline goodness [0,1] 0.750273799929742 Centerline is valid? [False, False] Translation: X:-16.40, Y:-0.44, Z:0.33 [[ 9.88183244e-01 8.22323713e-02 -1.29351127e-01 -1.63957412e+01] [-8.45534618e-02 9.96339949e-01 -1.25466048e-02 -4.40774264e-01] [ 1.27845959e-01 2.33354302e-02 9.91519475e-01 3.27768500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.256338938 meters Centerline goodness [0,1] 0.7497716705413484 Centerline is valid? [False, False] Translation: X:-16.43, Y:-0.44, Z:0.33 [[ 9.88245934e-01 8.05495893e-02 -1.29929743e-01 -1.64304041e+01] [-8.29738763e-02 9.96462361e-01 -1.33453816e-02 -4.38865216e-01] [ 1.28395133e-01 2.39692935e-02 9.91433388e-01 3.27092468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.286338938 meters Centerline goodness [0,1] 0.7740602284527518 Centerline is valid? [False, False] Translation: X:-16.46, Y:-0.44, Z:0.33 [[ 9.88202873e-01 7.87776734e-02 -1.31336058e-01 -1.64624519e+01] [-8.12044651e-02 9.96609825e-01 -1.32171048e-02 -4.38740892e-01] [ 1.29849593e-01 2.37262553e-02 9.91249791e-01 3.25977511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.316338938 meters Centerline goodness [0,1] 0.6768014278598705 Centerline is valid? [False, False] Translation: X:-16.49, Y:-0.43, Z:0.33 [[ 9.88143885e-01 7.33458580e-02 -1.34877901e-01 -1.64865055e+01] [-7.55050975e-02 9.97085216e-01 -1.09567965e-02 -4.32762006e-01] [ 1.33681125e-01 2.10108605e-02 9.90801645e-01 3.26931891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.346338938 meters Centerline goodness [0,1] 0.6762120018247418 Centerline is valid? [False, False] Translation: X:-16.51, Y:-0.43, Z:0.33 [[ 9.88911759e-01 6.49597642e-02 -1.33543111e-01 -1.65053092e+01] [-6.72379224e-02 9.97657203e-01 -1.26161159e-02 -4.26253990e-01] [ 1.32410707e-01 2.14553866e-02 9.90962699e-01 3.27093708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.376338938 meters Centerline goodness [0,1] 0.6965296936256715 Centerline is valid? [False, False] Translation: X:-16.52, Y:-0.42, Z:0.33 [[ 9.89686584e-01 5.72709204e-02 -1.31303111e-01 -1.65227014e+01] [-5.95779192e-02 9.98129556e-01 -1.37062172e-02 -4.20909023e-01] [ 1.30272548e-01 2.13876254e-02 9.91247513e-01 3.26793069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.406338938 meters Centerline goodness [0,1] 0.7120941625840738 Centerline is valid? [False, False] Translation: X:-16.55, Y:-0.41, Z:0.32 [[ 9.89802516e-01 4.87825282e-02 -1.33832900e-01 -1.65525587e+01] [-5.04773887e-02 9.98681919e-01 -9.29829252e-03 -4.13543878e-01] [ 1.33202903e-01 1.59590086e-02 9.90960290e-01 3.24527290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.436338938 meters Centerline goodness [0,1] 0.7057358678509172 Centerline is valid? [False, False] Translation: X:-16.57, Y:-0.41, Z:0.32 [[ 9.90108384e-01 4.36469468e-02 -1.33342915e-01 -1.65707518e+01] [-4.49753717e-02 9.98963813e-01 -6.96529057e-03 -4.10634574e-01] [ 1.32900733e-01 1.28935397e-02 9.91045484e-01 3.24516913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.466338938 meters Centerline goodness [0,1] 0.6970002884338045 Centerline is valid? [False, False] Translation: X:-16.59, Y:-0.40, Z:0.32 [[ 9.90697280e-01 3.89602226e-02 -1.30387888e-01 -1.65875682e+01] [-4.01478555e-02 9.99172664e-01 -6.49126068e-03 -4.03974515e-01] [ 1.30027113e-01 1.16656684e-02 9.91441810e-01 3.23858555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.496338938 meters Centerline goodness [0,1] 0.6992129246064622 Centerline is valid? [False, False] Translation: X:-16.59, Y:-0.40, Z:0.33 [[ 9.90699808e-01 3.71025052e-02 -1.30909493e-01 -1.65916206e+01] [-3.85387378e-02 9.99221345e-01 -8.45397010e-03 -4.02152609e-01] [ 1.30493896e-01 1.34204332e-02 9.91358278e-01 3.25959705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.526338938000002 meters Centerline goodness [0,1] 0.6809470358360357 Centerline is valid? [False, False] Translation: X:-16.62, Y:-0.40, Z:0.32 [[ 9.90067029e-01 3.69015192e-02 -1.35667081e-01 -1.66170476e+01] [-3.83861711e-02 9.99228152e-01 -8.34281625e-03 -3.97434143e-01] [ 1.35254504e-01 1.34676871e-02 9.90719355e-01 3.23050783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.556338938 meters Centerline goodness [0,1] 0.6567492427071663 Centerline is valid? [False, False] Translation: X:-16.66, Y:-0.39, Z:0.32 [[ 9.89561483e-01 3.75126108e-02 -1.39143365e-01 -1.66572663e+01] [-3.88938196e-02 9.99217267e-01 -7.21972925e-03 -3.93662027e-01] [ 1.38763622e-01 1.25561829e-02 9.90245929e-01 3.22018639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.586338938 meters Centerline goodness [0,1] 0.6738177003599652 Centerline is valid? [False, False] Translation: X:-16.68, Y:-0.39, Z:0.32 [[ 9.90157191e-01 3.47014733e-02 -1.35589618e-01 -1.66802562e+01] [-3.60359007e-02 9.99323106e-01 -7.39896002e-03 -3.85118332e-01] [ 1.35241083e-01 1.22122275e-02 9.90737458e-01 3.22727590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.616338938000002 meters Centerline goodness [0,1] 0.6501569875033788 Centerline is valid? [False, False] Translation: X:-16.71, Y:-0.38, Z:0.32 [[ 9.90437175e-01 3.53160521e-02 -1.33367832e-01 -1.67089522e+01] [-3.71453406e-02 9.99246522e-01 -1.12522182e-02 -3.78327590e-01] [ 1.32869958e-01 1.60986087e-02 9.91002729e-01 3.20620300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.646338938 meters Centerline goodness [0,1] 0.6208686659772492 Centerline is valid? [False, False] Translation: X:-16.74, Y:-0.37, Z:0.32 [[ 9.90075695e-01 3.77079084e-02 -1.35381797e-01 -1.67369370e+01] [-3.96557557e-02 9.99144677e-01 -1.17190342e-02 -3.73635920e-01] [ 1.34824102e-01 1.69713985e-02 9.90724196e-01 3.17930862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.676338938 meters Centerline goodness [0,1] 0.5950122208873607 Centerline is valid? [False, False] Translation: X:-16.77, Y:-0.37, Z:0.31 [[ 9.89643413e-01 4.03415604e-02 -1.37762380e-01 -1.67661230e+01] [-4.21369630e-02 9.99060387e-01 -1.01400176e-02 -3.73893955e-01] [ 1.37223872e-01 1.58398900e-02 9.90413402e-01 3.14054626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.706338938000002 meters Centerline goodness [0,1] 0.534802712061208 Centerline is valid? [False, False] Translation: X:-16.80, Y:-0.37, Z:0.31 [[ 9.89385168e-01 4.06506710e-02 -1.39515275e-01 -1.67963552e+01] [-4.26034577e-02 9.99031087e-01 -1.10378245e-02 -3.72476404e-01] [ 1.38931402e-01 1.68644929e-02 9.90158399e-01 3.10825157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.736338938 meters Centerline goodness [0,1] 0.5281831128356484 Centerline is valid? [False, False] Translation: X:-16.83, Y:-0.37, Z:0.31 [[ 9.89248057e-01 4.00345504e-02 -1.40660998e-01 -1.68285531e+01] [-4.23979509e-02 9.99004877e-01 -1.38444881e-02 -3.65106884e-01] [ 1.39966765e-01 1.96593710e-02 9.89961016e-01 3.09131002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.766338938 meters Centerline goodness [0,1] 0.5966727363019368 Centerline is valid? [False, False] Translation: X:-16.86, Y:-0.36, Z:0.31 [[ 0.98933279 0.03961059 -0.14018425 -16.86291822] [ -0.04245749 0.99894718 -0.01737497 -0.35846513] [ 0.13934843 0.02314149 0.98997297 0.30848689] [ 0. 0. 0. 1. ]] SLAMing on 17.796338938 meters Centerline goodness [0,1] 0.5799699198549559 Centerline is valid? [False, False] Translation: X:-16.90, Y:-0.35, Z:0.31 [[ 9.89220530e-01 4.05211391e-02 -1.40715243e-01 -1.69018318e+01] [-4.31184744e-02 9.98950384e-01 -1.54572642e-02 -3.53482315e-01] [ 1.39941200e-01 2.13580697e-02 9.89929439e-01 3.06307430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.826338938 meters Centerline goodness [0,1] 0.5365098371147217 Centerline is valid? [False, False] Translation: X:-16.94, Y:-0.35, Z:0.30 [[ 9.89290304e-01 3.95383453e-02 -1.40504143e-01 -1.69429261e+01] [-4.17420235e-02 9.99046803e-01 -1.27705959e-02 -3.48806746e-01] [ 1.39865287e-01 1.84987539e-02 9.89997726e-01 3.01439981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.856338938 meters Centerline goodness [0,1] 0.6159149551037258 Centerline is valid? [False, False] Translation: X:-16.98, Y:-0.34, Z:0.30 [[ 9.89147073e-01 3.72308081e-02 -1.42133508e-01 -1.69831344e+01] [-3.92867476e-02 9.99159651e-01 -1.16851418e-02 -3.42822724e-01] [ 1.41579019e-01 1.71422871e-02 9.89778522e-01 2.95438261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.886338938 meters Centerline goodness [0,1] 0.6077900609567104 Centerline is valid? [False, False] Translation: X:-17.02, Y:-0.34, Z:0.29 [[ 9.88752434e-01 3.32757165e-02 -1.45812724e-01 -1.70235480e+01] [-3.52763089e-02 9.99315335e-01 -1.11554228e-02 -3.38417919e-01] [ 1.45341686e-01 1.61736861e-02 9.89249314e-01 2.90765639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.916338938 meters Centerline goodness [0,1] 0.6065332059641981 Centerline is valid? [False, False] Translation: X:-17.06, Y:-0.33, Z:0.29 [[ 9.88552159e-01 2.60388849e-02 -1.48615627e-01 -1.70610091e+01] [-2.73558425e-02 9.99602467e-01 -6.82393601e-03 -3.31564148e-01] [ 1.48378860e-01 1.08113224e-02 9.88871493e-01 2.87869131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.946338938 meters Centerline goodness [0,1] 0.5748960208579055 Centerline is valid? [False, False] Translation: X:-17.10, Y:-0.32, Z:0.28 [[ 9.88713485e-01 1.81708119e-02 -1.48712697e-01 -1.70969640e+01] [-1.89716124e-02 9.99812149e-01 -3.96799072e-03 -3.21027219e-01] [ 1.48612660e-01 6.74452559e-03 9.88872484e-01 2.84902326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.976338938 meters Centerline goodness [0,1] 0.6589390962671906 Centerline is valid? [False, False] Translation: X:-17.15, Y:-0.31, Z:0.28 [[ 9.88885025e-01 1.25743841e-02 -1.48149560e-01 -1.71505230e+01] [-1.37630994e-02 9.99880772e-01 -7.00129040e-03 -3.11200627e-01] [ 1.48043859e-01 8.96246835e-03 9.88940185e-01 2.80729587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.006338938 meters Centerline goodness [0,1] 0.6863036610295484 Centerline is valid? [False, False] Translation: X:-17.18, Y:-0.30, Z:0.28 [[ 9.88730361e-01 8.57093153e-03 -1.49461739e-01 -1.71828743e+01] [-8.62530357e-03 9.99962761e-01 2.84439611e-04 -3.00642525e-01] [ 1.49458611e-01 1.00791879e-03 9.88767469e-01 2.78042123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.036338938 meters Centerline goodness [0,1] 0.6660125994010121 Centerline is valid? [False, False] Translation: X:-17.20, Y:-0.30, Z:0.28 [[ 9.88928415e-01 4.02176275e-03 -1.48338857e-01 -1.71974676e+01] [-3.74089920e-03 9.99990643e-01 2.17234789e-03 -2.97875648e-01] [ 1.48346205e-01 -1.59337584e-03 9.88934206e-01 2.75878797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.066338938 meters Centerline goodness [0,1] 0.6827505008985191 Centerline is valid? [False, False] Translation: X:-17.23, Y:-0.30, Z:0.27 [[ 9.88274356e-01 3.04019893e-03 -1.52658291e-01 -1.72296725e+01] [-2.86019668e-03 9.99994931e-01 1.39870874e-03 -2.99160834e-01] [ 1.52661769e-01 -9.45675243e-04 9.88278043e-01 2.71950468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.096338938 meters Centerline goodness [0,1] 0.7014882122824084 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.29, Z:0.27 [[ 9.87614650e-01 -9.99041832e-04 -1.56895841e-01 -1.72759940e+01] [ 8.17178996e-04 9.99998917e-01 -1.22363219e-03 -2.89388083e-01] [ 1.56896893e-01 1.08026509e-03 9.87614397e-01 2.67331168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.126338938 meters Centerline goodness [0,1] 0.7014882122824084 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.29, Z:0.27 [[ 9.87614650e-01 -9.99041832e-04 -1.56895841e-01 -1.72759940e+01] [ 8.17178996e-04 9.99998917e-01 -1.22363219e-03 -2.89388083e-01] [ 1.56896893e-01 1.08026509e-03 9.87614397e-01 2.67331168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.156338938 meters Centerline goodness [0,1] 0.6879205051236932 Centerline is valid? [False, False] Translation: X:-17.31, Y:-0.29, Z:0.26 [[ 9.88238089e-01 -7.98850742e-04 -1.52921032e-01 -1.73081179e+01] [ 9.04313233e-05 9.99989233e-01 -4.63948257e-03 -2.85269018e-01] [ 1.52923092e-01 4.57108453e-03 9.88227521e-01 2.64733628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.186338938 meters Centerline goodness [0,1] 0.6971061093247588 Centerline is valid? [False, False] Translation: X:-17.34, Y:-0.28, Z:0.26 [[ 9.88661723e-01 2.01943139e-03 -1.50146324e-01 -1.73395772e+01] [-2.87193715e-03 9.99980963e-01 -5.46121522e-03 -2.82000336e-01] [ 1.50132437e-01 5.83050525e-03 9.88648702e-01 2.62165872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.216338938 meters Centerline goodness [0,1] 0.7053358495261401 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.28, Z:0.26 [[ 9.88456877e-01 5.04145426e-03 -1.51418578e-01 -1.73698441e+01] [-5.96223092e-03 9.99966390e-01 -5.62760099e-03 -2.80018243e-01] [ 1.51385118e-01 6.46543343e-03 9.88453714e-01 2.59022574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.246338938 meters Centerline goodness [0,1] 0.6962048788528103 Centerline is valid? [False, False] Translation: X:-17.40, Y:-0.28, Z:0.25 [[ 9.88204110e-01 8.09298313e-03 -1.52928550e-01 -1.73970918e+01] [-9.07818035e-03 9.99942289e-01 -5.74502964e-03 -2.77262413e-01] [ 1.52873230e-01 7.06557486e-03 9.88220549e-01 2.54492186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.276338938000002 meters Centerline goodness [0,1] 0.7024094891717639 Centerline is valid? [False, False] Translation: X:-17.42, Y:-0.27, Z:0.25 [[ 9.88041668e-01 1.10551480e-02 -1.53790266e-01 -1.74234307e+01] [-1.22381424e-02 9.99902344e-01 -6.74767173e-03 -2.74639951e-01] [ 1.53700651e-01 8.54908801e-03 9.88080474e-01 2.50526266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.306338938 meters Centerline goodness [0,1] 0.7335807050092764 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.27, Z:0.25 [[ 9.88344498e-01 8.96739142e-03 -1.51969531e-01 -1.74448503e+01] [-9.97992039e-03 9.99932786e-01 -5.90125352e-03 -2.68075049e-01] [ 1.51906398e-01 7.34911527e-03 9.88367562e-01 2.49379223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.336338938 meters Centerline goodness [0,1] 0.644110017704945 Centerline is valid? [False, False] Translation: X:-17.47, Y:-0.26, Z:0.25 [[ 9.88766701e-01 6.68301489e-03 -1.49317607e-01 -1.74692671e+01] [-7.66122931e-03 9.99952789e-01 -5.97698468e-03 -2.60582053e-01] [ 1.49270613e-01 7.05379985e-03 9.88771221e-01 2.49310964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.366338938000002 meters Centerline goodness [0,1] 0.7142383900287791 Centerline is valid? [False, False] Translation: X:-17.50, Y:-0.26, Z:0.25 [[ 9.88871331e-01 7.78717590e-03 -1.48569349e-01 -1.75031436e+01] [-9.24736174e-03 9.99915469e-01 -9.14006335e-03 -2.58177346e-01] [ 1.48485615e-01 1.04122211e-02 9.88859751e-01 2.47943368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.396338938 meters Centerline goodness [0,1] 0.7436706251030842 Centerline is valid? [False, False] Translation: X:-17.54, Y:-0.25, Z:0.24 [[ 9.88485768e-01 9.04090953e-03 -1.51043534e-01 -1.75395909e+01] [-1.07351179e-02 9.99888240e-01 -1.04050277e-02 -2.53855794e-01] [ 1.50932582e-01 1.19066920e-02 9.88472350e-01 2.44820629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.426338938 meters Centerline goodness [0,1] 0.7400761395205269 Centerline is valid? [False, False] Translation: X:-17.58, Y:-0.25, Z:0.24 [[ 9.87945594e-01 9.11940089e-03 -1.54532649e-01 -1.75794837e+01] [-1.09616649e-02 9.99878601e-01 -1.10736132e-02 -2.51363141e-01] [ 1.54412904e-01 1.26340625e-02 9.87925622e-01 2.40524164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.456338938000002 meters Centerline goodness [0,1] 0.7579695222405272 Centerline is valid? [False, False] Translation: X:-17.62, Y:-0.25, Z:0.23 [[ 9.87845230e-01 8.72776381e-03 -1.55195448e-01 -1.76241024e+01] [-1.01392841e-02 9.99914100e-01 -8.30584474e-03 -2.48335492e-01] [ 1.55109626e-01 9.77845984e-03 9.87848868e-01 2.34514038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.486338938 meters Centerline goodness [0,1] 0.7789380275295623 Centerline is valid? [False, False] Translation: X:-17.66, Y:-0.25, Z:0.23 [[ 9.87618065e-01 7.92819054e-03 -1.56677062e-01 -1.76624806e+01] [-9.62746662e-03 9.99902749e-01 -1.00898014e-02 -2.48974340e-01] [ 1.56581831e-01 1.14732733e-02 9.87598347e-01 2.32223641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.516338938 meters Centerline goodness [0,1] 0.7925097658268401 Centerline is valid? [False, False] Translation: X:-17.70, Y:-0.25, Z:0.23 [[ 9.87121679e-01 7.28161431e-03 -1.59805408e-01 -1.76961565e+01] [-9.18525416e-03 9.99895350e-01 -1.11767883e-02 -2.45605429e-01] [ 1.59707299e-01 1.25007034e-02 9.87085260e-01 2.27266269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.546338938 meters Centerline goodness [0,1] 0.7890736048451887 Centerline is valid? [False, False] Translation: X:-17.72, Y:-0.24, Z:0.23 [[ 9.86692650e-01 7.69656247e-04 -1.62594654e-01 -1.77165892e+01] [-2.65025009e-03 9.99932079e-01 -1.13495633e-02 -2.38678274e-01] [ 1.62574875e-01 1.16294472e-02 9.86627673e-01 2.26382667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.576338938 meters Centerline goodness [0,1] 0.808634459417628 Centerline is valid? [False, False] Translation: X:-17.73, Y:-0.24, Z:0.23 [[ 9.87116176e-01 -4.62489168e-03 -1.59938316e-01 -1.77334191e+01] [ 2.92561756e-03 9.99936766e-01 -1.08584037e-02 -2.36571227e-01] [ 1.59978422e-01 1.02505876e-02 9.87067287e-01 2.25089853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.606338938 meters Centerline goodness [0,1] 0.8384120482426198 Centerline is valid? [False, False] Translation: X:-17.75, Y:-0.24, Z:0.22 [[ 9.87697085e-01 -8.78084595e-03 -1.56132526e-01 -1.77479809e+01] [ 7.34515897e-03 9.99925296e-01 -9.76989182e-03 -2.35984694e-01] [ 1.56206650e-01 8.50287545e-03 9.87687797e-01 2.22977278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.636338938 meters Centerline goodness [0,1] 0.8323142486566611 Centerline is valid? [False, False] Translation: X:-17.75, Y:-0.23, Z:0.23 [[ 9.87675736e-01 -1.10440701e-02 -1.56123890e-01 -1.77542746e+01] [ 9.40098352e-03 9.99892425e-01 -1.12587428e-02 -2.34115408e-01] [ 1.56231438e-01 9.65226896e-03 9.87673312e-01 2.25378812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.666338938 meters Centerline goodness [0,1] 0.8463955675921523 Centerline is valid? [False, False] Translation: X:-17.76, Y:-0.23, Z:0.23 [[ 9.87621175e-01 -1.27144322e-02 -1.56341801e-01 -1.77601110e+01] [ 1.08844364e-02 9.99861932e-01 -1.25556755e-02 -2.31611881e-01] [ 1.56479853e-01 1.06985586e-02 9.87623206e-01 2.27883359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.696338938 meters Centerline goodness [0,1] 0.855909090909091 Centerline is valid? [False, False] Translation: X:-17.78, Y:-0.22, Z:0.23 [[ 9.87901860e-01 -1.57863333e-02 -1.54274776e-01 -1.77808103e+01] [ 1.42433794e-02 9.99836927e-01 -1.11016069e-02 -2.22429612e-01] [ 1.54424872e-01 8.76990390e-03 9.87965611e-01 2.26452697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.726338938 meters Centerline goodness [0,1] 0.8577251753605496 Centerline is valid? [False, False] Translation: X:-17.78, Y:-0.22, Z:0.23 [[ 9.87805542e-01 -1.62462737e-02 -1.54842724e-01 -1.77837213e+01] [ 1.46287453e-02 9.99825936e-01 -1.15800736e-02 -2.20596012e-01] [ 1.55003905e-01 9.17370608e-03 9.87871263e-01 2.27938800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.756338938 meters Centerline goodness [0,1] 0.8706759463868983 Centerline is valid? [False, False] Translation: X:-17.81, Y:-0.22, Z:0.23 [[ 9.87334809e-01 -1.82767700e-02 -1.57594209e-01 -1.78055052e+01] [ 1.72322659e-02 9.99819574e-01 -7.99176830e-03 -2.16296587e-01] [ 1.57711838e-01 5.17484571e-03 9.87471618e-01 2.27705066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.786338938 meters Centerline goodness [0,1] 0.8821815326113912 Centerline is valid? [False, False] Translation: X:-17.85, Y:-0.22, Z:0.22 [[ 9.87230090e-01 -1.67396719e-02 -1.58418854e-01 -1.78492863e+01] [ 1.57942854e-02 9.99849160e-01 -7.22485398e-03 -2.19215403e-01] [ 1.58515900e-01 4.63048065e-03 9.87345567e-01 2.24033174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.816338938 meters Centerline goodness [0,1] 0.8858314782752081 Centerline is valid? [False, False] Translation: X:-17.85, Y:-0.22, Z:0.23 [[ 9.87175846e-01 -1.79543374e-02 -1.58623739e-01 -1.78541247e+01] [ 1.68592751e-02 9.99823864e-01 -8.24659575e-03 -2.15876936e-01] [ 1.58743861e-01 5.46655890e-03 9.87304666e-01 2.25177099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.846338938 meters Centerline goodness [0,1] 0.8851208927464352 Centerline is valid? [False, False] Translation: X:-17.90, Y:-0.21, Z:0.22 [[ 9.86382198e-01 -2.10437292e-02 -1.63117506e-01 -1.79043963e+01] [ 1.94919843e-02 9.99748307e-01 -1.11078594e-02 -2.08125335e-01] [ 1.63310201e-01 7.77711087e-03 9.86544117e-01 2.18140973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.876338938 meters Centerline goodness [0,1] 0.913285617045853 Centerline is valid? [False, False] Translation: X:-17.94, Y:-0.21, Z:0.22 [[ 9.86420817e-01 -1.91045545e-02 -1.63122615e-01 -1.79409294e+01] [ 1.74463540e-02 9.99780601e-01 -1.15919929e-02 -2.10528909e-01] [ 1.63308286e-01 8.58868823e-03 9.86537702e-01 2.15226607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.906338938 meters Centerline goodness [0,1] 0.9145106629194908 Centerline is valid? [False, False] Translation: X:-17.98, Y:-0.22, Z:0.21 [[ 9.87031674e-01 -1.71607862e-02 -1.59605708e-01 -1.79751227e+01] [ 1.54791509e-02 9.99810872e-01 -1.17735662e-02 -2.15411523e-01] [ 1.59777565e-01 9.15032187e-03 9.87110633e-01 2.12369383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.936338938 meters Centerline goodness [0,1] 0.9208119516636318 Centerline is valid? [False, False] Translation: X:-18.01, Y:-0.22, Z:0.21 [[ 9.86985654e-01 -1.52315928e-02 -1.60085342e-01 -1.80071371e+01] [ 1.33215492e-02 9.99826780e-01 -1.29979194e-02 -2.17219879e-01] [ 1.60255591e-01 1.06961753e-02 9.87017597e-01 2.08357873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.966338938 meters Centerline goodness [0,1] 0.926257952573742 Centerline is valid? [False, False] Translation: X:-18.04, Y:-0.21, Z:0.20 [[ 9.86361061e-01 -1.34551210e-02 -1.64045169e-01 -1.80356788e+01] [ 1.14542706e-02 9.99848100e-01 -1.31368129e-02 -2.14526365e-01] [ 1.64197008e-01 1.10786230e-02 9.86365352e-01 2.02963646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.996338938 meters Centerline goodness [0,1] 0.9346467447539423 Centerline is valid? [False, False] Translation: X:-18.05, Y:-0.21, Z:0.20 [[ 9.85990452e-01 -1.68798102e-02 -1.65945477e-01 -1.80533656e+01] [ 1.52839996e-02 9.99823900e-01 -1.08888774e-02 -2.08934739e-01] [ 1.66100056e-01 8.20001856e-03 9.86074810e-01 2.01143780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.026338938000002 meters Centerline goodness [0,1] 0.9359818388195232 Centerline is valid? [False, False] Translation: X:-18.06, Y:-0.21, Z:0.20 [[ 9.86143231e-01 -1.65448617e-02 -1.65069062e-01 -1.80618637e+01] [ 1.51028217e-02 9.99836065e-01 -9.98735962e-03 -2.08237811e-01] [ 1.65207241e-01 7.35595848e-03 9.86231442e-01 2.03841191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.056338938 meters Centerline goodness [0,1] 0.9413647155982244 Centerline is valid? [False, False] Translation: X:-18.07, Y:-0.21, Z:0.21 [[ 9.86239940e-01 -1.75431421e-02 -1.64386795e-01 -1.80675546e+01] [ 1.60402483e-02 9.99816575e-01 -1.04655043e-02 -2.08075478e-01] [ 1.64540240e-01 7.68469329e-03 9.86340436e-01 2.06035652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.086338938 meters Centerline goodness [0,1] 0.9428163121595593 Centerline is valid? [False, False] Translation: X:-18.07, Y:-0.21, Z:0.21 [[ 9.86300209e-01 -1.92770141e-02 -1.63830076e-01 -1.80722957e+01] [ 1.75941410e-02 9.99776554e-01 -1.17170290e-02 -2.07087429e-01] [ 1.64019338e-01 8.67405870e-03 9.86418987e-01 2.07492706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.116338938000002 meters Centerline goodness [0,1] 0.9392109168865436 Centerline is valid? [False, False] Translation: X:-18.08, Y:-0.20, Z:0.21 [[ 9.86297580e-01 -2.02185598e-02 -1.63732387e-01 -1.80763672e+01] [ 1.84423886e-02 9.99753512e-01 -1.23609810e-02 -2.04758386e-01] [ 1.63941950e-01 9.17198933e-03 9.86427347e-01 2.08593089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.146338938 meters Centerline goodness [0,1] 0.9521585250421828 Centerline is valid? [False, True] Translation: X:-18.08, Y:-0.20, Z:0.21 [[ 9.86138693e-01 -2.12183441e-02 -1.64560811e-01 -1.80811098e+01] [ 1.93601092e-02 9.99729507e-01 -1.28879520e-02 -2.03473541e-01] [ 1.64789759e-01 9.52339290e-03 9.86282739e-01 2.10788443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.176338938 meters Centerline goodness [0,1] 0.9505731541969679 Centerline is valid? [True, True] Translation: X:-18.11, Y:-0.20, Z:0.20 [[ 9.86295572e-01 -2.34474119e-02 -1.63313393e-01 -1.81087739e+01] [ 2.15167549e-02 9.99676242e-01 -1.35808861e-02 -2.00430021e-01] [ 1.63578955e-01 9.88079353e-03 9.86480763e-01 1.97263199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.206338938000002 meters Centerline goodness [0,1] 0.9562965561356086 Centerline is valid? [True, True] Translation: X:-18.14, Y:-0.21, Z:0.20 [[ 9.86545917e-01 -2.75891673e-02 -1.61139662e-01 -1.81372122e+01] [ 2.57713125e-02 9.99578575e-01 -1.33608166e-02 -2.07100741e-01] [ 1.61440368e-01 9.02827847e-03 9.86841172e-01 2.02476921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.236338938 meters Centerline goodness [0,1] 0.9566668727205292 Centerline is valid? [True, True] Translation: X:-18.17, Y:-0.21, Z:0.21 [[ 9.86536822e-01 -2.80373575e-02 -1.61117988e-01 -1.81660058e+01] [ 2.62303940e-02 9.99567023e-01 -1.33316491e-02 -2.07069847e-01] [ 1.61422012e-01 8.92597439e-03 9.86845105e-01 2.05729394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.266338938 meters Centerline goodness [0,1] 0.9625210844612663 Centerline is valid? [True, True] Translation: X:-18.20, Y:-0.20, Z:0.20 [[ 9.87039542e-01 -3.30417868e-02 -1.57038793e-01 -1.81953608e+01] [ 3.13926265e-02 9.99422961e-01 -1.29710417e-02 -2.04795860e-01] [ 1.57376762e-01 7.87307087e-03 9.87507250e-01 2.03186846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.296338938 meters Centerline goodness [0,1] 0.964558578224428 Centerline is valid? [True, True] Translation: X:-18.22, Y:-0.20, Z:0.20 [[ 9.87099237e-01 -3.17226122e-02 -1.56935567e-01 -1.82238921e+01] [ 3.00652857e-02 9.99464384e-01 -1.29237785e-02 -2.03660799e-01] [ 1.57261485e-01 8.03873930e-03 9.87524280e-01 2.02363308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.326338938 meters Centerline goodness [0,1] 0.9698179561439801 Centerline is valid? [True, True] Translation: X:-18.25, Y:-0.21, Z:0.20 [[ 9.87304959e-01 -3.45486671e-02 -1.55033247e-01 -1.82524082e+01] [ 3.29721389e-02 9.99375201e-01 -1.27296882e-02 -2.06720882e-01] [ 1.55376176e-01 7.45630652e-03 9.87827236e-01 2.02157792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.356338938 meters Centerline goodness [0,1] 0.9735987748851455 Centerline is valid? [True, True] Translation: X:-18.28, Y:-0.21, Z:0.21 [[ 9.87889374e-01 -3.94354809e-02 -1.50064743e-01 -1.82804480e+01] [ 3.80198425e-02 9.99201381e-01 -1.22919518e-02 -2.12947406e-01] [ 1.50429637e-01 6.43765066e-03 9.88599758e-01 2.06316209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.386338938 meters Centerline goodness [0,1] 0.9763862273598318 Centerline is valid? [True, True] Translation: X:-18.31, Y:-0.21, Z:0.21 [[ 9.87864649e-01 -4.02810883e-02 -1.50002900e-01 -1.83098365e+01] [ 3.88801708e-02 9.99168649e-01 -1.22614586e-02 -2.11087109e-01] [ 1.50372099e-01 6.28052310e-03 9.88609522e-01 2.08069047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.416338938 meters Centerline goodness [0,1] 0.9796104057239754 Centerline is valid? [True, True] Translation: X:-18.34, Y:-0.21, Z:0.20 [[ 9.87760674e-01 -4.09525319e-02 -1.50504953e-01 -1.83383842e+01] [ 3.95555370e-02 9.99142092e-01 -1.22653410e-02 -2.06975313e-01] [ 1.50878130e-01 6.16191731e-03 9.88533166e-01 2.01745306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.446338938 meters Centerline goodness [0,1] 0.983004238602295 Centerline is valid? [True, True] Translation: X:-18.37, Y:-0.21, Z:0.19 [[ 9.88270530e-01 -4.37797841e-02 -1.46303418e-01 -1.83664953e+01] [ 4.24952511e-02 9.99025853e-01 -1.18953595e-02 -2.06478950e-01] [ 1.46681674e-01 5.53863273e-03 9.89168242e-01 1.94673479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.476338938 meters Centerline goodness [0,1] 0.9848472370913284 Centerline is valid? [True, True] Translation: X:-18.40, Y:-0.21, Z:0.20 [[ 9.88810939e-01 -4.68721303e-02 -1.41618960e-01 -1.83961282e+01] [ 4.57023666e-02 9.98888870e-01 -1.15030446e-02 -2.12105887e-01] [ 1.42000775e-01 4.90201474e-03 9.89854409e-01 1.99666500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.506338938 meters Centerline goodness [0,1] 0.9879902768622281 Centerline is valid? [True, True] Translation: X:-18.42, Y:-0.22, Z:0.20 [[ 9.88910983e-01 -4.72901850e-02 -1.40778925e-01 -1.84233424e+01] [ 4.61404005e-02 9.98869661e-01 -1.14220380e-02 -2.18516044e-01] [ 1.41159947e-01 4.79978283e-03 9.89975167e-01 1.99839329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.536338938 meters Centerline goodness [0,1] 0.9910745501285347 Centerline is valid? [True, True] Translation: X:-18.45, Y:-0.22, Z:0.19 [[ 9.88901100e-01 -4.69992176e-02 -1.40945693e-01 -1.84504427e+01] [ 4.58466504e-02 9.98883265e-01 -1.14152402e-02 -2.18365892e-01] [ 1.41324801e-01 4.82665572e-03 9.89951516e-01 1.94272787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.566338938 meters Centerline goodness [0,1] 0.9927639603878518 Centerline is valid? [True, True] Translation: X:-18.48, Y:-0.21, Z:0.19 [[ 9.88800587e-01 -4.71051344e-02 -1.41613930e-01 -1.84780787e+01] [ 4.59471559e-02 9.98878391e-01 -1.14376180e-02 -2.12360158e-01] [ 1.41993865e-01 4.80276605e-03 9.89855886e-01 1.87852483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.596338938 meters Centerline goodness [0,1] 0.9938767066611501 Centerline is valid? [True, True] Translation: X:-18.51, Y:-0.21, Z:0.19 [[ 9.88974937e-01 -4.64498175e-02 -1.40609348e-01 -1.85065525e+01] [ 4.53035241e-02 9.98908856e-01 -1.13440839e-02 -2.12675615e-01] [ 1.40982854e-01 4.84891568e-03 9.90000163e-01 1.87381793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.626338938 meters Centerline goodness [0,1] 0.9946330890700795 Centerline is valid? [True, True] Translation: X:-18.54, Y:-0.22, Z:0.19 [[ 9.89538311e-01 -4.52390226e-02 -1.36994023e-01 -1.85354438e+01] [ 4.41422301e-02 9.98964309e-01 -1.10350887e-02 -2.19010201e-01] [ 1.37351356e-01 4.87242131e-03 9.90510406e-01 1.88891436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.656338938 meters Centerline goodness [0,1] 0.9949535686955803 Centerline is valid? [True, True] Translation: X:-18.56, Y:-0.22, Z:0.19 [[ 9.89942358e-01 -4.39707146e-02 -1.34464509e-01 -1.85625709e+01] [ 4.29062908e-02 9.99020671e-01 -1.08050676e-02 -2.24557259e-01] [ 1.34807930e-01 4.92702076e-03 9.90859499e-01 1.88738150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.686338938000002 meters Centerline goodness [0,1] 0.9953192015836357 Centerline is valid? [True, True] Translation: X:-18.59, Y:-0.22, Z:0.18 [[ 9.89846300e-01 -4.41190277e-02 -1.35121481e-01 -1.85897491e+01] [ 4.30483314e-02 9.99014215e-01 -1.08369472e-02 -2.24956416e-01] [ 1.35466396e-01 4.91015775e-03 9.90769774e-01 1.82908104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.716338938 meters Centerline goodness [0,1] 0.9946565826791073 Centerline is valid? [True, True] Translation: X:-18.62, Y:-0.23, Z:0.17 [[ 9.89550602e-01 -4.57672528e-02 -1.36729528e-01 -1.86171621e+01] [ 4.46918195e-02 9.98941066e-01 -1.09264729e-02 -2.26213297e-01] [ 1.37084815e-01 4.70160651e-03 9.90548156e-01 1.74248833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.746338938 meters Centerline goodness [0,1] 0.997044110959527 Centerline is valid? [True, True] Translation: X:-18.65, Y:-0.23, Z:0.17 [[ 9.89443738e-01 -4.46856039e-02 -1.37856037e-01 -1.86454440e+01] [ 4.35871157e-02 9.98989308e-01 -1.09784227e-02 -2.28298796e-01] [ 1.38207285e-01 4.85378453e-03 9.90391431e-01 1.69414841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.776338938000002 meters Centerline goodness [0,1] 0.9972277391592188 Centerline is valid? [True, True] Translation: X:-18.67, Y:-0.23, Z:0.16 [[ 9.89618072e-01 -4.49893116e-02 -1.36499210e-01 -1.86738278e+01] [ 4.39200248e-02 9.98976274e-01 -1.08367271e-02 -2.32690346e-01] [ 1.36847009e-01 4.72917234e-03 9.90580906e-01 1.64287987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.806338938 meters Centerline goodness [0,1] 0.9959713240914819 Centerline is valid? [True, True] Translation: X:-18.70, Y:-0.24, Z:0.17 [[ 9.89800743e-01 -4.67841606e-02 -1.34557541e-01 -1.87021873e+01] [ 4.57655735e-02 9.98895384e-01 -1.06547980e-02 -2.40853726e-01] [ 1.34907382e-01 4.38802393e-03 9.90848497e-01 1.68166063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.836338938 meters Centerline goodness [0,1] 0.9968823553701945 Centerline is valid? [True, True] Translation: X:-18.73, Y:-0.24, Z:0.17 [[ 9.89970995e-01 -4.94313721e-02 -1.32340348e-01 -1.87314883e+01] [ 4.84713990e-02 9.98769720e-01 -1.04675451e-02 -2.44672099e-01] [ 1.32694958e-01 3.94784418e-03 9.91149062e-01 1.67286048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.866338938000002 meters Centerline goodness [0,1] 0.9963394205116539 Centerline is valid? [True, True] Translation: X:-18.76, Y:-0.25, Z:0.16 [[ 9.89723699e-01 -5.14054809e-02 -1.33433416e-01 -1.87587728e+01] [ 5.04488244e-02 9.98670999e-01 -1.05428307e-02 -2.48483714e-01] [ 1.33798042e-01 3.70293048e-03 9.91001701e-01 1.62719553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.896338938 meters Centerline goodness [0,1] 0.9966170221543793 Centerline is valid? [True, True] Translation: X:-18.79, Y:-0.25, Z:0.15 [[ 9.89315115e-01 -5.33376637e-02 -1.35686025e-01 -1.87868690e+01] [ 5.23693084e-02 9.98570475e-01 -1.06987274e-02 -2.51518551e-01] [ 1.36062704e-01 3.47862944e-03 9.90694120e-01 1.51919832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.926338938 meters Centerline goodness [0,1] 0.9963987830370263 Centerline is valid? [True, True] Translation: X:-18.81, Y:-0.26, Z:0.16 [[ 9.89271180e-01 -5.32787423e-02 -1.36029072e-01 -1.88148989e+01] [ 5.23085374e-02 9.98573653e-01 -1.06993298e-02 -2.59353704e-01] [ 1.36405094e-01 3.46905683e-03 9.90647069e-01 1.55162150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.956338938000002 meters Centerline goodness [0,1] 0.996725969854213 Centerline is valid? [True, True] Translation: X:-18.84, Y:-0.26, Z:0.15 [[ 9.89464216e-01 -5.43957254e-02 -1.34170305e-01 -1.88435190e+01] [ 5.34637754e-02 9.98514143e-01 -1.05418893e-02 -2.60076156e-01] [ 1.34544380e-01 3.25757123e-03 9.90902214e-01 1.52958846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.986338938 meters Centerline goodness [0,1] 0.9962143935789496 Centerline is valid? [True, True] Translation: X:-18.87, Y:-0.26, Z:0.15 [[ 9.89533217e-01 -5.54189907e-02 -1.33239436e-01 -1.88725090e+01] [ 5.45113495e-02 9.98458434e-01 -1.04531182e-02 -2.62037699e-01] [ 1.33613340e-01 3.08064626e-03 9.91028751e-01 1.53778652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.016338938 meters Centerline goodness [0,1] 0.9962143935789496 Centerline is valid? [True, True] Translation: X:-18.90, Y:-0.26, Z:0.15 [[ 9.89547950e-01 -5.51491591e-02 -1.33241982e-01 -1.88996357e+01] [ 5.42434639e-02 9.98473364e-01 -1.04205742e-02 -2.64314640e-01] [ 1.33613256e-01 3.08415124e-03 9.91028751e-01 1.51036979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.046338938 meters Centerline goodness [0,1] 0.9969221871062361 Centerline is valid? [True, True] Translation: X:-18.93, Y:-0.27, Z:0.15 [[ 9.89560269e-01 -5.61729743e-02 -1.32721777e-01 -1.89270724e+01] [ 5.52875573e-02 9.98416828e-01 -1.03500176e-02 -2.70833182e-01] [ 1.33093047e-01 2.90410337e-03 9.91099292e-01 1.52378661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.076338938 meters Centerline goodness [0,1] 0.9962190082644629 Centerline is valid? [True, True] Translation: X:-18.96, Y:-0.27, Z:0.15 [[ 9.89656572e-01 -5.47361474e-02 -1.32604012e-01 -1.89552496e+01] [ 5.38417439e-02 9.98496111e-01 -1.03239302e-02 -2.72038762e-01] [ 1.32969682e-01 3.07751413e-03 9.91115328e-01 1.46563278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.106338938 meters Centerline goodness [0,1] 0.9971086327963652 Centerline is valid? [True, True] Translation: X:-18.98, Y:-0.27, Z:0.15 [[ 9.89585575e-01 -5.31531326e-02 -1.33772695e-01 -1.89834973e+01] [ 5.22328942e-02 9.98580966e-01 -1.03816988e-02 -2.74556401e-01] [ 1.34134687e-01 3.28624440e-03 9.90957661e-01 1.46348574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.136338938 meters Centerline goodness [0,1] 0.9965299293592762 Centerline is valid? [True, True] Translation: X:-19.01, Y:-0.27, Z:0.15 [[ 9.89359816e-01 -5.22775371e-02 -1.35772657e-01 -1.90124904e+01] [ 5.13256682e-02 9.98626725e-01 -1.05042654e-02 -2.70958800e-01] [ 1.36135341e-01 3.42387574e-03 9.90684332e-01 1.46999225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.166338938 meters Centerline goodness [0,1] 0.9965825773580216 Centerline is valid? [True, True] Translation: X:-19.04, Y:-0.27, Z:0.14 [[ 9.89503108e-01 -5.09561604e-02 -1.35229691e-01 -1.90405731e+01] [ 5.00039767e-02 9.98694549e-01 -1.04307659e-02 -2.69119911e-01] [ 1.35584667e-01 3.55925301e-03 9.90759370e-01 1.42475222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.196338938 meters Centerline goodness [0,1] 0.9962999710612261 Centerline is valid? [True, True] Translation: X:-19.07, Y:-0.27, Z:0.14 [[ 9.90007738e-01 -4.88210389e-02 -1.32292042e-01 -1.90696390e+01] [ 4.78958670e-02 9.98800575e-01 -1.01684332e-02 -2.66084526e-01] [ 1.32629801e-01 3.73058554e-03 9.91158624e-01 1.39988589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.226338938 meters Centerline goodness [0,1] 0.9967741268429868 Centerline is valid? [True, True] Translation: X:-19.10, Y:-0.27, Z:0.14 [[ 9.89993510e-01 -4.76663606e-02 -1.32818550e-01 -1.90976583e+01] [ 4.67273489e-02 9.98855810e-01 -1.01796703e-02 -2.70589522e-01] [ 1.33151809e-01 3.87154884e-03 9.91088092e-01 1.42910063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.256338938 meters Centerline goodness [0,1] 0.9964982076625019 Centerline is valid? [True, True] Translation: X:-19.13, Y:-0.27, Z:0.13 [[ 9.89364327e-01 -4.81442832e-02 -1.37260177e-01 -1.91254746e+01] [ 4.71477401e-02 9.98832696e-01 -1.05040807e-02 -2.67411827e-01] [ 1.37605664e-01 3.92085562e-03 9.90479333e-01 1.30264282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.286338938 meters Centerline goodness [0,1] 0.9969524836221909 Centerline is valid? [True, True] Translation: X:-19.15, Y:-0.27, Z:0.13 [[ 9.89261429e-01 -4.71184074e-02 -1.38353466e-01 -1.91534011e+01] [ 4.60981640e-02 9.98880980e-01 -1.05710784e-02 -2.71191812e-01] [ 1.38696738e-01 4.07971932e-03 9.90326497e-01 1.28407899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.316338938 meters Centerline goodness [0,1] 0.996614857473115 Centerline is valid? [True, True] Translation: X:-19.18, Y:-0.27, Z:0.12 [[ 9.89303680e-01 -4.79384413e-02 -1.37768406e-01 -1.91817347e+01] [ 4.69395641e-02 9.98842627e-01 -1.04920652e-02 -2.73389044e-01] [ 1.38111930e-01 3.91304977e-03 9.90408897e-01 1.24055265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.346338938 meters Centerline goodness [0,1] 0.9959930601454065 Centerline is valid? [True, True] Translation: X:-19.21, Y:-0.28, Z:0.13 [[ 9.89564846e-01 -4.76785790e-02 -1.35971205e-01 -1.92101415e+01] [ 4.67071822e-02 9.98855238e-01 -1.03272806e-02 -2.77263735e-01] [ 1.36307941e-01 3.86868194e-03 9.90658962e-01 1.31904704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.376338938 meters Centerline goodness [0,1] 0.9966632337796086 Centerline is valid? [True, True] Translation: X:-19.24, Y:-0.28, Z:0.13 [[ 9.89965955e-01 -4.75955571e-02 -1.33049131e-01 -1.92388536e+01] [ 4.66665361e-02 9.98859523e-01 -1.00939666e-02 -2.77047431e-01] [ 1.33377819e-01 3.78374124e-03 9.91058041e-01 1.30954333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.406338938 meters Centerline goodness [0,1] 0.9963823541571919 Centerline is valid? [True, True] Translation: X:-19.27, Y:-0.28, Z:0.13 [[ 9.89764568e-01 -4.67877538e-02 -1.34822128e-01 -1.92673910e+01] [ 4.58283686e-02 9.98897126e-01 -1.02123990e-02 -2.81863632e-01] [ 1.35151251e-01 3.92919252e-03 9.90817188e-01 1.28170070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.436338938000002 meters Centerline goodness [0,1] 0.9965627911792111 Centerline is valid? [True, True] Translation: X:-19.29, Y:-0.29, Z:0.12 [[ 9.89597900e-01 -4.70307684e-02 -1.35956251e-01 -1.92947358e+01] [ 4.60611965e-02 9.98885823e-01 -1.02702482e-02 -2.85552216e-01] [ 1.36287789e-01 3.90110848e-03 9.90661607e-01 1.24079612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.466338938 meters Centerline goodness [0,1] 0.9971825150196809 Centerline is valid? [True, True] Translation: X:-19.32, Y:-0.28, Z:0.12 [[ 9.89763039e-01 -4.72909752e-02 -1.34657678e-01 -1.93230298e+01] [ 4.63453631e-02 9.98873907e-01 -1.01501360e-02 -2.82603384e-01] [ 1.34986051e-01 3.80547045e-03 9.90840191e-01 1.16056924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.496338938 meters Centerline goodness [0,1] 0.9970387243735763 Centerline is valid? [True, True] Translation: X:-19.35, Y:-0.28, Z:0.11 [[ 9.89999793e-01 -4.59893933e-02 -1.33361858e-01 -1.93512472e+01] [ 4.50547347e-02 9.98934274e-01 -1.00193797e-02 -2.81396771e-01] [ 1.33680516e-01 3.91060074e-03 9.91016764e-01 1.12692094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.526338938000002 meters Centerline goodness [0,1] 0.9967625020361622 Centerline is valid? [True, True] Translation: X:-19.38, Y:-0.29, Z:0.11 [[ 9.90240044e-01 -4.54398954e-02 -1.31756866e-01 -1.93791276e+01] [ 4.45271354e-02 9.98959446e-01 -9.86711563e-03 -2.85396957e-01] [ 1.32068127e-01 3.90405719e-03 9.91232954e-01 1.07727296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.556338938 meters Centerline goodness [0,1] 0.9962998180916157 Centerline is valid? [True, True] Translation: X:-19.41, Y:-0.29, Z:0.12 [[ 9.89979802e-01 -4.63012577e-02 -1.33402340e-01 -1.94069760e+01] [ 4.53767807e-02 9.98920254e-01 -9.96360082e-03 -2.94118787e-01] [ 1.33719627e-01 3.81039485e-03 9.91011878e-01 1.15225136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.586338938 meters Centerline goodness [0,1] 0.9967661021165447 Centerline is valid? [True, True] Translation: X:-19.43, Y:-0.29, Z:0.11 [[ 9.89828839e-01 -4.53565579e-02 -1.34839355e-01 -1.94349559e+01] [ 4.44048159e-02 9.98962976e-01 -1.00590413e-02 -2.88638718e-01] [ 1.35155767e-01 3.96921244e-03 9.90816413e-01 1.09049731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.616338938000002 meters Centerline goodness [0,1] 0.9962816784378895 Centerline is valid? [True, True] Translation: X:-19.46, Y:-0.28, Z:0.10 [[ 9.89928377e-01 -4.45987289e-02 -1.34360566e-01 -1.94627755e+01] [ 4.36493948e-02 9.98996817e-01 -1.00045252e-02 -2.82905113e-01] [ 1.34671967e-01 4.03900598e-03 9.90882005e-01 9.87021502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.646338938 meters Centerline goodness [0,1] 0.9968225803123775 Centerline is valid? [True, True] Translation: X:-19.49, Y:-0.30, Z:0.10 [[ 9.90054879e-01 -4.52454819e-02 -1.33207290e-01 -1.94899185e+01] [ 4.43228370e-02 9.98968354e-01 -9.88507067e-03 -2.95372436e-01] [ 1.33517122e-01 3.88263745e-03 9.91038901e-01 1.04078727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.676338938 meters Centerline goodness [0,1] 0.9954993083799575 Centerline is valid? [True, True] Translation: X:-19.52, Y:-0.30, Z:0.11 [[ 9.90100109e-01 -4.59792420e-02 -1.32618564e-01 -1.95183413e+01] [ 4.50745611e-02 9.98935385e-01 -9.81735816e-03 -3.02207324e-01] [ 1.32928771e-01 3.74244382e-03 9.91118528e-01 1.05579004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.706338938000002 meters Centerline goodness [0,1] 0.9958144257267774 Centerline is valid? [True, True] Translation: X:-19.55, Y:-0.30, Z:0.10 [[ 9.89810636e-01 -4.73930817e-02 -1.34271370e-01 -1.95473701e+01] [ 4.64830200e-02 9.98869958e-01 -9.90634088e-03 -2.99931630e-01] [ 1.34589129e-01 3.56406281e-03 9.90895082e-01 1.00194916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.736338938 meters Centerline goodness [0,1] 0.996318282416696 Centerline is valid? [True, True] Translation: X:-19.57, Y:-0.30, Z:0.09 [[ 9.89716351e-01 -4.85909328e-02 -1.34537969e-01 -1.95745496e+01] [ 4.76917843e-02 9.98813038e-01 -9.89994499e-03 -2.98684851e-01] [ 1.34859325e-01 3.38178164e-03 9.90858984e-01 9.32149990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.766338938 meters Centerline goodness [0,1] 0.9963117216800315 Centerline is valid? [True, True] Translation: X:-19.60, Y:-0.30, Z:0.09 [[ 9.89797757e-01 -4.84339862e-02 -1.33994590e-01 -1.96028972e+01] [ 4.75430662e-02 9.98820695e-01 -9.84254308e-03 -3.00441172e-01] [ 1.34313283e-01 3.37161340e-03 9.90933184e-01 9.12616508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.796338938 meters Centerline goodness [0,1] 0.9955927995034141 Centerline is valid? [True, True] Translation: X:-19.63, Y:-0.31, Z:0.09 [[ 9.90022933e-01 -4.91922227e-02 -1.32040591e-01 -1.96316392e+01] [ 4.83382759e-02 9.98784243e-01 -9.66684002e-03 -3.09141527e-01] [ 1.32355595e-01 3.18777877e-03 9.91197172e-01 9.25652773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.826338938 meters Centerline goodness [0,1] 0.9965676240100904 Centerline is valid? [True, True] Translation: X:-19.66, Y:-0.31, Z:0.09 [[ 9.90018051e-01 -4.94789103e-02 -1.31970058e-01 -1.96591016e+01] [ 4.86319219e-02 9.98770291e-01 -9.63540619e-03 -3.09205878e-01] [ 1.32284522e-01 3.12126851e-03 9.91206872e-01 9.06291003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.856338938 meters Centerline goodness [0,1] 0.9964723703596107 Centerline is valid? [True, True] Translation: X:-19.69, Y:-0.30, Z:0.08 [[ 9.89720049e-01 -4.83764348e-02 -1.34588056e-01 -1.96880708e+01] [ 4.74874309e-02 9.98823665e-01 -9.80967761e-03 -3.04885901e-01] [ 1.34904293e-01 3.31759358e-03 9.90853080e-01 8.23575225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.886338938 meters Centerline goodness [0,1] 0.995409049549177 Centerline is valid? [True, True] Translation: X:-19.72, Y:-0.31, Z:0.08 [[ 9.89867635e-01 -4.72872200e-02 -1.33887951e-01 -1.97154470e+01] [ 4.64019570e-02 9.98875495e-01 -9.72641558e-03 -3.07666067e-01] [ 1.34197328e-01 3.41520106e-03 9.90948744e-01 7.93121607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.916338938 meters Centerline goodness [0,1] 0.9953401677539608 Centerline is valid? [True, True] Translation: X:-19.74, Y:-0.31, Z:0.08 [[ 9.89902228e-01 -4.48017609e-02 -1.34485616e-01 -1.97437301e+01] [ 4.38905640e-02 9.98988922e-01 -9.73409489e-03 -3.11398080e-01] [ 1.34785745e-01 3.73315269e-03 9.90867734e-01 7.79477584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.946338938 meters Centerline goodness [0,1] 0.996038296467481 Centerline is valid? [True, True] Translation: X:-19.77, Y:-0.31, Z:0.08 [[ 9.90007147e-01 -4.37375380e-02 -1.34062959e-01 -1.97714663e+01] [ 4.28260131e-02 9.99035681e-01 -9.67681233e-03 -3.10137561e-01] [ 1.34356919e-01 3.83873136e-03 9.90925569e-01 7.90488215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.976338938 meters Centerline goodness [0,1] 0.9956655191007507 Centerline is valid? [True, True] Translation: X:-19.80, Y:-0.31, Z:0.08 [[ 9.90080433e-01 -4.34928297e-02 -1.33600558e-01 -1.97992485e+01] [ 4.25875917e-02 9.99046351e-01 -9.62729183e-03 -3.08323851e-01] [ 1.33891869e-01 3.84206724e-03 9.90988499e-01 7.88831142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.006338938 meters Centerline goodness [0,1] 0.9957090441740428 Centerline is valid? [True, True] Translation: X:-19.83, Y:-0.30, Z:0.08 [[ 9.90420795e-01 -4.14653498e-02 -1.31709048e-01 -1.98280137e+01] [ 4.05701246e-02 9.99131774e-01 -9.47431888e-03 -3.04303558e-01] [ 1.31987550e-01 4.04010997e-03 9.91243141e-01 7.51228892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.036338938 meters Centerline goodness [0,1] 0.9958597275700741 Centerline is valid? [True, True] Translation: X:-19.86, Y:-0.31, Z:0.07 [[ 9.90398924e-01 -3.90847406e-02 -1.32598472e-01 -1.98557313e+01] [ 3.81603257e-02 9.99226408e-01 -9.50659070e-03 -3.10660491e-01] [ 1.32867458e-01 4.35531629e-03 9.91124245e-01 6.83618679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.066338938 meters Centerline goodness [0,1] 0.9952612493819021 Centerline is valid? [True, True] Translation: X:-19.88, Y:-0.32, Z:0.07 [[ 9.90322329e-01 -3.83987509e-02 -1.33368736e-01 -1.98834704e+01] [ 3.74611885e-02 9.99252612e-01 -9.53297363e-03 -3.17328358e-01] [ 1.33635112e-01 4.44456530e-03 9.91020637e-01 6.71309696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.096338938000002 meters Centerline goodness [0,1] 0.9954153182308522 Centerline is valid? [True, True] Translation: X:-19.91, Y:-0.31, Z:0.06 [[ 9.90295537e-01 -3.79019167e-02 -1.33709363e-01 -1.99125730e+01] [ 3.69594376e-02 9.99271375e-01 -9.52464564e-03 -3.12942691e-01] [ 1.33972941e-01 4.49039122e-03 9.90974817e-01 6.23120027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.126338938 meters Centerline goodness [0,1] 0.9959583816945781 Centerline is valid? [True, True] Translation: X:-19.94, Y:-0.31, Z:0.06 [[ 9.90215197e-01 -3.73527365e-02 -1.34456822e-01 -1.99407135e+01] [ 3.63990888e-02 9.99291752e-01 -9.54470444e-03 -3.13777248e-01] [ 1.34718114e-01 4.55720558e-03 9.90873484e-01 6.06846881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.156338938 meters Centerline goodness [0,1] 0.9958279712731952 Centerline is valid? [True, True] Translation: X:-19.97, Y:-0.31, Z:0.05 [[ 9.89975516e-01 -3.67048835e-02 -1.36386326e-01 -1.99686295e+01] [ 3.57218968e-02 9.99315190e-01 -9.64865370e-03 -3.14941471e-01] [ 1.36647080e-01 4.67995267e-03 9.90608739e-01 5.07628130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.186338938000002 meters Centerline goodness [0,1] 0.9966831816579945 Centerline is valid? [True, True] Translation: X:-20.00, Y:-0.32, Z:0.05 [[ 9.90196160e-01 -3.85041591e-02 -1.34272092e-01 -1.99964892e+01] [ 3.75713742e-02 9.99249027e-01 -9.47488823e-03 -3.24567399e-01] [ 1.34536080e-01 4.33721091e-03 9.90899204e-01 5.21467567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.216338938 meters Centerline goodness [0,1] 0.9956743107873168 Centerline is valid? [True, True] Translation: X:-20.03, Y:-0.32, Z:0.06 [[ 9.90453492e-01 -4.01009452e-02 -1.31885533e-01 -2.00260372e+01] [ 3.92165061e-02 9.99187479e-01 -9.29773703e-03 -3.24612107e-01] [ 1.32151221e-01 4.03688632e-03 9.91221347e-01 5.56053582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.246338938 meters Centerline goodness [0,1] 0.9968495450494331 Centerline is valid? [True, True] Translation: X:-20.05, Y:-0.33, Z:0.05 [[ 9.90616955e-01 -4.10537783e-02 -1.30355807e-01 -2.00529827e+01] [ 4.01993064e-02 9.99149504e-01 -9.18062493e-03 -3.31621751e-01] [ 1.30621839e-01 3.85426969e-03 9.91424773e-01 5.41130656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.276338938000002 meters Centerline goodness [0,1] 0.9956538835654711 Centerline is valid? [True, True] Translation: X:-20.08, Y:-0.34, Z:0.05 [[ 9.90281359e-01 -4.30020546e-02 -1.32263578e-01 -2.00791403e+01] [ 4.21424469e-02 9.99068394e-01 -9.29291415e-03 -3.39273473e-01] [ 1.32539975e-01 3.62868883e-03 9.91171018e-01 4.53960761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.306338938 meters Centerline goodness [0,1] 0.9949076757472882 Centerline is valid? [True, True] Translation: X:-20.11, Y:-0.34, Z:0.04 [[ 9.89762420e-01 -4.46157225e-02 -1.35572083e-01 -2.01061130e+01] [ 4.37316519e-02 9.98998204e-01 -9.49370244e-03 -3.44293035e-01] [ 1.35859836e-01 3.46771876e-03 9.90721999e-01 3.70354479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.336338938 meters Centerline goodness [0,1] 0.9947017674572624 Centerline is valid? [True, True] Translation: X:-20.13, Y:-0.35, Z:0.03 [[ 9.89550683e-01 -4.74250348e-02 -1.36162816e-01 -2.01339259e+01] [ 4.65612789e-02 9.98870040e-01 -9.52316623e-03 -3.47648343e-01] [ 1.36460594e-01 3.08374078e-03 9.90640700e-01 3.28207994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.366338938000002 meters Centerline goodness [0,1] 0.9943137173814152 Centerline is valid? [True, True] Translation: X:-20.16, Y:-0.35, Z:0.03 [[ 9.89912900e-01 -4.89748633e-02 -1.32943268e-01 -2.01630540e+01] [ 4.81677949e-02 9.98796129e-01 -9.28202153e-03 -3.52370930e-01] [ 1.33237807e-01 2.78480879e-03 9.91080184e-01 3.44742651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.396338938 meters Centerline goodness [0,1] 0.9957011470497055 Centerline is valid? [True, True] Translation: X:-20.19, Y:-0.36, Z:0.04 [[ 9.90060949e-01 -5.06905375e-02 -1.31186075e-01 -2.01917971e+01] [ 4.99230137e-02 9.98711292e-01 -9.13500859e-03 -3.58848209e-01] [ 1.31480073e-01 2.49501105e-03 9.91315674e-01 3.86322967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.426338938 meters Centerline goodness [0,1] 0.9953985514722572 Centerline is valid? [True, True] Translation: X:-20.22, Y:-0.36, Z:0.04 [[ 9.90008228e-01 -5.20273129e-02 -1.31060544e-01 -2.02202762e+01] [ 5.12749581e-02 9.98643014e-01 -9.11092007e-03 -3.62844209e-01] [ 1.31356714e-01 2.29976192e-03 9.91332500e-01 3.52811337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.456338938000002 meters Centerline goodness [0,1] 0.9955095706156234 Centerline is valid? [True, True] Translation: X:-20.25, Y:-0.37, Z:0.03 [[ 9.90049012e-01 -5.13167789e-02 -1.31032598e-01 -2.02473162e+01] [ 5.05623089e-02 9.98679626e-01 -9.08062254e-03 -3.66119304e-01] [ 1.31325574e-01 2.36495069e-03 9.91336472e-01 3.27468997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.486338938 meters Centerline goodness [0,1] 0.9950008263097009 Centerline is valid? [True, True] Translation: X:-20.28, Y:-0.37, Z:0.03 [[ 9.90007487e-01 -5.20832277e-02 -1.31043939e-01 -2.02752033e+01] [ 5.13380845e-02 9.98640230e-01 -9.06046062e-03 -3.74825625e-01] [ 1.31337647e-01 2.24237903e-03 9.91335157e-01 3.16847492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.516338938 meters Centerline goodness [0,1] 0.9954480561130538 Centerline is valid? [True, True] Translation: X:-20.30, Y:-0.38, Z:0.02 [[ 9.89787703e-01 -5.18645437e-02 -1.32779411e-01 -2.03028352e+01] [ 5.11018602e-02 9.98651551e-01 -9.14760937e-03 -3.80228785e-01] [ 1.33074802e-01 2.26891634e-03 9.91103400e-01 2.29306036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.546338938 meters Centerline goodness [0,1] 0.9948121202099954 Centerline is valid? [True, True] Translation: X:-20.33, Y:-0.38, Z:0.02 [[ 9.89631673e-01 -5.30329762e-02 -1.33479041e-01 -2.03293987e+01] [ 5.22766051e-02 9.98590565e-01 -9.16732328e-03 -3.80679778e-01] [ 1.33777082e-01 2.09444236e-03 9.91009236e-01 1.89446091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.576338938 meters Centerline goodness [0,1] 0.9947525614966607 Centerline is valid? [True, True] Translation: X:-20.36, Y:-0.38, Z:0.02 [[ 9.89690601e-01 -5.24107617e-02 -1.33287760e-01 -2.03576850e+01] [ 5.16538706e-02 9.98623289e-01 -9.13254921e-03 -3.79612355e-01] [ 1.33582905e-01 2.15356942e-03 9.91035302e-01 1.68940450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.606338938 meters Centerline goodness [0,1] 0.99593176937056 Centerline is valid? [True, True] Translation: X:-20.38, Y:-0.39, Z:0.01 [[ 9.89701630e-01 -5.27622681e-02 -1.33066998e-01 -2.03840044e+01] [ 5.20152119e-02 9.98604953e-01 -9.08656771e-03 -3.88855622e-01] [ 1.33360791e-01 2.07148280e-03 9.91065391e-01 1.09110145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.636338938 meters Centerline goodness [0,1] 0.9959033352644211 Centerline is valid? [True, True] Translation: X:-20.41, Y:-0.40, Z:0.01 [[ 9.89414087e-01 -5.41112369e-02 -1.34654141e-01 -2.04120933e+01] [ 5.33609779e-02 9.98533116e-01 -9.17727930e-03 -3.95973753e-01] [ 1.34953213e-01 1.89485275e-03 9.90850160e-01 7.39782763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.666338938 meters Centerline goodness [0,1] 0.9960797328410529 Centerline is valid? [True, True] Translation: X:-20.44, Y:-0.40, Z:0.00 [[ 9.89286851e-01 -5.54421558e-02 -1.35047009e-01 -2.04397720e+01] [ 5.47045617e-02 9.98460482e-01 -9.16938463e-03 -3.98605190e-01] [ 1.35347472e-01 1.68346422e-03 9.90796764e-01 2.61495624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.696338938 meters Centerline goodness [0,1] 0.996050291575334 Centerline is valid? [True, True] Translation: X:-20.47, Y:-0.40, Z:0.00 [[ 9.89520954e-01 -5.62914630e-02 -1.32964482e-01 -2.04676835e+01] [ 5.55882750e-02 9.98413233e-01 -8.99773165e-03 -3.99628929e-01] [ 1.33259994e-01 1.51217782e-03 9.91079960e-01 4.26863958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.726338938 meters Centerline goodness [0,1] 0.9956794972505891 Centerline is valid? [True, True] Translation: X:-20.50, Y:-0.40, Z:0.00 [[ 9.89821101e-01 -5.48835195e-02 -1.31308747e-01 -2.04954236e+01] [ 5.41871221e-02 9.98491371e-01 -8.87346663e-03 -4.04180371e-01] [ 1.31597658e-01 1.66790139e-03 9.91301808e-01 3.33799589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.756338938 meters Centerline goodness [0,1] 0.9950018588128382 Centerline is valid? [True, True] Translation: X:-20.52, Y:-0.41, Z:0.00 [[ 9.89963297e-01 -5.39279512e-02 -1.30630955e-01 -2.05243500e+01] [ 5.32326271e-02 9.98543262e-01 -8.81142814e-03 -4.10387482e-01] [ 1.30915842e-01 1.76916153e-03 9.91391906e-01 3.92900514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.786338938 meters Centerline goodness [0,1] 0.9956879655037241 Centerline is valid? [True, True] Translation: X:-20.55, Y:-0.41, Z:-0.00 [[ 9.90025038e-01 -5.25404337e-02 -1.30728446e-01 -2.05528112e+01] [ 5.18361922e-02 9.98616947e-01 -8.78645343e-03 -4.12391788e-01] [ 1.31009286e-01 1.92234405e-03 9.91379277e-01 -4.03773453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.816338938 meters Centerline goodness [0,1] 0.9963702735776657 Centerline is valid? [True, True] Translation: X:-20.58, Y:-0.40, Z:-0.02 [[ 9.89660387e-01 -4.70561031e-02 -1.35491853e-01 -2.05819200e+01] [ 4.62524954e-02 9.98888561e-01 -9.07464609e-03 -4.03743539e-01] [ 1.35768280e-01 2.71398142e-03 9.90736902e-01 -1.53371379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.846338938000002 meters Centerline goodness [0,1] 0.996322307180851 Centerline is valid? [True, True] Translation: X:-20.61, Y:-0.40, Z:-0.02 [[ 9.89485253e-01 -4.51329120e-02 -1.37411624e-01 -2.06092847e+01] [ 4.42914671e-02 9.98976505e-01 -9.17655373e-03 -4.03328207e-01] [ 1.37685148e-01 2.99390217e-03 9.90471522e-01 -2.30461613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.876338938 meters Centerline goodness [0,1] 0.9959630672408082 Centerline is valid? [True, True] Translation: X:-20.64, Y:-0.41, Z:-0.02 [[ 9.89873522e-01 -4.16992539e-02 -1.35689290e-01 -2.06373820e+01] [ 4.08493762e-02 9.99124394e-01 -9.04290952e-03 -4.06775557e-01] [ 1.35947562e-01 3.40851386e-03 9.90710171e-01 -2.22342177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.906338938 meters Centerline goodness [0,1] 0.9955911574764034 Centerline is valid? [True, True] Translation: X:-20.67, Y:-0.41, Z:-0.02 [[ 9.90270843e-01 -4.05704909e-02 -1.33107823e-01 -2.06668303e+01] [ 3.97474990e-02 9.99170692e-01 -8.83536451e-03 -4.11452648e-01] [ 1.33355891e-01 3.45870081e-03 9.91062180e-01 -1.57844072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.936338938000002 meters Centerline goodness [0,1] 0.9955911574764034 Centerline is valid? [True, True] Translation: X:-20.69, Y:-0.41, Z:-0.02 [[ 9.90281870e-01 -4.02931358e-02 -1.33110034e-01 -2.06939846e+01] [ 3.94721416e-02 9.99181903e-01 -8.80193552e-03 -4.13397604e-01] [ 1.33355795e-01 3.46225904e-03 9.91062180e-01 -1.85262940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.966338938 meters Centerline goodness [0,1] 0.9958687075251492 Centerline is valid? [True, True] Translation: X:-20.72, Y:-0.41, Z:-0.02 [[ 9.90592094e-01 -4.17015476e-02 -1.30339114e-01 -2.07220149e+01] [ 4.09306028e-02 9.99125072e-01 -8.58936474e-03 -4.14214530e-01] [ 1.30583266e-01 3.17369830e-03 9.91432266e-01 -2.06539471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.996338938 meters Centerline goodness [0,1] 0.9964375220065864 Centerline is valid? [True, True] Translation: X:-20.75, Y:-0.41, Z:-0.03 [[ 9.90315890e-01 -4.30786279e-02 -1.31979809e-01 -2.07498594e+01] [ 4.23021890e-02 9.99067135e-01 -8.68247474e-03 -4.14092717e-01] [ 1.32230719e-01 3.01535786e-03 9.91214379e-01 -2.88550737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.026338938000002 meters Centerline goodness [0,1] 0.9966429740762998 Centerline is valid? [True, True] Translation: X:-20.78, Y:-0.43, Z:-0.04 [[ 9.89892407e-01 -4.58210606e-02 -1.34214203e-01 -2.07765239e+01] [ 4.50475305e-02 9.98946119e-01 -8.79610525e-03 -4.25119545e-01] [ 1.34475805e-01 2.66117938e-03 9.90913304e-01 -4.01423103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.056338938 meters Centerline goodness [0,1] 0.9965006004886735 Centerline is valid? [True, True] Translation: X:-20.80, Y:-0.44, Z:-0.04 [[ 9.89698198e-01 -4.70959018e-02 -1.35201529e-01 -2.08032091e+01] [ 4.63274375e-02 9.98887314e-01 -8.82621263e-03 -4.38596628e-01] [ 1.35466771e-01 2.47174635e-03 9.90778807e-01 -3.98410318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.086338938 meters Centerline goodness [0,1] 0.9961391555693198 Centerline is valid? [True, True] Translation: X:-20.83, Y:-0.45, Z:-0.04 [[ 9.90044965e-01 -4.96328269e-02 -1.31710098e-01 -2.08321609e+01] [ 4.89300996e-02 9.98765451e-01 -8.56846998e-03 -4.46776325e-01] [ 1.31972773e-01 2.03858236e-03 9.91251245e-01 -3.72095857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.116338938000002 meters Centerline goodness [0,1] 0.9971463429764883 Centerline is valid? [True, True] Translation: X:-20.86, Y:-0.45, Z:-0.04 [[ 9.90339910e-01 -5.05506673e-02 -1.29118134e-01 -2.08611162e+01] [ 4.98845026e-02 9.98719750e-01 -8.39026957e-03 -4.47864625e-01] [ 1.29376964e-01 1.86822492e-03 9.91593723e-01 -3.75737774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.146338938 meters Centerline goodness [0,1] 0.9947954315454677 Centerline is valid? [True, True] Translation: X:-20.89, Y:-0.45, Z:-0.04 [[ 9.90378372e-01 -4.78044844e-02 -1.29866903e-01 -2.08890002e+01] [ 4.71081812e-02 9.98854220e-01 -8.43007033e-03 -4.46574979e-01] [ 1.30121099e-01 2.23116571e-03 9.91495598e-01 -3.82985958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.176338938 meters Centerline goodness [0,1] 0.9961839933993399 Centerline is valid? [True, True] Translation: X:-20.92, Y:-0.45, Z:-0.05 [[ 9.90343588e-01 -4.28265621e-02 -1.31853945e-01 -2.09162364e+01] [ 4.20662127e-02 9.99078258e-01 -8.54796609e-03 -4.50293763e-01] [ 1.32098490e-01 2.91882731e-03 9.91232298e-01 -5.20443930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.206338938000002 meters Centerline goodness [0,1] 0.997437592990577 Centerline is valid? [True, True] Translation: X:-20.94, Y:-0.45, Z:-0.05 [[ 9.90384135e-01 -4.12020491e-02 -1.32066861e-01 -2.09440411e+01] [ 4.04261646e-02 9.99145930e-01 -8.55193851e-03 -4.53704880e-01] [ 1.32306424e-01 3.13074759e-03 9.91203919e-01 -5.40651322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.236338938 meters Centerline goodness [0,1] 0.9967425366980043 Centerline is valid? [True, True] Translation: X:-20.97, Y:-0.46, Z:-0.06 [[ 9.90594086e-01 -3.91089487e-02 -1.31125307e-01 -2.09724879e+01] [ 3.83280923e-02 9.99229273e-01 -8.47452601e-03 -4.56380978e-01] [ 1.31355675e-01 3.36903248e-03 9.91329580e-01 -5.53501472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.266338938 meters Centerline goodness [0,1] 0.9959412407029689 Centerline is valid? [True, True] Translation: X:-21.00, Y:-0.46, Z:-0.06 [[ 9.90773062e-01 -3.63280396e-02 -1.30571873e-01 -2.10005414e+01] [ 3.55340079e-02 9.99333109e-01 -8.40667250e-03 -4.56219005e-01] [ 1.30790194e-01 3.68936269e-03 9.91403204e-01 -6.41079757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.296338938 meters Centerline goodness [0,1] 0.9960762447597217 Centerline is valid? [True, True] Translation: X:-21.03, Y:-0.46, Z:-0.07 [[ 9.90541185e-01 -3.60763084e-02 -1.32388294e-01 -2.10277777e+01] [ 3.52613423e-02 9.99342012e-01 -8.49590821e-03 -4.61737091e-01] [ 1.32607686e-01 3.74735802e-03 9.91161520e-01 -6.87763910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.326338938 meters Centerline goodness [0,1] 0.9951377299791911 Centerline is valid? [True, True] Translation: X:-21.06, Y:-0.46, Z:-0.08 [[ 9.90536995e-01 -3.66095577e-02 -1.32273211e-01 -2.10554492e+01] [ 3.58029780e-02 9.99322958e-01 -8.47183871e-03 -4.64319776e-01] [ 1.32493807e-01 3.65589479e-03 9.91177091e-01 -7.86390643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.356338938 meters Centerline goodness [0,1] 0.9953227508847451 Centerline is valid? [True, True] Translation: X:-21.08, Y:-0.47, Z:-0.07 [[ 9.90501359e-01 -3.74671698e-02 -1.32299920e-01 -2.10834394e+01] [ 3.66715147e-02 9.99291679e-01 -8.44630846e-03 -4.73568783e-01] [ 1.32522669e-01 3.51444154e-03 9.91173744e-01 -7.43476091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.386338938 meters Centerline goodness [0,1] 0.9964055528011899 Centerline is valid? [True, True] Translation: X:-21.11, Y:-0.49, Z:-0.08 [[ 9.90784366e-01 -4.26574281e-02 -1.28556154e-01 -2.11117350e+01] [ 4.19519038e-02 9.99086046e-01 -8.19214611e-03 -4.88096133e-01] [ 1.28788115e-01 2.72347488e-03 9.91668394e-01 -7.66848780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.416338938 meters Centerline goodness [0,1] 0.9963715080919493 Centerline is valid? [True, True] Translation: X:-21.14, Y:-0.50, Z:-0.08 [[ 9.90748989e-01 -4.41988575e-02 -1.28307839e-01 -2.11394279e+01] [ 4.35122290e-02 9.99019643e-01 -8.15094434e-03 -4.97896528e-01] [ 1.28542314e-01 2.49257982e-03 9.91700893e-01 -7.77071419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.446338938 meters Centerline goodness [0,1] 0.9963877306691987 Centerline is valid? [True, True] Translation: X:-21.17, Y:-0.50, Z:-0.08 [[ 9.90373048e-01 -4.46575672e-02 -1.31022621e-01 -2.11665900e+01] [ 4.39469016e-02 9.98999290e-01 -8.31193158e-03 -5.02792336e-01] [ 1.31262696e-01 2.47387478e-03 9.91344534e-01 -8.40909495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.476338938 meters Centerline goodness [0,1] 0.995373048004627 Centerline is valid? [True, True] Translation: X:-21.19, Y:-0.51, Z:-0.09 [[ 9.90272197e-01 -4.43101375e-02 -1.31899917e-01 -2.11943368e+01] [ 4.35890745e-02 9.99014646e-01 -8.35048100e-03 -5.06229271e-01] [ 1.32139959e-01 2.51985387e-03 9.91227866e-01 -9.06122755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.506338938 meters Centerline goodness [0,1] 0.995193497813351 Centerline is valid? [True, True] Translation: X:-21.22, Y:-0.51, Z:-0.09 [[ 9.90828526e-01 -4.34337568e-02 -1.27954449e-01 -2.12233187e+01] [ 4.27516228e-02 9.99053106e-01 -8.07398422e-03 -5.10075997e-01] [ 1.28183973e-01 2.52967356e-03 9.91747180e-01 -9.37567439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.536338938 meters Centerline goodness [0,1] 0.9966152068026087 Centerline is valid? [True, True] Translation: X:-21.25, Y:-0.52, Z:-0.09 [[ 9.91210924e-01 -4.06137194e-02 -1.25902462e-01 -2.12509302e+01] [ 3.99322356e-02 9.99170899e-01 -7.93295351e-03 -5.17732676e-01] [ 1.26120263e-01 2.83566340e-03 9.92010906e-01 -8.76168648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.566338938 meters Centerline goodness [0,1] 0.9963937601747481 Centerline is valid? [True, True] Translation: X:-21.28, Y:-0.52, Z:-0.09 [[ 9.91075225e-01 -3.91169347e-02 -1.27435332e-01 -2.12778340e+01] [ 3.84082679e-02 9.99229990e-01 -8.01450845e-03 -5.22210700e-01] [ 1.27650708e-01 3.04841040e-03 9.91814501e-01 -9.44129908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.596338938000002 meters Centerline goodness [0,1] 0.9955421637016552 Centerline is valid? [True, True] Translation: X:-21.31, Y:-0.52, Z:-0.10 [[ 9.90813034e-01 -3.84978873e-02 -1.29643531e-01 -2.13059537e+01] [ 3.77611732e-02 9.99253664e-01 -8.13686837e-03 -5.23121820e-01] [ 1.29860025e-01 3.16662342e-03 9.91527280e-01 -1.03307571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.626338938 meters Centerline goodness [0,1] 0.9956462528887422 Centerline is valid? [True, True] Translation: X:-21.33, Y:-0.53, Z:-0.10 [[ 9.90977845e-01 -3.78376399e-02 -1.28573804e-01 -2.13342978e+01] [ 3.71112490e-02 9.99278785e-01 -8.04149207e-03 -5.25101772e-01] [ 1.28785346e-01 3.19740601e-03 9.91667339e-01 -1.03404871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.656338938 meters Centerline goodness [0,1] 0.9961992894323721 Centerline is valid? [True, True] Translation: X:-21.36, Y:-0.53, Z:-0.11 [[ 9.91165143e-01 -3.69055621e-02 -1.27395601e-01 -2.13619950e+01] [ 3.61873814e-02 9.99313415e-01 -7.94809441e-03 -5.30495756e-01] [ 1.27601462e-01 3.26776095e-03 9.91820139e-01 -1.08514093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.686338938000002 meters Centerline goodness [0,1] 0.9965555647223826 Centerline is valid? [True, True] Translation: X:-21.39, Y:-0.54, Z:-0.11 [[ 9.91126472e-01 -3.77900773e-02 -1.27437148e-01 -2.13894969e+01] [ 3.70827059e-02 9.99280818e-01 -7.91957400e-03 -5.40376973e-01] [ 1.27644779e-01 3.12358517e-03 9.91815030e-01 -1.13496508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.716338938 meters Centerline goodness [0,1] 0.9963594241270892 Centerline is valid? [True, True] Translation: X:-21.42, Y:-0.55, Z:-0.12 [[ 9.90870483e-01 -4.00387007e-02 -1.28734562e-01 -2.14164536e+01] [ 3.93393601e-02 9.99194109e-01 -7.97162044e-03 -5.51547697e-01] [ 1.28949989e-01 2.83450812e-03 9.91647047e-01 -1.17245137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.746338938 meters Centerline goodness [0,1] 0.9953482602493332 Centerline is valid? [True, True] Translation: X:-21.44, Y:-0.56, Z:-0.12 [[ 9.90802433e-01 -4.28485233e-02 -1.28353194e-01 -2.14449639e+01] [ 4.21794787e-02 9.99078599e-01 -7.92744220e-03 -5.55233089e-01] [ 1.28574608e-01 2.44065822e-03 9.91696835e-01 -1.21983877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.776338938000002 meters Centerline goodness [0,1] 0.9954780227758302 Centerline is valid? [True, True] Translation: X:-21.47, Y:-0.56, Z:-0.12 [[ 9.90838287e-01 -4.42085638e-02 -1.27613056e-01 -2.14733340e+01] [ 4.35625620e-02 9.99019859e-01 -7.85012816e-03 -5.59840585e-01] [ 1.27835020e-01 2.21905589e-03 9.91792964e-01 -1.21401340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.806338938 meters Centerline goodness [0,1] 0.9961780018180316 Centerline is valid? [True, True] Translation: X:-21.50, Y:-0.57, Z:-0.13 [[ 9.90988974e-01 -4.42148277e-02 -1.26435366e-01 -2.15002696e+01] [ 4.35841628e-02 9.99019687e-01 -7.75145898e-03 -5.72024279e-01] [ 1.26654149e-01 2.17103083e-03 9.91944562e-01 -1.26038219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.836338938 meters Centerline goodness [0,1] 0.9967225279821903 Centerline is valid? [True, True] Translation: X:-21.53, Y:-0.58, Z:-0.12 [[ 9.91057276e-01 -4.53367884e-02 -1.25499204e-01 -2.15282282e+01] [ 4.47257642e-02 9.98969753e-01 -7.68360492e-03 -5.81159152e-01] [ 1.25718259e-01 2.00184474e-03 9.92063966e-01 -1.23936850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.866338938000002 meters Centerline goodness [0,1] 0.9956252579446967 Centerline is valid? [True, True] Translation: X:-21.56, Y:-0.58, Z:-0.13 [[ 9.91259124e-01 -4.40126222e-02 -1.24371374e-01 -2.15566052e+01] [ 4.34040734e-02 9.99028694e-01 -7.59972909e-03 -5.78503449e-01] [ 1.24585055e-01 2.13507656e-03 9.92206634e-01 -1.33178230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.896338938 meters Centerline goodness [0,1] 0.9973880597014926 Centerline is valid? [True, True] Translation: X:-21.58, Y:-0.58, Z:-0.14 [[ 9.91157093e-01 -4.31499355e-02 -1.25481871e-01 -2.15845067e+01] [ 4.25274718e-02 9.99066113e-01 -7.63642587e-03 -5.80746078e-01] [ 1.25694197e-01 2.23247092e-03 9.92066522e-01 -1.41088557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.926338938 meters Centerline goodness [0,1] 0.9963076034489872 Centerline is valid? [True, True] Translation: X:-21.61, Y:-0.59, Z:-0.15 [[ 9.91065840e-01 -3.98430477e-02 -1.27283279e-01 -2.16125444e+01] [ 3.91792699e-02 9.99202411e-01 -7.71533705e-03 -5.90157194e-01] [ 1.27489162e-01 2.65954104e-03 9.91836398e-01 -1.47245936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.956338938000002 meters Centerline goodness [0,1] 0.9967752604597321 Centerline is valid? [True, True] Translation: X:-21.64, Y:-0.60, Z:-0.15 [[ 9.91090448e-01 -3.86292633e-02 -1.27465695e-01 -2.16413104e+01] [ 3.79573574e-02 9.99249716e-01 -7.69701967e-03 -5.96552457e-01] [ 1.27667390e-01 2.79018173e-03 9.91813114e-01 -1.47796956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.986338938 meters Centerline goodness [0,1] 0.9948078067601125 Centerline is valid? [True, True] Translation: X:-21.67, Y:-0.59, Z:-0.15 [[ 9.91664387e-01 -3.74055251e-02 -1.23298707e-01 -2.16707551e+01] [ 3.67712485e-02 9.99296187e-01 -7.41663097e-03 -5.94415560e-01] [ 1.23489351e-01 2.82096140e-03 9.92341888e-01 -1.50308168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.016338938 meters Centerline goodness [0,1] 0.9964743721908375 Centerline is valid? [True, True] Translation: X:-21.70, Y:-0.60, Z:-0.15 [[ 9.91819101e-01 -3.61633595e-02 -1.22421742e-01 -2.16971221e+01] [ 3.55317619e-02 9.99341599e-01 -7.33913238e-03 -5.97393353e-01] [ 1.22606547e-01 2.92923148e-03 9.92451034e-01 -1.52165520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.046338938 meters Centerline goodness [0,1] 0.9961684245220831 Centerline is valid? [True, True] Translation: X:-21.73, Y:-0.61, Z:-0.16 [[ 9.91648981e-01 -3.48953368e-02 -1.24155600e-01 -2.17253582e+01] [ 3.42379276e-02 9.99386125e-01 -7.42543518e-03 -6.07581024e-01] [ 1.24338497e-01 3.11259479e-03 9.92234977e-01 -1.58752566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.076338938 meters Centerline goodness [0,1] 0.9970996478143774 Centerline is valid? [True, True] Translation: X:-21.75, Y:-0.61, Z:-0.16 [[ 9.91674397e-01 -3.57173015e-02 -1.23718082e-01 -2.17537697e+01] [ 3.50743839e-02 9.99357518e-01 -7.37147915e-03 -6.12843511e-01] [ 1.23901885e-01 2.97077165e-03 9.92290027e-01 -1.63409290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.106338938 meters Centerline goodness [0,1] 0.9977818853974122 Centerline is valid? [True, True] Translation: X:-21.78, Y:-0.62, Z:-0.16 [[ 9.91798581e-01 -3.62120605e-02 -1.22573496e-01 -2.17816652e+01] [ 3.55879183e-02 9.99340046e-01 -7.27820803e-03 -6.16182870e-01] [ 1.22756162e-01 2.85638083e-03 9.92432751e-01 -1.64678494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.136338938 meters Centerline goodness [0,1] 0.9972730653224807 Centerline is valid? [True, True] Translation: X:-21.81, Y:-0.62, Z:-0.17 [[ 9.91967353e-01 -3.80214239e-02 -1.20644692e-01 -2.18095320e+01] [ 3.74313866e-02 9.99273592e-01 -7.15399407e-03 -6.23649531e-01] [ 1.20829060e-01 2.58063046e-03 9.92669975e-01 -1.65898921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.166338938 meters Centerline goodness [0,1] 0.9964709261766999 Centerline is valid? [True, True] Translation: X:-21.84, Y:-0.63, Z:-0.17 [[ 9.91684535e-01 -3.87479068e-02 -1.22720750e-01 -2.18380969e+01] [ 3.81440597e-02 9.99245826e-01 -7.26698638e-03 -6.32369604e-01] [ 1.22909778e-01 2.52549037e-03 9.92414635e-01 -1.69914291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.196338938 meters Centerline goodness [0,1] 0.9963783027409663 Centerline is valid? [True, True] Translation: X:-21.86, Y:-0.64, Z:-0.18 [[ 9.91600271e-01 -3.93814714e-02 -1.23199033e-01 -2.18647281e+01] [ 3.87801932e-02 9.99221278e-01 -7.27565858e-03 -6.40445243e-01] [ 1.23389621e-01 2.43686274e-03 9.92355311e-01 -1.78669025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.226338938 meters Centerline goodness [0,1] 0.9971597340852492 Centerline is valid? [True, True] Translation: X:-21.89, Y:-0.64, Z:-0.18 [[ 9.91851857e-01 -4.23278247e-02 -1.20159262e-01 -2.18930683e+01] [ 4.17809074e-02 9.99101793e-01 -7.06840994e-03 -6.40683900e-01] [ 1.20350525e-01 1.99045251e-03 9.92729464e-01 -1.77193990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.256338938000003 meters Centerline goodness [0,1] 0.9970713799575144 Centerline is valid? [True, True] Translation: X:-21.92, Y:-0.64, Z:-0.18 [[ 9.91965576e-01 -4.22203725e-02 -1.19254919e-01 -2.19215318e+01] [ 4.16823229e-02 9.99106367e-01 -7.00359820e-03 -6.43319380e-01] [ 1.19444044e-01 1.97650628e-03 9.92838967e-01 -1.81088128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.286338938 meters Centerline goodness [0,1] 0.9965767464742539 Centerline is valid? [True, True] Translation: X:-21.95, Y:-0.65, Z:-0.19 [[ 9.91829282e-01 -4.12997348e-02 -1.20702139e-01 -2.19494404e+01] [ 4.07452969e-02 9.99144630e-01 -7.05894437e-03 -6.48913716e-01] [ 1.20890427e-01 2.08322323e-03 9.92663672e-01 -1.85737958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.316338938 meters Centerline goodness [0,1] 0.9971158996333073 Centerline is valid? [True, True] Translation: X:-21.98, Y:-0.65, Z:-0.19 [[ 9.91705756e-01 -4.07182966e-02 -1.21908633e-01 -2.19762866e+01] [ 4.01515327e-02 9.99168354e-01 -7.10308410e-03 -6.54245471e-01] [ 1.22096473e-01 2.14935093e-03 9.92515910e-01 -1.89600399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.346338938000002 meters Centerline goodness [0,1] 0.9981428365077072 Centerline is valid? [True, True] Translation: X:-22.00, Y:-0.66, Z:-0.20 [[ 9.91806075e-01 -3.88826924e-02 -1.21691602e-01 -2.20048195e+01] [ 3.83059190e-02 9.99241003e-01 -7.07639060e-03 -6.55570582e-01] [ 1.21874388e-01 2.35689852e-03 9.92542734e-01 -1.96286324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.376338938 meters Centerline goodness [0,1] 0.9967939496074644 Centerline is valid? [True, True] Translation: X:-22.03, Y:-0.66, Z:-0.19 [[ 9.92151728e-01 -3.68049992e-02 -1.19500381e-01 -2.20342360e+01] [ 3.62373742e-02 9.99319250e-01 -6.92023531e-03 -6.56350218e-01] [ 1.19673731e-01 2.53554338e-03 9.92810037e-01 -1.93786311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.406338938 meters Centerline goodness [0,1] 0.996413332508812 Centerline is valid? [True, True] Translation: X:-22.06, Y:-0.66, Z:-0.20 [[ 9.92212099e-01 -3.45710113e-02 -1.19666182e-01 -2.20622841e+01] [ 3.39891123e-02 9.99398378e-01 -6.90089801e-03 -6.59696073e-01] [ 1.19832760e-01 2.77980719e-03 9.92790201e-01 -1.95397532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.436338938000002 meters Centerline goodness [0,1] 0.9974288829010428 Centerline is valid? [True, True] Translation: X:-22.09, Y:-0.66, Z:-0.20 [[ 9.92234015e-01 -3.32748812e-02 -1.19851753e-01 -2.20901850e+01] [ 3.26852998e-02 9.99441997e-01 -6.88223110e-03 -6.60367041e-01] [ 1.20013881e-01 2.91139333e-03 9.92767945e-01 -2.02920728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.466338938 meters Centerline goodness [0,1] 0.9982688978649741 Centerline is valid? [True, True] Translation: X:-22.12, Y:-0.66, Z:-0.21 [[ 9.92200855e-01 -3.21180524e-02 -1.20440421e-01 -2.21187238e+01] [ 3.15177713e-02 9.99479470e-01 -6.88617963e-03 -6.62871468e-01] [ 1.20598899e-01 3.03645967e-03 9.92696673e-01 -2.08955492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.496338938 meters Centerline goodness [0,1] 0.9973315817562297 Centerline is valid? [True, True] Translation: X:-22.15, Y:-0.67, Z:-0.21 [[ 9.92252666e-01 -3.15384855e-02 -1.20166425e-01 -2.21463971e+01] [ 3.09403305e-02 9.99497824e-01 -6.84069823e-03 -6.67594844e-01] [ 1.20321826e-01 3.06971214e-03 9.92730192e-01 -2.07430622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.526338938000002 meters Centerline goodness [0,1] 0.9973039165243162 Centerline is valid? [True, True] Translation: X:-22.18, Y:-0.67, Z:-0.21 [[ 9.92441734e-01 -3.14152593e-02 -1.18627506e-01 -2.21751053e+01] [ 3.08353532e-02 9.99501879e-01 -6.72120111e-03 -6.67437534e-01] [ 1.18779563e-01 3.01247945e-03 9.92916079e-01 -2.08760019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.556338938 meters Centerline goodness [0,1] 0.9978160990584503 Centerline is valid? [True, True] Translation: X:-22.20, Y:-0.67, Z:-0.21 [[ 9.92609528e-01 -3.25626641e-02 -1.16901655e-01 -2.22026186e+01] [ 3.20106149e-02 9.99465756e-01 -6.59722347e-03 -6.71245080e-01] [ 1.17054024e-01 2.80637301e-03 9.93121584e-01 -2.10195048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.586338938 meters Centerline goodness [0,1] 0.9975553135977977 Centerline is valid? [True, True] Translation: X:-22.23, Y:-0.68, Z:-0.21 [[ 9.92586431e-01 -3.31644473e-02 -1.16928593e-01 -2.22297107e+01] [ 3.26180380e-02 9.99446204e-01 -6.58401047e-03 -6.75850817e-01] [ 1.17082194e-01 2.72121815e-03 9.93118500e-01 -2.14041662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.616338938000002 meters Centerline goodness [0,1] 0.9978437211212651 Centerline is valid? [True, True] Translation: X:-22.26, Y:-0.69, Z:-0.22 [[ 9.92327241e-01 -3.39117319e-02 -1.18897610e-01 -2.22576065e+01] [ 3.33536438e-02 9.99421281e-01 -6.68118735e-03 -6.85097015e-01] [ 1.19055372e-01 2.66425568e-03 9.92884042e-01 -2.18972024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.646338938 meters Centerline goodness [0,1] 0.9972013005720871 Centerline is valid? [True, True] Translation: X:-22.29, Y:-0.69, Z:-0.22 [[ 9.92281115e-01 -3.55752086e-02 -1.18796438e-01 -2.22859647e+01] [ 3.50334703e-02 9.99364040e-01 -6.64610137e-03 -6.88109756e-01] [ 1.18957325e-01 2.43294938e-03 9.92896387e-01 -2.21255506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.676338938 meters Centerline goodness [0,1] 0.9969900630849792 Centerline is valid? [True, True] Translation: X:-22.31, Y:-0.69, Z:-0.22 [[ 9.92334331e-01 -3.52345168e-02 -1.18452965e-01 -2.23139926e+01] [ 3.46970856e-02 9.99376102e-01 -6.59692150e-03 -6.85398130e-01] [ 1.18611501e-01 2.43637903e-03 9.92937750e-01 -2.21747393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.706338938000002 meters Centerline goodness [0,1] 0.9971429745950835 Centerline is valid? [True, True] Translation: X:-22.34, Y:-0.69, Z:-0.22 [[ 9.92505102e-01 -3.41281160e-02 -1.17340928e-01 -2.23405530e+01] [ 3.35967109e-02 9.99414306e-01 -6.50429800e-03 -6.88505720e-01] [ 1.17494182e-01 2.51327970e-03 9.93070391e-01 -2.23769612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.736338938 meters Centerline goodness [0,1] 0.9984782116930924 Centerline is valid? [True, True] Translation: X:-22.37, Y:-0.70, Z:-0.22 [[ 9.92666230e-01 -3.39040694e-02 -1.16035638e-01 -2.23680506e+01] [ 3.33852037e-02 9.99421985e-01 -6.41275407e-03 -6.96072157e-01] [ 1.16185986e-01 2.49185099e-03 9.93224349e-01 -2.24052620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.766338938 meters Centerline goodness [0,1] 0.9979882992917992 Centerline is valid? [True, True] Translation: X:-22.40, Y:-0.70, Z:-0.23 [[ 9.92713314e-01 -3.22783548e-02 -1.16096441e-01 -2.23966827e+01] [ 3.17493139e-02 9.99475349e-01 -6.40375641e-03 -6.98909468e-01] [ 1.16242233e-01 2.67111192e-03 9.93217302e-01 -2.26273953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.796338938 meters Centerline goodness [0,1] 0.9976558162488948 Centerline is valid? [True, True] Translation: X:-22.43, Y:-0.70, Z:-0.23 [[ 9.92580557e-01 -3.18545233e-02 -1.17341922e-01 -2.24255975e+01] [ 3.13143948e-02 9.99488810e-01 -6.44424563e-03 -6.97346587e-01] [ 1.17487216e-01 2.72194166e-03 9.93070665e-01 -2.29891542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.826338938 meters Centerline goodness [0,1] 0.9976558162488948 Centerline is valid? [True, True] Translation: X:-22.45, Y:-0.70, Z:-0.23 [[ 9.92589067e-01 -3.15824666e-02 -1.17343481e-01 -2.24528094e+01] [ 3.10438128e-02 9.99497434e-01 -6.41573923e-03 -6.98974393e-01] [ 1.17487133e-01 2.72540357e-03 9.93070665e-01 -2.32632753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.856338938 meters Centerline goodness [0,1] 0.9963792713283548 Centerline is valid? [True, True] Translation: X:-22.48, Y:-0.70, Z:-0.23 [[ 9.92651398e-01 -3.02829136e-02 -1.17158642e-01 -2.24803164e+01] [ 2.97403395e-02 9.99537316e-01 -6.37693107e-03 -7.00845125e-01] [ 1.17297547e-01 2.84573175e-03 9.93092739e-01 -2.33673877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.886338938 meters Centerline goodness [0,1] 0.997152760584303 Centerline is valid? [True, True] Translation: X:-22.51, Y:-0.71, Z:-0.24 [[ 9.92629653e-01 -2.99239790e-02 -1.17434777e-01 -2.25079886e+01] [ 2.93779412e-02 9.99548025e-01 -6.37833617e-03 -7.05050156e-01] [ 1.17572564e-01 2.88133365e-03 9.93060114e-01 -2.37006157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.916338938 meters Centerline goodness [0,1] 0.9956728688879273 Centerline is valid? [True, True] Translation: X:-22.54, Y:-0.71, Z:-0.24 [[ 9.92449579e-01 -2.86473040e-02 -1.19260916e-01 -2.25361334e+01] [ 2.80784637e-02 9.99584928e-01 -6.44766021e-03 -7.05106439e-01] [ 1.19396122e-01 3.05031436e-03 9.92842012e-01 -2.38051880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.946338938 meters Centerline goodness [0,1] 0.9970594283364178 Centerline is valid? [True, True] Translation: X:-22.56, Y:-0.70, Z:-0.24 [[ 9.92694200e-01 -2.68021091e-02 -1.17642983e-01 -2.25641246e+01] [ 2.62373814e-02 9.99635593e-01 -6.34670987e-03 -6.99586691e-01] [ 1.17770218e-01 3.21369827e-03 9.93035673e-01 -2.42969533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.976338938 meters Centerline goodness [0,1] 0.9977220956719818 Centerline is valid? [True, True] Translation: X:-22.59, Y:-0.70, Z:-0.24 [[ 9.92938518e-01 -2.61670029e-02 -1.15708199e-01 -2.25913824e+01] [ 2.56198751e-02 9.99652447e-01 -6.21345466e-03 -7.04961470e-01] [ 1.15830571e-01 3.20514886e-03 9.93263815e-01 -2.42419484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.006338938000003 meters Centerline goodness [0,1] 0.9971667898497166 Centerline is valid? [True, True] Translation: X:-22.62, Y:-0.71, Z:-0.24 [[ 9.93273895e-01 -2.45909456e-02 -1.13147046e-01 -2.26195746e+01] [ 2.40593150e-02 9.99692154e-01 -6.06189764e-03 -7.06980407e-01] [ 1.13261282e-01 3.29888428e-03 9.93559761e-01 -2.41879487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.036338938 meters Centerline goodness [0,1] 0.9964824223973011 Centerline is valid? [True, True] Translation: X:-22.65, Y:-0.71, Z:-0.25 [[ 9.92907468e-01 -2.35101629e-02 -1.16541979e-01 -2.26483941e+01] [ 2.29423997e-02 9.99717495e-01 -6.21099089e-03 -7.07543456e-01] [ 1.16655077e-01 3.49318656e-03 9.93166346e-01 -2.47634112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.066338938 meters Centerline goodness [0,1] 0.9966411144081767 Centerline is valid? [True, True] Translation: X:-22.68, Y:-0.71, Z:-0.26 [[ 9.92303909e-01 -2.31033281e-02 -1.21651917e-01 -2.26757216e+01] [ 2.24844038e-02 9.99726335e-01 -6.45812889e-03 -7.08914292e-01] [ 1.21767829e-01 3.67315573e-03 9.92551814e-01 -2.55338468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.096338938000002 meters Centerline goodness [0,1] 0.996829057365235 Centerline is valid? [True, True] Translation: X:-22.71, Y:-0.71, Z:-0.25 [[ 9.92635585e-01 -2.30399289e-02 -1.18927525e-01 -2.27050628e+01] [ 2.24496980e-02 9.99728121e-01 -6.30043925e-03 -7.09984986e-01] [ 1.19040352e-01 3.58415319e-03 9.92882948e-01 -2.53573189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.126338938 meters Centerline goodness [0,1] 0.9964764063465897 Centerline is valid? [True, True] Translation: X:-22.73, Y:-0.71, Z:-0.25 [[ 9.92960862e-01 -2.30823189e-02 -1.16171994e-01 -2.27332819e+01] [ 2.25224976e-02 9.99727546e-01 -6.12945781e-03 -7.12727691e-01] [ 1.16281824e-01 3.46982826e-03 9.93210198e-01 -2.49232983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.156338938 meters Centerline goodness [0,1] 0.9961131105398457 Centerline is valid? [True, True] Translation: X:-22.76, Y:-0.71, Z:-0.25 [[ 9.92899702e-01 -2.29027465e-02 -1.16728943e-01 -2.27613314e+01] [ 2.23375531e-02 9.99731582e-01 -6.14799665e-03 -7.12452856e-01] [ 1.16838417e-01 3.49690509e-03 9.93144781e-01 -2.52798680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.186338938000002 meters Centerline goodness [0,1] 0.99662641680209 Centerline is valid? [True, True] Translation: X:-22.79, Y:-0.71, Z:-0.26 [[ 9.92723426e-01 -2.14452787e-02 -1.18491771e-01 -2.27901262e+01] [ 2.08545550e-02 9.99763152e-01 -6.22316722e-03 -7.06596423e-01] [ 1.18597164e-01 3.70679072e-03 9.92935533e-01 -2.62993735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.216338938 meters Centerline goodness [0,1] 0.9968823553701945 Centerline is valid? [True, True] Translation: X:-22.82, Y:-0.71, Z:-0.27 [[ 9.92609349e-01 -2.01024383e-02 -1.19676951e-01 -2.28185765e+01] [ 1.94933698e-02 9.99790402e-01 -6.25787813e-03 -7.10131404e-01] [ 1.19777665e-01 3.87872128e-03 9.92793164e-01 -2.68605282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.246338938 meters Centerline goodness [0,1] 0.9956964006259781 Centerline is valid? [True, True] Translation: X:-22.85, Y:-0.72, Z:-0.27 [[ 9.92633187e-01 -2.03653315e-02 -1.19434539e-01 -2.28459329e+01] [ 1.97636739e-02 9.99785331e-01 -6.21998560e-03 -7.16174044e-01] [ 1.19535573e-01 3.81369884e-03 9.92822594e-01 -2.66272588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.276338938000002 meters Centerline goodness [0,1] 0.9950439056491249 Centerline is valid? [True, True] Translation: X:-22.87, Y:-0.72, Z:-0.27 [[ 9.92713470e-01 -1.96982092e-02 -1.18877869e-01 -2.28738223e+01] [ 1.90993253e-02 9.99798522e-01 -6.17510147e-03 -7.18161278e-01] [ 1.18975556e-01 3.85961932e-03 9.92889682e-01 -2.65729823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.306338938 meters Centerline goodness [0,1] 0.9967825100546561 Centerline is valid? [True, True] Translation: X:-22.90, Y:-0.72, Z:-0.27 [[ 9.92748773e-01 -2.10987005e-02 -1.18341534e-01 -2.29009602e+01] [ 2.05164618e-02 9.99770684e-01 -6.13622249e-03 -7.22499048e-01] [ 1.18443863e-01 3.66377778e-03 9.92953991e-01 -2.67742241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.336338938 meters Centerline goodness [0,1] 0.9974668945775068 Centerline is valid? [True, True] Translation: X:-22.93, Y:-0.72, Z:-0.27 [[ 9.92725053e-01 -2.03681467e-02 -1.18668061e-01 -2.29296329e+01] [ 1.97798623e-02 9.99785548e-01 -6.13319093e-03 -7.18924199e-01] [ 1.18767534e-01 3.74133438e-03 9.92915039e-01 -2.73297714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.366338938000002 meters Centerline goodness [0,1] 0.9965882232041928 Centerline is valid? [True, True] Translation: X:-22.96, Y:-0.72, Z:-0.28 [[ 9.92694640e-01 -2.14116697e-02 -1.18738757e-01 -2.29579556e+01] [ 2.08335726e-02 9.99764300e-01 -6.10792253e-03 -7.19517393e-01] [ 1.18841551e-01 3.58954944e-03 9.92906743e-01 -2.78832435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.396338938 meters Centerline goodness [0,1] 0.9963335255829282 Centerline is valid? [True, True] Translation: X:-22.99, Y:-0.72, Z:-0.28 [[ 9.92681706e-01 -2.17429385e-02 -1.18786678e-01 -2.29868583e+01] [ 2.11701318e-02 9.99757388e-01 -6.08200269e-03 -7.21750050e-01] [ 1.18890100e-01 3.52276318e-03 9.92901170e-01 -2.76941389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.426338938 meters Centerline goodness [0,1] 0.9958070845812248 Centerline is valid? [True, True] Translation: X:-23.02, Y:-0.73, Z:-0.28 [[ 9.92862779e-01 -2.36761031e-02 -1.16888598e-01 -2.30152135e+01] [ 2.31377658e-02 9.99714517e-01 -5.96052597e-03 -7.33094914e-01] [ 1.16996351e-01 3.21344336e-03 9.93127146e-01 -2.75000020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.456338938000002 meters Centerline goodness [0,1] 0.9961247500669923 Centerline is valid? [True, True] Translation: X:-23.04, Y:-0.74, Z:-0.28 [[ 9.92848129e-01 -2.44860028e-02 -1.16846176e-01 -2.30429045e+01] [ 2.39547692e-02 9.99695344e-01 -5.94880542e-03 -7.38376709e-01] [ 1.16956241e-01 3.10723714e-03 9.93132208e-01 -2.80179792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.486338938 meters Centerline goodness [0,1] 0.9965426407639117 Centerline is valid? [True, True] Translation: X:-23.07, Y:-0.74, Z:-0.29 [[ 9.92594832e-01 -2.49353104e-02 -1.18885366e-01 -2.30709452e+01] [ 2.43920474e-02 9.99684327e-01 -6.02276675e-03 -7.37646207e-01] [ 1.18998016e-01 3.07830967e-03 9.92889720e-01 -2.91354722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.516338938 meters Centerline goodness [0,1] 0.996688469291209 Centerline is valid? [True, True] Translation: X:-23.10, Y:-0.74, Z:-0.29 [[ 9.92175360e-01 -2.52274363e-02 -1.22276867e-01 -2.30985466e+01] [ 2.46581593e-02 9.99676920e-01 -6.16688825e-03 -7.36168703e-01] [ 1.22392936e-01 3.10351211e-03 9.92476870e-01 -2.92254789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.546338938 meters Centerline goodness [0,1] 0.997529135609274 Centerline is valid? [True, True] Translation: X:-23.13, Y:-0.74, Z:-0.29 [[ 9.92514341e-01 -2.52234149e-02 -1.19495032e-01 -2.31270897e+01] [ 2.46816585e-02 9.99677285e-01 -6.01175573e-03 -7.35795406e-01] [ 1.19608106e-01 3.01741821e-03 9.92816597e-01 -2.92973691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.576338938 meters Centerline goodness [0,1] 0.9961423414130995 Centerline is valid? [True, True] Translation: X:-23.16, Y:-0.74, Z:-0.29 [[ 9.93086906e-01 -2.53175228e-02 -1.14618589e-01 -2.31556571e+01] [ 2.48214746e-02 9.99675345e-01 -5.75318515e-03 -7.41110069e-01] [ 1.14727034e-01 2.86841045e-03 9.93392913e-01 -2.90021621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.606338938 meters Centerline goodness [0,1] 0.9960467797726898 Centerline is valid? [True, True] Translation: X:-23.18, Y:-0.75, Z:-0.29 [[ 9.92962136e-01 -2.39197370e-02 -1.15991565e-01 -2.31840275e+01] [ 2.34032435e-02 9.99709207e-01 -5.81289403e-03 -7.47447443e-01] [ 1.16096879e-01 3.05740483e-03 9.93233189e-01 -2.90604208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.636338938 meters Centerline goodness [0,1] 0.9958516449665257 Centerline is valid? [True, True] Translation: X:-23.21, Y:-0.75, Z:-0.30 [[ 9.92522112e-01 -2.46722496e-02 -1.19545541e-01 -2.32119330e+01] [ 2.41324394e-02 9.99690996e-01 -5.96129375e-03 -7.50709922e-01] [ 1.19655680e-01 3.03179033e-03 9.92810821e-01 -2.97260990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.666338938000003 meters Centerline goodness [0,1] 0.9961165447521986 Centerline is valid? [True, True] Translation: X:-23.24, Y:-0.75, Z:-0.31 [[ 9.92483617e-01 -2.49270745e-02 -1.19811978e-01 -2.32395347e+01] [ 2.43902814e-02 9.99684837e-01 -5.94484579e-03 -7.48287077e-01] [ 1.19922405e-01 2.97791421e-03 9.92778802e-01 -3.05823060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.696338938 meters Centerline goodness [0,1] 0.9969746861494134 Centerline is valid? [True, True] Translation: X:-23.27, Y:-0.75, Z:-0.31 [[ 9.92547185e-01 -2.54701388e-02 -1.19169446e-01 -2.32673049e+01] [ 2.49465200e-02 9.99671472e-01 -5.88383142e-03 -7.49886011e-01] [ 1.19280157e-01 2.86711736e-03 9.92856497e-01 -3.06548737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.726338938 meters Centerline goodness [0,1] 0.9973063003783517 Centerline is valid? [True, True] Translation: X:-23.30, Y:-0.75, Z:-0.31 [[ 9.92738427e-01 -2.55783435e-02 -1.17542176e-01 -2.32958436e+01] [ 2.50712596e-02 9.99668894e-01 -5.79087124e-03 -7.50299521e-01] [ 1.17651378e-01 2.80189000e-03 9.93051007e-01 -3.09337737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.756338938000003 meters Centerline goodness [0,1] 0.9972006668999445 Centerline is valid? [True, True] Translation: X:-23.32, Y:-0.76, Z:-0.31 [[ 9.92817733e-01 -2.59851767e-02 -1.16780646e-01 -2.33237705e+01] [ 2.54904412e-02 9.99658654e-01 -5.72821565e-03 -7.55042417e-01] [ 1.16889632e-01 2.71028388e-03 9.93141213e-01 -3.09173154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.786338938 meters Centerline goodness [0,1] 0.9969693221177635 Centerline is valid? [True, True] Translation: X:-23.35, Y:-0.76, Z:-0.31 [[ 9.92715247e-01 -2.60968005e-02 -1.17623960e-01 -2.33515830e+01] [ 2.55968480e-02 9.99655756e-01 -5.75933292e-03 -7.59989041e-01] [ 1.17733769e-01 2.70657496e-03 9.93041507e-01 -3.12002183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.816338938 meters Centerline goodness [0,1] 0.9953669536695366 Centerline is valid? [True, True] Translation: X:-23.38, Y:-0.76, Z:-0.31 [[ 9.92670792e-01 -2.52423721e-02 -1.18184267e-01 -2.33798786e+01] [ 2.47331657e-02 9.99677417e-01 -5.77351067e-03 -7.62266655e-01] [ 1.18291880e-01 2.80812435e-03 9.92974897e-01 -3.13633021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.846338938000002 meters Centerline goodness [0,1] 0.9965778135114519 Centerline is valid? [True, True] Translation: X:-23.41, Y:-0.76, Z:-0.31 [[ 9.92829032e-01 -2.55476472e-02 -1.16781120e-01 -2.34073439e+01] [ 2.50557358e-02 9.99669927e-01 -5.67859565e-03 -7.64345371e-01] [ 1.16887649e-01 2.71183774e-03 9.93141442e-01 -3.13550677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.876338938 meters Centerline goodness [0,1] 0.996499176276771 Centerline is valid? [True, True] Translation: X:-23.44, Y:-0.76, Z:-0.31 [[ 9.92824013e-01 -2.51045906e-02 -1.16919794e-01 -2.34357346e+01] [ 2.46105616e-02 9.99681050e-01 -5.66736296e-03 -7.63993839e-01] [ 1.17024779e-01 2.74923225e-03 9.93125190e-01 -3.14200054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.906338938 meters Centerline goodness [0,1] 0.9965876621374391 Centerline is valid? [True, True] Translation: X:-23.46, Y:-0.76, Z:-0.32 [[ 9.92723674e-01 -2.49900987e-02 -1.17793049e-01 -2.34626796e+01] [ 2.44917906e-02 9.99683916e-01 -5.67622101e-03 -7.62204274e-01] [ 1.17897665e-01 2.74995630e-03 9.93021942e-01 -3.21590822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.936338938000002 meters Centerline goodness [0,1] 0.9972617969200362 Centerline is valid? [True, True] Translation: X:-23.49, Y:-0.76, Z:-0.33 [[ 9.92702854e-01 -2.42739953e-02 -1.18117808e-01 -2.34902957e+01] [ 2.37715017e-02 9.99701388e-01 -5.66137481e-03 -7.63249108e-01] [ 1.18219961e-01 2.81222526e-03 9.92983450e-01 -3.27813848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.966338938 meters Centerline goodness [0,1] 0.9957190194908103 Centerline is valid? [True, True] Translation: X:-23.52, Y:-0.77, Z:-0.33 [[ 9.92618790e-01 -2.38608060e-02 -1.18905843e-01 -2.35189256e+01] [ 2.33507143e-02 9.99711191e-01 -5.68144515e-03 -7.65477887e-01] [ 1.19007065e-01 2.86297285e-03 9.92889280e-01 -3.29188985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.996338938 meters Centerline goodness [0,1] 0.9968920448698158 Centerline is valid? [True, True] Translation: X:-23.55, Y:-0.77, Z:-0.33 [[ 9.92663293e-01 -2.17259011e-02 -1.18943564e-01 -2.35476286e+01] [ 2.12036953e-02 9.99759187e-01 -5.65427116e-03 -7.67755554e-01] [ 1.19037765e-01 3.09074433e-03 9.92884917e-01 -3.30891037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.026338938000002 meters Centerline goodness [0,1] 0.9966747403423786 Centerline is valid? [True, True] Translation: X:-23.58, Y:-0.77, Z:-0.34 [[ 9.92653163e-01 -2.10745569e-02 -1.19145125e-01 -2.35760973e+01] [ 2.05493674e-02 9.99772960e-01 -5.63495601e-03 -7.66761739e-01] [ 1.19236828e-01 3.14519996e-03 9.92860860e-01 -3.37430766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.056338938 meters Centerline goodness [0,1] 0.9966234996191143 Centerline is valid? [True, True] Translation: X:-23.60, Y:-0.78, Z:-0.34 [[ 9.92728057e-01 -2.17782756e-02 -1.18392196e-01 -2.36040693e+01] [ 2.12677919e-02 9.99758278e-01 -5.57365767e-03 -7.75155693e-01] [ 1.18484963e-01 3.01518574e-03 9.92951269e-01 -3.37452915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.086338938 meters Centerline goodness [0,1] 0.9965461236405502 Centerline is valid? [True, True] Translation: X:-23.63, Y:-0.78, Z:-0.34 [[ 9.92731243e-01 -2.14105742e-02 -1.18432543e-01 -2.36313663e+01] [ 2.08983515e-02 9.99766115e-01 -5.56536382e-03 -7.77961508e-01] [ 1.18524001e-01 3.04986563e-03 9.92946504e-01 -3.40389225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.116338938000002 meters Centerline goodness [0,1] 0.9969299239692581 Centerline is valid? [True, True] Translation: X:-23.66, Y:-0.78, Z:-0.34 [[ 9.92807169e-01 -2.27431062e-02 -1.17544356e-01 -2.36604074e+01] [ 2.22493949e-02 9.99737263e-01 -5.51087317e-03 -7.76712843e-01] [ 1.17638807e-01 2.85594361e-03 9.93052342e-01 -3.40235159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.146338938 meters Centerline goodness [0,1] 0.9970683504858748 Centerline is valid? [True, True] Translation: X:-23.69, Y:-0.78, Z:-0.35 [[ 9.92719871e-01 -2.41629287e-02 -1.17997505e-01 -2.36873813e+01] [ 2.36782696e-02 9.99704459e-01 -5.50773356e-03 -7.79956922e-01] [ 1.18095715e-01 2.67365982e-03 9.92998617e-01 -3.45246013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.176338938 meters Centerline goodness [0,1] 0.997329334182468 Centerline is valid? [True, True] Translation: X:-23.72, Y:-0.79, Z:-0.35 [[ 9.92702534e-01 -2.59491262e-02 -1.17763841e-01 -2.37158931e+01] [ 2.54804800e-02 9.99660280e-01 -5.48363345e-03 -7.88708003e-01] [ 1.17866130e-01 2.44293762e-03 9.93026489e-01 -3.48396072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.206338938000002 meters Centerline goodness [0,1] 0.9967888680759968 Centerline is valid? [True, True] Translation: X:-23.74, Y:-0.80, Z:-0.35 [[ 9.92745790e-01 -2.88573376e-02 -1.16717824e-01 -2.37431303e+01] [ 2.84201917e-02 9.99581434e-01 -5.40819907e-03 -7.98431420e-01] [ 1.16825037e-01 2.05182391e-03 9.93150392e-01 -3.49732863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.236338938 meters Centerline goodness [0,1] 0.9972412089269538 Centerline is valid? [True, True] Translation: X:-23.77, Y:-0.80, Z:-0.35 [[ 9.92748539e-01 -3.03523296e-02 -1.16314549e-01 -2.37714098e+01] [ 2.99305026e-02 9.99537547e-01 -5.37190181e-03 -8.03970683e-01] [ 1.16423809e-01 1.85159474e-03 9.93197900e-01 -3.51185673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.266338938 meters Centerline goodness [0,1] 0.9964902918599401 Centerline is valid? [True, True] Translation: X:-23.80, Y:-0.81, Z:-0.36 [[ 9.92553450e-01 -3.19595037e-02 -1.17542503e-01 -2.37984800e+01] [ 3.15434764e-02 9.99487802e-01 -5.39845422e-03 -8.09528466e-01] [ 1.17654830e-01 1.65055520e-03 9.93053179e-01 -3.57947136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.296338938 meters Centerline goodness [0,1] 0.9954567880930845 Centerline is valid? [True, True] Translation: X:-23.83, Y:-0.81, Z:-0.36 [[ 9.92241242e-01 -3.44161984e-02 -1.19469008e-01 -2.38260762e+01] [ 3.40081405e-02 9.99406678e-01 -5.45328845e-03 -8.13866414e-01] [ 1.19585806e-01 1.34805888e-03 9.92822954e-01 -3.60252843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.326338938 meters Centerline goodness [0,1] 0.9958770537426045 Centerline is valid? [True, True] Translation: X:-23.85, Y:-0.82, Z:-0.36 [[ 9.92306119e-01 -3.49778047e-02 -1.18764977e-01 -2.38539146e+01] [ 3.45820788e-02 9.99387316e-01 -5.39187625e-03 -8.15970682e-01] [ 1.18880808e-01 1.24325201e-03 9.92907754e-01 -3.58801006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.356338938 meters Centerline goodness [0,1] 0.9960040371583349 Centerline is valid? [True, True] Translation: X:-23.88, Y:-0.82, Z:-0.36 [[ 9.92661432e-01 -3.45618550e-02 -1.15882526e-01 -2.38828822e+01] [ 3.41838326e-02 9.99401781e-01 -5.24848111e-03 -8.15601434e-01] [ 1.15994600e-01 1.24865591e-03 9.93249059e-01 -3.60986081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.386338938 meters Centerline goodness [0,1] 0.9967996717612063 Centerline is valid? [True, True] Translation: X:-23.91, Y:-0.82, Z:-0.36 [[ 9.92801838e-01 -3.37445164e-02 -1.14916567e-01 -2.39115804e+01] [ 3.33705902e-02 9.99429640e-01 -5.17668276e-03 -8.16936882e-01] [ 1.15025708e-01 1.30458649e-03 9.93361659e-01 -3.64294691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.416338938000003 meters Centerline goodness [0,1] 0.9960113491508696 Centerline is valid? [True, True] Translation: X:-23.94, Y:-0.82, Z:-0.37 [[ 9.92480782e-01 -3.03959249e-02 -1.18566376e-01 -2.39396833e+01] [ 2.99769888e-02 9.99536455e-01 -5.31558585e-03 -8.18089300e-01] [ 1.18672987e-01 1.72135390e-03 9.92931901e-01 -3.70829178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.446338938 meters Centerline goodness [0,1] 0.9969044690446904 Centerline is valid? [True, True] Translation: X:-23.97, Y:-0.82, Z:-0.37 [[ 9.92577951e-01 -3.02130161e-02 -1.17797219e-01 -2.39674234e+01] [ 2.97992056e-02 9.99541997e-01 -5.27299367e-03 -8.20374049e-01] [ 1.17902581e-01 1.72359369e-03 9.93023671e-01 -3.74609916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.476338938 meters Centerline goodness [0,1] 0.9970520326544076 Centerline is valid? [True, True] Translation: X:-24.00, Y:-0.82, Z:-0.38 [[ 9.92648679e-01 -2.82979926e-02 -1.17676778e-01 -2.39954915e+01] [ 2.78729137e-02 9.99597653e-01 -5.25673860e-03 -8.20656871e-01] [ 1.17778186e-01 1.93809996e-03 9.93038037e-01 -3.75151895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.506338938000003 meters Centerline goodness [0,1] 0.9964824947545975 Centerline is valid? [True, True] Translation: X:-24.02, Y:-0.82, Z:-0.37 [[ 9.93183987e-01 -2.53907928e-02 -1.13757966e-01 -2.40247709e+01] [ 2.49765536e-02 9.99675204e-01 -5.06542899e-03 -8.20196450e-01] [ 1.13849633e-01 2.18962103e-03 9.93495580e-01 -3.74893754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.536338938 meters Centerline goodness [0,1] 0.9962905275238759 Centerline is valid? [True, True] Translation: X:-24.05, Y:-0.82, Z:-0.37 [[ 9.93216849e-01 -2.35836919e-02 -1.13860000e-01 -2.40534459e+01] [ 2.31601130e-02 9.99719056e-01 -5.04173337e-03 -8.19850861e-01] [ 1.13946914e-01 2.37052408e-03 9.93484012e-01 -3.74711692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.566338938 meters Centerline goodness [0,1] 0.9970162767249007 Centerline is valid? [True, True] Translation: X:-24.08, Y:-0.81, Z:-0.39 [[ 9.92828002e-01 -1.94987834e-02 -1.17950653e-01 -2.40818762e+01] [ 1.90185229e-02 9.99805630e-01 -5.19599761e-03 -8.13456628e-01] [ 1.18029042e-01 2.91548473e-03 9.93005864e-01 -3.87506888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.596338938000002 meters Centerline goodness [0,1] 0.9973691782792782 Centerline is valid? [True, True] Translation: X:-24.11, Y:-0.82, Z:-0.39 [[ 9.92761055e-01 -1.88905472e-02 -1.18611274e-01 -2.41089036e+01] [ 1.84018369e-02 9.99817075e-01 -5.21421419e-03 -8.15254289e-01] [ 1.18688076e-01 2.99380347e-03 9.92927076e-01 -3.94258931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.626338938 meters Centerline goodness [0,1] 0.9965250647695029 Centerline is valid? [True, True] Translation: X:-24.14, Y:-0.82, Z:-0.40 [[ 9.92777531e-01 -1.76807648e-02 -1.18659872e-01 -2.41371602e+01] [ 1.71846249e-02 9.99838795e-01 -5.20314957e-03 -8.21762526e-01] [ 1.18732739e-01 3.12644459e-03 9.92921327e-01 -3.95165616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.656338938 meters Centerline goodness [0,1] 0.9956488565359949 Centerline is valid? [True, True] Translation: X:-24.17, Y:-0.83, Z:-0.39 [[ 9.92946176e-01 -1.89282787e-02 -1.17045344e-01 -2.41655117e+01] [ 1.84572494e-02 9.99816607e-01 -5.10701383e-03 -8.26648670e-01] [ 1.17120546e-01 2.91065473e-03 9.93113441e-01 -3.90125514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.686338938000002 meters Centerline goodness [0,1] 0.9957932322341015 Centerline is valid? [True, True] Translation: X:-24.19, Y:-0.82, Z:-0.39 [[ 9.93175521e-01 -1.88670474e-02 -1.15093087e-01 -2.41945177e+01] [ 1.84126975e-02 9.99817922e-01 -5.00961197e-03 -8.23760501e-01] [ 1.15166648e-01 2.85624978e-03 9.93342079e-01 -3.94729057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.716338938 meters Centerline goodness [0,1] 0.9967535803077935 Centerline is valid? [True, True] Translation: X:-24.22, Y:-0.83, Z:-0.40 [[ 9.93338463e-01 -1.95413029e-02 -1.13564235e-01 -2.42214358e+01] [ 1.91062982e-02 9.99805364e-01 -4.91773311e-03 -8.30311810e-01] [ 1.13638231e-01 2.71518130e-03 9.93518485e-01 -3.97685744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.746338938 meters Centerline goodness [0,1] 0.9967535803077935 Centerline is valid? [True, True] Translation: X:-24.25, Y:-0.83, Z:-0.40 [[ 9.93343727e-01 -1.92682994e-02 -1.13564840e-01 -2.42486728e+01] [ 1.88331177e-02 9.99810616e-01 -4.90372683e-03 -8.31641756e-01] [ 1.13637819e-01 2.73230628e-03 9.93518485e-01 -4.00422632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.776338938000002 meters Centerline goodness [0,1] 0.9967642876280374 Centerline is valid? [True, True] Translation: X:-24.28, Y:-0.84, Z:-0.41 [[ 9.93195285e-01 -2.09918428e-02 -1.14553346e-01 -2.42752663e+01] [ 2.05638007e-02 9.99776451e-01 -4.91718695e-03 -8.40318978e-01] [ 1.14630959e-01 2.52807472e-03 9.93404929e-01 -4.05128477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.806338938 meters Centerline goodness [0,1] 0.9966815518865992 Centerline is valid? [True, True] Translation: X:-24.30, Y:-0.85, Z:-0.41 [[ 9.92932733e-01 -2.42373662e-02 -1.16177185e-01 -2.43028056e+01] [ 2.38205647e-02 9.99703872e-01 -4.97490454e-03 -8.48789452e-01] [ 1.16263360e-01 2.17233940e-03 9.93216045e-01 -4.10933506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.836338938 meters Centerline goodness [0,1] 0.9968971540121238 Centerline is valid? [True, True] Translation: X:-24.33, Y:-0.86, Z:-0.41 [[ 9.92766583e-01 -2.83764768e-02 -1.16658852e-01 -2.43296362e+01] [ 2.79858999e-02 9.99595888e-01 -4.98499056e-03 -8.58709599e-01] [ 1.16753165e-01 1.68412908e-03 9.93159535e-01 -4.13978517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.866338938000002 meters Centerline goodness [0,1] 0.9959375579980616 Centerline is valid? [True, True] Translation: X:-24.36, Y:-0.87, Z:-0.41 [[ 9.92818586e-01 -3.08990389e-02 -1.15570346e-01 -2.43581539e+01] [ 3.05344304e-02 9.99521585e-01 -4.92432781e-03 -8.66423573e-01] [ 1.15667213e-01 1.36008947e-03 9.93287091e-01 -4.13138704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.896338938 meters Centerline goodness [0,1] 0.995848746403617 Centerline is valid? [True, True] Translation: X:-24.39, Y:-0.87, Z:-0.41 [[ 9.93065945e-01 -3.38525660e-02 -1.12579006e-01 -2.43872161e+01] [ 3.35286285e-02 9.99426374e-01 -4.77005532e-03 -8.71473725e-01] [ 1.12675906e-01 9.62359834e-04 9.93631327e-01 -4.10931650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.926338938 meters Centerline goodness [0,1] 0.9964726631393298 Centerline is valid? [True, True] Translation: X:-24.42, Y:-0.87, Z:-0.41 [[ 9.93101347e-01 -3.48585336e-02 -1.11958017e-01 -2.44157004e+01] [ 3.45475240e-02 9.99391923e-01 -4.71734224e-03 -8.71081183e-01] [ 1.12054378e-01 8.16926648e-04 9.93701741e-01 -4.13760917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.956338938000002 meters Centerline goodness [0,1] 0.9954005051230981 Centerline is valid? [True, True] Translation: X:-24.44, Y:-0.87, Z:-0.41 [[ 9.93006669e-01 -3.43833718e-02 -1.12940422e-01 -2.44438026e+01] [ 3.40665399e-02 9.99408352e-01 -4.73459989e-03 -8.70335973e-01] [ 1.13036393e-01 8.53999874e-04 9.93590481e-01 -4.14664316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.986338938 meters Centerline goodness [0,1] 0.9966214824275885 Centerline is valid? [True, True] Translation: X:-24.47, Y:-0.87, Z:-0.42 [[ 9.92914611e-01 -3.17905137e-02 -1.14498638e-01 -2.44716117e+01] [ 3.14490927e-02 9.99493889e-01 -4.78748523e-03 -8.71060385e-01] [ 1.14592885e-01 1.15268577e-03 9.93411869e-01 -4.23111543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.016338938 meters Centerline goodness [0,1] 0.9971010321148074 Centerline is valid? [True, True] Translation: X:-24.50, Y:-0.88, Z:-0.43 [[ 9.92877239e-01 -2.97264395e-02 -1.15373861e-01 -2.44981673e+01] [ 2.93688764e-02 9.99557125e-01 -4.79818832e-03 -8.75933748e-01] [ 1.15465398e-01 1.37561129e-03 9.93310550e-01 -4.30909344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.046338938 meters Centerline goodness [0,1] 0.9974338971916571 Centerline is valid? [True, True] Translation: X:-24.53, Y:-0.88, Z:-0.43 [[ 9.92891928e-01 -2.55978807e-02 -1.16234105e-01 -2.45264242e+01] [ 2.52081796e-02 9.99670595e-01 -4.82173975e-03 -8.78693880e-01] [ 1.16319244e-01 1.85741627e-03 9.93210141e-01 -4.31433555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.076338938 meters Centerline goodness [0,1] 0.9947937030558699 Centerline is valid? [True, True] Translation: X:-24.56, Y:-0.87, Z:-0.43 [[ 9.93168924e-01 -2.33427953e-02 -1.14326739e-01 -2.45553880e+01] [ 2.29541674e-02 9.99725401e-01 -4.71472898e-03 -8.73423794e-01] [ 1.14405400e-01 2.05824720e-03 9.93432015e-01 -4.29504169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.106338938 meters Centerline goodness [0,1] 0.996816464015774 Centerline is valid? [True, True] Translation: X:-24.58, Y:-0.87, Z:-0.43 [[ 9.93666282e-01 -1.87282364e-02 -1.10799698e-01 -2.45841687e+01] [ 1.83380255e-02 9.99821537e-01 -4.53987176e-03 -8.68088854e-01] [ 1.10864949e-01 2.47926979e-03 9.93832388e-01 -4.30795437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.136338938 meters Centerline goodness [0,1] 0.997049173562246 Centerline is valid? [True, True] Translation: X:-24.61, Y:-0.86, Z:-0.43 [[ 9.93569208e-01 -1.54966985e-02 -1.12160957e-01 -2.46126026e+01] [ 1.50789163e-02 9.99875853e-01 -4.57224748e-03 -8.64842769e-01] [ 1.12217887e-01 2.85157862e-03 9.93679533e-01 -4.32423235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.166338938000003 meters Centerline goodness [0,1] 0.9968184897062747 Centerline is valid? [True, True] Translation: X:-24.64, Y:-0.87, Z:-0.44 [[ 9.93353832e-01 -1.32198078e-02 -1.14338976e-01 -2.46405108e+01] [ 1.27713954e-02 9.99907614e-01 -4.65346119e-03 -8.65133436e-01] [ 1.14389931e-01 3.16226524e-03 9.93430895e-01 -4.42544051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.196338938 meters Centerline goodness [0,1] 0.9957639376782246 Centerline is valid? [True, True] Translation: X:-24.67, Y:-0.87, Z:-0.44 [[ 9.93385251e-01 -1.27039180e-02 -1.14124291e-01 -2.46686087e+01] [ 1.22546964e-02 9.99914157e-01 -4.63698612e-03 -8.70657565e-01] [ 1.14173402e-01 3.20775509e-03 9.93455658e-01 -4.42781699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.226338938 meters Centerline goodness [0,1] 0.9958077772959131 Centerline is valid? [True, True] Translation: X:-24.70, Y:-0.87, Z:-0.44 [[ 9.93547343e-01 -1.31417972e-02 -1.12654205e-01 -2.46968982e+01] [ 1.27082143e-02 9.99908822e-01 -4.56606467e-03 -8.74133734e-01] [ 1.12703939e-01 3.10496764e-03 9.93623762e-01 -4.43660713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.256338938000003 meters Centerline goodness [0,1] 0.9959155888359428 Centerline is valid? [True, True] Translation: X:-24.72, Y:-0.88, Z:-0.45 [[ 9.93644036e-01 -1.55008714e-02 -1.11495528e-01 -2.47248124e+01] [ 1.50936778e-02 9.99875979e-01 -4.49530149e-03 -8.80098326e-01] [ 1.11551381e-01 2.78385194e-03 9.93754768e-01 -4.46233659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.286338938 meters Centerline goodness [0,1] 0.9962752603202042 Centerline is valid? [True, True] Translation: X:-24.75, Y:-0.88, Z:-0.45 [[ 9.93348351e-01 -1.85390325e-02 -1.13645755e-01 -2.47530808e+01] [ 1.81368807e-02 9.99825061e-01 -4.57165147e-03 -8.83769044e-01] [ 1.13710627e-01 2.48006296e-03 9.93510816e-01 -4.51089034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.316338938 meters Centerline goodness [0,1] 0.9959602621707407 Centerline is valid? [True, True] Translation: X:-24.78, Y:-0.89, Z:-0.46 [[ 9.93171282e-01 -2.18947785e-02 -1.14592424e-01 -2.47798209e+01] [ 2.15110712e-02 9.99758101e-01 -4.58410744e-03 -8.91696463e-01] [ 1.14665073e-01 2.08779806e-03 9.93402014e-01 -4.56437044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.346338938000002 meters Centerline goodness [0,1] 0.9960381812583393 Centerline is valid? [True, True] Translation: X:-24.81, Y:-0.91, Z:-0.45 [[ 9.93556415e-01 -2.67040965e-02 -1.10147820e-01 -2.48078622e+01] [ 2.63806406e-02 9.99642317e-01 -4.39309851e-03 -9.05465978e-01] [ 1.10225736e-01 1.45902115e-03 9.93905508e-01 -4.53017524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.376338938 meters Centerline goodness [0,1] 0.9955536342864201 Centerline is valid? [True, True] Translation: X:-24.84, Y:-0.91, Z:-0.46 [[ 9.93501446e-01 -2.97427292e-02 -1.09864671e-01 -2.48365249e+01] [ 2.94406340e-02 9.99556973e-01 -4.37119519e-03 -9.05278791e-01] [ 1.09946009e-01 1.10830318e-03 9.93936943e-01 -4.55904040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.406338938 meters Centerline goodness [0,1] 0.9958102864690828 Centerline is valid? [True, True] Translation: X:-24.86, Y:-0.91, Z:-0.46 [[ 9.93295019e-01 -3.05595401e-02 -1.11494934e-01 -2.48638884e+01] [ 3.02565549e-02 9.99532442e-01 -4.40886810e-03 -9.07564362e-01] [ 1.11577536e-01 1.00585414e-03 9.93755222e-01 -4.61848333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.436338938000002 meters Centerline goodness [0,1] 0.9963058962793641 Centerline is valid? [True, True] Translation: X:-24.89, Y:-0.91, Z:-0.47 [[ 9.93197052e-01 -2.94458752e-02 -1.12661245e-01 -2.48920294e+01] [ 2.91322509e-02 9.99565752e-01 -4.42940897e-03 -9.11741091e-01] [ 1.12742750e-01 1.11720027e-03 9.93623583e-01 -4.69933551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.466338938 meters Centerline goodness [0,1] 0.9959912012005838 Centerline is valid? [True, True] Translation: X:-24.92, Y:-0.92, Z:-0.47 [[ 9.93172073e-01 -2.92925468e-02 -1.12921121e-01 -2.49201840e+01] [ 2.89790955e-02 9.99570260e-01 -4.41662507e-03 -9.15817026e-01] [ 1.13001968e-01 1.11411674e-03 9.93594139e-01 -4.72435021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.496338938 meters Centerline goodness [0,1] 0.9964517915376254 Centerline is valid? [True, True] Translation: X:-24.95, Y:-0.92, Z:-0.47 [[ 9.93530219e-01 -2.79339180e-02 -1.10079067e-01 -2.49481016e+01] [ 2.76303413e-02 9.99609036e-01 -4.28253846e-03 -9.19971350e-01] [ 1.10155658e-01 1.21330918e-03 9.93913607e-01 -4.68083656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.526338938000002 meters Centerline goodness [0,1] 0.9968224030832941 Centerline is valid? [True, True] Translation: X:-24.98, Y:-0.92, Z:-0.47 [[ 9.93810987e-01 -2.61999741e-02 -1.07950379e-01 -2.49761079e+01] [ 2.58988433e-02 9.99655784e-01 -4.19082069e-03 -9.19729859e-01] [ 1.08023020e-01 1.36909369e-03 9.94147450e-01 -4.69640151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.556338938 meters Centerline goodness [0,1] 0.9952148196829048 Centerline is valid? [True, True] Translation: X:-25.00, Y:-0.92, Z:-0.47 [[ 9.93611657e-01 -2.31848925e-02 -1.10446076e-01 -2.50040954e+01] [ 2.28537288e-02 9.99729728e-01 -4.26357276e-03 -9.19969121e-01] [ 1.10515076e-01 1.71223092e-03 9.93872973e-01 -4.73893769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.586338938 meters Centerline goodness [0,1] 0.9970573709770352 Centerline is valid? [True, True] Translation: X:-25.03, Y:-0.92, Z:-0.48 [[ 9.93377917e-01 -2.19134500e-02 -1.12783485e-01 -2.50316031e+01] [ 2.15608546e-02 9.99758095e-01 -4.34524785e-03 -9.20978637e-01] [ 1.12851421e-01 1.88476494e-03 9.93610087e-01 -4.84973649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.616338938000002 meters Centerline goodness [0,1] 0.9970377936670072 Centerline is valid? [True, True] Translation: X:-25.06, Y:-0.92, Z:-0.49 [[ 9.93398740e-01 -2.16635019e-02 -1.12648285e-01 -2.50580088e+01] [ 2.13125946e-02 9.99763534e-01 -4.31852627e-03 -9.20749671e-01] [ 1.12715202e-01 1.88919133e-03 9.93625540e-01 -4.88633975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.646338938 meters Centerline goodness [0,1] 0.9968879243274231 Centerline is valid? [True, True] Translation: X:-25.09, Y:-0.92, Z:-0.49 [[ 9.93721480e-01 -2.20230091e-02 -1.09693246e-01 -2.50860984e+01] [ 2.16937208e-02 9.99755864e-01 -4.19457114e-03 -9.21312730e-01] [ 1.09758843e-01 1.78858080e-03 9.93956638e-01 -4.85090020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.676338938 meters Centerline goodness [0,1] 0.9963920257654205 Centerline is valid? [True, True] Translation: X:-25.11, Y:-0.93, Z:-0.48 [[ 9.93986320e-01 -2.10697497e-02 -1.07458185e-01 -2.51145962e+01] [ 2.07492068e-02 9.99776304e-01 -4.10028150e-03 -9.26659553e-01] [ 1.07520539e-01 1.84595161e-03 9.94201150e-01 -4.83723489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.706338938000002 meters Centerline goodness [0,1] 0.9965980120914029 Centerline is valid? [True, True] Translation: X:-25.14, Y:-0.93, Z:-0.49 [[ 9.93939039e-01 -2.16024134e-02 -1.07789250e-01 -2.51423301e+01] [ 2.12853466e-02 9.99765070e-01 -4.09133015e-03 -9.31693334e-01] [ 1.07852310e-01 1.77220120e-03 9.94165348e-01 -4.88508730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.736338938 meters Centerline goodness [0,1] 0.9970534069981584 Centerline is valid? [True, True] Translation: X:-25.17, Y:-0.94, Z:-0.50 [[ 9.93665928e-01 -2.21409364e-02 -1.10171695e-01 -2.51695179e+01] [ 2.18143329e-02 9.99753346e-01 -4.16909169e-03 -9.35043790e-01] [ 1.10236829e-01 1.73936233e-03 9.93903826e-01 -4.95143215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.766338938 meters Centerline goodness [0,1] 0.9964316475944383 Centerline is valid? [True, True] Translation: X:-25.20, Y:-0.94, Z:-0.50 [[ 9.93318325e-01 -2.36393554e-02 -1.12959667e-01 -2.51962985e+01] [ 2.33070181e-02 9.99719270e-01 -4.26197188e-03 -9.37998199e-01] [ 1.13028706e-01 1.60074176e-03 9.93590433e-01 -5.01972905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.796338938 meters Centerline goodness [0,1] 0.9957621046166445 Centerline is valid? [True, True] Translation: X:-25.22, Y:-0.94, Z:-0.51 [[ 9.93222691e-01 -2.43133730e-02 -1.13655381e-01 -2.52232392e+01] [ 2.39823537e-02 9.99703224e-01 -4.27907209e-03 -9.42507433e-01] [ 1.13725689e-01 1.52434796e-03 9.93511019e-01 -5.05566693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.826338938000003 meters Centerline goodness [0,1] 0.9959210179191104 Centerline is valid? [True, True] Translation: X:-25.25, Y:-0.94, Z:-0.50 [[ 9.93507259e-01 -2.28192931e-02 -1.11456743e-01 -2.52515278e+01] [ 2.24929305e-02 9.99738243e-01 -4.18485464e-03 -9.41928722e-01] [ 1.11523063e-01 1.65069470e-03 9.93760475e-01 -5.03113805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.856338938 meters Centerline goodness [0,1] 0.9955039264352851 Centerline is valid? [True, True] Translation: X:-25.28, Y:-0.94, Z:-0.50 [[ 9.93824623e-01 -2.27421190e-02 -1.08606700e-01 -2.52799251e+01] [ 2.24327491e-02 9.99740071e-01 -4.06963211e-03 -9.41259509e-01] [ 1.08671022e-01 1.60815375e-03 9.94076467e-01 -5.00527541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.886338938 meters Centerline goodness [0,1] 0.9948501011587272 Centerline is valid? [True, True] Translation: X:-25.31, Y:-0.94, Z:-0.50 [[ 9.93746859e-01 -2.12803939e-02 -1.09609876e-01 -2.53081842e+01] [ 2.09575044e-02 9.99771972e-01 -4.09714166e-03 -9.44460145e-01] [ 1.09672070e-01 1.77437220e-03 9.93966241e-01 -5.04241810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.916338938000003 meters Centerline goodness [0,1] 0.9952436360667116 Centerline is valid? [True, True] Translation: X:-25.34, Y:-0.95, Z:-0.51 [[ 9.93629440e-01 -1.85654276e-02 -1.11156920e-01 -2.53359234e+01] [ 1.82191413e-02 9.99825486e-01 -4.13031035e-03 -9.47918170e-01] [ 1.11214203e-01 2.07881432e-03 9.93794284e-01 -5.09731825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.946338938 meters Centerline goodness [0,1] 0.9955866127252666 Centerline is valid? [True, True] Translation: X:-25.36, Y:-0.95, Z:-0.52 [[ 9.93350228e-01 -1.63443751e-02 -1.13965721e-01 -2.53636904e+01] [ 1.59682199e-02 9.99863625e-01 -4.21276880e-03 -9.47240512e-01] [ 1.14019034e-01 2.36492514e-03 9.93475751e-01 -5.16060402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.976338938 meters Centerline goodness [0,1] 0.9957698468109574 Centerline is valid? [True, True] Translation: X:-25.39, Y:-0.95, Z:-0.51 [[ 9.93594207e-01 -1.57980772e-02 -1.11897150e-01 -2.53919405e+01] [ 1.54329545e-02 9.99872382e-01 -4.12849560e-03 -9.45106874e-01] [ 1.11948092e-01 2.37514569e-03 9.93711217e-01 -5.14711263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.006338938000003 meters Centerline goodness [0,1] 0.9933761295334669 Centerline is valid? [True, True] Translation: X:-25.42, Y:-0.95, Z:-0.52 [[ 9.93512066e-01 -1.41763372e-02 -1.12839737e-01 -2.54194341e+01] [ 1.37961806e-02 9.99896219e-01 -4.14919513e-03 -9.46323243e-01] [ 1.12886846e-01 2.56551804e-03 9.93604538e-01 -5.15124485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.036338938 meters Centerline goodness [0,1] 0.994122808807624 Centerline is valid? [True, True] Translation: X:-25.45, Y:-0.95, Z:-0.52 [[ 9.93451497e-01 -1.29866197e-02 -1.13514191e-01 -2.54473854e+01] [ 1.25959086e-02 9.99912021e-01 -4.15853652e-03 -9.48471758e-01] [ 1.13558210e-01 2.70148995e-03 9.93527672e-01 -5.21349689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.066338938 meters Centerline goodness [0,1] 0.993698507219186 Centerline is valid? [True, True] Translation: X:-25.47, Y:-0.95, Z:-0.52 [[ 9.93575719e-01 -1.18368434e-02 -1.12548563e-01 -2.54748803e+01] [ 1.14481630e-02 9.99926066e-01 -4.09913296e-03 -9.51804677e-01] [ 1.12588762e-01 2.78432470e-03 9.93637770e-01 -5.20880030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.096338938000002 meters Centerline goodness [0,1] 0.9940287519682625 Centerline is valid? [True, True] Translation: X:-25.50, Y:-0.95, Z:-0.52 [[ 9.93763002e-01 -1.07231902e-02 -1.10995985e-01 -2.55023959e+01] [ 1.03394461e-02 9.99938416e-01 -4.03231540e-03 -9.54957657e-01] [ 1.11032389e-01 2.85952885e-03 9.93812674e-01 -5.18174686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.126338938 meters Centerline goodness [0,1] 0.9934166138496453 Centerline is valid? [True, True] Translation: X:-25.53, Y:-0.96, Z:-0.52 [[ 9.93572876e-01 -9.58783917e-03 -1.12787470e-01 -2.55306411e+01] [ 9.18674072e-03 9.99949496e-01 -4.07543980e-03 -9.55059041e-01] [ 1.12820848e-01 3.01309721e-03 9.93610778e-01 -5.22845558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.156338938 meters Centerline goodness [0,1] 0.9934261724349785 Centerline is valid? [True, True] Translation: X:-25.56, Y:-0.96, Z:-0.53 [[ 9.93161224e-01 -1.13925892e-02 -1.16193766e-01 -2.55569859e+01] [ 1.09822537e-02 9.99930994e-01 -4.17108849e-03 -9.58791563e-01] [ 1.16233267e-01 2.86649393e-03 9.93217806e-01 -5.30215568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.186338938000002 meters Centerline goodness [0,1] 0.9923459468309355 Centerline is valid? [True, True] Translation: X:-25.58, Y:-0.96, Z:-0.53 [[ 9.93094851e-01 -1.15640241e-02 -1.16742839e-01 -2.55849458e+01] [ 1.11537318e-02 9.99929112e-01 -4.16719950e-03 -9.59904744e-01] [ 1.16782753e-01 2.83630604e-03 9.93153434e-01 -5.34052618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.216338938 meters Centerline goodness [0,1] 0.992531221941066 Centerline is valid? [True, True] Translation: X:-25.61, Y:-0.97, Z:-0.53 [[ 9.93409619e-01 -1.21543803e-02 -1.13971930e-01 -2.56132377e+01] [ 1.17705304e-02 9.99922562e-01 -4.04030186e-03 -9.65883830e-01] [ 1.14012211e-01 2.67216467e-03 9.93475755e-01 -5.30796229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.246338938 meters Centerline goodness [0,1] 0.9926292944596863 Centerline is valid? [True, True] Translation: X:-25.64, Y:-0.97, Z:-0.53 [[ 9.93416680e-01 -1.22043350e-02 -1.13905019e-01 -2.56417183e+01] [ 1.18227003e-02 9.99922007e-01 -4.02541858e-03 -9.65634332e-01] [ 1.13945263e-01 2.65225306e-03 9.93483489e-01 -5.30728507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.276338938000002 meters Centerline goodness [0,1] 0.9924420867214223 Centerline is valid? [True, True] Translation: X:-25.67, Y:-0.97, Z:-0.53 [[ 9.93527266e-01 -1.28254075e-02 -1.12867538e-01 -2.56697199e+01] [ 1.24579762e-02 9.99914554e-01 -3.96015252e-03 -9.70218624e-01] [ 1.12908684e-01 2.52841841e-03 9.93602152e-01 -5.28634790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.306338938 meters Centerline goodness [0,1] 0.9909489348690246 Centerline is valid? [True, True] Translation: X:-25.70, Y:-0.98, Z:-0.53 [[ 9.93503042e-01 -1.26810569e-02 -1.13096843e-01 -2.56967441e+01] [ 1.23123530e-02 9.99916367e-01 -3.95799044e-03 -9.76882564e-01] [ 1.13137576e-01 2.53978729e-03 9.93576086e-01 -5.31267093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.336338938 meters Centerline goodness [0,1] 0.990997641751256 Centerline is valid? [True, True] Translation: X:-25.72, Y:-0.98, Z:-0.54 [[ 9.93254046e-01 -1.37775935e-02 -1.15137213e-01 -2.57242584e+01] [ 1.34046874e-02 9.99902102e-01 -4.01247036e-03 -9.77526378e-01] [ 1.15181224e-01 2.44202407e-03 9.93341493e-01 -5.36069488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.366338938000002 meters Centerline goodness [0,1] 0.9914585802443908 Centerline is valid? [True, True] Translation: X:-25.75, Y:-0.98, Z:-0.54 [[ 9.93039546e-01 -1.48182292e-02 -1.16845540e-01 -2.57515727e+01] [ 1.44452307e-02 9.99887507e-01 -4.03846767e-03 -9.79197857e-01] [ 1.16892238e-01 2.32249732e-03 9.93141888e-01 -5.43079503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.396338938 meters Centerline goodness [0,1] 0.990736565971226 Centerline is valid? [True, True] Translation: X:-25.78, Y:-0.98, Z:-0.55 [[ 9.92910942e-01 -1.73483412e-02 -1.17587821e-01 -2.57796659e+01] [ 1.69917481e-02 9.99847490e-01 -4.03445518e-03 -9.82340003e-01] [ 1.17639879e-01 2.00783206e-03 9.93054292e-01 -5.45772390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.426338938 meters Centerline goodness [0,1] 0.9896164659046602 Centerline is valid? [True, True] Translation: X:-25.81, Y:-0.99, Z:-0.54 [[ 9.92946354e-01 -1.90440966e-02 -1.17025044e-01 -2.58076511e+01] [ 1.87038742e-02 9.99817046e-01 -4.00485875e-03 -9.89583031e-01] [ 1.17079902e-01 1.78778821e-03 9.93120889e-01 -5.39238796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.456338938000002 meters Centerline goodness [0,1] 0.9901705813691561 Centerline is valid? [True, True] Translation: X:-25.84, Y:-0.99, Z:-0.55 [[ 9.93021104e-01 -2.00496047e-02 -1.16220055e-01 -2.58360864e+01] [ 1.97224640e-02 9.99797634e-01 -3.96424214e-03 -9.90839679e-01] [ 1.16276018e-01 1.64443025e-03 9.93215578e-01 -5.47149055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.486338938 meters Centerline goodness [0,1] 0.990443700034937 Centerline is valid? [True, True] Translation: X:-25.86, Y:-1.00, Z:-0.55 [[ 9.93189709e-01 -2.17724487e-02 -1.14455938e-01 -2.58645608e+01] [ 2.14696820e-02 9.99761981e-01 -3.87746767e-03 -9.95104424e-01] [ 1.14513117e-01 1.39372840e-03 9.93420759e-01 -5.45261678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.516338938 meters Centerline goodness [0,1] 0.9899844019374435 Centerline is valid? [True, True] Translation: X:-25.89, Y:-1.00, Z:-0.54 [[ 9.93162520e-01 -2.25426892e-02 -1.14542724e-01 -2.58926760e+01] [ 2.22461232e-02 9.99745046e-01 -3.86690745e-03 -1.00029429e+00] [ 1.14600691e-01 1.29233601e-03 9.93410797e-01 -5.42301659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.546338938 meters Centerline goodness [0,1] 0.9893101891747712 Centerline is valid? [True, True] Translation: X:-25.92, Y:-1.00, Z:-0.55 [[ 9.92998626e-01 -2.26599332e-02 -1.15932121e-01 -2.59206339e+01] [ 2.23584013e-02 9.99742409e-01 -3.90085552e-03 -1.00327216e+00] [ 1.15990651e-01 1.28148729e-03 9.93249479e-01 -5.49289491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.576338938000003 meters Centerline goodness [0,1] 0.9889773800238105 Centerline is valid? [True, True] Translation: X:-25.95, Y:-1.01, Z:-0.55 [[ 9.92834728e-01 -2.29005027e-02 -1.17280732e-01 -2.59491924e+01] [ 2.25970285e-02 9.99736982e-01 -3.91679675e-03 -1.00700519e+00] [ 1.17339582e-01 1.23853579e-03 9.93091078e-01 -5.52402274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.606338938 meters Centerline goodness [0,1] 0.9884474615085775 Centerline is valid? [True, True] Translation: X:-25.98, Y:-1.01, Z:-0.56 [[ 9.92813986e-01 -2.31455350e-02 -1.17408146e-01 -2.59766015e+01] [ 2.28465807e-02 9.99731408e-01 -3.89166665e-03 -1.00781689e+00] [ 1.17466685e-01 1.18132640e-03 9.93076121e-01 -5.56544852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.636338938 meters Centerline goodness [0,1] 0.9884474615085775 Centerline is valid? [True, True] Translation: X:-26.00, Y:-1.01, Z:-0.56 [[ 9.92820002e-01 -2.28805166e-02 -1.17409221e-01 -2.60038767e+01] [ 2.25835806e-02 9.99737511e-01 -3.85898252e-03 -1.00885476e+00] [ 1.17466697e-01 1.17975443e-03 9.93076122e-01 -5.59287010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.666338938000003 meters Centerline goodness [0,1] 0.9884722108871297 Centerline is valid? [True, True] Translation: X:-26.03, Y:-1.01, Z:-0.56 [[ 9.92968669e-01 -2.32263882e-02 -1.16076518e-01 -2.60320846e+01] [ 2.29417608e-02 9.99729628e-01 -3.78766340e-03 -1.00787491e+00] [ 1.16133108e-01 1.09803137e-03 9.93233052e-01 -5.57082899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.696338938 meters Centerline goodness [0,1] 0.9881592670606761 Centerline is valid? [True, True] Translation: X:-26.06, Y:-1.01, Z:-0.56 [[ 9.93157114e-01 -2.09865074e-02 -1.14884787e-01 -2.60593259e+01] [ 2.06940816e-02 9.99778868e-01 -3.73759006e-03 -1.00708213e+00] [ 1.14937822e-01 1.33457899e-03 9.93371791e-01 -5.56788552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.726338938 meters Centerline goodness [0,1] 0.9876262936147585 Centerline is valid? [True, True] Translation: X:-26.09, Y:-1.01, Z:-0.56 [[ 9.93093751e-01 -2.09389747e-02 -1.15439857e-01 -2.60865111e+01] [ 2.06460957e-02 9.99779880e-01 -3.73230700e-03 -1.00954560e+00] [ 1.15492597e-01 1.32314842e-03 9.93307460e-01 -5.63079922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.756338938000003 meters Centerline goodness [0,1] 0.986903934948719 Centerline is valid? [True, True] Translation: X:-26.11, Y:-1.02, Z:-0.56 [[ 9.92874800e-01 -2.00163495e-02 -1.17469046e-01 -2.61141932e+01] [ 1.97100815e-02 9.99798635e-01 -3.76844540e-03 -1.01566246e+00] [ 1.17520823e-01 1.42626999e-03 9.93069394e-01 -5.64884462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.786338938 meters Centerline goodness [0,1] 0.9862425642388438 Centerline is valid? [True, True] Translation: X:-26.14, Y:-1.02, Z:-0.56 [[ 9.92916461e-01 -2.01000008e-02 -1.17102057e-01 -2.61429602e+01] [ 1.97976895e-02 9.99796995e-01 -3.74432937e-03 -1.01665901e+00] [ 1.17153545e-01 1.39945612e-03 9.93112828e-01 -5.64400258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.816338938 meters Centerline goodness [0,1] 0.9853490376328641 Centerline is valid? [True, True] Translation: X:-26.17, Y:-1.02, Z:-0.56 [[ 9.92900862e-01 -1.97631454e-02 -1.17291505e-01 -2.61707523e+01] [ 1.94604449e-02 9.99803686e-01 -3.72553009e-03 -1.01523512e+00] [ 1.17342107e-01 1.41653716e-03 9.93090541e-01 -5.62651719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.846338938000002 meters Centerline goodness [0,1] 0.986068143170317 Centerline is valid? [True, True] Translation: X:-26.20, Y:-1.01, Z:-0.57 [[ 9.93038757e-01 -1.91518991e-02 -1.16220616e-01 -2.61989855e+01] [ 1.88520297e-02 9.99815516e-01 -3.67894925e-03 -1.01002324e+00] [ 1.16269634e-01 1.46234469e-03 9.93216610e-01 -5.67882044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.876338938 meters Centerline goodness [0,1] 0.9850379176060668 Centerline is valid? [True, True] Translation: X:-26.23, Y:-1.01, Z:-0.57 [[ 9.93140373e-01 -1.89448492e-02 -1.15383237e-01 -2.62267371e+01] [ 1.86508810e-02 9.99819479e-01 -3.62692554e-03 -1.01284340e+00] [ 1.15431120e-01 1.45004716e-03 9.93314429e-01 -5.68215180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.906338938 meters Centerline goodness [0,1] 0.9847619829958516 Centerline is valid? [True, True] Translation: X:-26.26, Y:-1.02, Z:-0.57 [[ 9.92999947e-01 -1.78109355e-02 -1.16764187e-01 -2.62554391e+01] [ 1.75035847e-02 9.99840112e-01 -3.65719212e-03 -1.02118674e+00] [ 1.16810656e-01 1.58779975e-03 9.93152934e-01 -5.70087685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.936338938000002 meters Centerline goodness [0,1] 0.9835156939625973 Centerline is valid? [True, True] Translation: X:-26.28, Y:-1.02, Z:-0.57 [[ 9.92900253e-01 -1.68540205e-02 -1.17749858e-01 -2.62829246e+01] [ 1.65378639e-02 9.99856536e-01 -3.66160408e-03 -1.02110297e+00] [ 1.17794678e-01 1.68827650e-03 9.93036537e-01 -5.72066554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.966338938 meters Centerline goodness [0,1] 0.9832359872937801 Centerline is valid? [True, True] Translation: X:-26.31, Y:-1.02, Z:-0.58 [[ 9.92949353e-01 -1.74968921e-02 -1.17240951e-01 -2.63119694e+01] [ 1.71894863e-02 9.99845651e-01 -3.63270873e-03 -1.01808760e+00] [ 1.17286416e-01 1.59178407e-03 9.93096855e-01 -5.75118384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.996338938 meters Centerline goodness [0,1] 0.9826944319437058 Centerline is valid? [True, True] Translation: X:-26.34, Y:-1.01, Z:-0.58 [[ 9.92765250e-01 -1.70700501e-02 -1.18851889e-01 -2.63400223e+01] [ 1.67542310e-02 9.99852954e-01 -3.65599323e-03 -1.01193529e+00] [ 1.18896820e-01 1.63827103e-03 9.92905264e-01 -5.79576763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.026338938000002 meters Centerline goodness [0,1] 0.9823008849557522 Centerline is valid? [True, True] Translation: X:-26.37, Y:-1.02, Z:-0.58 [[ 9.92834991e-01 -1.79372404e-02 -1.18139481e-01 -2.63683993e+01] [ 1.76328976e-02 9.99837972e-01 -3.62094272e-03 -1.01607420e+00] [ 1.18185289e-01 1.51185726e-03 9.92990409e-01 -5.84628218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.056338938 meters Centerline goodness [0,1] 0.9808011474234197 Centerline is valid? [True, True] Translation: X:-26.40, Y:-1.02, Z:-0.58 [[ 9.93171289e-01 -1.78398102e-02 -1.15293244e-01 -2.63961689e+01] [ 1.75523468e-02 9.99839791e-01 -3.50814298e-03 -1.02384750e+00] [ 1.15337358e-01 1.46051987e-03 9.93325305e-01 -5.79601367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.086338938 meters Centerline goodness [0,1] 0.9782314875491481 Centerline is valid? [True, True] Translation: X:-26.43, Y:-1.02, Z:-0.58 [[ 9.93383361e-01 -1.71692951e-02 -1.13554893e-01 -2.64255579e+01] [ 1.68876694e-02 9.99851470e-01 -3.44164087e-03 -1.02289019e+00] [ 1.13597117e-01 1.50119129e-03 9.93525763e-01 -5.77128101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.116338938000002 meters Centerline goodness [0,1] 0.9789189299821937 Centerline is valid? [True, True] Translation: X:-26.45, Y:-1.02, Z:-0.58 [[ 9.93059225e-01 -1.73555390e-02 -1.16327818e-01 -2.64539303e+01] [ 1.70645746e-02 9.99848275e-01 -3.49677764e-03 -1.01841684e+00] [ 1.16370856e-01 1.48742257e-03 9.93204718e-01 -5.81252586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.146338938 meters Centerline goodness [0,1] 0.9777403243376565 Centerline is valid? [True, True] Translation: X:-26.48, Y:-1.02, Z:-0.59 [[ 9.92838248e-01 -1.75863095e-02 -1.18164860e-01 -2.64819286e+01] [ 1.72910352e-02 9.99844290e-01 -3.52363683e-03 -1.01921913e+00] [ 1.18208428e-01 1.45520867e-03 9.92987739e-01 -5.89486455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.176338938 meters Centerline goodness [0,1] 0.9760336023719322 Centerline is valid? [True, True] Translation: X:-26.51, Y:-1.03, Z:-0.59 [[ 9.92792812e-01 -2.02084207e-02 -1.18127272e-01 -2.65093782e+01] [ 1.99347308e-02 9.99795164e-01 -3.49812410e-03 -1.02523642e+00] [ 1.18173767e-01 1.11807709e-03 9.92992301e-01 -5.88818367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.206338938000002 meters Centerline goodness [0,1] 0.9755082800459092 Centerline is valid? [True, True] Translation: X:-26.54, Y:-1.03, Z:-0.59 [[ 9.93124122e-01 -2.11067157e-02 -1.15147663e-01 -2.65381704e+01] [ 2.08538300e-02 9.99776752e-01 -3.40052098e-03 -1.02703343e+00] [ 1.15193731e-01 9.75869615e-04 9.93342565e-01 -5.85238525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.236338938000003 meters Centerline goodness [0,1] 0.9741075251279333 Centerline is valid? [True, True] Translation: X:-26.57, Y:-1.02, Z:-0.58 [[ 9.93405398e-01 -1.93183646e-02 -1.13015558e-01 -2.65678698e+01] [ 1.90645472e-02 9.99812722e-01 -3.32629070e-03 -1.02385406e+00] [ 1.13058652e-01 1.14976469e-03 9.93587651e-01 -5.82100508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.266338938 meters Centerline goodness [0,1] 0.9739925457652946 Centerline is valid? [True, True] Translation: X:-26.60, Y:-1.02, Z:-0.59 [[ 9.93251064e-01 -1.78574407e-02 -1.14601199e-01 -2.65961624e+01] [ 1.75898618e-02 9.99839688e-01 -3.34576760e-03 -1.02119083e+00] [ 1.14642574e-01 1.30736797e-03 9.93405945e-01 -5.88459755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.296338938 meters Centerline goodness [0,1] 0.9712488953739288 Centerline is valid? [True, True] Translation: X:-26.62, Y:-1.02, Z:-0.59 [[ 9.93130806e-01 -1.60994305e-02 -1.15896552e-01 -2.66243864e+01] [ 1.58170229e-02 9.99869271e-01 -3.35603705e-03 -1.02295824e+00] [ 1.15935431e-01 1.49984536e-03 9.93255620e-01 -5.89734365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.326338938000003 meters Centerline goodness [0,1] 0.9705543438001564 Centerline is valid? [True, True] Translation: X:-26.65, Y:-1.02, Z:-0.59 [[ 9.93100179e-01 -1.53922617e-02 -1.16254518e-01 -2.66517624e+01] [ 1.51065874e-02 9.99880317e-01 -3.33806250e-03 -1.02449968e+00] [ 1.16291985e-01 1.55882143e-03 9.93213846e-01 -5.92734358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.356338938 meters Centerline goodness [0,1] 0.9696728016359918 Centerline is valid? [True, True] Translation: X:-26.68, Y:-1.02, Z:-0.59 [[ 9.93516087e-01 -1.28757394e-02 -1.12960174e-01 -2.66806825e+01] [ 1.25932754e-02 9.99915537e-01 -3.21378924e-03 -1.02228246e+00] [ 1.12992013e-01 1.77041273e-03 9.93594319e-01 -5.92308999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.386338938 meters Centerline goodness [0,1] 0.9695052019333169 Centerline is valid? [True, True] Translation: X:-26.71, Y:-1.02, Z:-0.59 [[ 9.93729226e-01 -1.08891730e-02 -1.11281858e-01 -2.67086700e+01] [ 1.06054228e-02 9.99938826e-01 -3.14146709e-03 -1.01787784e+00] [ 1.11309259e-01 1.94157650e-03 9.93783920e-01 -5.91937888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.416338938000003 meters Centerline goodness [0,1] 0.9674594527925668 Centerline is valid? [True, True] Translation: X:-26.74, Y:-1.01, Z:-0.60 [[ 9.93121672e-01 -1.08112560e-02 -1.16586715e-01 -2.67367664e+01] [ 1.05002594e-02 9.99939487e-01 -3.28139132e-03 -1.01373942e+00] [ 1.16615136e-01 2.03463009e-03 9.93175095e-01 -5.97313471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.446338938 meters Centerline goodness [0,1] 0.9659840118674798 Centerline is valid? [True, True] Translation: X:-26.76, Y:-1.01, Z:-0.60 [[ 9.92980645e-01 -1.11690206e-02 -1.17748425e-01 -2.67648330e+01] [ 1.08557034e-02 9.99935623e-01 -3.30193957e-03 -1.01360492e+00] [ 1.17777725e-01 2.00052010e-03 9.93037968e-01 -6.01982537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.476338938 meters Centerline goodness [0,1] 0.9652106212096377 Centerline is valid? [True, True] Translation: X:-26.79, Y:-1.02, Z:-0.60 [[ 9.93206807e-01 -1.10255895e-02 -1.15839008e-01 -2.67938098e+01] [ 1.07251331e-02 9.99937310e-01 -3.21673271e-03 -1.01865547e+00] [ 1.15867213e-01 1.95249205e-03 9.93262793e-01 -5.99537002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.506338938000003 meters Centerline goodness [0,1] 0.963816329883358 Centerline is valid? [True, True] Translation: X:-26.82, Y:-1.02, Z:-0.59 [[ 9.93652769e-01 -1.18216374e-02 -1.11867882e-01 -2.68228707e+01] [ 1.15495470e-02 9.99928558e-01 -3.08000332e-03 -1.02278798e+00] [ 1.11896301e-01 1.76843046e-03 9.93718315e-01 -5.94339868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.536338938 meters Centerline goodness [0,1] 0.9630274477673085 Centerline is valid? [True, True] Translation: X:-26.85, Y:-1.02, Z:-0.60 [[ 9.93669261e-01 -1.27055387e-02 -1.11624234e-01 -2.68517870e+01] [ 1.24432176e-02 9.99917939e-01 -3.04641010e-03 -1.02046416e+00] [ 1.11653781e-01 1.63815943e-03 9.93745817e-01 -5.95163110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.566338938 meters Centerline goodness [0,1] 0.9616677599212857 Centerline is valid? [True, True] Translation: X:-26.88, Y:-1.02, Z:-0.61 [[ 9.93250239e-01 -1.34734556e-02 -1.15206025e-01 -2.68791927e+01] [ 1.32023592e-02 9.99907990e-01 -3.11589183e-03 -1.01523934e+00] [ 1.15237407e-01 1.57386897e-03 9.93336732e-01 -6.07429192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.596338938000002 meters Centerline goodness [0,1] 0.9599533913896725 Centerline is valid? [True, True] Translation: X:-26.91, Y:-1.02, Z:-0.61 [[ 9.93161904e-01 -1.33475413e-02 -1.15979638e-01 -2.69065149e+01] [ 1.30749063e-02 9.99909680e-01 -3.11120927e-03 -1.01631244e+00] [ 1.16010689e-01 1.57351163e-03 9.93246719e-01 -6.10292532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.626338938 meters Centerline goodness [0,1] 0.9584981452257496 Centerline is valid? [True, True] Translation: X:-26.93, Y:-1.02, Z:-0.61 [[ 9.93379026e-01 -1.19055153e-02 -1.14264472e-01 -2.69348840e+01] [ 1.16327941e-02 9.99927675e-01 -3.05327257e-03 -1.01749050e+00] [ 1.14292559e-01 1.70384186e-03 9.93445674e-01 -6.12578357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.656338938 meters Centerline goodness [0,1] 0.9567346938775511 Centerline is valid? [True, True] Translation: X:-26.96, Y:-1.02, Z:-0.60 [[ 9.93743663e-01 -1.21498855e-02 -1.11022129e-01 -2.69634506e+01] [ 1.18967314e-02 9.99924902e-01 -2.94240167e-03 -1.01973714e+00] [ 1.11049542e-01 1.60319257e-03 9.93813579e-01 -6.04947861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.686338938000002 meters Centerline goodness [0,1] 0.9557022833663812 Centerline is valid? [True, True] Translation: X:-26.99, Y:-1.02, Z:-0.61 [[ 9.93626662e-01 -1.09168607e-02 -1.12191262e-01 -2.69920803e+01] [ 1.06518060e-02 9.99938882e-01 -2.96168379e-03 -1.01763197e+00] [ 1.12216737e-01 1.74776842e-03 9.93682217e-01 -6.09880716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.716338938 meters Centerline goodness [0,1] 0.9552534750613246 Centerline is valid? [True, True] Translation: X:-27.02, Y:-1.02, Z:-0.62 [[ 9.93450300e-01 -9.98461039e-03 -1.13827975e-01 -2.70200803e+01] [ 9.70881841e-03 9.99948437e-01 -2.97700975e-03 -1.01631264e+00] [ 1.13851830e-01 1.85237608e-03 9.93496014e-01 -6.16629732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.746338938 meters Centerline goodness [0,1] 0.9510783690053559 Centerline is valid? [True, True] Translation: X:-27.05, Y:-1.01, Z:-0.62 [[ 9.93543518e-01 -9.31238458e-03 -1.13068817e-01 -2.70471147e+01] [ 9.03875814e-03 9.99954850e-01 -2.93241383e-03 -1.01402121e+00] [ 1.13091020e-01 1.89147906e-03 9.93582832e-01 -6.16824739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.776338938000002 meters Centerline goodness [0,1] 0.9483520078514762 Centerline is valid? [True, False] Translation: X:-27.07, Y:-1.02, Z:-0.61 [[ 9.93442855e-01 -5.46355502e-03 -1.14199139e-01 -2.70736217e+01] [ 4.66466633e-03 9.99962754e-01 -7.26163163e-03 -1.01675041e+00] [ 1.14234560e-01 6.68131518e-03 9.93431339e-01 -6.14977200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.806338938 meters Centerline goodness [0,1] 0.9471082854799016 Centerline is valid? [False, False] Translation: X:-27.11, Y:-1.02, Z:-0.62 [[ 9.93529049e-01 -3.77020750e-03 -1.13515705e-01 -2.71075937e+01] [ 2.98668057e-03 9.99970535e-01 -7.07164274e-03 -1.01762436e+00] [ 1.13539022e-01 6.68684734e-03 9.93511035e-01 -6.17905648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.836338938 meters Centerline goodness [0,1] 0.9452727161175533 Centerline is valid? [False, False] Translation: X:-27.13, Y:-1.02, Z:-0.62 [[ 9.93146388e-01 -6.60071481e-03 -1.16690545e-01 -2.71338124e+01] [ 6.23819606e-03 9.99974516e-01 -3.47161553e-03 -1.01558750e+00] [ 1.16710487e-01 2.71988392e-03 9.93162255e-01 -6.17186059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.866338938000002 meters Centerline goodness [0,1] 0.9436036257741685 Centerline is valid? [False, False] Translation: X:-27.17, Y:-1.02, Z:-0.62 [[ 9.93004324e-01 -6.19736827e-03 -1.17915243e-01 -2.71669912e+01] [ 5.78525668e-03 9.99975904e-01 -3.83694274e-03 -1.01822277e+00] [ 1.17936180e-01 3.12793078e-03 9.93016250e-01 -6.20572596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.896338938 meters Centerline goodness [0,1] 0.938721009059348 Centerline is valid? [False, False] Translation: X:-27.20, Y:-1.02, Z:-0.62 [[ 9.92929346e-01 -6.41393518e-03 -1.18533433e-01 -2.71995997e+01] [ 5.76786855e-03 9.99966587e-01 -5.79275317e-03 -1.01787862e+00] [ 1.18566627e-01 5.06810936e-03 9.92933165e-01 -6.24355129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.926338938 meters Centerline goodness [0,1] 0.9370593434602972 Centerline is valid? [False, False] Translation: X:-27.23, Y:-1.02, Z:-0.63 [[ 9.93054693e-01 -6.55000035e-03 -1.17471163e-01 -2.72323351e+01] [ 5.67915044e-03 9.99953868e-01 -7.74650706e-03 -1.01820950e+00] [ 1.17516483e-01 7.02556878e-03 9.93046080e-01 -6.27799861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.956338938000002 meters Centerline goodness [0,1] 0.9346687211093991 Centerline is valid? [False, False] Translation: X:-27.26, Y:-1.02, Z:-0.63 [[ 9.93333580e-01 -5.38277467e-03 -1.15149571e-01 -2.72641519e+01] [ 4.53694874e-03 9.99960780e-01 -7.60628116e-03 -1.01929312e+00] [ 1.15185998e-01 7.03314680e-03 9.93319043e-01 -6.32141513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.986338938000003 meters Centerline goodness [0,1] 0.9320487645229913 Centerline is valid? [False, False] Translation: X:-27.29, Y:-1.02, Z:-0.63 [[ 9.92984666e-01 -7.92735106e-03 -1.17977158e-01 -2.72856626e+01] [ 7.53220470e-03 9.99964432e-01 -3.79484753e-03 -1.01556752e+00] [ 1.18003045e-01 2.87959730e-03 9.93009058e-01 -6.32233576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.016338938 meters Centerline goodness [0,1] 0.9294146631900959 Centerline is valid? [False, False] Translation: X:-27.31, Y:-1.02, Z:-0.63 [[ 9.92623596e-01 -4.59842798e-03 -1.21149704e-01 -2.73083000e+01] [ 3.80933024e-03 9.99970002e-01 -6.74420923e-03 -1.02005733e+00] [ 1.21177082e-01 6.23296199e-03 9.92611336e-01 -6.31798907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.046338938 meters Centerline goodness [0,1] 0.9261586480215199 Centerline is valid? [False, False] Translation: X:-27.33, Y:-1.02, Z:-0.63 [[ 9.92753026e-01 -8.73939793e-03 -1.19854300e-01 -2.73257689e+01] [ 8.20281424e-03 9.99954007e-01 -4.96959499e-03 -1.01528383e+00] [ 1.19892218e-01 3.95043791e-03 9.92779054e-01 -6.33124335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.076338938000003 meters Centerline goodness [0,1] 0.9247561921083772 Centerline is valid? [False, False] Translation: X:-27.33, Y:-1.01, Z:-0.63 [[ 9.92779757e-01 -7.89437327e-03 -1.19691411e-01 -2.73343450e+01] [ 7.47347699e-03 9.99964212e-01 -3.96498027e-03 -1.01373714e+00] [ 1.19718429e-01 3.04184114e-03 9.92803226e-01 -6.29879410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.106338938 meters Centerline goodness [0,1] 0.9236156618610747 Centerline is valid? [False, False] Translation: X:-27.35, Y:-1.02, Z:-0.63 [[ 9.93217119e-01 -5.36852927e-03 -1.16150475e-01 -2.73506127e+01] [ 4.60122350e-03 9.99965793e-01 -6.87325370e-03 -1.01991606e+00] [ 1.16183401e-01 6.29219894e-03 9.93207846e-01 -6.30628342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.136338938 meters Centerline goodness [0,1] 0.9220058002015673 Centerline is valid? [False, False] Translation: X:-27.37, Y:-1.02, Z:-0.63 [[ 9.93487022e-01 -9.53122791e-03 -1.13545994e-01 -2.73656472e+01] [ 8.99178911e-03 9.99945728e-01 -5.26205134e-03 -1.01643454e+00] [ 1.13589985e-01 4.20679809e-03 9.93518806e-01 -6.33151649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.166338938000003 meters Centerline goodness [0,1] 0.9215690282490495 Centerline is valid? [False, False] Translation: X:-27.37, Y:-1.02, Z:-0.63 [[ 9.93285357e-01 -1.02889391e-02 -1.15231664e-01 -2.73715428e+01] [ 9.69356014e-03 9.99936622e-01 -5.72599279e-03 -1.01556575e+00] [ 1.15283275e-01 4.57053974e-03 9.93322141e-01 -6.30722848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.196338938 meters Centerline goodness [0,1] 0.918392530284022 Centerline is valid? [False, False] Translation: X:-27.40, Y:-1.02, Z:-0.64 [[ 9.93107492e-01 -1.01794464e-02 -1.16764243e-01 -2.73968038e+01] [ 9.55114716e-03 9.99936749e-01 -5.93920436e-03 -1.01674778e+00] [ 1.16817315e-01 4.78303588e-03 9.93141902e-01 -6.35476394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.226338938 meters Centerline goodness [0,1] 0.9169692866375331 Centerline is valid? [False, False] Translation: X:-27.41, Y:-1.02, Z:-0.63 [[ 9.93079905e-01 -1.03641871e-02 -1.16982418e-01 -2.74065197e+01] [ 9.77756770e-03 9.99936588e-01 -5.58736892e-03 -1.01792670e+00] [ 1.17032909e-01 4.40490028e-03 9.93118268e-01 -6.30734730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.256338938000003 meters Centerline goodness [0,1] 0.9151135761184291 Centerline is valid? [False, False] Translation: X:-27.43, Y:-1.01, Z:-0.63 [[ 9.93442595e-01 -1.30778907e-02 -1.13581594e-01 -2.74254003e+01] [ 1.29569005e-02 9.99914430e-01 -1.80341508e-03 -1.01468719e+00] [ 1.13595460e-01 3.19923941e-04 9.93527035e-01 -6.32294282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.286338938 meters Centerline goodness [0,1] 0.9125884132630115 Centerline is valid? [False, False] Translation: X:-27.46, Y:-1.02, Z:-0.63 [[ 9.93537440e-01 -1.37666119e-02 -1.12666922e-01 -2.74640470e+01] [ 1.35942627e-02 9.99904953e-01 -2.29787424e-03 -1.01767030e+00] [ 1.12687848e-01 7.51400349e-04 9.93630155e-01 -6.34968037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.316338938 meters Centerline goodness [0,1] 0.9136127793438739 Centerline is valid? [False, False] Translation: X:-27.49, Y:-1.02, Z:-0.63 [[ 9.93473251e-01 -1.18413539e-02 -1.13449032e-01 -2.74919865e+01] [ 1.11801713e-02 9.99916616e-01 -6.46250943e-03 -1.02045818e+00] [ 1.13516097e-01 5.15195065e-03 9.93522800e-01 -6.34833434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.346338938000002 meters Centerline goodness [0,1] 0.9137007938624382 Centerline is valid? [False, False] Translation: X:-27.53, Y:-1.02, Z:-0.64 [[ 9.93365514e-01 -1.05577504e-02 -1.14514149e-01 -2.75279319e+01] [ 9.83310529e-03 9.99927909e-01 -6.89104051e-03 -1.01987726e+00] [ 1.14578647e-01 5.71929231e-03 9.93397717e-01 -6.38170385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.376338938 meters Centerline goodness [0,1] 0.9158517124268587 Centerline is valid? [False, False] Translation: X:-27.57, Y:-1.02, Z:-0.64 [[ 9.92994724e-01 -9.11854238e-03 -1.17806327e-01 -2.75653042e+01] [ 8.42731822e-03 9.99944237e-01 -6.36427089e-03 -1.02096741e+00] [ 1.17857791e-01 5.32689600e-03 9.93016196e-01 -6.41559489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.406338938 meters Centerline goodness [0,1] 0.9190358974358974 Centerline is valid? [False, False] Translation: X:-27.60, Y:-1.02, Z:-0.64 [[ 9.92661182e-01 -7.31488586e-03 -1.20707374e-01 -2.76026384e+01] [ 6.67120734e-03 9.99961297e-01 -5.73580687e-03 -1.02236888e+00] [ 1.20744659e-01 4.88844891e-03 9.92671562e-01 -6.44365260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.436338938000002 meters Centerline goodness [0,1] 0.9228203808543489 Centerline is valid? [False, False] Translation: X:-27.64, Y:-1.02, Z:-0.65 [[ 9.92800621e-01 -5.63563784e-03 -1.19646004e-01 -2.76406699e+01] [ 4.93569652e-03 9.99968935e-01 -6.14563111e-03 -1.02319181e+00] [ 1.19676922e-01 5.51085002e-03 9.92797595e-01 -6.47064379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.466338938 meters Centerline goodness [0,1] 0.9253974809002684 Centerline is valid? [False, False] Translation: X:-27.68, Y:-1.02, Z:-0.65 [[ 9.93234177e-01 -4.07774790e-03 -1.16057065e-01 -2.76781895e+01] [ 3.27439943e-03 9.99969350e-01 -7.11182467e-03 -1.02377365e+00] [ 1.16082508e-01 6.68369014e-03 9.93217086e-01 -6.49471400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.496338938 meters Centerline goodness [0,1] 0.9293403596546986 Centerline is valid? [False, False] Translation: X:-27.71, Y:-1.02, Z:-0.65 [[ 9.93327823e-01 -2.00268723e-03 -1.15307529e-01 -2.77147571e+01] [ 1.12609628e-03 9.99969975e-01 -7.66683969e-03 -1.02338621e+00] [ 1.15319421e-01 7.48583780e-03 9.93300253e-01 -6.52850690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.526338938000002 meters Centerline goodness [0,1] 0.9325228962175038 Centerline is valid? [False, False] Translation: X:-27.75, Y:-1.02, Z:-0.66 [[ 9.92957097e-01 -5.80681884e-04 -1.18473066e-01 -2.77508861e+01] [-4.17930641e-04 9.99964598e-01 -8.40400742e-03 -1.02447398e+00] [ 1.18473752e-01 8.39433233e-03 9.92921702e-01 -6.56499581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.556338938 meters Centerline goodness [0,1] 0.9325228962175038 Centerline is valid? [False, False] Translation: X:-27.75, Y:-1.02, Z:-0.66 [[ 9.92957097e-01 -5.80681884e-04 -1.18473066e-01 -2.77508861e+01] [-4.17930641e-04 9.99964598e-01 -8.40400742e-03 -1.02447398e+00] [ 1.18473752e-01 8.39433233e-03 9.92921702e-01 -6.56499581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.586338938 meters Centerline goodness [0,1] 0.9359641985353946 Centerline is valid? [False, False] Translation: X:-27.79, Y:-1.02, Z:-0.66 [[ 9.92534911e-01 1.45816574e-03 -1.21952142e-01 -2.77868025e+01] [-2.42552076e-03 9.99966761e-01 -7.78417450e-03 -1.02473347e+00] [ 1.21936738e-01 8.02186239e-03 9.92505457e-01 -6.60094543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.616338938000002 meters Centerline goodness [0,1] 0.9402875046074456 Centerline is valid? [False, False] Translation: X:-27.82, Y:-1.02, Z:-0.66 [[ 9.92405938e-01 -1.31290102e-03 -1.22998904e-01 -2.78153270e+01] [ 6.64531128e-04 9.99985669e-01 -5.31222266e-03 -1.02469557e+00] [ 1.23004115e-01 5.19014472e-03 9.92392589e-01 -6.59451882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.646338938 meters Centerline goodness [0,1] 0.9474365826583891 Centerline is valid? [False, False] Translation: X:-27.85, Y:-1.03, Z:-0.66 [[ 9.92912233e-01 -3.06085210e-03 -1.18810475e-01 -2.78485524e+01] [ 2.22945645e-03 9.99972096e-01 -7.12994471e-03 -1.02805683e+00] [ 1.18828983e-01 6.81452654e-03 9.92891351e-01 -6.62756630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.676338938 meters Centerline goodness [0,1] 0.9519622649316258 Centerline is valid? [False, True] Translation: X:-27.88, Y:-1.03, Z:-0.67 [[ 9.93166400e-01 -4.00113434e-03 -1.16638295e-01 -2.78821284e+01] [ 2.89579500e-03 9.99949297e-01 -9.64456112e-03 -1.02857931e+00] [ 1.16670971e-01 9.24089346e-03 9.93127631e-01 -6.66739573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.706338938000002 meters Centerline goodness [0,1] 0.9564148643903245 Centerline is valid? [True, True] Translation: X:-27.91, Y:-1.02, Z:-0.67 [[ 9.93060494e-01 -3.68023422e-03 -1.17547058e-01 -2.79104396e+01] [ 3.28837773e-03 9.99988372e-01 -3.52738233e-03 -1.01838624e+00] [ 1.17558673e-01 3.11636491e-03 9.93061049e-01 -6.70335676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.736338938000003 meters Centerline goodness [0,1] 0.9621375805090849 Centerline is valid? [True, True] Translation: X:-27.94, Y:-1.02, Z:-0.67 [[ 9.92907456e-01 -2.79116917e-03 -1.18857032e-01 -2.79384107e+01] [ 2.38592793e-03 9.99990847e-01 -3.55164503e-03 -1.02347952e+00] [ 1.18865857e-01 3.24287052e-03 9.92905027e-01 -6.70951286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.766338938 meters Centerline goodness [0,1] 0.9693989071038251 Centerline is valid? [True, True] Translation: X:-27.97, Y:-1.03, Z:-0.67 [[ 9.92724143e-01 -3.92714245e-03 -1.20346806e-01 -2.79666456e+01] [ 3.52137495e-03 9.99987377e-01 -3.58413294e-03 -1.03279867e+00] [ 1.20359363e-01 3.13426907e-03 9.92725440e-01 -6.71818295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.796338938 meters Centerline goodness [0,1] 0.9742954986178157 Centerline is valid? [True, True] Translation: X:-27.99, Y:-1.03, Z:-0.67 [[ 9.92529060e-01 -6.81558231e-03 -1.21817953e-01 -2.79947450e+01] [ 6.42496260e-03 9.99972883e-01 -3.59910336e-03 -1.03460387e+00] [ 1.21839179e-01 2.78953888e-03 9.92545935e-01 -6.70664466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.826338938000003 meters Centerline goodness [0,1] 0.9785432542386883 Centerline is valid? [True, True] Translation: X:-28.02, Y:-1.03, Z:-0.67 [[ 9.92535140e-01 -7.82729689e-03 -1.21707554e-01 -2.80239385e+01] [ 7.44643781e-03 9.99965853e-01 -3.58382371e-03 -1.03114540e+00] [ 1.21731449e-01 2.65078324e-03 9.92559534e-01 -6.71340881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.856338938 meters Centerline goodness [0,1] 0.9795599745270034 Centerline is valid? [True, True] Translation: X:-28.05, Y:-1.03, Z:-0.67 [[ 9.92608316e-01 -8.36999561e-03 -1.21073010e-01 -2.80513716e+01] [ 8.00056775e-03 9.99961739e-01 -3.53708299e-03 -1.03249682e+00] [ 1.21097983e-01 2.54228517e-03 9.92637303e-01 -6.73430601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.886338938 meters Centerline goodness [0,1] 0.982840761441211 Centerline is valid? [True, True] Translation: X:-28.08, Y:-1.03, Z:-0.67 [[ 9.92805531e-01 -5.98698564e-03 -1.19588183e-01 -2.80808449e+01] [ 5.61137816e-03 9.99978210e-01 -3.47733278e-03 -1.03397855e+00] [ 1.19606395e-01 2.78126070e-03 9.92817493e-01 -6.69919584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.916338938000003 meters Centerline goodness [0,1] 0.9855135179690075 Centerline is valid? [True, True] Translation: X:-28.11, Y:-1.03, Z:-0.67 [[ 9.92750076e-01 -3.73356166e-03 -1.20138864e-01 -2.81088763e+01] [ 3.34141449e-03 9.99988413e-01 -3.46539739e-03 -1.03385387e+00] [ 1.20150411e-01 3.03883978e-03 9.92751048e-01 -6.72853227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.946338938 meters Centerline goodness [0,1] 0.988031502573537 Centerline is valid? [True, True] Translation: X:-28.14, Y:-1.04, Z:-0.68 [[ 9.92432504e-01 -3.90849588e-03 -1.22729168e-01 -2.81362723e+01] [ 3.50179598e-03 9.99987641e-01 -3.52932745e-03 -1.03528342e+00] [ 1.22741446e-01 3.07284677e-03 9.92433925e-01 -6.77098985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.976338938 meters Centerline goodness [0,1] 0.9892830593871315 Centerline is valid? [True, True] Translation: X:-28.17, Y:-1.03, Z:-0.68 [[ 9.92013685e-01 -9.17347435e-04 -1.26126950e-01 -2.81657800e+01] [ 4.65293111e-04 9.99993363e-01 -3.61353551e-03 -1.03315837e+00] [ 1.26129428e-01 3.52599068e-03 9.92007528e-01 -6.78426904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.006338938000003 meters Centerline goodness [0,1] 0.9924873932283627 Centerline is valid? [True, True] Translation: X:-28.19, Y:-1.03, Z:-0.68 [[ 9.91872457e-01 1.45016315e-03 -1.27227851e-01 -2.81945236e+01] [-1.92612705e-03 9.99991600e-01 -3.61808673e-03 -1.03243021e+00] [ 1.27221535e-01 3.83373758e-03 9.91866918e-01 -6.81409042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 898.63 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%| | 0/1001 [00:00