+ python -m lidar_slam --no-model /working/257abb88-dd8d-4f98-ac2e-4ca5e8f8e7d8 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/257abb88-dd8d-4f98-ac2e-4ca5e8f8e7d8 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 0.028033874 Adjusted end_distance from 9.223372036854776e+18 to 33.495073874 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028033874 meters Centerline goodness [0,1] 0.9884595354650557 Centerline is valid? [0, True] SLAMing on 0.058033874 meters Centerline goodness [0,1] 0.9893566256561339 Centerline is valid? [True, True] Translation: X:-0.03, Y:0.00, Z:-0.00 [[ 9.99997699e-01 1.08047669e-03 -1.85307771e-03 -3.10872100e-02] [-1.08073076e-03 9.99999407e-01 -1.36109741e-04 2.47665596e-03] [ 1.85292955e-03 1.38112106e-04 9.99998274e-01 -4.22261018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.088033874 meters Centerline goodness [0,1] 0.9874112263701679 Centerline is valid? [True, True] Translation: X:-0.06, Y:0.01, Z:-0.00 [[ 9.99997383e-01 1.79633657e-03 1.41704573e-03 -5.94002547e-02] [-1.79648901e-03 9.99998381e-01 1.06306432e-04 5.28649379e-03] [-1.41685247e-03 -1.08851861e-04 9.99998990e-01 -1.40409530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.118033874 meters Centerline goodness [0,1] 0.9848422013022021 Centerline is valid? [True, True] Translation: X:-0.09, Y:0.00, Z:0.00 [[ 9.99978163e-01 6.21711217e-03 2.24068674e-03 -8.87496424e-02] [-6.21749583e-03 9.99980658e-01 1.64300151e-04 4.83828560e-03] [-2.23962192e-03 -1.78228024e-04 9.99997476e-01 2.05789608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.148033874 meters Centerline goodness [0,1] 0.9770479567083411 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.01, Z:-0.00 [[ 9.99970067e-01 7.70620928e-03 6.92990443e-04 -1.19957150e-01] [-7.70624583e-03 9.99970305e-01 5.00867385e-05 7.56936219e-03] [-6.92583886e-04 -5.54255939e-05 9.99999759e-01 -3.41618564e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17803387399999998 meters Centerline goodness [0,1] 0.9831350232798759 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.00, Z:0.00 [[ 9.99931838e-01 1.16521768e-02 7.39653455e-04 -1.48912881e-01] [-1.16522204e-02 9.99932109e-01 5.46321356e-05 3.22410329e-03] [-7.38966655e-04 -6.32470167e-05 9.99999725e-01 3.81664692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.208033874 meters Centerline goodness [0,1] 0.9784516663216726 Centerline is valid? [True, True] Translation: X:-0.18, Y:0.01, Z:0.00 [[ 9.99911493e-01 1.30460993e-02 2.60889814e-03 -1.82017744e-01] [-1.30466339e-02 9.99914871e-01 1.88025630e-04 8.54598139e-03] [-2.60622305e-03 -2.22046327e-04 9.99996579e-01 2.65856576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23803387399999998 meters Centerline goodness [0,1] 0.9770288431717151 Centerline is valid? [True, True] Translation: X:-0.21, Y:0.01, Z:0.00 [[ 9.99896588e-01 1.42026615e-02 2.25766845e-03 -2.13744126e-01] [-1.42030669e-02 9.99899118e-01 1.63597887e-04 5.32546492e-03] [-2.25511717e-03 -1.95646785e-04 9.99997438e-01 1.35071341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.268033874 meters Centerline goodness [0,1] 0.9423582231601597 Centerline is valid? [True, False] Translation: X:-0.24, Y:0.01, Z:0.00 [[ 0.99994169 0.01068554 -0.00156087 -0.23775163] [-0.01067962 0.99993592 0.00375634 0.00518195] [ 0.00160091 -0.00373945 0.99999173 0.00442987] [ 0. 0. 0. 1. ]] SLAMing on 0.29803387400000003 meters Centerline goodness [0,1] 0.9727527216174183 Centerline is valid? [False, True] Translation: X:-0.26, Y:0.01, Z:0.01 [[ 0.99998211 0.00531693 -0.00273895 -0.26323235] [-0.00530364 0.99997423 0.0048376 0.00536674] [ 0.0027646 -0.00482299 0.99998455 0.00787421] [ 0. 0. 0. 1. ]] SLAMing on 0.328033874 meters Centerline goodness [0,1] 0.9812383129025556 Centerline is valid? [True, True] Translation: X:-0.29, Y:-0.01, Z:0.01 [[ 9.99995697e-01 2.92206417e-03 -2.58215080e-04 -2.92253977e-01] [-2.92206975e-03 9.99995731e-01 -2.12443064e-05 -9.07866228e-03] [ 2.58151901e-04 2.19987374e-05 9.99999966e-01 1.28268832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.358033874 meters Centerline goodness [0,1] 0.9836656855022594 Centerline is valid? [True, True] Translation: X:-0.32, Y:-0.02, Z:0.01 [[ 9.99998623e-01 1.61674173e-03 3.73972424e-04 -3.22232899e-01] [-1.61675289e-03 9.99998693e-01 2.95615861e-05 -1.71442343e-02] [-3.73924142e-04 -3.01661664e-05 9.99999930e-01 1.15774376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.388033874 meters Centerline goodness [0,1] 0.9829885343968096 Centerline is valid? [True, True] Translation: X:-0.35, Y:-0.02, Z:0.02 [[ 9.99999277e-01 1.19936656e-03 8.95190258e-05 -3.53610523e-01] [-1.19936712e-03 9.99999281e-01 6.20684357e-06 -2.17636582e-02] [-8.95115171e-05 -6.31420525e-06 9.99999996e-01 1.52335026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.418033874 meters Centerline goodness [0,1] 0.9827735599933982 Centerline is valid? [True, True] Translation: X:-0.38, Y:-0.02, Z:0.01 [[ 9.99996911e-01 2.47743277e-03 2.01462467e-04 -3.84282333e-01] [-2.47743598e-03 9.99996931e-01 1.56960864e-05 -2.30147305e-02] [-2.01422962e-04 -1.61951483e-05 9.99999980e-01 1.09878116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.448033874 meters Centerline goodness [0,1] 0.9769938650306749 Centerline is valid? [True, True] Translation: X:-0.42, Y:-0.03, Z:0.01 [[ 9.99991955e-01 3.80397459e-03 1.27281655e-03 -4.15841788e-01] [-3.80410606e-03 9.99992759e-01 1.00886269e-04 -2.53022263e-02] [-1.27242357e-03 -1.05727387e-04 9.99999185e-01 1.25741738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.47803387399999997 meters Centerline goodness [0,1] 0.977341766884441 Centerline is valid? [True, True] Translation: X:-0.45, Y:-0.03, Z:0.01 [[ 9.99975217e-01 7.00078624e-03 -7.44865168e-04 -4.45837384e-01] [-7.00083278e-03 9.99975492e-01 -5.98895376e-05 -2.96943982e-02] [ 7.44427639e-04 6.51027299e-05 9.99999721e-01 6.86095198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.508033874 meters Centerline goodness [0,1] 0.97232434218679 Centerline is valid? [True, True] Translation: X:-0.48, Y:-0.03, Z:0.01 [[ 9.99938919e-01 1.10118844e-02 -9.47105998e-04 -4.77136627e-01] [-1.10119619e-02 9.99939364e-01 -7.66553165e-05 -2.60767547e-02] [ 9.46204449e-04 8.70801295e-05 9.99999549e-01 7.22064939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.538033874 meters Centerline goodness [0,1] 0.9734097802152146 Centerline is valid? [True, True] Translation: X:-0.51, Y:-0.03, Z:0.00 [[ 9.99890984e-01 1.45473232e-02 -2.52897890e-03 -5.06469100e-01] [-1.45478825e-02 9.99894153e-01 -2.02887451e-04 -2.78656433e-02] [ 2.52575974e-03 2.39656621e-04 9.99996782e-01 3.53929091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.568033874 meters Centerline goodness [0,1] 0.9698664892068377 Centerline is valid? [True, True] Translation: X:-0.54, Y:-0.04, Z:0.00 [[ 9.99862159e-01 1.62614333e-02 -3.35085981e-03 -5.37187590e-01] [-1.62624289e-02 9.99867721e-01 -2.70108261e-04 -3.54855042e-02] [ 3.34602421e-03 3.24564149e-04 9.99994349e-01 2.92762672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.598033874 meters Centerline goodness [0,1] 0.9716770186335404 Centerline is valid? [True, True] Translation: X:-0.57, Y:-0.04, Z:0.00 [[ 9.99868621e-01 1.56737938e-02 -4.13186817e-03 -5.68173211e-01] [-1.56753049e-02 9.99877079e-01 -3.33583288e-04 -4.42520193e-02] [ 4.12613176e-03 3.98307756e-04 9.99991408e-01 8.29635173e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.628033874 meters Centerline goodness [0,1] 0.9637340079208742 Centerline is valid? [True, True] Translation: X:-0.60, Y:-0.05, Z:0.00 [[ 9.99892228e-01 1.44976215e-02 -2.31314792e-03 -5.98009672e-01] [-1.44980895e-02 9.99894880e-01 -1.85649191e-04 -4.73475752e-02] [ 2.31021329e-03 2.19165409e-04 9.99997307e-01 2.25913693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.658033874 meters Centerline goodness [0,1] 0.9424079437318991 Centerline is valid? [True, False] Translation: X:-0.60, Y:-0.05, Z:0.00 [[ 0.99997446 0.00683105 -0.00210038 -0.60189514] [-0.00681569 0.9999506 0.00723497 -0.04640692] [ 0.0021497 -0.00722047 0.99997162 0.00267096] [ 0. 0. 0. 1. ]] SLAMing on 0.6880338739999999 meters Centerline goodness [0,1] 0.9768000165566341 Centerline is valid? [False, True] Translation: X:-0.60, Y:-0.05, Z:0.00 [[ 0.99999082 0.00320678 -0.00284264 -0.60111189] [-0.00319276 0.99998278 0.00492436 -0.0540356 ] [ 0.00285838 -0.00491523 0.99998383 0.00227057] [ 0. 0. 0. 1. ]] SLAMing on 0.718033874 meters Centerline goodness [0,1] 0.9738003938231942 Centerline is valid? [True, True] Translation: X:-0.63, Y:-0.06, Z:0.01 [[ 9.99996208e-01 -1.39993144e-03 -2.37141205e-03 -6.30156541e-01] [ 1.39945994e-03 9.99999001e-01 -2.00470984e-04 -6.36398800e-02] [ 2.37169032e-03 1.97151528e-04 9.99997168e-01 5.98988158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.748033874 meters Centerline goodness [0,1] 0.9838917258272097 Centerline is valid? [True, True] Translation: X:-0.66, Y:-0.08, Z:0.01 [[ 9.99995703e-01 -2.93153984e-03 1.71877653e-05 -6.57998265e-01] [ 2.93153980e-03 9.99995703e-01 2.44044496e-06 -7.90486257e-02] [-1.71948457e-05 -2.39004786e-06 1.00000000e+00 1.43657172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.778033874 meters Centerline goodness [0,1] 0.9843888374008856 Centerline is valid? [True, True] Translation: X:-0.69, Y:-0.10, Z:0.02 [[ 9.99988213e-01 -3.13895896e-03 3.70423780e-03 -6.86178309e-01] [ 3.13781659e-03 9.99995028e-01 3.14168385e-04 -9.65404752e-02] [-3.70520554e-03 -3.02541463e-04 9.99993090e-01 1.61922929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.808033874 meters Centerline goodness [0,1] 0.9822193703297386 Centerline is valid? [True, True] Translation: X:-0.72, Y:-0.11, Z:0.01 [[ 9.99998476e-01 -1.73473121e-03 1.98849121e-04 -7.15880366e-01] [ 1.73472796e-03 9.99998495e-01 1.65187186e-05 -1.10601559e-01] [-1.98877477e-04 -1.61737442e-05 9.99999980e-01 1.25971523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.838033874 meters Centerline goodness [0,1] 0.9825150196809612 Centerline is valid? [True, True] Translation: X:-0.75, Y:-0.11, Z:0.01 [[ 9.99999841e-01 3.76428298e-04 -4.21004249e-04 -7.46092647e-01] [-3.76443315e-04 9.99999929e-01 -3.55910533e-05 -1.11143809e-01] [ 4.20990821e-04 3.57495318e-05 9.99999911e-01 1.19084427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.868033874 meters Centerline goodness [0,1] 0.9717592496739063 Centerline is valid? [True, True] Translation: X:-0.78, Y:-0.11, Z:0.01 [[ 9.99998319e-01 1.74712247e-03 -5.57134901e-04 -7.76974481e-01] [-1.74714902e-03 9.99998473e-01 -4.71811247e-05 -1.08417385e-01] [ 5.57051619e-04 4.81544431e-05 9.99999844e-01 1.23725044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.898033874 meters Centerline goodness [0,1] 0.9746314279179057 Centerline is valid? [True, True] Translation: X:-0.80, Y:-0.13, Z:0.01 [[ 9.99974792e-01 6.34243509e-03 -3.19187087e-03 -8.04671572e-01] [-6.34332832e-03 9.99979844e-01 -2.69800347e-04 -1.29318760e-01] [ 3.19009535e-03 2.90040631e-04 9.99994870e-01 1.35297462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9280338739999999 meters Centerline goodness [0,1] 0.9605208849265313 Centerline is valid? [True, True] Translation: X:-0.83, Y:-0.14, Z:0.01 [[ 9.99958693e-01 8.40126926e-03 -3.46871052e-03 -8.34095561e-01] [-8.40233630e-03 9.99964657e-01 -2.93161758e-04 -1.35970861e-01] [ 3.46612499e-03 3.22294921e-04 9.99993941e-01 1.25698727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.958033874 meters Centerline goodness [0,1] 0.9728640515851693 Centerline is valid? [True, True] Translation: X:-0.86, Y:-0.15, Z:0.02 [[ 9.99978420e-01 6.56265316e-03 -3.01128917e-04 -8.62321304e-01] [-6.56266098e-03 9.99978465e-01 -2.49982027e-05 -1.50946077e-01] [ 3.00958378e-04 2.69738702e-05 9.99999954e-01 1.79234863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.988033874 meters Centerline goodness [0,1] 0.9728640515851693 Centerline is valid? [True, True] Translation: X:-0.89, Y:-0.15, Z:0.02 [[ 9.99978622e-01 6.53186537e-03 -3.01004124e-04 -8.93186279e-01] [-6.53187363e-03 9.99978667e-01 -2.64724240e-05 -1.53519893e-01] [ 3.00824788e-04 2.84379790e-05 9.99999954e-01 1.89115010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.018033874 meters Centerline goodness [0,1] 0.9780376733595529 Centerline is valid? [True, True] Translation: X:-0.92, Y:-0.17, Z:0.02 [[ 9.99998720e-01 1.55629359e-03 3.72697501e-04 -9.22486603e-01] [-1.55630539e-03 9.99998788e-01 3.13717178e-05 -1.70066230e-01] [-3.72648226e-04 -3.19517087e-05 9.99999930e-01 1.82728442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.048033874 meters Centerline goodness [0,1] 0.9842732852507802 Centerline is valid? [True, True] Translation: X:-0.95, Y:-0.19, Z:0.02 [[ 9.99986006e-01 -4.35537945e-03 -3.00291760e-03 -9.51416387e-01] [ 4.35463628e-03 9.99990486e-01 -2.53976658e-04 -1.89544804e-01] [ 3.00399519e-03 2.40896490e-04 9.99995459e-01 1.52503803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.078033874 meters Centerline goodness [0,1] 0.988336326665428 Centerline is valid? [True, True] Translation: X:-0.98, Y:-0.21, Z:0.01 [[ 9.99928216e-01 -1.07687843e-02 -5.25318582e-03 -9.79891039e-01] [ 1.07665981e-02 9.99941940e-01 -4.44266079e-04 -2.08062141e-01] [ 5.25766502e-03 3.87675247e-04 9.99986103e-01 1.30328406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.108033874 meters Centerline goodness [0,1] 0.9934026265015249 Centerline is valid? [True, True] Translation: X:-1.01, Y:-0.17, Z:0.01 [[ 9.99892913e-01 -1.41373995e-02 -3.78115814e-03 -1.01313866e+00] [ 1.41362899e-02 9.99900026e-01 -3.20026313e-04 -1.66720243e-01] [ 3.78530447e-03 2.66540495e-04 9.99992800e-01 8.99124674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1380338739999998 meters Centerline goodness [0,1] 0.9919766140067172 Centerline is valid? [True, True] Translation: X:-1.04, Y:-0.16, Z:0.01 [[ 9.99912214e-01 -1.31527550e-02 -1.60275824e-03 -1.04274014e+00] [ 1.31525578e-02 9.99913492e-01 -1.33523915e-04 -1.61406125e-01] [ 1.60437579e-03 1.12431824e-04 9.99998707e-01 1.14645249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1680338739999998 meters Centerline goodness [0,1] 0.9914918342360289 Centerline is valid? [True, True] Translation: X:-1.07, Y:-0.16, Z:0.01 [[ 9.99924335e-01 -1.22629409e-02 9.71776177e-04 -1.07151817e+00] [ 1.22628649e-02 9.99924805e-01 8.41433926e-05 -1.59472028e-01] [-9.72734949e-04 -7.22202659e-05 9.99999524e-01 1.27222195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1980338739999998 meters Centerline goodness [0,1] 0.9921912317501194 Centerline is valid? [True, True] Translation: X:-1.10, Y:-0.16, Z:0.02 [[ 9.99962658e-01 -8.11913664e-03 2.96013315e-03 -1.10095574e+00] [ 8.11842972e-03 9.99967014e-01 2.50754339e-04 -1.56670195e-01] [-2.96207142e-03 -2.26713343e-04 9.99995587e-01 1.86866852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2280338739999999 meters Centerline goodness [0,1] 0.9885922883869496 Centerline is valid? [True, True] Translation: X:-1.13, Y:-0.15, Z:0.01 [[ 9.99972890e-01 -6.68463485e-03 3.08782366e-03 -1.13345036e+00] [ 6.68386362e-03 9.99977629e-01 2.60018677e-04 -1.48821686e-01] [-3.08949271e-03 -2.39373036e-04 9.99995199e-01 1.44330033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2580338739999999 meters Centerline goodness [0,1] 0.9883728147305265 Centerline is valid? [True, True] Translation: X:-1.17, Y:-0.15, Z:0.01 [[ 9.99975595e-01 -5.61163791e-03 4.16167282e-03 -1.16500575e+00] [ 5.61024541e-03 9.99984203e-01 3.46199579e-04 -1.49699352e-01] [-4.16354983e-03 -3.22843124e-04 9.99991280e-01 1.30539195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.288033874 meters Centerline goodness [0,1] 0.986500476210195 Centerline is valid? [True, True] Translation: X:-1.20, Y:-0.14, Z:0.02 [[ 9.99959395e-01 -6.58732369e-03 6.14951110e-03 -1.19683671e+00] [ 6.58424769e-03 9.99978188e-01 5.20314885e-04 -1.42785493e-01] [-6.15280445e-03 -4.79803854e-04 9.99980956e-01 1.92277056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.318033874 meters Centerline goodness [0,1] 0.9921138920018262 Centerline is valid? [True, True] Translation: X:-1.23, Y:-0.15, Z:0.02 [[ 9.99965533e-01 -6.15101019e-03 5.57660362e-03 -1.22746196e+00] [ 6.14849921e-03 9.99980989e-01 4.67303402e-04 -1.50312813e-01] [-5.57937198e-03 -4.32999552e-04 9.99984341e-01 1.83483776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3480338739999997 meters Centerline goodness [0,1] 0.9913200573125402 Centerline is valid? [True, True] Translation: X:-1.26, Y:-0.15, Z:0.01 [[ 9.99955433e-01 -9.26987470e-03 1.78904374e-03 -1.25850359e+00] [ 9.26961831e-03 9.99957025e-01 1.51551105e-04 -1.52519455e-01] [-1.79037171e-03 -1.34960598e-04 9.99998388e-01 8.03025677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3780338739999998 meters Centerline goodness [0,1] 0.9924475351313428 Centerline is valid? [True, True] Translation: X:-1.29, Y:-0.16, Z:0.01 [[ 9.99941510e-01 -1.06766789e-02 1.72769338e-03 -1.28835424e+00] [ 1.06764403e-02 9.99942994e-01 1.47321821e-04 -1.55866154e-01] [-1.72916780e-03 -1.28867589e-04 9.99998497e-01 1.01791279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4080338739999998 meters Centerline goodness [0,1] 0.9932095689010715 Centerline is valid? [True, True] Translation: X:-1.32, Y:-0.16, Z:0.02 [[ 9.99905915e-01 -1.30314063e-02 4.28284795e-03 -1.31876482e+00] [ 1.30299658e-02 9.99915040e-01 3.64057189e-04 -1.56035882e-01] [-4.28722826e-03 -3.08217574e-04 9.99990762e-01 1.77329981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4380338739999998 meters Centerline goodness [0,1] 0.9937580091769667 Centerline is valid? [True, True] Translation: X:-1.35, Y:-0.16, Z:0.02 [[ 9.99903163e-01 -1.28388742e-02 5.36920462e-03 -1.35086123e+00] [ 1.28366194e-02 9.99917504e-01 4.54205810e-04 -1.61491772e-01] [-5.37459317e-03 -3.85239390e-04 9.99985483e-01 2.14043114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4680338739999998 meters Centerline goodness [0,1] 0.9930384845793138 Centerline is valid? [True, True] Translation: X:-1.38, Y:-0.16, Z:0.02 [[ 9.99919107e-01 -1.19789921e-02 4.27578457e-03 -1.38205121e+00] [ 1.19775495e-02 9.99928201e-01 3.62819497e-04 -1.62814854e-01] [-4.27982378e-03 -3.11576726e-04 9.99990793e-01 1.96378357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4980338739999999 meters Centerline goodness [0,1] 0.9900986005746533 Centerline is valid? [True, True] Translation: X:-1.42, Y:-0.16, Z:0.02 [[ 9.99919602e-01 -1.19269380e-02 4.30559521e-03 -1.41510255e+00] [ 1.19254967e-02 9.99928824e-01 3.60271819e-04 -1.56835515e-01] [-4.30958569e-03 -3.08896493e-04 9.99990666e-01 2.07832362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.528033874 meters Centerline goodness [0,1] 0.9952537876432672 Centerline is valid? [True, True] Translation: X:-1.44, Y:-0.17, Z:0.03 [[ 9.99934254e-01 -9.65963691e-03 6.17893096e-03 -1.44486576e+00] [ 9.65656820e-03 9.99953236e-01 5.26281370e-04 -1.65804122e-01] [-6.18372570e-03 -4.66579501e-04 9.99980772e-01 2.94787059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.558033874 meters Centerline goodness [0,1] 0.9934989648033127 Centerline is valid? [True, True] Translation: X:-1.48, Y:-0.16, Z:0.04 [[ 9.99948472e-01 -6.13878265e-03 8.08514332e-03 -1.47531146e+00] [ 6.13340503e-03 9.99980953e-01 6.89751518e-04 -1.63636716e-01] [-8.08922356e-03 -6.40126518e-04 9.99967077e-01 3.55438578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.588033874 meters Centerline goodness [0,1] 0.9905308109669301 Centerline is valid? [True, True] Translation: X:-1.51, Y:-0.16, Z:0.03 [[ 9.99949597e-01 -3.53194371e-03 9.39832082e-03 -1.50644651e+00] [ 3.52455923e-03 9.99993467e-01 8.02170050e-04 -1.58508254e-01] [-9.40109264e-03 -7.69004680e-04 9.99955513e-01 3.31258401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6180338739999998 meters Centerline goodness [0,1] 0.9833188818696065 Centerline is valid? [True, True] Translation: X:-1.54, Y:-0.15, Z:0.03 [[ 9.99964114e-01 -1.22984912e-03 8.38203282e-03 -1.53831726e+00] [ 1.22389883e-03 9.99998995e-01 7.14979139e-04 -1.51564471e-01] [-8.38290372e-03 -7.04694721e-04 9.99964615e-01 3.21433028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6480338739999998 meters Centerline goodness [0,1] 0.9847952733132256 Centerline is valid? [True, True] Translation: X:-1.57, Y:-0.15, Z:0.03 [[ 9.99977158e-01 2.94185928e-04 6.75253818e-03 -1.56770697e+00] [-2.98087968e-04 9.99999789e-01 5.76863535e-04 -1.52657850e-01] [-6.75236705e-03 -5.78863208e-04 9.99977035e-01 3.13969984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6780338739999998 meters Centerline goodness [0,1] 0.9892381702815909 Centerline is valid? [True, True] Translation: X:-1.60, Y:-0.16, Z:0.03 [[ 9.99978317e-01 2.09239303e-03 6.24404522e-03 -1.59727385e+00] [-2.09576145e-03 9.99997662e-01 5.32967586e-04 -1.57227682e-01] [-6.24291544e-03 -5.46042059e-04 9.99980364e-01 3.30331747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7080338739999998 meters Centerline goodness [0,1] 0.9790505397956858 Centerline is valid? [True, True] Translation: X:-1.63, Y:-0.15, Z:0.03 [[ 9.99973404e-01 5.33762947e-03 4.97007183e-03 -1.62903377e+00] [-5.33980344e-03 9.99985653e-01 4.24245772e-04 -1.46398420e-01] [-4.96773605e-03 -4.50773695e-04 9.99987559e-01 3.20676004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7380338739999999 meters Centerline goodness [0,1] 0.9652983234714004 Centerline is valid? [True, True] Translation: X:-1.66, Y:-0.14, Z:0.03 [[ 9.99944470e-01 1.00553060e-02 3.15407523e-03 -1.66071418e+00] [-1.00562046e-02 9.99949399e-01 2.69178613e-04 -1.41365885e-01] [-3.15120895e-03 -3.00881691e-04 9.99994990e-01 2.74559105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.768033874 meters Centerline goodness [0,1] 0.9646180951393927 Centerline is valid? [True, True] Translation: X:-1.69, Y:-0.15, Z:0.03 [[ 9.99860010e-01 1.66244531e-02 1.89431222e-03 -1.68955842e+00] [-1.66247886e-02 9.99861786e-01 1.61520544e-04 -1.47816578e-01] [-1.89136521e-03 -1.92990473e-04 9.99998193e-01 2.72372281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.798033874 meters Centerline goodness [0,1] 0.9490942254280148 Centerline is valid? [True, False] Translation: X:-1.69, Y:-0.15, Z:0.03 [[ 9.99859330e-01 1.66507425e-02 2.01817090e-03 -1.69127474e+00] [-1.66512708e-02 9.99861328e-01 2.45277058e-04 -1.48721755e-01] [-2.01380699e-03 -2.78847666e-04 9.99997933e-01 2.85680250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8280338739999997 meters Centerline goodness [0,1] 0.9648934412687923 Centerline is valid? [False, True] Translation: X:-1.70, Y:-0.15, Z:0.03 [[ 9.99861500e-01 1.62748881e-02 3.47967360e-03 -1.70007662e+00] [-1.62751351e-02 9.99867550e-01 4.26884345e-05 -1.51274256e-01] [-3.47851797e-03 -9.93146802e-05 9.99993945e-01 3.39859190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8580338739999998 meters Centerline goodness [0,1] 0.9703692982093379 Centerline is valid? [True, True] Translation: X:-1.73, Y:-0.16, Z:0.04 [[ 9.99828786e-01 1.69299419e-02 7.46832723e-03 -1.73096191e+00] [-1.69353301e-02 9.99856370e-01 6.58823751e-04 -1.58294462e-01] [-7.45610071e-03 -7.85189538e-04 9.99971895e-01 3.98511194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8880338739999998 meters Centerline goodness [0,1] 0.9743887277248239 Centerline is valid? [True, True] Translation: X:-1.76, Y:-0.16, Z:0.04 [[ 9.99825327e-01 1.69035787e-02 7.97397542e-03 -1.76207593e+00] [-1.69097157e-02 9.99856774e-01 7.02830061e-04 -1.64060160e-01] [-7.96095299e-03 -8.37544953e-04 9.99967960e-01 4.42711980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9180338739999998 meters Centerline goodness [0,1] 0.9698477933128188 Centerline is valid? [True, True] Translation: X:-1.79, Y:-0.17, Z:0.05 [[ 9.99890911e-01 1.26071849e-02 7.69572954e-03 -1.79252778e+00] [-1.26128176e-02 9.99920221e-01 6.83831817e-04 -1.65742789e-01] [-7.68649439e-03 -7.80822051e-04 9.99970154e-01 4.50481985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9480338739999998 meters Centerline goodness [0,1] 0.9778994070572625 Centerline is valid? [True, True] Translation: X:-1.82, Y:-0.17, Z:0.04 [[ 9.99934535e-01 9.10426643e-03 6.93099921e-03 -1.82168837e+00] [-9.10874266e-03 9.99958326e-01 6.14534739e-04 -1.74016986e-01] [-6.92511548e-03 -6.77627197e-04 9.99975792e-01 4.37534286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9780338739999999 meters Centerline goodness [0,1] 0.9634935400516795 Centerline is valid? [True, True] Translation: X:-1.85, Y:-0.17, Z:0.04 [[ 9.99949748e-01 7.32756956e-03 6.84162736e-03 -1.85298726e+00] [-7.33190149e-03 9.99972936e-01 6.08306239e-04 -1.68864880e-01] [-6.83698479e-03 -6.58437809e-04 9.99976411e-01 4.00427382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.008033874 meters Centerline goodness [0,1] 0.9776034207194304 Centerline is valid? [True, True] Translation: X:-1.88, Y:-0.18, Z:0.04 [[ 9.99966437e-01 4.27653891e-03 6.98828768e-03 -1.88133576e+00] [-4.28098703e-03 9.99990643e-01 6.21675911e-04 -1.80085559e-01] [-6.98556367e-03 -6.51571815e-04 9.99975388e-01 4.32677623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.038033874 meters Centerline goodness [0,1] 0.9832503113325031 Centerline is valid? [True, True] Translation: X:-1.91, Y:-0.18, Z:0.04 [[ 9.99976624e-01 9.07144084e-04 6.77706926e-03 -1.91143907e+00] [-9.11246295e-04 9.99999403e-01 6.02244233e-04 -1.84871990e-01] [-6.77651890e-03 -6.08405734e-04 9.99976854e-01 4.23074683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.068033874 meters Centerline goodness [0,1] 0.9823356637570844 Centerline is valid? [True, True] Translation: X:-1.94, Y:-0.19, Z:0.04 [[ 9.99985814e-01 -9.30806829e-04 5.24455595e-03 -1.94290179e+00] [ 9.28374887e-04 9.99999460e-01 4.66123123e-04 -1.85634488e-01] [-5.24498699e-03 -4.61247597e-04 9.99986139e-01 4.00806498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.098033874 meters Centerline goodness [0,1] 0.9850941748783835 Centerline is valid? [True, True] Translation: X:-1.97, Y:-0.19, Z:0.04 [[ 9.99996049e-01 4.51469431e-04 2.77445740e-03 -1.97254795e+00] [-4.52156647e-04 9.99999867e-01 2.47071641e-04 -1.90823126e-01] [-2.77434549e-03 -2.48325155e-04 9.99996121e-01 3.91345836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.128033874 meters Centerline goodness [0,1] 0.9784747592162072 Centerline is valid? [True, True] Translation: X:-2.00, Y:-0.18, Z:0.04 [[ 9.99993282e-01 2.98210992e-03 2.13145837e-03 -2.00425729e+00] [-2.98252097e-03 9.99995534e-01 1.89697493e-04 -1.82205008e-01] [-2.13088315e-03 -1.96053338e-04 9.99997710e-01 4.05135790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.158033874 meters Centerline goodness [0,1] 0.9744040721734812 Centerline is valid? [True, True] Translation: X:-2.04, Y:-0.17, Z:0.04 [[ 9.99977488e-01 4.94054321e-03 4.54024323e-03 -2.03659951e+00] [-4.94242439e-03 9.99987705e-01 4.03207975e-04 -1.74282768e-01] [-4.53819534e-03 -4.25638707e-04 9.99989612e-01 4.37481102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1880338740000003 meters Centerline goodness [0,1] 0.9765268868216415 Centerline is valid? [True, True] Translation: X:-2.07, Y:-0.18, Z:0.05 [[ 9.99948844e-01 6.98705546e-03 7.31378008e-03 -2.06672571e+00] [-6.99200214e-03 9.99975344e-01 6.50999328e-04 -1.79985429e-01] [-7.30905118e-03 -7.02103991e-04 9.99973042e-01 4.63414651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.218033874 meters Centerline goodness [0,1] 0.9812559349324966 Centerline is valid? [True, True] Translation: X:-2.10, Y:-0.19, Z:0.05 [[ 9.99942376e-01 8.01066633e-03 7.14662234e-03 -2.09674407e+00] [-8.01541675e-03 9.99967674e-01 6.36313566e-04 -1.89002859e-01] [-7.14129402e-03 -6.93560056e-04 9.99974260e-01 4.94158640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.248033874 meters Centerline goodness [0,1] 0.977770404777704 Centerline is valid? [True, True] Translation: X:-2.13, Y:-0.19, Z:0.05 [[ 9.99934769e-01 9.98939867e-03 5.53806503e-03 -2.12770626e+00] [-9.99228470e-03 9.99949954e-01 4.93701293e-04 -1.87701920e-01] [-5.53285610e-03 -5.49007011e-04 9.99984543e-01 4.92166657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.278033874 meters Centerline goodness [0,1] 0.974293059125964 Centerline is valid? [True, True] Translation: X:-2.16, Y:-0.19, Z:0.05 [[ 9.99942524e-01 8.86246451e-03 6.03360830e-03 -2.15851181e+00] [-8.86586842e-03 9.99960553e-01 5.37645434e-04 -1.88054059e-01] [-6.02860543e-03 -5.91107710e-04 9.99981653e-01 4.76723888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.308033874 meters Centerline goodness [0,1] 0.9747157855501025 Centerline is valid? [True, True] Translation: X:-2.19, Y:-0.19, Z:0.05 [[ 9.99945075e-01 8.65794855e-03 5.90648003e-03 -2.19028170e+00] [-8.66120111e-03 9.99962353e-01 5.25318985e-04 -1.92298665e-01] [-5.90170949e-03 -5.76447343e-04 9.99982419e-01 5.26902262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.338033874 meters Centerline goodness [0,1] 0.97305352042717 Centerline is valid? [True, True] Translation: X:-2.22, Y:-0.19, Z:0.05 [[ 9.99950502e-01 7.62248885e-03 6.39467159e-03 -2.22120864e+00] [-7.62628645e-03 9.99970757e-01 5.69695792e-04 -1.94028689e-01] [-6.39014209e-03 -6.18435191e-04 9.99979392e-01 5.25665044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.368033874 meters Centerline goodness [0,1] 0.9776382326121197 Centerline is valid? [True, True] Translation: X:-2.25, Y:-0.20, Z:0.06 [[ 9.99940911e-01 7.31890037e-03 8.03788221e-03 -2.25230253e+00] [-7.32489591e-03 9.99972916e-01 7.16724714e-04 -1.97016093e-01] [-8.03241887e-03 -7.75559015e-04 9.99967439e-01 5.78946033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3980338740000002 meters Centerline goodness [0,1] 0.9623422261961697 Centerline is valid? [True, True] Translation: X:-2.29, Y:-0.19, Z:0.06 [[ 9.99908920e-01 7.85401121e-03 1.09756859e-02 -2.28569979e+00] [-7.86519945e-03 9.99968592e-01 9.76572563e-04 -1.87687580e-01] [-1.09676712e-02 -1.06280958e-03 9.99939288e-01 5.78918455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.428033874 meters Centerline goodness [0,1] 0.9799370574350905 Centerline is valid? [True, True] Translation: X:-2.31, Y:-0.20, Z:0.06 [[ 9.99917129e-01 9.00685566e-03 9.19850520e-03 -2.31388221e+00] [-9.01481099e-03 9.99959026e-01 8.23753605e-04 -2.04343639e-01] [-9.19070888e-03 -9.06608125e-04 9.99957354e-01 6.19325060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.458033874 meters Centerline goodness [0,1] 0.9807078619089062 Centerline is valid? [True, True] Translation: X:-2.34, Y:-0.20, Z:0.06 [[ 9.99940151e-01 9.14859772e-03 5.99986704e-03 -2.34434290e+00] [-9.15198256e-03 9.99957976e-01 5.36940053e-04 -2.02797077e-01] [-5.99470265e-03 -5.91818596e-04 9.99981856e-01 6.03718774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.488033874 meters Centerline goodness [0,1] 0.9710704551086149 Centerline is valid? [True, True] Translation: X:-2.38, Y:-0.20, Z:0.06 [[ 9.99943188e-01 9.27214283e-03 5.25819385e-03 -2.37735072e+00] [-9.27473834e-03 9.99956878e-01 4.69441902e-04 -1.96224613e-01] [-5.25361437e-03 -5.18183604e-04 9.99986065e-01 5.78193129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.518033874 meters Centerline goodness [0,1] 0.9777162229204565 Centerline is valid? [True, True] Translation: X:-2.41, Y:-0.20, Z:0.06 [[ 9.99920996e-01 9.83939988e-03 7.82229728e-03 -2.40846587e+00] [-9.84514895e-03 9.99951293e-01 6.96791832e-04 -1.96418542e-01] [-7.81506027e-03 -7.73748464e-04 9.99969163e-01 5.94209119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.548033874 meters Centerline goodness [0,1] 0.9772407223326707 Centerline is valid? [True, True] Translation: X:-2.44, Y:-0.20, Z:0.06 [[ 9.99898480e-01 1.13091264e-02 8.66799495e-03 -2.44011084e+00] [-1.13162890e-02 9.99935666e-01 7.77727132e-04 -1.97756425e-01] [-8.65864189e-03 -8.75737713e-04 9.99962130e-01 6.18415222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.578033874 meters Centerline goodness [0,1] 0.9710835387451582 Centerline is valid? [True, True] Translation: X:-2.47, Y:-0.19, Z:0.07 [[ 9.99871341e-01 1.28882149e-02 9.54964905e-03 -2.47187974e+00] [-1.28969915e-02 9.99916462e-01 8.58039076e-04 -1.88106790e-01] [-9.53779270e-03 -9.81090424e-04 9.99954033e-01 6.85303990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.608033874 meters Centerline goodness [0,1] 0.972179225228572 Centerline is valid? [True, True] Translation: X:-2.50, Y:-0.19, Z:0.06 [[ 9.99853609e-01 1.38766455e-02 1.00099783e-02 -2.50280181e+00] [-1.38863395e-02 9.99903175e-01 8.99585697e-04 -1.87419617e-01] [-9.99652584e-03 -1.03845596e-03 9.99949494e-01 6.32165958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.638033874 meters Centerline goodness [0,1] 0.9761751981950281 Centerline is valid? [True, True] Translation: X:-2.53, Y:-0.19, Z:0.06 [[ 9.99843456e-01 1.52365453e-02 8.99506109e-03 -2.53237797e+00] [-1.52444313e-02 9.99883470e-01 8.08783537e-04 -1.92805733e-01] [-8.98168982e-03 -9.45781518e-04 9.99959217e-01 6.18782369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.668033874 meters Centerline goodness [0,1] 0.9649629275789736 Centerline is valid? [True, True] Translation: X:-2.56, Y:-0.19, Z:0.06 [[ 9.99857696e-01 1.56397032e-02 6.32356692e-03 -2.56457770e+00] [-1.56436038e-02 9.99877470e-01 5.67849406e-04 -1.86091307e-01] [-6.31391109e-03 -6.66691975e-04 9.99979845e-01 6.27949070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.698033874 meters Centerline goodness [0,1] 0.9698597743113176 Centerline is valid? [True, True] Translation: X:-2.60, Y:-0.19, Z:0.06 [[ 9.99897436e-01 1.32298994e-02 5.48517684e-03 -2.59576616e+00] [-1.32328024e-02 9.99912321e-01 4.93296336e-04 -1.85987179e-01] [-5.47816965e-03 -5.65830003e-04 9.99984835e-01 6.17918505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.728033874 meters Centerline goodness [0,1] 0.974620552376213 Centerline is valid? [True, True] Translation: X:-2.63, Y:-0.19, Z:0.06 [[ 9.99903497e-01 1.23402028e-02 6.38085723e-03 -2.62713463e+00] [-1.23440848e-02 9.99923647e-01 5.69346351e-04 -1.86114803e-01] [-6.37334418e-03 -6.48057250e-04 9.99979480e-01 6.15599813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.758033874 meters Centerline goodness [0,1] 0.9773639561349059 Centerline is valid? [True, True] Translation: X:-2.66, Y:-0.19, Z:0.07 [[ 9.99910996e-01 1.09384952e-02 7.63871059e-03 -2.65758938e+00] [-1.09440693e-02 9.99939875e-01 6.88302141e-04 -1.89406580e-01] [-7.63072233e-03 -7.71839458e-04 9.99970588e-01 6.68638198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.788033874 meters Centerline goodness [0,1] 0.9844455905105725 Centerline is valid? [True, True] Translation: X:-2.69, Y:-0.20, Z:0.07 [[ 9.99956485e-01 4.23534607e-03 8.31202795e-03 -2.68617237e+00] [-4.24171686e-03 9.99990723e-01 7.48975916e-04 -1.97755989e-01] [-8.30877867e-03 -7.84200593e-04 9.99965174e-01 7.05969483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.818033874 meters Centerline goodness [0,1] 0.9879070732213234 Centerline is valid? [True, True] Translation: X:-2.72, Y:-0.20, Z:0.07 [[ 9.99961475e-01 -1.95480000e-03 8.55725660e-03 -2.71550508e+00] [ 1.94826712e-03 9.99997804e-01 7.71701504e-04 -2.02007839e-01] [-8.55874634e-03 -7.54999953e-04 9.99963088e-01 7.21945940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.848033874 meters Centerline goodness [0,1] 0.9905260327244896 Centerline is valid? [True, True] Translation: X:-2.75, Y:-0.21, Z:0.07 [[ 9.99926308e-01 -6.41266904e-03 1.03080890e-02 -2.74548617e+00] [ 6.40342630e-03 9.99979066e-01 9.29404295e-04 -2.08266026e-01] [-1.03138331e-02 -8.63328717e-04 9.99946438e-01 7.37152457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.878033874 meters Centerline goodness [0,1] 0.993064182194617 Centerline is valid? [True, True] Translation: X:-2.78, Y:-0.21, Z:0.07 [[ 9.99875986e-01 -1.26140114e-02 9.42865187e-03 -2.77559650e+00] [ 1.26065487e-02 9.99920173e-01 8.50506501e-04 -2.12835880e-01] [-9.43862750e-03 -7.31538267e-04 9.99955188e-01 7.16186291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.908033874 meters Centerline goodness [0,1] 0.993064182194617 Centerline is valid? [True, True] Translation: X:-2.81, Y:-0.22, Z:0.07 [[ 9.99872743e-01 -1.28681983e-02 9.42909790e-03 -2.80817858e+00] [ 1.28607932e-02 9.99916939e-01 8.45569462e-04 -2.15623087e-01] [-9.43919567e-03 -7.24196179e-04 9.99955188e-01 7.25778161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.938033874 meters Centerline goodness [0,1] 0.9942733836832932 Centerline is valid? [True, True] Translation: X:-2.84, Y:-0.22, Z:0.07 [[ 9.99829435e-01 -1.77076331e-02 5.24794636e-03 -2.83897888e+00] [ 1.77053840e-02 9.99843135e-01 4.74718901e-04 -2.19689475e-01] [-5.25552928e-03 -3.81721025e-04 9.99986117e-01 6.65262971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.968033874 meters Centerline goodness [0,1] 0.9959661489198012 Centerline is valid? [True, True] Translation: X:-2.87, Y:-0.23, Z:0.06 [[ 9.99723329e-01 -2.32840053e-02 3.33461298e-03 -2.86897004e+00] [ 2.32831287e-02 9.99728866e-01 3.01440619e-04 -2.31217834e-01] [-3.34072759e-03 -2.23716996e-04 9.99994395e-01 6.43140473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.998033874 meters Centerline goodness [0,1] 0.9971030686779647 Centerline is valid? [True, True] Translation: X:-2.90, Y:-0.24, Z:0.07 [[ 9.99548924e-01 -2.95836641e-02 5.17248889e-03 -2.89818941e+00] [ 2.95816358e-02 9.99562258e-01 4.68222927e-04 -2.39788562e-01] [-5.18407642e-03 -3.15001040e-04 9.99986513e-01 7.08709031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.028033874 meters Centerline goodness [0,1] 0.9979850854780749 Centerline is valid? [True, True] Translation: X:-2.93, Y:-0.24, Z:0.08 [[ 9.99381549e-01 -3.40032843e-02 8.96083437e-03 -2.92716676e+00] [ 3.39973747e-02 9.99421593e-01 8.11036695e-04 -2.43811096e-01] [-8.98322927e-03 -5.05890264e-04 9.99959522e-01 7.62834484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.058033874 meters Centerline goodness [0,1] 0.9986391471989113 Centerline is valid? [True, True] Translation: X:-2.96, Y:-0.25, Z:0.08 [[ 9.99215563e-01 -3.80527997e-02 1.09654957e-02 -2.95774169e+00] [ 3.80441999e-02 9.99275565e-01 9.91863831e-04 -2.45844701e-01] [-1.09952951e-02 -5.73912265e-04 9.99939385e-01 7.87073977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.088033874 meters Centerline goodness [0,1] 0.9990547815723503 Centerline is valid? [True, True] Translation: X:-2.99, Y:-0.25, Z:0.08 [[ 9.98991148e-01 -4.35457930e-02 1.09750116e-02 -2.98825526e+00] [ 4.35375081e-02 9.99051300e-01 9.92796721e-04 -2.47664696e-01] [-1.10078318e-02 -5.13970479e-04 9.99939280e-01 7.51464366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.118033874 meters Centerline goodness [0,1] 0.9987373476019954 Centerline is valid? [True, True] Translation: X:-3.02, Y:-0.25, Z:0.07 [[ 9.98916756e-01 -4.57142156e-02 8.69053873e-03 -3.02005797e+00] [ 4.57091422e-02 9.98954485e-01 7.81618594e-04 -2.50352582e-01] [-8.71718372e-03 -3.83534840e-04 9.99961931e-01 7.41992498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1480338740000002 meters Centerline goodness [0,1] 0.9998131462027157 Centerline is valid? [True, True] Translation: X:-3.05, Y:-0.25, Z:0.07 [[ 9.98678957e-01 -5.09814756e-02 6.42102825e-03 -3.04910821e+00] [ 5.09787852e-02 9.98699567e-01 5.82086630e-04 -2.54072911e-01] [-6.44235377e-03 -2.53981449e-04 9.99979216e-01 7.26477833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.178033874 meters Centerline goodness [0,1] 0.999500603437513 Centerline is valid? [True, True] Translation: X:-3.08, Y:-0.26, Z:0.08 [[ 9.98660288e-01 -5.11962771e-02 7.52134822e-03 -3.07697657e+00] [ 5.11925735e-02 9.98688566e-01 6.84242147e-04 -2.55778054e-01] [-7.54651512e-03 -2.98288288e-04 9.99971480e-01 7.94415890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.208033874 meters Centerline goodness [0,1] 0.9997918358000791 Centerline is valid? [True, True] Translation: X:-3.11, Y:-0.25, Z:0.08 [[ 9.98613313e-01 -5.14634338e-02 1.10890363e-02 -3.10700027e+00] [ 5.14554379e-02 9.98674785e-01 1.00535729e-03 -2.53189033e-01] [-1.11260800e-02 -4.33371955e-04 9.99938009e-01 8.48984623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.238033874 meters Centerline goodness [0,1] 0.9995034243032422 Centerline is valid? [True, True] Translation: X:-3.14, Y:-0.25, Z:0.08 [[ 9.98593388e-01 -5.21071796e-02 9.80241707e-03 -3.13784177e+00] [ 5.21009710e-02 9.98641427e-01 8.87846387e-04 -2.52107591e-01] [-9.83536295e-03 -3.75882084e-04 9.99951561e-01 8.44075569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.268033874 meters Centerline goodness [0,1] 0.9996464593948217 Centerline is valid? [True, True] Translation: X:-3.17, Y:-0.25, Z:0.08 [[ 9.98696481e-01 -5.08139413e-02 4.82525225e-03 -3.16881679e+00] [ 5.08124199e-02 9.98708119e-01 4.37444555e-04 -2.47090885e-01] [-4.84124688e-03 -1.91691594e-04 9.99988263e-01 7.60074649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.298033874 meters Centerline goodness [0,1] 0.9997093928386093 Centerline is valid? [True, True] Translation: X:-3.20, Y:-0.25, Z:0.07 [[ 9.98746744e-01 -4.99965884e-02 2.29843486e-03 -3.19685715e+00] [ 4.99962366e-02 9.98749384e-01 2.10308634e-04 -2.46415572e-01] [-2.30607511e-03 -9.51319702e-05 9.99997336e-01 7.20274937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.328033874 meters Centerline goodness [0,1] 0.999360204734485 Centerline is valid? [True, True] Translation: X:-3.23, Y:-0.24, Z:0.08 [[ 9.98752875e-01 -4.95872753e-02 5.81345853e-03 -3.22600676e+00] [ 4.95850435e-02 9.98769766e-01 5.27488198e-04 -2.43946043e-01] [-5.83246332e-03 -2.38569760e-04 9.99982963e-01 7.89832929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.358033874 meters Centerline goodness [0,1] 0.9993168409067384 Centerline is valid? [True, True] Translation: X:-3.25, Y:-0.24, Z:0.09 [[ 9.98866321e-01 -4.63787268e-02 1.07278087e-02 -3.25432342e+00] [ 4.63709665e-02 9.98923816e-01 9.71123171e-04 -2.43031408e-01] [-1.07613031e-02 -4.72563372e-04 9.99941984e-01 8.91616112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.388033874 meters Centerline goodness [0,1] 0.9994645357937227 Centerline is valid? [True, True] Translation: X:-3.29, Y:-0.24, Z:0.08 [[ 9.98814971e-01 -4.79032229e-02 8.59857810e-03 -3.28522803e+00] [ 4.78983069e-02 9.98851915e-01 7.76867822e-04 -2.40211340e-01] [-8.62592068e-03 -3.64089878e-04 9.99962730e-01 8.41813877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.418033874 meters Centerline goodness [0,1] 0.9995855008186358 Centerline is valid? [True, True] Translation: X:-3.31, Y:-0.24, Z:0.07 [[ 9.98611996e-01 -5.25372775e-02 3.73044214e-03 -3.31462057e+00] [ 5.25363802e-02 9.98618954e-01 3.38195142e-04 -2.42101031e-01] [-3.74305808e-03 -1.41741799e-04 9.99992985e-01 7.36143956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.448033874 meters Centerline goodness [0,1] 0.9997711860881141 Centerline is valid? [True, True] Translation: X:-3.34, Y:-0.24, Z:0.08 [[ 9.98532615e-01 -5.38491627e-02 5.73446771e-03 -3.34333802e+00] [ 5.38470665e-02 9.98549059e-01 5.19435041e-04 -2.44969577e-01] [-5.75411848e-03 -2.09888566e-04 9.99983423e-01 8.01180381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.478033874 meters Centerline goodness [0,1] 0.9960887927268188 Centerline is valid? [True, True] Translation: X:-3.38, Y:-0.21, Z:0.09 [[ 9.99794477e-01 -1.84024881e-02 8.50599636e-03 -3.37574657e+00] [ 1.83966199e-02 9.99830473e-01 7.67630073e-04 -2.11073517e-01] [-8.51868067e-03 -6.10990726e-04 9.99963529e-01 8.71776902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.508033874 meters Centerline goodness [0,1] 0.9953734439834024 Centerline is valid? [True, True] Translation: X:-3.41, Y:-0.21, Z:0.09 [[ 9.99714599e-01 -2.17019293e-02 9.98731344e-03 -3.40673386e+00] [ 2.16940049e-02 9.99764251e-01 9.01109933e-04 -2.08330835e-01] [-1.00045148e-02 -6.84187929e-04 9.99949720e-01 8.97077801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.538033874 meters Centerline goodness [0,1] 0.9954371046354868 Centerline is valid? [True, True] Translation: X:-3.44, Y:-0.20, Z:0.09 [[ 9.99681178e-01 -2.32433743e-02 9.86341591e-03 -3.43919709e+00] [ 2.32357594e-02 9.99729621e-01 8.85941158e-04 -2.04552799e-01] [-9.88134131e-03 -6.56474741e-04 9.99950963e-01 8.92808176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.568033874 meters Centerline goodness [0,1] 0.9979195705993718 Centerline is valid? [True, True] Translation: X:-3.47, Y:-0.21, Z:0.09 [[ 9.99635624e-01 -2.57865267e-02 7.97959853e-03 -3.46860498e+00] [ 2.57815838e-02 9.99667339e-01 7.21703970e-04 -2.09591240e-01] [-7.99555427e-03 -5.15714310e-04 9.99967902e-01 8.75899109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.598033874 meters Centerline goodness [0,1] 0.9981663610601766 Centerline is valid? [True, True] Translation: X:-3.50, Y:-0.21, Z:0.09 [[ 9.99628156e-01 -2.62805272e-02 7.27214785e-03 -3.49975620e+00] [ 2.62764692e-02 9.99654501e-01 6.53027930e-04 -2.11227319e-01] [-7.28679725e-03 -4.61698737e-04 9.99973344e-01 8.92799656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6280338739999998 meters Centerline goodness [0,1] 0.9972969039153308 Centerline is valid? [True, True] Translation: X:-3.53, Y:-0.21, Z:0.09 [[ 9.99615008e-01 -2.68862911e-02 6.85298600e-03 -3.53076561e+00] [ 2.68826611e-02 9.99638403e-01 6.21275645e-04 -2.05489418e-01] [-6.86721178e-03 -4.36809959e-04 9.99976325e-01 8.88890902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.658033874 meters Centerline goodness [0,1] 0.9985871304203287 Centerline is valid? [True, True] Translation: X:-3.56, Y:-0.21, Z:0.09 [[ 9.99559647e-01 -2.85835039e-02 7.96837517e-03 -3.55910689e+00] [ 2.85786543e-02 9.99591286e-01 7.21839244e-04 -2.13532823e-01] [-7.98575108e-03 -4.93795941e-04 9.99967991e-01 9.05212153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.688033874 meters Centerline goodness [0,1] 0.9977696717040125 Centerline is valid? [True, True] Translation: X:-3.59, Y:-0.21, Z:0.09 [[ 9.99526627e-01 -2.93501585e-02 9.22445011e-03 -3.58919167e+00] [ 2.93436837e-02 9.99569031e-01 8.36508203e-04 -2.14738817e-01] [-9.24502631e-03 -5.65432876e-04 9.99957104e-01 9.44596419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.718033874 meters Centerline goodness [0,1] 0.997269003186163 Centerline is valid? [True, True] Translation: X:-3.62, Y:-0.21, Z:0.10 [[ 9.99483548e-01 -3.07181668e-02 9.43561811e-03 -3.62077922e+00] [ 3.07114590e-02 9.99527926e-01 8.55006673e-04 -2.11710112e-01] [-9.45742804e-03 -5.64783504e-04 9.99955118e-01 9.60893629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.748033874 meters Centerline goodness [0,1] 0.9982742847638058 Centerline is valid? [True, True] Translation: X:-3.65, Y:-0.21, Z:0.09 [[ 9.99451605e-01 -3.20008418e-02 8.51090946e-03 -3.65237193e+00] [ 3.19954262e-02 9.99487717e-01 7.71746150e-04 -2.07479246e-01] [-8.53124599e-03 -4.99012753e-04 9.99963484e-01 9.22360141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.778033874 meters Centerline goodness [0,1] 0.9965093085106383 Centerline is valid? [True, True] Translation: X:-3.68, Y:-0.20, Z:0.09 [[ 9.99426061e-01 -3.31933553e-02 6.76379797e-03 -3.68311554e+00] [ 3.31899547e-02 9.99448873e-01 6.14429569e-04 -2.03714429e-01] [-6.78046524e-03 -3.89586776e-04 9.99976936e-01 8.63918027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.808033874 meters Centerline goodness [0,1] 0.9992111108804418 Centerline is valid? [True, True] Translation: X:-3.71, Y:-0.23, Z:0.09 [[ 9.99386327e-01 -3.43240128e-02 6.98797553e-03 -3.71003272e+00] [ 3.43204096e-02 9.99410680e-01 6.34930763e-04 -2.26193283e-01] [-7.00565075e-03 -3.94710941e-04 9.99975382e-01 9.25353551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.838033874 meters Centerline goodness [0,1] 0.9986690236040345 Centerline is valid? [True, True] Translation: X:-3.74, Y:-0.22, Z:0.10 [[ 9.99391147e-01 -3.42586145e-02 6.60934303e-03 -3.73898269e+00] [ 3.42553888e-02 9.99412931e-01 6.00664195e-04 -2.23431766e-01] [-6.62604082e-03 -3.73892863e-04 9.99977978e-01 9.53661496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.868033874 meters Centerline goodness [0,1] 0.9982541464022946 Centerline is valid? [True, True] Translation: X:-3.77, Y:-0.23, Z:0.10 [[ 9.99347874e-01 -3.52135636e-02 7.98944295e-03 -3.76711809e+00] [ 3.52088884e-02 9.99379712e-01 7.25111894e-04 -2.25949657e-01] [-8.01002097e-03 -4.43339625e-04 9.99967821e-01 9.76438508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.898033874 meters Centerline goodness [0,1] 0.997653264661904 Centerline is valid? [True, True] Translation: X:-3.80, Y:-0.22, Z:0.10 [[ 9.99344283e-01 -3.49493813e-02 9.46285293e-03 -3.79745459e+00] [ 3.49428264e-02 9.99388945e-01 8.57201122e-04 -2.19446318e-01] [-9.48702926e-03 -5.25980213e-04 9.99954859e-01 1.03439340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.928033874 meters Centerline goodness [0,1] 0.9979069092717702 Centerline is valid? [True, True] Translation: X:-3.83, Y:-0.23, Z:0.10 [[ 9.99386602e-01 -3.31545100e-02 1.12781786e-02 -3.82684768e+00] [ 3.31450980e-02 9.99450029e-01 1.02047873e-03 -2.25845671e-01] [-1.13058094e-02 -6.46036435e-04 9.99935879e-01 1.04691544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.958033874 meters Centerline goodness [0,1] 0.9983134135676509 Centerline is valid? [True, True] Translation: X:-3.86, Y:-0.23, Z:0.11 [[ 9.99457475e-01 -3.12892225e-02 1.02830279e-02 -3.85853289e+00] [ 3.12813098e-02 9.99510188e-01 9.29472139e-04 -2.30186840e-01] [-1.03070736e-02 -6.07301296e-04 9.99946696e-01 1.06859967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.988033874 meters Centerline goodness [0,1] 0.9961844724618447 Centerline is valid? [True, True] Translation: X:-3.89, Y:-0.22, Z:0.10 [[ 9.99525361e-01 -2.97427141e-02 8.02642479e-03 -3.89145550e+00] [ 2.97378401e-02 9.99557469e-01 7.25935670e-04 -2.15903498e-01] [-8.04446415e-03 -4.86902575e-04 9.99967524e-01 1.03214209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0180338739999995 meters Centerline goodness [0,1] 0.9959750202286355 Centerline is valid? [True, True] Translation: X:-3.92, Y:-0.21, Z:0.10 [[ 9.99600376e-01 -2.72326426e-02 7.58101937e-03 -3.92094606e+00] [ 2.72282114e-02 9.99629007e-01 6.87129302e-04 -2.14008782e-01] [-7.59691921e-03 -4.80437111e-04 9.99971028e-01 9.80944246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.048033874 meters Centerline goodness [0,1] 0.9963675612844304 Centerline is valid? [True, True] Translation: X:-3.95, Y:-0.21, Z:0.10 [[ 9.99596367e-01 -2.72850156e-02 7.91399635e-03 -3.95179700e+00] [ 2.72801941e-02 9.99627569e-01 7.16557174e-04 -2.14922405e-01] [-7.93060021e-03 -5.00372591e-04 9.99968427e-01 1.02560266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.078033874 meters Centerline goodness [0,1] 0.9946395179721588 Centerline is valid? [True, True] Translation: X:-3.98, Y:-0.22, Z:0.11 [[ 9.99566963e-01 -2.76361244e-02 1.01060251e-02 -3.98188889e+00] [ 2.76282799e-02 9.99617847e-01 9.15030089e-04 -2.17161194e-01] [-1.01274509e-02 -6.35421756e-04 9.99948514e-01 1.05499206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108033874 meters Centerline goodness [0,1] 0.9938081781914894 Centerline is valid? [True, True] Translation: X:-4.01, Y:-0.22, Z:0.11 [[ 9.99550605e-01 -2.80217924e-02 1.06474328e-02 -4.01356603e+00] [ 2.80131478e-02 9.99607094e-01 9.60195689e-04 -2.19703006e-01] [-1.06701557e-02 -6.61496073e-04 9.99942853e-01 1.07262675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.138033874 meters Centerline goodness [0,1] 0.9965303027155056 Centerline is valid? [True, True] Translation: X:-4.04, Y:-0.23, Z:0.11 [[ 9.99459315e-01 -3.10637801e-02 1.07758478e-02 -4.04268638e+00] [ 3.10550476e-02 9.99517198e-01 9.76796666e-04 -2.26509450e-01] [-1.08009882e-02 -6.41624061e-04 9.99941462e-01 1.12052909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.168033874 meters Centerline goodness [0,1] 0.9979259566524941 Centerline is valid? [True, True] Translation: X:-4.07, Y:-0.23, Z:0.11 [[ 9.99326481e-01 -3.50569484e-02 1.08441289e-02 -4.07274377e+00] [ 3.50483204e-02 9.99385134e-01 9.84714990e-04 -2.32082815e-01] [-1.08719824e-02 -6.03983260e-04 9.99940716e-01 1.11533446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.198033874 meters Centerline goodness [0,1] 0.9973012808536256 Centerline is valid? [True, True] Translation: X:-4.10, Y:-0.23, Z:0.11 [[ 9.99176325e-01 -3.91357158e-02 1.07269328e-02 -4.10384895e+00] [ 3.91275077e-02 9.99233751e-01 9.74066588e-04 -2.28207731e-01] [-1.07568341e-02 -5.53546128e-04 9.99941990e-01 1.09899178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.228033874 meters Centerline goodness [0,1] 0.9981328188211863 Centerline is valid? [True, True] Translation: X:-4.13, Y:-0.23, Z:0.11 [[ 9.99054654e-01 -4.25393998e-02 8.95527567e-03 -4.13417205e+00] [ 4.25338114e-02 9.99094697e-01 8.13651371e-04 -2.26372676e-01] [-8.98178067e-03 -4.31980183e-04 9.99959570e-01 1.06568880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.258033874 meters Centerline goodness [0,1] 0.9989988737329496 Centerline is valid? [True, True] Translation: X:-4.16, Y:-0.24, Z:0.10 [[ 9.98641638e-01 -5.15946693e-02 7.27112021e-03 -4.16196369e+00] [ 5.15912261e-02 9.98668068e-01 6.60443904e-04 -2.42215923e-01] [-7.29551096e-03 -2.84420775e-04 9.99973347e-01 1.04873329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.288033874 meters Centerline goodness [0,1] 0.9992326676206474 Centerline is valid? [True, True] Translation: X:-4.19, Y:-0.25, Z:0.11 [[ 9.98422934e-01 -5.57737309e-02 6.39812596e-03 -4.19100134e+00] [ 5.57711447e-02 9.98443409e-01 5.82056128e-04 -2.46285018e-01] [-6.42063013e-03 -2.24307379e-04 9.99979362e-01 1.05443842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.318033874 meters Centerline goodness [0,1] 0.9996677326909499 Centerline is valid? [True, True] Translation: X:-4.22, Y:-0.25, Z:0.11 [[ 9.98221260e-01 -5.93344432e-02 5.80859438e-03 -4.22045921e+00] [ 5.93323752e-02 9.98238143e-01 5.27850713e-04 -2.52129417e-01] [-5.82968020e-03 -1.82274102e-04 9.99982991e-01 1.05323236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.348033874 meters Centerline goodness [0,1] 0.9993977279807273 Centerline is valid? [True, True] Translation: X:-4.25, Y:-0.26, Z:0.11 [[ 9.97913156e-01 -6.37250040e-02 1.04142481e-02 -4.24875430e+00] [ 6.37186118e-02 9.97967457e-01 9.44784904e-04 -2.61674563e-01] [-1.04532871e-02 -2.79231852e-04 9.99945324e-01 1.10543254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.378033874 meters Centerline goodness [0,1] 0.9994177704768044 Centerline is valid? [True, True] Translation: X:-4.28, Y:-0.27, Z:0.12 [[ 9.97559001e-01 -6.84814641e-02 1.36502031e-02 -4.27803309e+00] [ 6.84709246e-02 9.97652344e-01 1.23851519e-03 -2.65437405e-01] [-1.37029725e-02 -3.00849945e-04 9.99906065e-01 1.18713459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.408033874 meters Centerline goodness [0,1] 0.9992139177923501 Centerline is valid? [True, True] Translation: X:-4.31, Y:-0.26, Z:0.12 [[ 9.97485085e-01 -7.01590698e-02 1.00603183e-02 -4.30734415e+00] [ 7.01534226e-02 9.97535795e-01 9.13572780e-04 -2.61827929e-01] [-1.00996231e-02 -2.05509459e-04 9.99948976e-01 1.15248472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.438033874 meters Centerline goodness [0,1] 0.9994791124075425 Centerline is valid? [True, True] Translation: X:-4.34, Y:-0.26, Z:0.11 [[ 9.97393466e-01 -7.17940563e-02 7.20323882e-03 -4.33566861e+00] [ 7.17912001e-02 9.97419468e-01 6.54634708e-04 -2.62693027e-01] [-7.23164951e-03 -1.35799221e-04 9.99973842e-01 1.10368205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.468033874 meters Centerline goodness [0,1] 0.999709730256474 Centerline is valid? [True, True] Translation: X:-4.36, Y:-0.26, Z:0.12 [[ 9.97560903e-01 -6.91188795e-02 9.73783126e-03 -4.36365743e+00] [ 6.91135452e-02 9.97608409e-01 8.83644232e-04 -2.59319820e-01] [-9.77561885e-03 -2.08472897e-04 9.99952196e-01 1.18339529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.498033874 meters Centerline goodness [0,1] 0.9995841909395206 Centerline is valid? [True, True] Translation: X:-4.39, Y:-0.25, Z:0.12 [[ 9.97742866e-01 -6.63549989e-02 1.03047123e-02 -4.39343973e+00] [ 6.63489009e-02 9.97796048e-01 9.32886422e-04 -2.54023008e-01] [-1.03439029e-02 -2.47074436e-04 9.99946470e-01 1.20511412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.528033874 meters Centerline goodness [0,1] 0.9994188218689029 Centerline is valid? [True, True] Translation: X:-4.42, Y:-0.25, Z:0.13 [[ 9.97897152e-01 -6.38753974e-02 1.10094061e-02 -4.42223909e+00] [ 6.38682902e-02 9.97957839e-01 9.96301910e-04 -2.48724043e-01] [-1.10505623e-02 -2.91054894e-04 9.99938898e-01 1.32232815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.558033874 meters Centerline goodness [0,1] 0.9996062502590459 Centerline is valid? [True, True] Translation: X:-4.45, Y:-0.25, Z:0.13 [[ 9.98097958e-01 -6.07089281e-02 1.07187996e-02 -4.45104082e+00] [ 6.07020153e-02 9.98155462e-01 9.69394021e-04 -2.45565483e-01] [-1.07578793e-02 -3.16897455e-04 9.99942082e-01 1.28756172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.588033874 meters Centerline goodness [0,1] 0.9992951030393499 Centerline is valid? [True, True] Translation: X:-4.48, Y:-0.23, Z:0.13 [[ 9.98231626e-01 -5.83719299e-02 1.12400633e-02 -4.48066905e+00] [ 5.83641897e-02 9.98294841e-01 1.01569610e-03 -2.33642734e-01] [-1.12801854e-02 -3.57882785e-04 9.99936313e-01 1.28855947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.618033874 meters Centerline goodness [0,1] 0.9993766751854392 Centerline is valid? [True, True] Translation: X:-4.51, Y:-0.23, Z:0.13 [[ 9.98290012e-01 -5.72799643e-02 1.16643365e-02 -4.50908630e+00] [ 5.72715596e-02 9.98358081e-01 1.05358070e-03 -2.28680033e-01] [-1.17055336e-02 -3.83744354e-04 9.99931414e-01 1.29664012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.648033874 meters Centerline goodness [0,1] 0.9995212821313352 Centerline is valid? [True, True] Translation: X:-4.54, Y:-0.23, Z:0.14 [[ 9.98411590e-01 -5.56589806e-02 8.73926909e-03 -4.53771628e+00] [ 5.56542064e-02 9.98449792e-01 7.88733720e-04 -2.25717914e-01] [-8.76962152e-03 -3.01103802e-04 9.99961501e-01 1.36384004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.678033874 meters Centerline goodness [0,1] 0.9993152248345126 Centerline is valid? [True, True] Translation: X:-4.57, Y:-0.22, Z:0.13 [[ 9.98437894e-01 -5.51985787e-02 8.65382253e-03 -4.56750343e+00] [ 5.51938877e-02 9.98475351e-01 7.80144371e-04 -2.23644340e-01] [-8.68369134e-03 -3.01287595e-04 9.99962251e-01 1.29991204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.708033874 meters Centerline goodness [0,1] 0.9991880751134613 Centerline is valid? [True, True] Translation: X:-4.60, Y:-0.21, Z:0.14 [[ 9.98582669e-01 -5.23603385e-02 9.54195126e-03 -4.59654296e+00] [ 5.23545002e-02 9.98628192e-01 8.60794461e-04 -2.11830995e-01] [-9.57393302e-03 -3.60010341e-04 9.99954104e-01 1.35298598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.738033874 meters Centerline goodness [0,1] 0.9990038186950025 Centerline is valid? [True, True] Translation: X:-4.63, Y:-0.21, Z:0.14 [[ 9.98669770e-01 -5.05236272e-02 1.02982651e-02 -4.62606777e+00] [ 5.05167562e-02 9.98722784e-01 9.26408771e-04 -2.09745703e-01] [-1.03319175e-02 -4.04941489e-04 9.99946542e-01 1.40242314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.768033874 meters Centerline goodness [0,1] 0.9990609348914858 Centerline is valid? [True, True] Translation: X:-4.65, Y:-0.22, Z:0.15 [[ 9.98650592e-01 -5.06705584e-02 1.13793673e-02 -4.65306647e+00] [ 5.06621795e-02 9.98715323e-01 1.02357068e-03 -2.15349111e-01] [-1.14166134e-02 -4.45685923e-04 9.99934729e-01 1.49066105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.798033874 meters Centerline goodness [0,1] 0.9990609348914858 Centerline is valid? [True, True] Translation: X:-4.68, Y:-0.22, Z:0.15 [[ 9.98655770e-01 -5.05683815e-02 1.13794245e-02 -4.68039766e+00] [ 5.05600032e-02 9.98720501e-01 1.02293356e-03 -2.17919910e-01] [-1.14165927e-02 -4.46214758e-04 9.99934729e-01 1.49872680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.828033874 meters Centerline goodness [0,1] 0.9985665018490049 Centerline is valid? [True, True] Translation: X:-4.71, Y:-0.21, Z:0.16 [[ 9.98642616e-01 -5.05590200e-02 1.25184351e-02 -4.71021731e+00] [ 5.05489069e-02 9.98720955e-01 1.12315314e-03 -2.07119531e-01] [-1.25592090e-02 -4.88835383e-04 9.99921011e-01 1.57600953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.858033874 meters Centerline goodness [0,1] 0.9990241066423039 Centerline is valid? [True, True] Translation: X:-4.74, Y:-0.20, Z:0.16 [[ 9.98742251e-01 -4.85389273e-02 1.25653718e-02 -4.73946075e+00] [ 4.85285901e-02 9.98821159e-01 1.12645646e-03 -1.98679820e-01] [-1.26052362e-02 -5.15259880e-04 9.99920418e-01 1.55799139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.888033874 meters Centerline goodness [0,1] 0.9977338877338877 Centerline is valid? [True, True] Translation: X:-4.77, Y:-0.18, Z:0.15 [[ 9.98864367e-01 -4.61690041e-02 1.17643210e-02 -4.77068773e+00] [ 4.61597933e-02 9.98933513e-01 1.05341207e-03 -1.81592791e-01] [-1.18004095e-02 -5.09177154e-04 9.99930243e-01 1.53720766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.918033874 meters Centerline goodness [0,1] 0.9962609056917324 Centerline is valid? [True, True] Translation: X:-4.80, Y:-0.18, Z:0.16 [[ 9.98954411e-01 -4.40991001e-02 1.20563219e-02 -4.79921479e+00] [ 4.40892748e-02 9.99027012e-01 1.07965391e-03 -1.79400961e-01] [-1.20922030e-02 -5.46970548e-04 9.99926737e-01 1.57110344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.948033874 meters Centerline goodness [0,1] 0.996875 Centerline is valid? [True, True] Translation: X:-4.83, Y:-0.18, Z:0.16 [[ 9.98951873e-01 -4.37171129e-02 1.35635185e-02 -4.82624769e+00] [ 4.37046534e-02 9.99043758e-01 1.21380187e-03 -1.84666363e-01] [-1.36036124e-02 -6.19740774e-04 9.99907275e-01 1.58782899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.978033874 meters Centerline goodness [0,1] 0.9975240829744294 Centerline is valid? [True, True] Translation: X:-4.85, Y:-0.19, Z:0.16 [[ 9.98935907e-01 -4.43125927e-02 1.27846641e-02 -4.85497070e+00] [ 4.43015865e-02 9.99017549e-01 1.14295232e-03 -1.86818365e-01] [-1.28227510e-02 -5.75355207e-04 9.99917620e-01 1.59998816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.008033874 meters Centerline goodness [0,1] 0.997430004178855 Centerline is valid? [True, True] Translation: X:-4.88, Y:-0.19, Z:0.16 [[ 9.98753640e-01 -4.84349294e-02 1.20508738e-02 -4.88433603e+00] [ 4.84254682e-02 9.98826219e-01 1.07583613e-03 -1.91344368e-01] [-1.20888368e-02 -4.90926040e-04 9.99926807e-01 1.61572893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.038033874 meters Centerline goodness [0,1] 0.9977069001459246 Centerline is valid? [True, True] Translation: X:-4.91, Y:-0.19, Z:0.17 [[ 9.98623775e-01 -5.15043996e-02 9.89202382e-03 -4.91243286e+00] [ 5.14981664e-02 9.98672698e-01 8.83981329e-04 -1.93123235e-01] [-9.92442304e-03 -3.73343684e-04 9.99950682e-01 1.65853538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.068033874 meters Centerline goodness [0,1] 0.9982653039898008 Centerline is valid? [True, True] Translation: X:-4.94, Y:-0.19, Z:0.16 [[ 9.98359309e-01 -5.67548324e-02 7.58811347e-03 -4.94186725e+00] [ 5.67513191e-02 9.98388115e-01 6.77696977e-04 -1.90849576e-01] [-7.61434489e-03 -2.45949637e-04 9.99970980e-01 1.60090970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0980338739999995 meters Centerline goodness [0,1] 0.9983025984911986 Centerline is valid? [True, True] Translation: X:-4.97, Y:-0.19, Z:0.16 [[ 9.98239272e-01 -5.88161764e-02 7.68204352e-03 -4.96966835e+00] [ 5.88126345e-02 9.98268803e-01 6.86350940e-04 -1.90159284e-01] [-7.70911292e-03 -2.33341245e-04 9.99970257e-01 1.57134325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.128033874 meters Centerline goodness [0,1] 0.9983245722423506 Centerline is valid? [True, True] Translation: X:-5.00, Y:-0.20, Z:0.16 [[ 9.98040695e-01 -6.20164276e-02 8.29054280e-03 -4.99819532e+00] [ 6.20124251e-02 9.98075104e-01 7.39221276e-04 -1.95468809e-01] [-8.32042822e-03 -2.23656252e-04 9.99965360e-01 1.58027369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.158033874 meters Centerline goodness [0,1] 0.9980042824771844 Centerline is valid? [True, True] Translation: X:-5.03, Y:-0.20, Z:0.16 [[ 9.97856520e-01 -6.48652649e-02 8.65233228e-03 -5.02667014e+00] [ 6.48610166e-02 9.97894009e-01 7.71000663e-04 -2.02024257e-01] [-8.68412171e-03 -2.08148971e-04 9.99962271e-01 1.60639802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.188033874 meters Centerline goodness [0,1] 0.9980432157875015 Centerline is valid? [True, True] Translation: X:-5.05, Y:-0.21, Z:0.17 [[ 9.97656001e-01 -6.76940038e-02 1.00012348e-02 -5.05434305e+00] [ 6.76884730e-02 9.97706108e-01 8.90863003e-04 -2.11063624e-01] [-1.00385991e-02 -2.11806510e-04 9.99949590e-01 1.68326566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.218033874 meters Centerline goodness [0,1] 0.9983954990623046 Centerline is valid? [True, True] Translation: X:-5.08, Y:-0.21, Z:0.17 [[ 9.97525783e-01 -6.92231121e-02 1.22667613e-02 -5.08163753e+00] [ 6.92149205e-02 9.97601174e-01 1.09157772e-03 -2.13259208e-01] [-1.23128979e-02 -2.39834009e-04 9.99924165e-01 1.73298590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.248033874 meters Centerline goodness [0,1] 0.9986454382528237 Centerline is valid? [True, True] Translation: X:-5.11, Y:-0.21, Z:0.18 [[ 9.97464474e-01 -6.95283882e-02 1.51797862e-02 -5.11059560e+00] [ 6.95159095e-02 9.97579931e-01 1.34880814e-03 -2.08393650e-01] [-1.52368306e-02 -2.90151552e-04 9.99883871e-01 1.83239080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.278033874 meters Centerline goodness [0,1] 0.9990226251871569 Centerline is valid? [True, True] Translation: X:-5.14, Y:-0.20, Z:0.17 [[ 9.97629041e-01 -6.74034764e-02 1.38948630e-02 -5.14006211e+00] [ 6.73928254e-02 9.97725756e-01 1.23388288e-03 -2.03006934e-01] [-1.39464307e-02 -2.94543322e-04 9.99902700e-01 1.71368811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3080338739999995 meters Centerline goodness [0,1] 0.9981269121105538 Centerline is valid? [True, True] Translation: X:-5.17, Y:-0.20, Z:0.17 [[ 9.97806136e-01 -6.51518015e-02 1.17540825e-02 -5.16947960e+00] [ 6.51440326e-02 9.97875326e-01 1.04301443e-03 -2.02811028e-01] [-1.17970631e-02 -2.75017871e-04 9.99930374e-01 1.68006059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.338033874 meters Centerline goodness [0,1] 0.9983087298770175 Centerline is valid? [True, True] Translation: X:-5.20, Y:-0.20, Z:0.17 [[ 9.98009181e-01 -6.23123158e-02 9.73905321e-03 -5.19764493e+00] [ 6.23068434e-02 9.98056667e-01 8.64603975e-04 -1.97582942e-01] [-9.77400245e-03 -2.56073042e-04 9.99952201e-01 1.71731665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.368033874 meters Centerline goodness [0,1] 0.997910354194964 Centerline is valid? [True, True] Translation: X:-5.23, Y:-0.18, Z:0.17 [[ 9.98381545e-01 -5.58336317e-02 1.08118166e-02 -5.22930509e+00] [ 5.58265322e-02 9.98440024e-01 9.57571089e-04 -1.77383549e-01] [-1.08484151e-02 -3.52435078e-04 9.99941092e-01 1.73429936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.398033874 meters Centerline goodness [0,1] 0.9973546626674166 Centerline is valid? [True, True] Translation: X:-5.26, Y:-0.18, Z:0.18 [[ 9.98446902e-01 -5.43175771e-02 1.23848250e-02 -5.25680160e+00] [ 5.43081348e-02 9.98523621e-01 1.09770151e-03 -1.76549352e-01] [-1.24261648e-02 -4.23399922e-04 9.99922703e-01 1.77427379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.428033874 meters Centerline goodness [0,1] 0.9975829304884147 Centerline is valid? [True, True] Translation: X:-5.29, Y:-0.18, Z:0.18 [[ 9.98627196e-01 -5.00487687e-02 1.54546161e-02 -5.28592290e+00] [ 5.00335895e-02 9.98746599e-01 1.36751324e-03 -1.77839850e-01] [-1.55036876e-02 -5.92385996e-04 9.99879635e-01 1.79999588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.458033874 meters Centerline goodness [0,1] 0.9973023275267153 Centerline is valid? [True, True] Translation: X:-5.32, Y:-0.17, Z:0.17 [[ 9.98839909e-01 -4.63306475e-02 1.31266100e-02 -5.31727510e+00] [ 4.63193851e-02 9.98926007e-01 1.16087320e-03 -1.69491701e-01] [-1.31662961e-02 -5.51509976e-04 9.99913168e-01 1.72875689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488033874 meters Centerline goodness [0,1] 0.9966166120172929 Centerline is valid? [True, True] Translation: X:-5.35, Y:-0.16, Z:0.17 [[ 9.99004021e-01 -4.37645164e-02 8.69669266e-03 -5.34807791e+00] [ 4.37594761e-02 9.99041799e-01 7.69108648e-04 -1.58080712e-01] [-8.72201915e-03 -3.87779918e-04 9.99961887e-01 1.73368133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.518033874 meters Centerline goodness [0,1] 0.996479537310618 Centerline is valid? [True, True] Translation: X:-5.38, Y:-0.16, Z:0.17 [[ 9.99015926e-01 -4.35502470e-02 8.39976567e-03 -5.37576175e+00] [ 4.35455239e-02 9.99051166e-01 7.44455374e-04 -1.56195117e-01] [-8.42421690e-03 -3.77950578e-04 9.99964444e-01 1.74484844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.548033874 meters Centerline goodness [0,1] 0.9974724792680634 Centerline is valid? [True, True] Translation: X:-5.41, Y:-0.15, Z:0.18 [[ 9.98902627e-01 -4.54649208e-02 1.12464322e-02 -5.40506973e+00] [ 4.54566181e-02 9.98965820e-01 9.92908649e-04 -1.54937051e-01] [-1.12799439e-02 -4.80594284e-04 9.99936264e-01 1.77987063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.578033874 meters Centerline goodness [0,1] 0.9962013691768242 Centerline is valid? [True, True] Translation: X:-5.43, Y:-0.15, Z:0.19 [[ 9.98894497e-01 -4.54987437e-02 1.18173068e-02 -5.43387788e+00] [ 4.54895836e-02 9.98964269e-01 1.04292318e-03 -1.54839587e-01] [-1.18525189e-02 -5.04205863e-04 9.99929629e-01 1.85286107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608033874 meters Centerline goodness [0,1] 0.9978648580758603 Centerline is valid? [True, True] Translation: X:-5.46, Y:-0.16, Z:0.18 [[ 9.98877240e-01 -4.63673333e-02 9.71235056e-03 -5.46217361e+00] [ 4.63611837e-02 9.98924374e-01 8.57477258e-04 -1.56751803e-01] [-9.74166263e-03 -4.06238448e-04 9.99952466e-01 1.75266473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.638033874 meters Centerline goodness [0,1] 0.9970516895282703 Centerline is valid? [True, True] Translation: X:-5.49, Y:-0.16, Z:0.18 [[ 9.98834101e-01 -4.75682503e-02 8.22803650e-03 -5.49092140e+00] [ 4.75638862e-02 9.98867934e-01 7.25383552e-04 -1.59194138e-01] [-8.25322705e-03 -3.33180437e-04 9.99965886e-01 1.77631145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.668033874 meters Centerline goodness [0,1] 0.9977216195313643 Centerline is valid? [True, True] Translation: X:-5.52, Y:-0.15, Z:0.18 [[ 9.98690470e-01 -5.01650893e-02 1.00403217e-02 -5.52108521e+00] [ 5.01587390e-02 9.98740867e-01 8.83451227e-04 -1.54911401e-01] [-1.00719980e-02 -3.78684447e-04 9.99949204e-01 1.83750293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.698033874 meters Centerline goodness [0,1] 0.9968906510851419 Centerline is valid? [True, True] Translation: X:-5.55, Y:-0.15, Z:0.19 [[ 9.98728921e-01 -4.93062701e-02 1.04611149e-02 -5.55030840e+00] [ 4.92993268e-02 9.98783625e-01 9.20715340e-04 -1.52848229e-01] [-1.04937873e-02 -4.03819116e-04 9.99944857e-01 1.86754211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728033874 meters Centerline goodness [0,1] 0.9969672251155591 Centerline is valid? [True, True] Translation: X:-5.58, Y:-0.15, Z:0.18 [[ 9.98892435e-01 -4.63411281e-02 8.14887247e-03 -5.57974191e+00] [ 4.63368231e-02 9.98925616e-01 7.16398722e-04 -1.49570485e-01] [-8.17331617e-03 -3.38012401e-04 9.99966541e-01 1.80426818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.758033874 meters Centerline goodness [0,1] 0.9965658046277877 Centerline is valid? [True, True] Translation: X:-5.61, Y:-0.15, Z:0.18 [[ 9.99030499e-01 -4.36674369e-02 5.58718761e-03 -5.61010271e+00] [ 4.36653729e-02 9.99046092e-01 4.90925245e-04 -1.48530245e-01] [-5.60329539e-03 -2.46482663e-04 9.99984271e-01 1.79773745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788033874 meters Centerline goodness [0,1] 0.9962479676491433 Centerline is valid? [True, True] Translation: X:-5.64, Y:-0.15, Z:0.18 [[ 9.99145270e-01 -4.09041875e-02 5.96463765e-03 -5.63930615e+00] [ 4.09017822e-02 9.99163034e-01 5.24731845e-04 -1.46237374e-01] [-5.98110918e-03 -2.80319031e-04 9.99982074e-01 1.78425647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.818033874 meters Centerline goodness [0,1] 0.994717170240755 Centerline is valid? [True, True] Translation: X:-5.67, Y:-0.14, Z:0.18 [[ 9.99245898e-01 -3.81258191e-02 7.35231850e-03 -5.66845985e+00] [ 3.81220918e-02 9.99272880e-01 6.46483150e-04 -1.39283493e-01] [-7.37162018e-03 -3.65709876e-04 9.99972762e-01 1.82516311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8480338739999995 meters Centerline goodness [0,1] 0.9948706186534332 Centerline is valid? [True, True] Translation: X:-5.70, Y:-0.13, Z:0.19 [[ 9.99336214e-01 -3.46032397e-02 1.13906555e-02 -5.69743837e+00] [ 3.45940863e-02 9.99400945e-01 9.99699824e-04 -1.33961961e-01] [-1.14184247e-02 -6.04986919e-04 9.99934625e-01 1.85965879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.878033874 meters Centerline goodness [0,1] 0.9950468262226847 Centerline is valid? [True, True] Translation: X:-5.72, Y:-0.14, Z:0.19 [[ 9.99342909e-01 -3.41961570e-02 1.20155026e-02 -5.72488187e+00] [ 3.41859485e-02 9.99414934e-01 1.05403209e-03 -1.37471334e-01] [-1.20445166e-02 -6.42578146e-04 9.99927256e-01 1.92153209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.908033874 meters Centerline goodness [0,1] 0.9942394389714476 Centerline is valid? [True, True] Translation: X:-5.75, Y:-0.14, Z:0.19 [[ 9.99392981e-01 -3.27441519e-02 1.18949366e-02 -5.75426852e+00] [ 3.27340650e-02 9.99463554e-01 1.04175501e-03 -1.37676889e-01] [-1.19226670e-02 -6.51753015e-04 9.99928710e-01 1.90741801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.938033874 meters Centerline goodness [0,1] 0.9945958352460043 Centerline is valid? [True, True] Translation: X:-5.78, Y:-0.14, Z:0.19 [[ 9.99405746e-01 -3.28463249e-02 1.04533854e-02 -5.78330585e+00] [ 3.28385407e-02 9.99460250e-01 9.15470004e-04 -1.36417090e-01] [-1.04778130e-02 -5.71652061e-04 9.99944943e-01 1.88775046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.968033874 meters Centerline goodness [0,1] 0.996278486305666 Centerline is valid? [True, True] Translation: X:-5.81, Y:-0.14, Z:0.19 [[ 9.99428683e-01 -3.24936350e-02 9.29894789e-03 -5.81107976e+00] [ 3.24874599e-02 9.99471811e-01 8.14385684e-04 -1.40765391e-01] [-9.32049865e-03 -5.11821215e-04 9.99956432e-01 1.91694879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.998033874 meters Centerline goodness [0,1] 0.9947310096807243 Centerline is valid? [True, True] Translation: X:-5.84, Y:-0.14, Z:0.19 [[ 9.99376521e-01 -3.38654224e-02 9.98507236e-03 -5.84017984e+00] [ 3.38583885e-02 9.99426259e-01 8.72703642e-04 -1.40237458e-01] [-1.00088980e-02 -5.34081071e-04 9.99949767e-01 1.94462685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028033874 meters Centerline goodness [0,1] 0.995162404975812 Centerline is valid? [True, True] Translation: X:-5.87, Y:-0.14, Z:0.19 [[ 9.99321390e-01 -3.49300021e-02 1.16898924e-02 -5.86986903e+00] [ 3.49204436e-02 9.99389574e-01 1.02085210e-03 -1.35853596e-01] [-1.17184150e-02 -6.11943115e-04 9.99931150e-01 1.94794912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0580338739999995 meters Centerline goodness [0,1] 0.9968488490995221 Centerline is valid? [True, True] Translation: X:-5.90, Y:-0.15, Z:0.20 [[ 9.99307583e-01 -3.51822535e-02 1.21063079e-02 -5.89652875e+00] [ 3.51720210e-02 9.99380714e-01 1.05715997e-03 -1.45568488e-01] [-1.21360039e-02 -6.30624662e-04 9.99926157e-01 2.02473874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.088033874 meters Centerline goodness [0,1] 0.9935498637148623 Centerline is valid? [True, True] Translation: X:-5.93, Y:-0.14, Z:0.20 [[ 9.99329889e-01 -3.48482469e-02 1.11969762e-02 -5.92663135e+00] [ 3.48394769e-02 9.99392443e-01 9.77408978e-04 -1.37426479e-01] [-1.12242344e-02 -5.86657211e-04 9.99936834e-01 2.01725868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.118033874 meters Centerline goodness [0,1] 0.9953294516818163 Centerline is valid? [True, True] Translation: X:-5.95, Y:-0.14, Z:0.20 [[ 9.99360026e-01 -3.43681015e-02 9.91825817e-03 -5.95422560e+00] [ 3.43612093e-02 9.99409105e-01 8.64522983e-04 -1.37452675e-01] [-9.94210954e-03 -5.23166365e-04 9.99950439e-01 2.01311642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.148033874 meters Centerline goodness [0,1] 0.9943018159048216 Centerline is valid? [True, True] Translation: X:-5.98, Y:-0.14, Z:0.21 [[ 9.99432309e-01 -3.23020139e-02 9.57285832e-03 -5.98258478e+00] [ 3.22955116e-02 9.99478017e-01 8.33085869e-04 -1.41201533e-01] [-9.59477180e-03 -5.23452576e-04 9.99953832e-01 2.08703217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.178033874 meters Centerline goodness [0,1] 0.9884433071857041 Centerline is valid? [True, True] Translation: X:-6.01, Y:-0.13, Z:0.21 [[ 9.99538116e-01 -2.91323612e-02 8.65216556e-03 -6.01420008e+00] [ 2.91269365e-02 9.99575438e-01 7.52357437e-04 -1.28396671e-01] [-8.67041012e-03 -4.99998859e-04 9.99962286e-01 2.05738750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.208033874 meters Centerline goodness [0,1] 0.9955948060665814 Centerline is valid? [True, True] Translation: X:-6.04, Y:-0.14, Z:0.22 [[ 9.99617827e-01 -2.59598723e-02 9.50183051e-03 -6.04114752e+00] [ 2.59531878e-02 9.99662818e-01 8.26146469e-04 -1.41232357e-01] [-9.52007332e-03 -5.79227947e-04 9.99954515e-01 2.23034489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.238033874 meters Centerline goodness [0,1] 0.990053605829634 Centerline is valid? [True, True] Translation: X:-6.07, Y:-0.13, Z:0.21 [[ 9.99798002e-01 -1.87597784e-02 7.21287325e-03 -6.07300772e+00] [ 1.87557480e-02 9.99823899e-01 6.26028450e-04 -1.25592711e-01] [-7.22334721e-03 -4.90619161e-04 9.99973791e-01 2.11756597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.268033874 meters Centerline goodness [0,1] 0.981318521292309 Centerline is valid? [True, True] Translation: X:-6.10, Y:-0.12, Z:0.21 [[ 9.99879995e-01 -1.44009101e-02 5.71038363e-03 -6.10296867e+00] [ 1.43983101e-02 9.99896216e-01 4.96161822e-04 -1.24388007e-01] [-5.71693616e-03 -4.13882407e-04 9.99983573e-01 2.05344524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.298033874 meters Centerline goodness [0,1] 0.9757541643213042 Centerline is valid? [True, True] Translation: X:-6.13, Y:-0.12, Z:0.22 [[ 9.99862377e-01 -1.28152594e-02 1.05354909e-02 -6.13274266e+00] [ 1.28063296e-02 9.99917577e-01 9.14627627e-04 -1.17206382e-01] [-1.05463438e-02 -7.79580784e-04 9.99944082e-01 2.16928265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.328033874 meters Centerline goodness [0,1] 0.9850562990405228 Centerline is valid? [True, True] Translation: X:-6.16, Y:-0.13, Z:0.22 [[ 9.99849566e-01 -1.25235268e-02 1.20002757e-02 -6.16388455e+00] [ 1.25119797e-02 9.99921185e-01 1.03683218e-03 -1.27574783e-01] [-1.20123146e-02 -8.86529004e-04 9.99927457e-01 2.15678234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.358033874 meters Centerline goodness [0,1] 0.988560553777945 Centerline is valid? [True, True] Translation: X:-6.19, Y:-0.14, Z:0.22 [[ 9.99854050e-01 -1.36925709e-02 1.02172042e-02 -6.19361242e+00] [ 1.36842463e-02 9.99905975e-01 8.84227615e-04 -1.44296573e-01] [-1.02283509e-02 -7.44283823e-04 9.99947412e-01 2.16465965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.388033874 meters Centerline goodness [0,1] 0.991088425412631 Centerline is valid? [True, True] Translation: X:-6.22, Y:-0.15, Z:0.22 [[ 9.99809892e-01 -1.75637723e-02 8.46725932e-03 -6.22220454e+00] [ 1.75581525e-02 9.99845572e-01 7.37604929e-04 -1.50974315e-01] [-8.47890686e-03 -5.88795274e-04 9.99963880e-01 2.24015411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.418033874 meters Centerline goodness [0,1] 0.9891963054290133 Centerline is valid? [True, True] Translation: X:-6.25, Y:-0.15, Z:0.22 [[ 9.99755356e-01 -1.99546308e-02 9.54149859e-03 -6.25287379e+00] [ 1.99475986e-02 9.99800681e-01 8.31617868e-04 -1.53861753e-01] [-9.55619142e-03 -6.41084434e-04 9.99954133e-01 2.17920819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.448033874 meters Centerline goodness [0,1] 0.9868607658296488 Centerline is valid? [True, True] Translation: X:-6.28, Y:-0.16, Z:0.22 [[ 9.99690722e-01 -2.20338339e-02 1.15312598e-02 -6.28350936e+00] [ 2.20236968e-02 9.99756943e-01 1.00535439e-03 -1.56548762e-01] [-1.15506089e-02 -7.51082484e-04 9.99933007e-01 2.20200189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.478033874 meters Centerline goodness [0,1] 0.987116577227454 Centerline is valid? [True, True] Translation: X:-6.31, Y:-0.16, Z:0.22 [[ 9.99626042e-01 -2.49033403e-02 1.12959880e-02 -6.31399404e+00] [ 2.48937930e-02 9.99689616e-01 9.85029715e-04 -1.61992004e-01] [-1.13170124e-02 -7.03461369e-04 9.99935713e-01 2.20019639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.508033874 meters Centerline goodness [0,1] 0.99230077201498 Centerline is valid? [True, True] Translation: X:-6.34, Y:-0.18, Z:0.22 [[ 9.99622298e-01 -2.58642967e-02 9.28973169e-03 -6.34150790e+00] [ 2.58578795e-02 9.99665301e-01 8.10251877e-04 -1.81580938e-01] [-9.30757902e-03 -5.69733081e-04 9.99956521e-01 2.24133293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.538033874 meters Centerline goodness [0,1] 0.9915689302558538 Centerline is valid? [True, True] Translation: X:-6.37, Y:-0.19, Z:0.23 [[ 9.99534516e-01 -2.80705179e-02 1.19497547e-02 -6.37115165e+00] [ 2.80600472e-02 9.99605695e-01 1.04302377e-03 -1.86694285e-01] [-1.19743211e-02 -7.07227580e-04 9.99928055e-01 2.25690039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568033874 meters Centerline goodness [0,1] 0.9944207348808161 Centerline is valid? [True, True] Translation: X:-6.40, Y:-0.19, Z:0.23 [[ 9.99504264e-01 -2.84170505e-02 1.35535253e-02 -6.39939634e+00] [ 2.84036146e-02 9.99595836e-01 1.18281873e-03 -1.94112488e-01] [-1.35816597e-02 -7.97263256e-04 9.99907447e-01 2.32616389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5980338739999995 meters Centerline goodness [0,1] 0.9912477229422727 Centerline is valid? [True, True] Translation: X:-6.43, Y:-0.19, Z:0.23 [[ 9.99504997e-01 -2.88265937e-02 1.26011296e-02 -6.43128282e+00] [ 2.88150308e-02 9.99584157e-01 1.09824712e-03 -1.87101884e-01] [-1.26275483e-02 -7.34601549e-04 9.99919999e-01 2.29244883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628033874 meters Centerline goodness [0,1] 0.9929205764075067 Centerline is valid? [True, True] Translation: X:-6.46, Y:-0.20, Z:0.24 [[ 9.99522987e-01 -2.83713648e-02 1.22009516e-02 -6.45996452e+00] [ 2.83604847e-02 9.99597194e-01 1.06387356e-03 -1.98818098e-01] [-1.22262206e-02 -7.17341179e-04 9.99925000e-01 2.35738713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.658033874 meters Centerline goodness [0,1] 0.9931505414633125 Centerline is valid? [True, True] Translation: X:-6.49, Y:-0.20, Z:0.23 [[ 9.99548108e-01 -2.72507472e-02 1.26876610e-02 -6.49080138e+00] [ 2.72388835e-02 9.99628340e-01 1.10696271e-03 -2.03427680e-01] [-1.27131111e-02 -7.60864767e-04 9.99918896e-01 2.33867334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.688033874 meters Centerline goodness [0,1] 0.9920802423989133 Centerline is valid? [True, True] Translation: X:-6.52, Y:-0.20, Z:0.24 [[ 9.99630410e-01 -2.49127468e-02 1.08811313e-02 -6.52121887e+00] [ 2.49038808e-02 9.99689399e-01 9.49565541e-04 -2.01998632e-01] [-1.09014079e-02 -6.78232194e-04 9.99940348e-01 2.38741828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.718033874 meters Centerline goodness [0,1] 0.9920802423989133 Centerline is valid? [True, True] Translation: X:-6.55, Y:-0.20, Z:0.24 [[ 9.99631249e-01 -2.48790687e-02 1.08810774e-02 -6.55029417e+00] [ 2.48701940e-02 9.99690237e-01 9.50183368e-04 -2.04575680e-01] [-1.09013465e-02 -6.79218480e-04 9.99940348e-01 2.39598046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.748033874 meters Centerline goodness [0,1] 0.989085576620928 Centerline is valid? [True, True] Translation: X:-6.58, Y:-0.20, Z:0.23 [[ 9.99654011e-01 -2.42292150e-02 1.02373123e-02 -6.58143118e+00] [ 2.42213350e-02 9.99706222e-01 8.93033475e-04 -2.00259770e-01] [-1.02559423e-02 -6.44763124e-04 9.99947199e-01 2.32323378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.778033874 meters Centerline goodness [0,1] 0.9907002988443293 Centerline is valid? [True, True] Translation: X:-6.61, Y:-0.21, Z:0.23 [[ 9.99646597e-01 -2.43737606e-02 1.06113823e-02 -6.61039470e+00] [ 2.43652991e-02 9.99702693e-01 9.25971563e-04 -2.10037141e-01] [-1.06307969e-02 -6.67094817e-04 9.99943269e-01 2.32482165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8080338739999995 meters Centerline goodness [0,1] 0.9903775755674092 Centerline is valid? [True, True] Translation: X:-6.64, Y:-0.21, Z:0.24 [[ 9.99682123e-01 -2.30018957e-02 1.03231096e-02 -6.64125580e+00] [ 2.29938196e-02 9.99735202e-01 9.00347532e-04 -2.09382385e-01] [-1.03410858e-02 -6.62693611e-04 9.99946310e-01 2.35892680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.838033874 meters Centerline goodness [0,1] 0.9922315053290617 Centerline is valid? [True, True] Translation: X:-6.67, Y:-0.22, Z:0.24 [[ 9.99697229e-01 -2.28874927e-02 9.03403251e-03 -6.67019259e+00] [ 2.28813000e-02 9.99737878e-01 7.88261688e-04 -2.18805052e-01] [-9.04970583e-03 -5.81312616e-04 9.99958882e-01 2.40597059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.868033874 meters Centerline goodness [0,1] 0.9883029961843999 Centerline is valid? [True, True] Translation: X:-6.70, Y:-0.22, Z:0.23 [[ 9.99632662e-01 -2.57272912e-02 8.52334770e-03 -6.70101039e+00] [ 2.57218857e-02 9.99668861e-01 7.43233208e-04 -2.18676799e-01] [-8.53964667e-03 -5.23723615e-04 9.99963399e-01 2.31281295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.898033874 meters Centerline goodness [0,1] 0.9949502326648999 Centerline is valid? [True, True] Translation: X:-6.73, Y:-0.23, Z:0.24 [[ 9.99434732e-01 -3.25780825e-02 8.29970186e-03 -6.72916527e+00] [ 3.25731897e-02 9.99469091e-01 7.24041538e-04 -2.33254372e-01] [-8.31888335e-03 -4.53284497e-04 9.99965295e-01 2.36765290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.928033874 meters Centerline goodness [0,1] 0.992667124971356 Centerline is valid? [True, True] Translation: X:-6.76, Y:-0.23, Z:0.23 [[ 9.99264651e-01 -3.72876155e-02 8.93254643e-03 -6.75977536e+00] [ 3.72821396e-02 9.99304476e-01 7.78827163e-04 -2.32776942e-01] [-8.95537424e-03 -4.45230011e-04 9.99959801e-01 2.34833274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.958033874 meters Centerline goodness [0,1] 0.9970555683170798 Centerline is valid? [True, True] Translation: X:-6.79, Y:-0.25, Z:0.24 [[ 9.99036834e-01 -4.23217513e-02 1.15876467e-02 -6.78756595e+00] [ 4.23128682e-02 9.99103898e-01 1.01080066e-03 -2.45639137e-01] [-1.16200418e-02 -5.19520528e-04 9.99932350e-01 2.38924889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.988033874 meters Centerline goodness [0,1] 0.9966670138527237 Centerline is valid? [True, True] Translation: X:-6.82, Y:-0.26, Z:0.25 [[ 9.98877365e-01 -4.57194128e-02 1.23994210e-02 -6.81579952e+00] [ 4.57095131e-02 9.98954189e-01 1.08077687e-03 -2.55724187e-01] [-1.24358660e-02 -5.12792056e-04 9.99922540e-01 2.46593249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0180338739999995 meters Centerline goodness [0,1] 0.9967928025490972 Centerline is valid? [True, True] Translation: X:-6.85, Y:-0.26, Z:0.24 [[ 9.98740874e-01 -4.90205803e-02 1.06606186e-02 -6.84516396e+00] [ 4.90134461e-02 9.98797686e-01 9.29599961e-04 -2.61709860e-01] [-1.06933707e-02 -4.05915822e-04 9.99942742e-01 2.43743594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.048033874 meters Centerline goodness [0,1] 0.997373084540811 Centerline is valid? [True, True] Translation: X:-6.87, Y:-0.26, Z:0.25 [[ 9.98595415e-01 -5.16581654e-02 1.17741331e-02 -6.87376313e+00] [ 5.16496487e-02 9.98664739e-01 1.02647434e-03 -2.64034784e-01] [-1.18114373e-02 -4.16902735e-04 9.99930156e-01 2.52870481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.078033874 meters Centerline goodness [0,1] 0.9967013236460812 Centerline is valid? [True, True] Translation: X:-6.90, Y:-0.26, Z:0.26 [[ 9.98708302e-01 -4.90204929e-02 1.33685503e-02 -6.90241746e+00] [ 4.90092852e-02 9.98797644e-01 1.16488444e-03 -2.63583335e-01] [-1.34095797e-02 -5.08196667e-04 9.99909958e-01 2.55965329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.108033874 meters Centerline goodness [0,1] 0.9957734749115137 Centerline is valid? [True, True] Translation: X:-6.93, Y:-0.26, Z:0.25 [[ 9.98819111e-01 -4.66786903e-02 1.34715486e-02 -6.93042978e+00] [ 4.66671049e-02 9.98909808e-01 1.17324100e-03 -2.62947190e-01] [-1.35116274e-02 -5.43177361e-04 9.99908566e-01 2.54344447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.138033874 meters Centerline goodness [0,1] 0.9947422228713305 Centerline is valid? [True, True] Translation: X:-6.96, Y:-0.26, Z:0.25 [[ 9.98963306e-01 -4.42338024e-02 1.07556286e-02 -6.96088140e+00] [ 4.42262934e-02 9.99021101e-01 9.35115717e-04 -2.63728662e-01] [-1.07864637e-02 -4.58464701e-04 9.99941719e-01 2.48267321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.168033874 meters Centerline goodness [0,1] 0.9958729626681192 Centerline is valid? [True, True] Translation: X:-6.99, Y:-0.27, Z:0.25 [[ 9.99105344e-01 -4.13583334e-02 8.83172582e-03 -6.99001393e+00] [ 4.13531557e-02 9.99144297e-01 7.68149811e-04 -2.66503020e-01] [-8.85593788e-03 -4.02242849e-04 9.99960705e-01 2.46355911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.198033874 meters Centerline goodness [0,1] 0.9933305543976657 Centerline is valid? [True, True] Translation: X:-7.02, Y:-0.25, Z:0.25 [[ 9.99256644e-01 -3.74658876e-02 9.08112908e-03 -7.02124436e+00] [ 3.74602559e-02 9.99297806e-01 7.89509906e-04 -2.47982450e-01] [-9.10433206e-03 -4.48741599e-04 9.99958454e-01 2.45829923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.228033873999999 meters Centerline goodness [0,1] 0.9926230878542172 Centerline is valid? [True, True] Translation: X:-7.05, Y:-0.25, Z:0.26 [[ 9.99274755e-01 -3.56594791e-02 1.33553338e-02 -7.04989118e+00] [ 3.56471437e-02 9.99363765e-01 1.16061805e-03 -2.49888107e-01] [-1.33882237e-02 -6.83696819e-04 9.99910140e-01 2.58928524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.258033874 meters Centerline goodness [0,1] 0.9922277639235245 Centerline is valid? [True, True] Translation: X:-7.08, Y:-0.26, Z:0.26 [[ 9.99300892e-01 -3.42285184e-02 1.50378164e-02 -7.07838121e+00] [ 3.42127379e-02 9.99413720e-01 1.30547049e-03 -2.56782939e-01] [-1.50736844e-02 -7.90072954e-04 9.99886073e-01 2.56847233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.288033874 meters Centerline goodness [0,1] 0.9924857416427293 Centerline is valid? [True, True] Translation: X:-7.11, Y:-0.24, Z:0.25 [[ 9.99358842e-01 -3.35973595e-02 1.23742828e-02 -7.11001774e+00] [ 3.35866406e-02 9.99435234e-01 1.07307790e-03 -2.43317153e-01] [-1.24033468e-02 -6.56779299e-04 9.99922860e-01 2.49944761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.318033874 meters Centerline goodness [0,1] 0.9900708031337718 Centerline is valid? [True, True] Translation: X:-7.14, Y:-0.24, Z:0.24 [[ 9.99423936e-01 -3.27442051e-02 8.92259264e-03 -7.14055678e+00] [ 3.27385902e-02 9.99463648e-01 7.74665300e-04 -2.41541072e-01] [-8.94317280e-03 -4.82105939e-04 9.99959893e-01 2.44246876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3480338739999995 meters Centerline goodness [0,1] 0.9901901442257519 Centerline is valid? [True, True] Translation: X:-7.17, Y:-0.24, Z:0.24 [[ 9.99411595e-01 -3.30771123e-02 9.07570136e-03 -7.16905615e+00] [ 3.30713141e-02 9.99452684e-01 7.88243269e-04 -2.41690238e-01] [-9.09680689e-03 -4.87634093e-04 9.99958504e-01 2.40575847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.378033874 meters Centerline goodness [0,1] 0.9924937447873228 Centerline is valid? [True, True] Translation: X:-7.20, Y:-0.25, Z:0.26 [[ 9.99248563e-01 -3.61732473e-02 1.39214030e-02 -7.19713022e+00] [ 3.61599500e-02 9.99345288e-01 1.20577866e-03 -2.49988336e-01] [-1.39559054e-02 -7.01475360e-04 9.99902366e-01 2.56153087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.408033874 meters Centerline goodness [0,1] 0.9928666777907559 Centerline is valid? [True, True] Translation: X:-7.23, Y:-0.24, Z:0.25 [[ 9.99233418e-01 -3.68280439e-02 1.32766923e-02 -7.22656439e+00] [ 3.68160007e-02 9.99321399e-01 1.15044752e-03 -2.43827069e-01] [-1.33100514e-02 -6.60770901e-04 9.99911199e-01 2.54099429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.438033874 meters Centerline goodness [0,1] 0.9924332685353567 Centerline is valid? [True, True] Translation: X:-7.26, Y:-0.24, Z:0.24 [[ 9.99254689e-01 -3.75250498e-02 9.05187978e-03 -7.25621812e+00] [ 3.75194804e-02 9.99295589e-01 7.84364331e-04 -2.38953112e-01] [-9.07493684e-03 -4.44157910e-04 9.99958723e-01 2.42407941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.468033874 meters Centerline goodness [0,1] 0.9923141361256544 Centerline is valid? [True, True] Translation: X:-7.29, Y:-0.24, Z:0.25 [[ 9.99227056e-01 -3.84508683e-02 8.17437307e-03 -7.28513033e+00] [ 3.84463601e-02 9.99260415e-01 7.07986476e-04 -2.41076954e-01] [-8.19555012e-03 -3.93164352e-04 9.99966339e-01 2.46623318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.498033874 meters Centerline goodness [0,1] 0.9923423895940418 Centerline is valid? [True, True] Translation: X:-7.31, Y:-0.25, Z:0.26 [[ 9.99138408e-01 -3.92641161e-02 1.34451039e-02 -7.31376412e+00] [ 3.92520197e-02 9.99228666e-01 1.16250112e-03 -2.46063446e-01] [-1.34803778e-02 -6.33752042e-04 9.99908935e-01 2.56664464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.528033874 meters Centerline goodness [0,1] 0.9936691726191715 Centerline is valid? [True, True] Translation: X:-7.34, Y:-0.24, Z:0.26 [[ 9.99133414e-01 -3.92503132e-02 1.38504344e-02 -7.34191396e+00] [ 3.92374851e-02 9.99229197e-01 1.19682098e-03 -2.44800422e-01] [-1.38867341e-02 -6.52327614e-04 9.99903362e-01 2.56956316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5580338739999995 meters Centerline goodness [0,1] 0.9914899845272446 Centerline is valid? [True, True] Translation: X:-7.37, Y:-0.24, Z:0.24 [[ 9.99129091e-01 -4.14684424e-02 4.62902980e-03 -7.37152707e+00] [ 4.14670299e-02 9.99139792e-01 4.00724765e-04 -2.41927438e-01] [-4.64166530e-03 -2.08423652e-04 9.99989206e-01 2.42036731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.588033874 meters Centerline goodness [0,1] 0.9922807459148785 Centerline is valid? [True, True] Translation: X:-7.40, Y:-0.25, Z:0.24 [[ 9.99085077e-01 -4.25763826e-02 4.03253040e-03 -7.39988027e+00] [ 4.25753041e-02 9.99093198e-01 3.52951684e-04 -2.45897377e-01] [-4.04390110e-03 -1.80942552e-04 9.99991807e-01 2.36908076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.618033874 meters Centerline goodness [0,1] 0.9917584145957848 Centerline is valid? [True, True] Translation: X:-7.43, Y:-0.24, Z:0.25 [[ 9.99070113e-01 -4.19165201e-02 1.00953254e-02 -7.42924186e+00] [ 4.19098798e-02 9.99121018e-01 8.68508283e-04 -2.41325376e-01] [-1.01228566e-02 -4.44606793e-04 9.99948664e-01 2.50950662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.648033874 meters Centerline goodness [0,1] 0.9916863861956317 Centerline is valid? [True, True] Translation: X:-7.46, Y:-0.24, Z:0.26 [[ 9.99067280e-01 -4.05041901e-02 1.49660008e-02 -7.45752051e+00] [ 4.04894517e-02 9.99179138e-01 1.28660891e-03 -2.38047744e-01] [-1.50058289e-02 -6.79443697e-04 9.99887175e-01 2.59249000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.678033874 meters Centerline goodness [0,1] 0.9919125041904123 Centerline is valid? [True, True] Translation: X:-7.49, Y:-0.24, Z:0.25 [[ 9.99170811e-01 -3.84878924e-02 1.32805545e-02 -7.48794408e+00] [ 3.84761268e-02 9.99258869e-01 1.14038955e-03 -2.37628268e-01] [-1.33146030e-02 -6.28459654e-04 9.99911159e-01 2.52396414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.708033874 meters Centerline goodness [0,1] 0.992312191860951 Centerline is valid? [True, True] Translation: X:-7.52, Y:-0.24, Z:0.24 [[ 9.99348830e-01 -3.56059754e-02 5.84212952e-03 -7.51794673e+00] [ 3.56036504e-02 9.99365863e-01 5.01516057e-04 -2.36249897e-01] [-5.85628178e-03 -2.93188348e-04 9.99982809e-01 2.39582385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.738033874 meters Centerline goodness [0,1] 0.9909968657312943 Centerline is valid? [True, True] Translation: X:-7.55, Y:-0.23, Z:0.24 [[ 9.99414205e-01 -3.34004094e-02 7.46047817e-03 -7.54821416e+00] [ 3.33965431e-02 9.99441974e-01 6.42252381e-04 -2.25675474e-01] [-7.47776651e-03 -3.92721972e-04 9.99971964e-01 2.42705912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7680338739999995 meters Centerline goodness [0,1] 0.9927847809216184 Centerline is valid? [True, True] Translation: X:-7.58, Y:-0.23, Z:0.26 [[ 9.99405955e-01 -3.24590952e-02 1.15820273e-02 -7.57536717e+00] [ 3.24497572e-02 9.99472874e-01 9.93311568e-04 -2.31681584e-01] [-1.16081641e-02 -6.16887523e-04 9.99932433e-01 2.55199767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.798033874 meters Centerline goodness [0,1] 0.9910628322658964 Centerline is valid? [True, True] Translation: X:-7.61, Y:-0.22, Z:0.26 [[ 9.99463726e-01 -3.00306004e-02 1.30546274e-02 -7.60550468e+00] [ 3.00185557e-02 9.99548717e-01 1.11765363e-03 -2.21304170e-01] [-1.30822999e-02 -7.25173201e-04 9.99914160e-01 2.55091818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.828033874 meters Centerline goodness [0,1] 0.9914677184969898 Centerline is valid? [True, True] Translation: X:-7.63, Y:-0.21, Z:0.25 [[ 9.99550269e-01 -2.78439011e-02 1.11345165e-02 -7.63482560e+00] [ 2.78350192e-02 9.99612078e-01 9.51901145e-04 -2.14039197e-01] [-1.11567018e-02 -6.41543564e-04 9.99937556e-01 2.51046293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.858033874 meters Centerline goodness [0,1] 0.9914680050188206 Centerline is valid? [True, True] Translation: X:-7.66, Y:-0.22, Z:0.25 [[ 9.99614754e-01 -2.63550268e-02 8.70382500e-03 -7.66365724e+00] [ 2.63495364e-02 9.99652513e-01 7.44895437e-04 -2.17378956e-01] [-8.72043227e-03 -5.15266715e-04 9.99961844e-01 2.46055011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.888033874 meters Centerline goodness [0,1] 0.9928284028602998 Centerline is valid? [True, True] Translation: X:-7.69, Y:-0.22, Z:0.25 [[ 9.99570441e-01 -2.77764088e-02 9.34908671e-03 -7.69187498e+00] [ 2.77701364e-02 9.99614015e-01 8.00082435e-04 -2.23496119e-01] [-9.36770152e-03 -5.40113339e-04 9.99955976e-01 2.52941147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.918033874 meters Centerline goodness [0,1] 0.9924480805538074 Centerline is valid? [True, True] Translation: X:-7.72, Y:-0.22, Z:0.25 [[ 9.99513167e-01 -2.96042908e-02 9.84959696e-03 -7.72103876e+00] [ 2.95974228e-02 9.99561545e-01 8.42350998e-04 -2.24313787e-01] [-9.87021556e-03 -5.50418228e-04 9.99951137e-01 2.52235970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.948033874 meters Centerline goodness [0,1] 0.993802734334108 Centerline is valid? [True, True] Translation: X:-7.75, Y:-0.22, Z:0.25 [[ 9.99437717e-01 -3.25037600e-02 8.23139224e-03 -7.75112787e+00] [ 3.24990659e-02 9.99471518e-01 7.03426128e-04 -2.23432079e-01] [-8.24990609e-03 -4.35518045e-04 9.99965874e-01 2.52832191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.978033873999999 meters Centerline goodness [0,1] 0.9928827112683427 Centerline is valid? [True, True] Translation: X:-7.78, Y:-0.22, Z:0.25 [[ 9.99247438e-01 -3.80340466e-02 7.61367082e-03 -7.78193339e+00] [ 3.80301973e-02 9.99276379e-01 6.49762090e-04 -2.21920389e-01] [-7.63287449e-03 -3.59723700e-04 9.99970804e-01 2.46507671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.008033873999999 meters Centerline goodness [0,1] 0.9960095770151636 Centerline is valid? [True, True] Translation: X:-7.81, Y:-0.23, Z:0.26 [[ 9.99055236e-01 -4.23986177e-02 9.53901010e-03 -7.81068251e+00] [ 4.23927729e-02 9.99100691e-01 8.14185443e-04 -2.31490175e-01] [-9.56495192e-03 -4.09031141e-04 9.99954171e-01 2.56166810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.038033874 meters Centerline goodness [0,1] 0.997424461335511 Centerline is valid? [True, True] Translation: X:-7.84, Y:-0.23, Z:0.26 [[ 9.98876876e-01 -4.60515372e-02 1.11463723e-02 -7.84080470e+00] [ 4.60437836e-02 9.98938970e-01 9.51380244e-04 -2.29102776e-01] [-1.11783582e-02 -4.37090571e-04 9.99937425e-01 2.56164568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.068033874 meters Centerline goodness [0,1] 0.9966747532206792 Centerline is valid? [True, True] Translation: X:-7.87, Y:-0.23, Z:0.25 [[ 9.98867728e-01 -4.68745086e-02 8.12663346e-03 -7.86970163e+00] [ 4.68704061e-02 9.98900737e-01 6.94640294e-04 -2.29609611e-01] [-8.15026108e-03 -3.12955162e-04 9.99966737e-01 2.49943799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.098033874 meters Centerline goodness [0,1] 0.9964926282185912 Centerline is valid? [True, True] Translation: X:-7.90, Y:-0.23, Z:0.25 [[ 9.98886497e-01 -4.65978118e-02 7.37633321e-03 -7.89866440e+00] [ 4.65944007e-02 9.98913690e-01 6.33704483e-04 -2.27936269e-01] [-7.39784947e-03 -2.89303025e-04 9.99972594e-01 2.50041185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.128033874 meters Centerline goodness [0,1] 0.9955486823681846 Centerline is valid? [True, True] Translation: X:-7.93, Y:-0.23, Z:0.26 [[ 9.99018561e-01 -4.28033177e-02 1.13925498e-02 -7.92739403e+00] [ 4.27950044e-02 9.99083401e-01 9.72609096e-04 -2.25136579e-01] [-1.14237383e-02 -4.84110320e-04 9.99934630e-01 2.58624792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.158033874 meters Centerline goodness [0,1] 0.9964159208568255 Centerline is valid? [True, True] Translation: X:-7.95, Y:-0.23, Z:0.26 [[ 9.99108529e-01 -4.06420179e-02 1.14181138e-02 -7.95484841e+00] [ 4.06335848e-02 9.99173644e-01 9.69680272e-04 -2.27821232e-01] [-1.14480882e-02 -5.04856934e-04 9.99934341e-01 2.64400874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.188033874 meters Centerline goodness [0,1] 0.9955576141651051 Centerline is valid? [True, True] Translation: X:-7.99, Y:-0.21, Z:0.25 [[ 9.99381473e-01 -3.40392649e-02 8.83179386e-03 -7.98688298e+00] [ 3.40339775e-02 9.99420396e-01 7.48329521e-04 -2.12620771e-01] [-8.85214751e-03 -4.47285586e-04 9.99960719e-01 2.53449270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.218033874 meters Centerline goodness [0,1] 0.9957785525265678 Centerline is valid? [True, True] Translation: X:-8.02, Y:-0.21, Z:0.25 [[ 9.99551317e-01 -2.92626006e-02 6.39252031e-03 -8.01691449e+00] [ 2.92597316e-02 9.99571696e-01 5.41886778e-04 -2.08327390e-01] [-6.40563939e-03 -3.54600213e-04 9.99979421e-01 2.49187813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.248033873999999 meters Centerline goodness [0,1] 0.9939664383131167 Centerline is valid? [True, True] Translation: X:-8.05, Y:-0.20, Z:0.25 [[ 9.99658033e-01 -2.46309483e-02 8.78256870e-03 -8.04712932e+00] [ 2.46253587e-02 9.99696473e-01 7.44030376e-04 -2.03698468e-01] [-8.79822913e-03 -5.27502038e-04 9.99961156e-01 2.54794217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.278033874 meters Centerline goodness [0,1] 0.9936327219059667 Centerline is valid? [True, True] Translation: X:-8.07, Y:-0.20, Z:0.26 [[ 9.99695827e-01 -2.24704087e-02 1.01652948e-02 -8.07471568e+00] [ 2.24627983e-02 9.99747308e-01 8.62233374e-04 -2.04884145e-01] [-1.01821008e-02 -6.33630139e-04 9.99947960e-01 2.63695226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.308033874 meters Centerline goodness [0,1] 0.9940359940359941 Centerline is valid? [True, True] Translation: X:-8.11, Y:-0.19, Z:0.26 [[ 9.99775505e-01 -1.96399894e-02 7.95046082e-03 -8.10590836e+00] [ 1.96352593e-02 9.99806983e-01 6.72576860e-04 -1.94644157e-01] [-7.96213565e-03 -5.16316510e-04 9.99968168e-01 2.57059146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.338033874 meters Centerline goodness [0,1] 0.9954580818806905 Centerline is valid? [True, True] Translation: X:-8.13, Y:-0.21, Z:0.26 [[ 9.99779629e-01 -1.87907427e-02 9.35951386e-03 -8.13306202e+00] [ 1.87841358e-02 9.99823248e-01 7.93314583e-04 -2.05149086e-01] [-9.37276652e-03 -6.17329380e-04 9.99955884e-01 2.58862320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.368033874 meters Centerline goodness [0,1] 0.9953831948291783 Centerline is valid? [True, True] Translation: X:-8.16, Y:-0.21, Z:0.28 [[ 9.99723594e-01 -2.06050489e-02 1.13210850e-02 -8.16182074e+00] [ 2.05955370e-02 9.99787432e-01 9.56142739e-04 -2.07549605e-01] [-1.13383798e-02 -7.22714631e-04 9.99935457e-01 2.75354280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.398033874 meters Centerline goodness [0,1] 0.9947010955274723 Centerline is valid? [True, True] Translation: X:-8.19, Y:-0.20, Z:0.26 [[ 9.99756089e-01 -1.95378802e-02 1.02972858e-02 -8.19315239e+00] [ 1.95299504e-02 9.99808894e-01 8.70092386e-04 -2.01613235e-01] [-1.03123176e-02 -6.68774681e-04 9.99946603e-01 2.63805444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.428033874 meters Centerline goodness [0,1] 0.9945555065060646 Centerline is valid? [True, True] Translation: X:-8.22, Y:-0.19, Z:0.26 [[ 9.99780998e-01 -1.99515522e-02 6.31597582e-03 -8.22418586e+00] [ 1.99485748e-02 9.99800865e-01 5.34072929e-04 -1.94239284e-01] [-6.32537367e-03 -4.07961250e-04 9.99979911e-01 2.55318818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.458033874 meters Centerline goodness [0,1] 0.9953134522833785 Centerline is valid? [True, True] Translation: X:-8.25, Y:-0.20, Z:0.26 [[ 9.99699957e-01 -2.34425319e-02 7.10231903e-03 -8.25399559e+00] [ 2.34388570e-02 9.99725092e-01 6.00231716e-04 -1.97916859e-01] [-7.11443749e-03 -4.33581381e-04 9.99974598e-01 2.58404132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.488033874 meters Centerline goodness [0,1] 0.9946345158439591 Centerline is valid? [True, True] Translation: X:-8.28, Y:-0.20, Z:0.26 [[ 9.99668268e-01 -2.48140875e-02 6.90034455e-03 -8.28389076e+00] [ 2.48106480e-02 9.99691998e-01 5.83628627e-04 -1.97985406e-01] [-6.91270144e-03 -4.12233000e-04 9.99976022e-01 2.60316857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.518033874 meters Centerline goodness [0,1] 0.9957018246175888 Centerline is valid? [True, True] Translation: X:-8.31, Y:-0.21, Z:0.25 [[ 9.99636097e-01 -2.65541810e-02 4.74863462e-03 -8.31131163e+00] [ 2.65525649e-02 9.99647337e-01 4.03050781e-04 -2.07727128e-01] [-4.75766264e-03 -2.76815681e-04 9.99988644e-01 2.54936215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.548033874 meters Centerline goodness [0,1] 0.996119071094422 Centerline is valid? [True, True] Translation: X:-8.34, Y:-0.21, Z:0.26 [[ 9.99550504e-01 -2.93752483e-02 5.99039182e-03 -8.34178888e+00] [ 2.93727436e-02 9.99568400e-01 5.05690240e-04 -2.05948799e-01] [-6.00266114e-03 -3.29508691e-04 9.99981930e-01 2.60915773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.578033873999999 meters Centerline goodness [0,1] 0.9957211175434181 Centerline is valid? [True, True] Translation: X:-8.37, Y:-0.20, Z:0.26 [[ 9.99541297e-01 -2.91707619e-02 8.14022249e-03 -8.37092942e+00] [ 2.91661240e-02 9.99574341e-01 6.87906235e-04 -2.01803668e-01] [-8.15682429e-03 -4.50171951e-04 9.99966631e-01 2.63781669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.608033874 meters Centerline goodness [0,1] 0.9957211175434181 Centerline is valid? [True, True] Translation: X:-8.40, Y:-0.20, Z:0.26 [[ 9.99544235e-01 -2.90699160e-02 8.14020754e-03 -8.39826276e+00] [ 2.90652733e-02 9.99577279e-01 6.88084993e-04 -2.04229555e-01] [-8.15676907e-03 -4.51174031e-04 9.99966631e-01 2.64588310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.638033874 meters Centerline goodness [0,1] 0.9952116935483871 Centerline is valid? [True, True] Translation: X:-8.43, Y:-0.20, Z:0.26 [[ 9.99601780e-01 -2.71069790e-02 7.84173704e-03 -8.42841833e+00] [ 2.71026272e-02 9.99632438e-01 6.60716563e-04 -2.02432486e-01] [-7.85676474e-03 -4.47921777e-04 9.99969035e-01 2.63624145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.668033874 meters Centerline goodness [0,1] 0.9944287936761552 Centerline is valid? [True, True] Translation: X:-8.46, Y:-0.21, Z:0.26 [[ 9.99702231e-01 -2.34801345e-02 6.64328766e-03 -8.45910747e+00] [ 2.34769364e-02 9.99724222e-01 5.58991579e-04 -2.06756848e-01] [-6.65458079e-03 -4.02861086e-04 9.99977777e-01 2.61125405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.698033874 meters Centerline goodness [0,1] 0.9945859738951609 Centerline is valid? [True, True] Translation: X:-8.49, Y:-0.21, Z:0.27 [[ 9.99729071e-01 -2.21384436e-02 7.18842060e-03 -8.48733415e+00] [ 2.21346547e-02 9.99754815e-01 6.06227503e-04 -2.12325331e-01] [-7.20007903e-03 -4.46950051e-04 9.99973979e-01 2.65092325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.728033874 meters Centerline goodness [0,1] 0.9953972969580317 Centerline is valid? [True, True] Translation: X:-8.52, Y:-0.21, Z:0.27 [[ 9.99754360e-01 -2.07809965e-02 7.70520977e-03 -8.51569831e+00] [ 2.07766043e-02 9.99783932e-01 6.49647104e-04 -2.05598634e-01] [-7.71704523e-03 -4.89399430e-04 9.99970103e-01 2.70473322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.758033874 meters Centerline goodness [0,1] 0.9940205490988715 Centerline is valid? [True, True] Translation: X:-8.55, Y:-0.20, Z:0.26 [[ 9.99804197e-01 -1.82889759e-02 7.55513367e-03 -8.54698848e+00] [ 1.82846991e-02 9.99832619e-01 6.34765008e-04 -1.99873924e-01] [-7.56547829e-03 -4.96497374e-04 9.99971258e-01 2.59571425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.788033874 meters Centerline goodness [0,1] 0.9928196921521972 Centerline is valid? [True, True] Translation: X:-8.58, Y:-0.20, Z:0.26 [[ 9.99821329e-01 -1.70689270e-02 8.12171935e-03 -8.57593193e+00] [ 1.70639375e-02 9.99854167e-01 6.83248275e-04 -1.96871194e-01] [-8.13219725e-03 -5.44537687e-04 9.99966785e-01 2.56977488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.818033874 meters Centerline goodness [0,1] 0.9905356126557198 Centerline is valid? [True, True] Translation: X:-8.61, Y:-0.19, Z:0.25 [[ 9.99877574e-01 -1.42102860e-02 6.55016254e-03 -8.60666890e+00] [ 1.42069886e-02 9.99898925e-01 5.49665631e-04 -1.92134544e-01] [-6.55731138e-03 -4.56540253e-04 9.99978396e-01 2.52577467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.848033874 meters Centerline goodness [0,1] 0.9929122762740026 Centerline is valid? [True, True] Translation: X:-8.63, Y:-0.20, Z:0.26 [[ 9.99847075e-01 -1.57529174e-02 7.59416780e-03 -8.63358947e+00] [ 1.57485209e-02 9.99875781e-01 6.38396773e-04 -2.03253993e-01] [-7.60328106e-03 -5.18702237e-04 9.99970960e-01 2.57116386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.878033874 meters Centerline goodness [0,1] 0.9936352560601605 Centerline is valid? [True, True] Translation: X:-8.66, Y:-0.21, Z:0.26 [[ 9.99787677e-01 -1.86664051e-02 8.72730324e-03 -8.66381292e+00] [ 1.86607285e-02 9.99825606e-01 7.31416987e-04 -2.06971361e-01] [-8.73943417e-03 -5.68403854e-04 9.99961649e-01 2.60430837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.908033874 meters Centerline goodness [0,1] 0.9941118538231042 Centerline is valid? [True, True] Translation: X:-8.69, Y:-0.21, Z:0.26 [[ 9.99747809e-01 -2.09901688e-02 7.98312091e-03 -8.69282384e+00] [ 2.09854832e-02 9.99779556e-01 6.70258962e-04 -2.09609471e-01] [-7.99542993e-03 -5.02560279e-04 9.99967910e-01 2.59647599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.938033874 meters Centerline goodness [0,1] 0.9936266751081566 Centerline is valid? [True, True] Translation: X:-8.72, Y:-0.22, Z:0.26 [[ 9.99700075e-01 -2.35997248e-02 6.54310899e-03 -8.72119204e+00] [ 2.35966343e-02 9.99721410e-01 5.49129260e-04 -2.16919007e-01] [-6.55424544e-03 -3.94569213e-04 9.99978443e-01 2.60615103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.968033874 meters Centerline goodness [0,1] 0.9939681535379099 Centerline is valid? [True, True] Translation: X:-8.75, Y:-0.22, Z:0.26 [[ 9.99655493e-01 -2.53466667e-02 6.81477047e-03 -8.75008942e+00] [ 2.53433541e-02 9.99678642e-01 5.72013763e-04 -2.20009917e-01] [-6.82707913e-03 -3.99107559e-04 9.99976616e-01 2.58687600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.998033873999999 meters Centerline goodness [0,1] 0.9944817206998181 Centerline is valid? [True, True] Translation: X:-8.78, Y:-0.22, Z:0.26 [[ 9.99663129e-01 -2.53406152e-02 5.61089970e-03 -8.77895062e+00] [ 2.53383706e-02 9.99678821e-01 4.70786202e-04 -2.18723837e-01] [-5.62102761e-03 -3.28456552e-04 9.99984148e-01 2.57255441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.028033874 meters Centerline goodness [0,1] 0.9936718237423015 Centerline is valid? [True, True] Translation: X:-8.81, Y:-0.22, Z:0.25 [[ 9.99685585e-01 -2.48477328e-02 3.36464770e-03 -8.80780085e+00] [ 2.48469212e-02 9.99691228e-01 2.82829891e-04 -2.24828022e-01] [-3.37063647e-03 -1.99139829e-04 9.99994300e-01 2.48032176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.058033874 meters Centerline goodness [0,1] 0.9930814039072193 Centerline is valid? [True, True] Translation: X:-8.84, Y:-0.23, Z:0.25 [[ 9.99704942e-01 -2.40271533e-02 3.56719019e-03 -8.83521588e+00] [ 2.40262369e-02 9.99711283e-01 2.99536022e-04 -2.33774855e-01] [-3.57335728e-03 -2.13741485e-04 9.99993593e-01 2.52953736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.088033874 meters Centerline goodness [0,1] 0.9955060898782024 Centerline is valid? [True, True] Translation: X:-8.86, Y:-0.24, Z:0.26 [[ 9.99685851e-01 -2.31364592e-02 9.63866522e-03 -8.86292424e+00] [ 2.31297643e-02 9.99732147e-01 8.05502250e-04 -2.40119548e-01] [-9.65471994e-03 -5.82309148e-04 9.99953223e-01 2.63825393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.118033874 meters Centerline goodness [0,1] 0.994770225993447 Centerline is valid? [True, True] Translation: X:-8.89, Y:-0.24, Z:0.27 [[ 9.99702452e-01 -2.22407567e-02 1.00178308e-02 -8.89245767e+00] [ 2.22334906e-02 9.99752456e-01 8.36120833e-04 -2.38360866e-01] [-1.00339469e-02 -6.13140699e-04 9.99949471e-01 2.66586997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.148033874 meters Centerline goodness [0,1] 0.9958713373917806 Centerline is valid? [True, True] Translation: X:-8.92, Y:-0.24, Z:0.26 [[ 9.99781033e-01 -1.99376546e-02 6.35422576e-03 -8.92196911e+00] [ 1.99346873e-02 9.99801144e-01 5.29980549e-04 -2.40548851e-01] [-6.36352875e-03 -4.03194997e-04 9.99979671e-01 2.60240893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.178033874 meters Centerline goodness [0,1] 0.9932656400788822 Centerline is valid? [True, True] Translation: X:-8.95, Y:-0.25, Z:0.26 [[ 9.99817398e-01 -1.83270372e-02 5.41205435e-03 -8.95104926e+00] [ 1.83248601e-02 9.99831984e-01 4.51586283e-04 -2.46837623e-01] [-5.41942128e-03 -3.52328684e-04 9.99985253e-01 2.55932514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.208033874 meters Centerline goodness [0,1] 0.993426717348846 Centerline is valid? [True, True] Translation: X:-8.98, Y:-0.25, Z:0.25 [[ 9.99864318e-01 -1.58637982e-02 4.43675135e-03 -8.98015250e+00] [ 1.58623109e-02 9.99874117e-01 3.70215887e-04 -2.53097298e-01] [-4.44206587e-03 -2.99788527e-04 9.99990089e-01 2.52116101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.238033874 meters Centerline goodness [0,1] 0.9918719783815737 Centerline is valid? [True, True] Translation: X:-9.01, Y:-0.25, Z:0.25 [[ 9.99900155e-01 -1.39356933e-02 2.34020684e-03 -9.01032335e+00] [ 1.39352744e-02 9.99902880e-01 1.95211244e-04 -2.54257268e-01] [-2.34269996e-03 -1.62580329e-04 9.99997243e-01 2.51970525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.268033874 meters Centerline goodness [0,1] 0.991526314682815 Centerline is valid? [True, True] Translation: X:-9.04, Y:-0.27, Z:0.25 [[ 9.99959965e-01 -8.39602795e-03 3.09427002e-03 -9.03843899e+00] [ 8.39526872e-03 9.99964726e-01 2.58273892e-04 -2.69107053e-01] [-3.09632934e-03 -2.32286324e-04 9.99995179e-01 2.54754035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.298033874 meters Centerline goodness [0,1] 0.9906415985161453 Centerline is valid? [True, True] Translation: X:-9.07, Y:-0.27, Z:0.26 [[ 9.99973040e-01 -6.44737802e-03 3.51443210e-03 -9.06803461e+00] [ 6.44638714e-03 9.99979179e-01 2.93199192e-04 -2.70290918e-01] [-3.51624929e-03 -2.70535897e-04 9.99993781e-01 2.56163348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.328033873999999 meters Centerline goodness [0,1] 0.9893103375571908 Centerline is valid? [True, True] Translation: X:-9.10, Y:-0.28, Z:0.26 [[ 9.99989806e-01 -8.39422809e-04 4.43658383e-03 -9.09737937e+00] [ 8.37796403e-04 9.99999581e-01 3.68435399e-04 -2.76225153e-01] [-4.43689125e-03 -3.64714689e-04 9.99990090e-01 2.61016350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.358033874 meters Centerline goodness [0,1] 0.9903507847887918 Centerline is valid? [True, True] Translation: X:-9.13, Y:-0.29, Z:0.26 [[ 9.99988013e-01 5.06187043e-04 4.86998587e-03 -9.12803232e+00] [-5.08161321e-04 9.99999789e-01 4.04168202e-04 -2.86692700e-01] [-4.86978026e-03 -4.06638096e-04 9.99988060e-01 2.60574895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.388033874 meters Centerline goodness [0,1] 0.9911038030188043 Centerline is valid? [True, True] Translation: X:-9.16, Y:-0.30, Z:0.26 [[ 9.99989017e-01 -3.84753687e-04 4.67094644e-03 -9.15855518e+00] [ 3.82948543e-04 9.99999852e-01 3.87350564e-04 -3.03182705e-01] [-4.67109478e-03 -3.85557578e-04 9.99989016e-01 2.61396691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.418033873999999 meters Centerline goodness [0,1] 0.9889115660571886 Centerline is valid? [True, True] Translation: X:-9.19, Y:-0.31, Z:0.26 [[ 9.99990588e-01 -2.03319882e-03 3.83271387e-03 -9.19015192e+00] [ 2.03200158e-03 9.99997885e-01 3.16241539e-04 -3.08461653e-01] [-3.83334875e-03 -3.08450482e-04 9.99992605e-01 2.60268262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.448033874 meters Centerline goodness [0,1] 0.9850602207394351 Centerline is valid? [True, True] Translation: X:-9.22, Y:-0.32, Z:0.26 [[ 9.99995220e-01 -9.58342292e-04 2.93951989e-03 -9.22056949e+00] [ 9.57628654e-04 9.99999512e-01 2.44171283e-04 -3.21506254e-01] [-2.93975246e-03 -2.41355148e-04 9.99995650e-01 2.61923110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.478033874 meters Centerline goodness [0,1] 0.9902449235922127 Centerline is valid? [True, True] Translation: X:-9.25, Y:-0.35, Z:0.27 [[ 9.99981704e-01 -2.48469625e-03 5.51520179e-03 -9.24800441e+00] [ 2.48219942e-03 9.99996814e-01 4.59516933e-04 -3.49609795e-01] [-5.51632598e-03 -4.45818695e-04 9.99984686e-01 2.70872341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.508033874 meters Centerline goodness [0,1] 0.9869909146226317 Centerline is valid? [True, True] Translation: X:-9.28, Y:-0.37, Z:0.27 [[ 9.99991086e-01 -2.89890832e-03 3.06981322e-03 -9.27918347e+00] [ 2.89815498e-03 9.99995769e-01 2.49822754e-04 -3.67766475e-01] [-3.07052444e-03 -2.40923733e-04 9.99995257e-01 2.69560663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.538033874 meters Centerline goodness [0,1] 0.985132609563008 Centerline is valid? [True, True] Translation: X:-9.31, Y:-0.38, Z:0.27 [[ 9.99994369e-01 -2.74963924e-03 1.92413837e-03 -9.31069115e+00] [ 2.74934719e-03 9.99996209e-01 1.54412583e-04 -3.78098849e-01] [-1.92455565e-03 -1.49121589e-04 9.99998137e-01 2.65763658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.568033874 meters Centerline goodness [0,1] 0.989710166188151 Centerline is valid? [True, True] Translation: X:-9.34, Y:-0.40, Z:0.28 [[ 9.99961321e-01 -4.83958897e-03 7.34406533e-03 -9.33809782e+00] [ 4.83519538e-03 9.99988121e-01 6.15887189e-04 -4.01946714e-01] [-7.34695873e-03 -5.80353377e-04 9.99972842e-01 2.77673299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.598033874 meters Centerline goodness [0,1] 0.9888408776272182 Centerline is valid? [True, True] Translation: X:-9.37, Y:-0.42, Z:0.28 [[ 9.99941626e-01 -5.43798744e-03 9.33665678e-03 -9.36918737e+00] [ 5.43095375e-03 9.99984949e-01 7.78530664e-04 -4.15345995e-01] [-9.34074989e-03 -7.27778267e-04 9.99956109e-01 2.81935834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.628033874 meters Centerline goodness [0,1] 0.9840516700806823 Centerline is valid? [True, True] Translation: X:-9.40, Y:-0.43, Z:0.27 [[ 9.99995557e-01 -2.77900941e-03 1.07836379e-03 -9.39995123e+00] [ 2.77891359e-03 9.99996135e-01 9.03385154e-05 -4.25610309e-01] [-1.07861068e-03 -8.73414342e-05 9.99999414e-01 2.71155659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.658033874 meters Centerline goodness [0,1] 0.9836949705255237 Centerline is valid? [True, True] Translation: X:-9.43, Y:-0.44, Z:0.27 [[ 9.99998443e-01 1.43010879e-04 1.75875428e-03 -9.42815153e+00] [-1.43271629e-04 9.99999979e-01 1.48133192e-04 -4.44888034e-01] [-1.75873306e-03 -1.48384941e-04 9.99998442e-01 2.73487634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.688033874 meters Centerline goodness [0,1] 0.9788515871696859 Centerline is valid? [True, True] Translation: X:-9.46, Y:-0.45, Z:0.28 [[ 9.99962301e-01 4.19918774e-03 7.60020873e-03 -9.45829423e+00] [-4.20416562e-03 9.99990958e-01 6.39109145e-04 -4.53932224e-01] [-7.59745627e-03 -6.71037587e-04 9.99970914e-01 2.79249798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.718033874 meters Centerline goodness [0,1] 0.9844919115495548 Centerline is valid? [True, True] Translation: X:-9.49, Y:-0.48, Z:0.28 [[ 9.99962428e-01 6.16383937e-03 6.09501076e-03 -9.48583423e+00] [-6.16707940e-03 9.99980852e-01 5.12936171e-04 -4.83922709e-01] [-6.09173239e-03 -5.50505314e-04 9.99981294e-01 2.81814721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.748033873999999 meters Centerline goodness [0,1] 0.9826410674697788 Centerline is valid? [True, True] Translation: X:-9.52, Y:-0.50, Z:0.29 [[ 9.99985361e-01 5.11041826e-03 1.77820857e-03 -9.51688467e+00] [-5.11068028e-03 9.99986930e-01 1.42836040e-04 -4.96470890e-01] [-1.77745537e-03 -1.51921804e-04 9.99998409e-01 2.87731060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.778033874 meters Centerline goodness [0,1] 0.9698825293676581 Centerline is valid? [True, True] Translation: X:-9.55, Y:-0.51, Z:0.27 [[ 9.99968873e-01 7.76295475e-03 -1.41059096e-03 -9.54743260e+00] [-7.76313057e-03 9.99969859e-01 -1.19208535e-04 -5.08678160e-01] [ 1.40962303e-03 1.30155426e-04 9.99998998e-01 2.71761561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.808033874 meters Centerline goodness [0,1] 0.969285058047273 Centerline is valid? [True, True] Translation: X:-9.58, Y:-0.53, Z:0.27 [[ 9.99946307e-01 1.03140260e-02 1.00183306e-03 -9.57686818e+00] [-1.03141154e-02 9.99946805e-01 8.40361696e-05 -5.28159195e-01] [-1.00091302e-03 -9.43646792e-05 9.99999495e-01 2.70918766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.838033874 meters Centerline goodness [0,1] 0.9693385895751204 Centerline is valid? [True, True] Translation: X:-9.61, Y:-0.54, Z:0.29 [[ 9.99892605e-01 1.34206460e-02 5.88764782e-03 -9.60591610e+00] [-1.34238012e-02 9.99909773e-01 4.96702706e-04 -5.43765981e-01] [-5.88045052e-03 -5.75683977e-04 9.99982544e-01 2.85551342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.868033874 meters Centerline goodness [0,1] 0.9728028676823042 Centerline is valid? [True, True] Translation: X:-9.63, Y:-0.56, Z:0.29 [[ 9.99834207e-01 1.67036028e-02 7.24902696e-03 -9.63337974e+00] [-1.67084782e-02 9.99860216e-01 6.12515497e-04 -5.63488582e-01] [-7.23778245e-03 -7.33534155e-04 9.99973538e-01 2.88670779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.898033874 meters Centerline goodness [0,1] 0.9612513034410844 Centerline is valid? [True, True] Translation: X:-9.66, Y:-0.59, Z:0.28 [[ 9.99852127e-01 1.62537510e-02 5.61606570e-03 -9.66383170e+00] [-1.62566370e-02 9.99867742e-01 4.68605550e-04 -5.92606918e-01] [-5.60770634e-03 -5.59834597e-04 9.99984120e-01 2.80607266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.928033874 meters Centerline goodness [0,1] 0.968566839788916 Centerline is valid? [True, True] Translation: X:-9.69, Y:-0.62, Z:0.29 [[ 9.99887212e-01 1.40583858e-02 5.28440871e-03 -9.69096444e+00] [-1.40609453e-02 9.99901040e-01 4.47516139e-04 -6.21120668e-01] [-5.27759441e-03 -5.21769446e-04 9.99985937e-01 2.89265752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.958033874 meters Centerline goodness [0,1] 0.958817031741731 Centerline is valid? [True, True] Translation: X:-9.72, Y:-0.64, Z:0.29 [[ 9.99902741e-01 1.32230465e-02 4.43395081e-03 -9.72140286e+00] [-1.32248325e-02 9.99912478e-01 3.73725250e-04 -6.42723934e-01] [-4.42862096e-03 -4.32327159e-04 9.99990100e-01 2.86120264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.988033874 meters Centerline goodness [0,1] 0.9592150667276431 Centerline is valid? [True, True] Translation: X:-9.75, Y:-0.66, Z:0.29 [[ 9.99930653e-01 1.11633140e-02 3.75099264e-03 -9.75048301e+00] [-1.11645824e-02 9.99937624e-01 3.17379696e-04 -6.61611308e-01] [-3.74721566e-03 -3.59235953e-04 9.99992915e-01 2.86586776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.018033874 meters Centerline goodness [0,1] 0.9615384615384616 Centerline is valid? [True, True] Translation: X:-9.78, Y:-0.69, Z:0.29 [[ 9.99929206e-01 1.03485328e-02 5.87292539e-03 -9.77852186e+00] [-1.03516304e-02 9.99946297e-01 4.97293995e-04 -6.88713770e-01] [-5.86746373e-03 -5.58053143e-04 9.99982631e-01 2.87061018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.048033874 meters Centerline goodness [0,1] 0.9648246435633261 Centerline is valid? [True, True] Translation: X:-9.81, Y:-0.71, Z:0.30 [[ 9.99924442e-01 1.03272069e-02 6.66781279e-03 -9.80873528e+00] [-1.03311930e-02 9.99946473e-01 5.63646958e-04 -7.09420083e-01] [-6.66163499e-03 -6.32490831e-04 9.99977611e-01 2.97142151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.078033873999999 meters Centerline goodness [0,1] 0.9667792202344749 Centerline is valid? [True, True] Translation: X:-9.84, Y:-0.73, Z:0.30 [[ 9.99937046e-01 9.45939892e-03 6.03519367e-03 -9.83808409e+00] [-9.46262917e-03 9.99955100e-01 5.06904524e-04 -7.32494820e-01] [-6.03012768e-03 -5.63981412e-04 9.99981660e-01 2.97074850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.108033874 meters Centerline goodness [0,1] 0.9636764583506698 Centerline is valid? [True, True] Translation: X:-9.87, Y:-0.75, Z:0.30 [[ 9.99920877e-01 1.02243492e-02 7.32822713e-03 -9.86897305e+00] [-1.02291752e-02 9.99947488e-01 6.21368771e-04 -7.52652854e-01] [-7.32148921e-03 -6.96281325e-04 9.99972955e-01 3.04891230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.138033874 meters Centerline goodness [0,1] 0.9648935948040014 Centerline is valid? [True, True] Translation: X:-9.90, Y:-0.77, Z:0.30 [[ 9.99915561e-01 1.02641179e-02 7.96986700e-03 -9.90078292e+00] [-1.02698315e-02 9.99947035e-01 6.76304794e-04 -7.74382528e-01] [-7.96250321e-03 -7.58096878e-04 9.99968011e-01 3.01818472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.168033873999999 meters Centerline goodness [0,1] 0.9581242321387669 Centerline is valid? [True, True] Translation: X:-9.93, Y:-0.78, Z:0.31 [[ 9.99933336e-01 9.74968130e-03 6.18597939e-03 -9.93252878e+00] [-9.75309429e-03 9.99952301e-01 5.21803012e-04 -7.80202890e-01] [-6.18059691e-03 -5.82100667e-04 9.99980731e-01 3.09470826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.198033874 meters Centerline goodness [0,1] 0.9469995438145399 Centerline is valid? [True, False] Translation: X:-9.98, Y:-0.79, Z:0.31 [[ 9.99935861e-01 1.06046363e-02 3.97681143e-03 -9.97565843e+00] [-1.06075441e-02 9.99943486e-01 7.10816696e-04 -7.93090785e-01] [-3.96904873e-03 -7.52955307e-04 9.99991840e-01 3.13471309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.228033874 meters Centerline goodness [0,1] 0.9382329133890953 Centerline is valid? [False, False] Translation: X:-10.02, Y:-0.81, Z:0.32 [[ 9.99922047e-01 1.20061002e-02 3.42834269e-03 -1.00163743e+01] [-1.20126685e-02 9.99926037e-01 1.90176528e-03 -8.06080066e-01] [-3.40525633e-03 -1.94280057e-03 9.99992315e-01 3.16648078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.258033874 meters Centerline goodness [0,1] 0.9506417614525723 Centerline is valid? [False, True] Translation: X:-10.05, Y:-0.82, Z:0.32 [[ 9.99897785e-01 1.41384793e-02 2.12669805e-03 -1.00538952e+01] [-1.41439782e-02 9.99896606e-01 2.59326791e-03 -8.19454361e-01] [-2.08981330e-03 -2.62308281e-03 9.99994376e-01 3.19079058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.288033874 meters Centerline goodness [0,1] 0.9288157376505463 Centerline is valid? [True, False] Translation: X:-10.09, Y:-0.83, Z:0.32 [[ 9.99841871e-01 1.77829144e-02 7.26261933e-06 -1.00878002e+01] [-1.77827039e-02 9.99827879e-01 5.29028207e-03 -8.28299418e-01] [ 8.68152638e-05 -5.28957467e-03 9.99986006e-01 3.18771330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.318033874 meters Centerline goodness [0,1] 0.9447276965017792 Centerline is valid? [False, False] Translation: X:-10.13, Y:-0.85, Z:0.32 [[ 9.99827441e-01 1.85720369e-02 4.10613383e-04 -1.01273219e+01] [-1.85737539e-02 9.99816575e-01 4.67242104e-03 -8.45283683e-01] [-3.23761691e-04 -4.67924140e-03 9.99989000e-01 3.21006188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.348033874 meters Centerline goodness [0,1] 0.9481355721650552 Centerline is valid? [False, False] Translation: X:-10.15, Y:-0.86, Z:0.32 [[ 9.99901050e-01 1.35962934e-02 3.60971267e-03 -1.01527974e+01] [-1.36243493e-02 9.99876252e-01 7.86497972e-03 -8.55080529e-01] [-3.50233141e-03 -7.91338147e-03 9.99962555e-01 3.23723737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.378033874 meters Centerline goodness [0,1] 0.9299031651972829 Centerline is valid? [False, False] Translation: X:-10.18, Y:-0.87, Z:0.33 [[ 9.99958889e-01 8.33184449e-03 3.57777099e-03 -1.01766253e+01] [-8.37167694e-03 9.99901485e-01 1.12665380e-02 -8.66045130e-01] [-3.48354748e-03 -1.12960268e-02 9.99930130e-01 3.26448691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.408033874 meters Centerline goodness [0,1] 0.9643307363243713 Centerline is valid? [False, True] Translation: X:-10.20, Y:-0.89, Z:0.33 [[ 9.99965364e-01 7.93399095e-03 2.51435991e-03 -1.02015492e+01] [-7.94844472e-03 9.99951639e-01 5.79160046e-03 -8.85411842e-01] [-2.46828780e-03 -5.81138511e-03 9.99980067e-01 3.30638169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.438033874 meters Centerline goodness [0,1] 0.9387069341021759 Centerline is valid? [True, False] Translation: X:-10.22, Y:-0.89, Z:0.33 [[ 9.99994652e-01 2.04576891e-03 2.55149431e-03 -1.02247760e+01] [-2.06578940e-03 9.99966907e-01 7.86878140e-03 -8.90905899e-01] [-2.53531217e-03 -7.87401017e-03 9.99965785e-01 3.31498998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.468033874 meters Centerline goodness [0,1] 0.9422909678220897 Centerline is valid? [False, False] Translation: X:-10.27, Y:-0.91, Z:0.33 [[ 9.99999524e-01 -3.32195511e-04 -9.17930374e-04 -1.02667006e+01] [ 3.40493736e-04 9.99958946e-01 9.05482626e-03 -9.09306929e-01] [ 9.14884717e-04 -9.05513449e-03 9.99958583e-01 3.32636897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.498033873999999 meters Centerline goodness [0,1] 0.9622147943612847 Centerline is valid? [False, True] Translation: X:-10.27, Y:-0.92, Z:0.34 [[ 9.99996187e-01 -2.24097382e-03 -1.61369740e-03 -1.02708891e+01] [ 2.25398813e-03 9.99964583e-01 8.10876065e-03 -9.16822752e-01] [ 1.59546873e-03 -8.11236699e-03 9.99965821e-01 3.35612974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.528033874 meters Centerline goodness [0,1] 0.9622147943612847 Centerline is valid? [True, True] Translation: X:-10.30, Y:-0.93, Z:0.34 [[ 9.99997583e-01 -2.03655561e-03 -8.28952670e-04 -1.02987927e+01] [ 2.03649110e-03 9.99997923e-01 -7.86617285e-05 -9.32069688e-01] [ 8.29111147e-04 7.69733837e-05 9.99999653e-01 3.38738629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.558033874 meters Centerline goodness [0,1] 0.9635224837172525 Centerline is valid? [True, True] Translation: X:-10.33, Y:-0.95, Z:0.34 [[ 9.99986879e-01 -4.60826281e-03 -2.23756523e-03 -1.03270814e+01] [ 4.60779582e-03 9.99989361e-01 -2.13811459e-04 -9.51411821e-01] [ 2.23852672e-03 2.03498410e-04 9.99997474e-01 3.41944235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.588033873999999 meters Centerline goodness [0,1] 0.9462387867989808 Centerline is valid? [True, False] Translation: X:-10.34, Y:-0.96, Z:0.35 [[ 9.99989008e-01 -4.12546779e-03 -2.22820023e-03 -1.03420391e+01] [ 4.12678264e-03 9.99991313e-01 5.85822202e-04 -9.57696211e-01] [ 2.22576408e-03 -5.95011061e-04 9.99997346e-01 3.49032777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.618033874 meters Centerline goodness [0,1] 0.9555795416805049 Centerline is valid? [False, True] Translation: X:-10.35, Y:-0.96, Z:0.35 [[ 9.99987760e-01 -3.65697570e-03 -3.33270507e-03 -1.03476120e+01] [ 3.66094581e-03 9.99992595e-01 1.18593732e-03 -9.62023181e-01] [ 3.32834345e-03 -1.19812366e-03 9.99993743e-01 3.52091492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.648033874 meters Centerline goodness [0,1] 0.9614675478030288 Centerline is valid? [True, True] Translation: X:-10.37, Y:-0.98, Z:0.35 [[ 9.99979127e-01 -3.37764967e-03 -5.50793679e-03 -1.03741182e+01] [ 3.37473663e-03 9.99994161e-01 -5.38087643e-04 -9.77779660e-01] [ 5.50972210e-03 5.19488575e-04 9.99984686e-01 3.47382312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.678033874 meters Centerline goodness [0,1] 0.942457199569928 Centerline is valid? [True, False] Translation: X:-10.38, Y:-0.99, Z:0.35 [[ 9.99976805e-01 -2.54042109e-03 -6.31946996e-03 -1.03752050e+01] [ 2.55374099e-03 9.99994533e-01 2.10057976e-03 -9.90317982e-01] [ 6.31409905e-03 -2.11666933e-03 9.99977826e-01 3.48535075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.708033874 meters Centerline goodness [0,1] 0.9334158671206025 Centerline is valid? [False, False] Translation: X:-10.38, Y:-1.00, Z:0.35 [[ 9.99983183e-01 -1.67521375e-03 -5.55227269e-03 -1.03774953e+01] [ 1.69635878e-03 9.99991319e-01 3.80583733e-03 -9.96615496e-01] [ 5.54584890e-03 -3.81519197e-03 9.99977344e-01 3.49893265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.738033874 meters Centerline goodness [0,1] 0.9517767024568545 Centerline is valid? [False, True] Translation: X:-10.38, Y:-1.00, Z:0.35 [[ 9.99985279e-01 -2.75322743e-03 -4.67567539e-03 -1.03824345e+01] [ 2.76903265e-03 9.99990463e-01 3.37720388e-03 -1.00288117e+00] [ 4.66633259e-03 -3.39010126e-03 9.99983366e-01 3.52835179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.768033874 meters Centerline goodness [0,1] 0.9644468358097761 Centerline is valid? [True, True] Translation: X:-10.41, Y:-1.03, Z:0.35 [[ 9.99988448e-01 -4.32426822e-03 -2.09876687e-03 -1.04090693e+01] [ 4.32384489e-03 9.99990631e-01 -2.06200746e-04 -1.03113085e+00] [ 2.09963888e-03 1.97123622e-04 9.99997776e-01 3.54420567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.798033874 meters Centerline goodness [0,1] 0.9701164670286401 Centerline is valid? [True, True] Translation: X:-10.44, Y:-1.04, Z:0.36 [[ 9.99974891e-01 -7.08306612e-03 2.16338183e-04 -1.04380518e+01] [ 7.08306168e-03 9.99974915e-01 2.12856513e-05 -1.04386001e+00] [-2.16483523e-04 -1.97527801e-05 9.99999976e-01 3.58841066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.828033873999999 meters Centerline goodness [0,1] 0.9535497710490491 Centerline is valid? [True, True] Translation: X:-10.47, Y:-1.04, Z:0.36 [[ 9.99975935e-01 -6.72107364e-03 -1.71957877e-03 -1.04683361e+01] [ 6.72079370e-03 9.99977401e-01 -1.68523499e-04 -1.03783929e+00] [ 1.72067257e-03 1.56962509e-04 9.99998507e-01 3.57194822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.858033874 meters Centerline goodness [0,1] 0.9562248329112873 Centerline is valid? [True, True] Translation: X:-10.50, Y:-1.04, Z:0.36 [[ 9.99968984e-01 -5.36447881e-03 -5.76652203e-03 -1.04976322e+01] [ 5.36129951e-03 9.99985468e-01 -5.66655209e-04 -1.04147677e+00] [ 5.76947804e-03 5.35721583e-04 9.99983213e-01 3.55271873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.888033874 meters Centerline goodness [0,1] 0.9354765019832617 Centerline is valid? [True, False] Translation: X:-10.54, Y:-1.05, Z:0.36 [[ 9.99969594e-01 -4.15434279e-03 -6.59941115e-03 -1.05391098e+01] [ 4.14944575e-03 9.99991106e-01 -7.55560061e-04 -1.05004160e+00] [ 6.60249131e-03 7.28153189e-04 9.99977938e-01 3.57945732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.918033873999999 meters Centerline goodness [0,1] 0.9563374134957086 Centerline is valid? [False, True] Translation: X:-10.57, Y:-1.06, Z:0.36 [[ 9.99961440e-01 3.17843272e-04 -8.77594269e-03 -1.05719043e+01] [-3.49958902e-04 9.99993247e-01 -3.65821465e-03 -1.05906674e+00] [ 8.77472069e-03 3.66114481e-03 9.99954799e-01 3.62958253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.948033874 meters Centerline goodness [0,1] 0.9322457133344432 Centerline is valid? [True, False] Translation: X:-10.60, Y:-1.07, Z:0.37 [[ 9.99912593e-01 4.34898174e-03 -1.24857034e-02 -1.05979503e+01] [-4.44867089e-03 9.99958362e-01 -7.96762378e-03 -1.06537657e+00] [ 1.24505325e-02 8.02247214e-03 9.99890306e-01 3.66686970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.978033874 meters Centerline goodness [0,1] 0.9432350624041133 Centerline is valid? [False, False] Translation: X:-10.61, Y:-1.07, Z:0.37 [[ 9.99884020e-01 5.56593079e-03 -1.41762832e-02 -1.06057016e+01] [-5.66223302e-03 9.99961106e-01 -6.76213960e-03 -1.06664759e+00] [ 1.41380943e-02 6.84162474e-03 9.99876646e-01 3.70834261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.008033874 meters Centerline goodness [0,1] 0.9285550864202666 Centerline is valid? [False, False] Translation: X:-10.63, Y:-1.07, Z:0.37 [[ 9.99916018e-01 2.03530389e-03 -1.27989949e-02 -1.06263567e+01] [-2.06497685e-03 9.99995210e-01 -2.30559423e-03 -1.06679143e+00] [ 1.27942410e-02 2.33183023e-03 9.99915431e-01 3.71403115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.038033874 meters Centerline goodness [0,1] 0.9300361130712714 Centerline is valid? [False, False] Translation: X:-10.64, Y:-1.07, Z:0.38 [[ 9.99918195e-01 1.79932641e-03 -1.26635511e-02 -1.06362965e+01] [-1.82905540e-03 9.99995598e-01 -2.33641276e-03 -1.06926395e+00] [ 1.26592914e-02 2.35938397e-03 9.99917084e-01 3.77339451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.068033874 meters Centerline goodness [0,1] 0.9438811405868477 Centerline is valid? [False, False] Translation: X:-10.67, Y:-1.07, Z:0.38 [[ 9.99887291e-01 -4.90206928e-03 -1.41906517e-02 -1.06675269e+01] [ 4.89401093e-03 9.99987843e-01 -6.02533692e-04 -1.06749099e+00] [ 1.41934329e-02 5.33016576e-04 9.99899126e-01 3.82014835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.098033874 meters Centerline goodness [0,1] 0.9626230325179617 Centerline is valid? [False, True] Translation: X:-10.69, Y:-1.08, Z:0.38 [[ 9.99890062e-01 -7.30606741e-03 -1.29029533e-02 -1.06899629e+01] [ 7.18596957e-03 9.99930656e-01 -9.32974192e-03 -1.08039968e+00] [ 1.29702223e-02 9.23599600e-03 9.99873227e-01 3.84667493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.128033874 meters Centerline goodness [0,1] 0.9436319191249586 Centerline is valid? [True, False] Translation: X:-10.71, Y:-1.08, Z:0.39 [[ 9.99800851e-01 -1.26290504e-02 -1.54520255e-02 -1.07142921e+01] [ 1.25386753e-02 9.99903794e-01 -5.93172225e-03 -1.07681490e+00] [ 1.55254509e-02 5.73679302e-03 9.99863015e-01 3.87760141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.158033874 meters Centerline goodness [0,1] 0.9555150561239283 Centerline is valid? [False, True] Translation: X:-10.75, Y:-1.08, Z:0.39 [[ 9.99763947e-01 -1.45106628e-02 -1.61706854e-02 -1.07516337e+01] [ 1.43960970e-02 9.99870600e-01 -7.17881632e-03 -1.08067609e+00] [ 1.62727623e-02 6.94432699e-03 9.99843475e-01 3.88587111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.188033874 meters Centerline goodness [0,1] 0.9792651571701086 Centerline is valid? [True, True] Translation: X:-10.78, Y:-1.08, Z:0.39 [[ 9.99682892e-01 -1.82508694e-02 -1.73499553e-02 -1.07809897e+01] [ 1.82243998e-02 9.99832506e-01 -1.68253044e-03 -1.08467880e+00] [ 1.73777569e-02 1.36580437e-03 9.99848063e-01 3.91583740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.218033874 meters Centerline goodness [0,1] 0.9656862745098039 Centerline is valid? [True, True] Translation: X:-10.81, Y:-1.08, Z:0.39 [[ 9.99633377e-01 -1.96495041e-02 -1.86281846e-02 -1.08112301e+01] [ 1.96192521e-02 9.99805894e-01 -1.80537483e-03 -1.07516946e+00] [ 1.86600435e-02 1.43924189e-03 9.99824850e-01 3.90302345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.248033873999999 meters Centerline goodness [0,1] 0.9735216423653722 Centerline is valid? [True, True] Translation: X:-10.84, Y:-1.07, Z:0.40 [[ 9.99659177e-01 -1.90125835e-02 -1.78899863e-02 -1.08396487e+01] [ 1.89846273e-02 9.99818277e-01 -1.73122637e-03 -1.07283923e+00] [ 1.79196504e-02 1.39100160e-03 9.99838463e-01 3.99465053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.278033874 meters Centerline goodness [0,1] 0.9506823178066283 Centerline is valid? [True, True] Translation: X:-10.87, Y:-1.06, Z:0.38 [[ 9.99780525e-01 -1.27292421e-02 -1.66393465e-02 -1.08710547e+01] [ 1.27041906e-02 9.99918002e-01 -1.61039956e-03 -1.05922664e+00] [ 1.66584813e-02 1.39865668e-03 9.99860260e-01 3.83674949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.308033874 meters Centerline goodness [0,1] 0.9646585178575134 Centerline is valid? [True, True] Translation: X:-10.90, Y:-1.07, Z:0.38 [[ 9.99777296e-01 -7.50014347e-03 -1.97257777e-02 -1.08993145e+01] [ 7.46393259e-03 9.99970323e-01 -1.90869747e-03 -1.07119159e+00] [ 1.97395078e-02 1.76104052e-03 9.99803606e-01 3.80636287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.338033873999999 meters Centerline goodness [0,1] 0.9512012791494486 Centerline is valid? [True, True] Translation: X:-10.93, Y:-1.06, Z:0.37 [[ 9.99739403e-01 -4.55731241e-03 -2.23686534e-02 -1.09302122e+01] [ 4.51002808e-03 9.99987489e-01 -2.16385896e-03 -1.05890913e+00] [ 2.23782349e-02 2.06241181e-03 9.99747449e-01 3.73860402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.368033874 meters Centerline goodness [0,1] 0.9347270953142193 Centerline is valid? [True, False] Translation: X:-10.95, Y:-1.06, Z:0.38 [[ 9.99728706e-01 -1.71559257e-03 -2.32286647e-02 -1.09514461e+01] [ 1.50992182e-03 9.99959531e-01 -8.86882498e-03 -1.05526262e+00] [ 2.32429400e-02 8.83134546e-03 9.99690839e-01 3.75672221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.398033874 meters Centerline goodness [0,1] 0.9646860986547086 Centerline is valid? [False, True] Translation: X:-10.97, Y:-1.04, Z:0.38 [[ 9.99809096e-01 -4.61590299e-03 -1.89859117e-02 -1.09720105e+01] [ 4.47867983e-03 9.99963589e-01 -7.26381141e-03 -1.04333821e+00] [ 1.90187494e-02 7.17739290e-03 9.99793365e-01 3.77825371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.428033874 meters Centerline goodness [0,1] 0.9567812649487324 Centerline is valid? [True, True] Translation: X:-11.00, Y:-1.03, Z:0.38 [[ 9.99863902e-01 -4.65980642e-03 -1.58260562e-02 -1.10029944e+01] [ 4.63600214e-03 9.99988067e-01 -1.54047382e-03 -1.03266391e+00] [ 1.58330456e-02 1.46689453e-03 9.99873573e-01 3.75161304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.458033874 meters Centerline goodness [0,1] 0.9590411044347881 Centerline is valid? [True, True] Translation: X:-11.03, Y:-1.04, Z:0.37 [[ 9.99898483e-01 -5.15214363e-03 -1.32845236e-02 -1.10327212e+01] [ 5.13542075e-03 9.99985978e-01 -1.29262943e-03 -1.03523547e+00] [ 1.32909972e-02 1.22427659e-03 9.99910921e-01 3.71891483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.488033874 meters Centerline goodness [0,1] 0.9674133576249431 Centerline is valid? [True, True] Translation: X:-11.06, Y:-1.03, Z:0.37 [[ 9.99764252e-01 -1.02606716e-02 -1.91352603e-02 -1.10620045e+01] [ 1.02268810e-02 9.99945969e-01 -1.86290838e-03 -1.03369513e+00] [ 1.91533411e-02 1.66677518e-03 9.99815169e-01 3.65504082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.518033874 meters Centerline goodness [0,1] 0.9715256498447044 Centerline is valid? [True, True] Translation: X:-11.09, Y:-1.03, Z:0.36 [[ 9.99693827e-01 -1.29228810e-02 -2.11009852e-02 -1.10928597e+01] [ 1.28823918e-02 9.99914910e-01 -2.05364073e-03 -1.03070726e+00] [ 2.11257287e-02 1.78118080e-03 9.99775240e-01 3.59869337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.548033874 meters Centerline goodness [0,1] 0.9786056191467222 Centerline is valid? [True, True] Translation: X:-11.12, Y:-1.03, Z:0.36 [[ 9.99713137e-01 -1.47436306e-02 -1.88750699e-02 -1.11222602e+01] [ 1.47115708e-02 9.99890093e-01 -1.83626387e-03 -1.03096255e+00] [ 1.89000686e-02 1.55805519e-03 9.99820164e-01 3.62074014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.578033873999999 meters Centerline goodness [0,1] 0.9690095115199701 Centerline is valid? [True, True] Translation: X:-11.15, Y:-1.02, Z:0.36 [[ 9.99763494e-01 -1.39318061e-02 -1.66991014e-02 -1.11519198e+01] [ 1.39067007e-02 9.99901987e-01 -1.61858773e-03 -1.01726686e+00] [ 1.67200146e-02 1.38597552e-03 9.99859250e-01 3.58506114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.608033874 meters Centerline goodness [0,1] 0.9654169695710874 Centerline is valid? [True, True] Translation: X:-11.18, Y:-1.01, Z:0.36 [[ 9.99774477e-01 -1.23000293e-02 -1.73119787e-02 -1.11830360e+01] [ 1.22727891e-02 9.99923277e-01 -1.67885709e-03 -1.00954355e+00] [ 1.73313005e-02 1.46601220e-03 9.99848727e-01 3.56102086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.638033874 meters Centerline goodness [0,1] 0.9747534516765286 Centerline is valid? [True, True] Translation: X:-11.21, Y:-1.00, Z:0.36 [[ 9.99801818e-01 -1.18297469e-02 -1.60119090e-02 -1.12102533e+01] [ 1.18064219e-02 9.99929100e-01 -1.55047525e-03 -1.00465095e+00] [ 1.60291155e-02 1.36112462e-03 9.99870599e-01 3.57407740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.668033873999999 meters Centerline goodness [0,1] 0.9845687345531579 Centerline is valid? [True, True] Translation: X:-11.24, Y:-1.00, Z:0.36 [[ 9.99840707e-01 -1.09214671e-02 -1.41167004e-02 -1.12381605e+01] [ 1.09032626e-02 9.99939625e-01 -1.36589396e-03 -1.00389325e+00] [ 1.41307657e-02 1.21175830e-03 9.99899421e-01 3.58583465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.698033874 meters Centerline goodness [0,1] 0.9800762770147761 Centerline is valid? [True, True] Translation: X:-11.27, Y:-0.98, Z:0.34 [[ 9.99789298e-01 -6.88390926e-03 -1.93383191e-02 -1.12700107e+01] [ 6.84899106e-03 9.99974794e-01 -1.87129925e-03 -9.84941709e-01] [ 1.93507135e-02 1.73845699e-03 9.99811246e-01 3.44106472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.728033874 meters Centerline goodness [0,1] 0.9602003491562059 Centerline is valid? [True, True] Translation: X:-11.30, Y:-0.95, Z:0.33 [[ 9.99751700e-01 -4.79339141e-03 -2.17614960e-02 -1.13039561e+01] [ 4.74868399e-03 9.99986508e-01 -2.10563876e-03 -9.53136284e-01] [ 2.17712956e-02 2.00177746e-03 9.99760973e-01 3.33892628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.758033874 meters Centerline goodness [0,1] 0.9780742968113763 Centerline is valid? [True, True] Translation: X:-11.33, Y:-0.95, Z:0.34 [[ 9.99842535e-01 -4.07140612e-03 -1.72722004e-02 -1.13317241e+01] [ 4.04316981e-03 9.99990433e-01 -1.66938871e-03 -9.51075770e-01] [ 1.72788319e-02 1.59929140e-03 9.99849431e-01 3.35223101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.788033874 meters Centerline goodness [0,1] 0.9757129524007052 Centerline is valid? [True, True] Translation: X:-11.36, Y:-0.94, Z:0.34 [[ 9.99885521e-01 -2.62691308e-03 -1.49011763e-02 -1.13620545e+01] [ 2.60580505e-03 9.99995574e-01 -1.43577335e-03 -9.39098419e-01] [ 1.49048820e-02 1.39677943e-03 9.99887940e-01 3.40013458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.818033874 meters Centerline goodness [0,1] 0.9833225759437006 Centerline is valid? [True, True] Translation: X:-11.39, Y:-0.94, Z:0.34 [[ 9.99834579e-01 -9.96555911e-04 -1.81609751e-02 -1.13914252e+01] [ 9.64904687e-04 9.99998001e-01 -1.75149439e-03 -9.43786794e-01] [ 1.81626843e-02 1.73368105e-03 9.99833542e-01 3.35628458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.848033874 meters Centerline goodness [0,1] 0.972777673955024 Centerline is valid? [True, True] Translation: X:-11.42, Y:-0.94, Z:0.32 [[ 9.99765020e-01 -3.04414121e-03 -2.14625009e-02 -1.14219774e+01] [ 3.00041988e-03 9.99993358e-01 -2.06901105e-03 -9.35393195e-01] [ 2.14686567e-02 2.00412836e-03 9.99767513e-01 3.21083703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.878033874 meters Centerline goodness [0,1] 0.9815405794380827 Centerline is valid? [True, True] Translation: X:-11.45, Y:-0.94, Z:0.32 [[ 9.99797351e-01 -5.04657447e-03 -1.94881779e-02 -1.14507959e+01] [ 5.01091394e-03 9.99985681e-01 -1.87825305e-03 -9.37662176e-01] [ 1.94973776e-02 1.78021884e-03 9.99808323e-01 3.21905807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.908033874 meters Centerline goodness [0,1] 0.9791209246447657 Centerline is valid? [True, True] Translation: X:-11.48, Y:-0.93, Z:0.33 [[ 9.99835288e-01 -8.28739270e-03 -1.61466754e-02 -1.14822948e+01] [ 8.26333076e-03 9.99964647e-01 -1.55635877e-03 -9.27107422e-01] [ 1.61590027e-02 1.42267710e-03 9.99868423e-01 3.27323489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.938033874 meters Centerline goodness [0,1] 0.9808771565163168 Centerline is valid? [True, True] Translation: X:-11.51, Y:-0.92, Z:0.32 [[ 9.99768918e-01 -9.16756492e-03 -1.94439244e-02 -1.15107035e+01] [ 9.13287735e-03 9.99956542e-01 -1.87203001e-03 -9.21345749e-01] [ 1.94602414e-02 1.69401844e-03 9.99809196e-01 3.24209970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.968033874 meters Centerline goodness [0,1] 0.9866986844852788 Centerline is valid? [True, True] Translation: X:-11.54, Y:-0.92, Z:0.32 [[ 9.99666455e-01 -1.10995430e-02 -2.33190516e-02 -1.15393338e+01] [ 1.10502127e-02 9.99936428e-01 -2.24324884e-03 -9.16538549e-01] [ 2.33424682e-02 1.98482013e-03 9.99725557e-01 3.20718107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.998033873999999 meters Centerline goodness [0,1] 0.9845341459342127 Centerline is valid? [True, True] Translation: X:-11.57, Y:-0.91, Z:0.32 [[ 9.99686374e-01 -1.02379513e-02 -2.28547230e-02 -1.15696373e+01] [ 1.01904903e-02 9.99945673e-01 -2.19214065e-03 -9.05023860e-01] [ 2.28759244e-02 1.95855231e-03 9.99736393e-01 3.21600243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.028033874 meters Centerline goodness [0,1] 0.9836171096345515 Centerline is valid? [True, True] Translation: X:-11.60, Y:-0.90, Z:0.32 [[ 9.99796266e-01 -8.77567764e-03 -1.81773067e-02 -1.15993061e+01] [ 8.74550072e-03 9.99960245e-01 -1.73897108e-03 -8.98006256e-01] [ 1.81918447e-02 1.57964714e-03 9.99833267e-01 3.23015524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.058033874 meters Centerline goodness [0,1] 0.9850916480053081 Centerline is valid? [True, True] Translation: X:-11.63, Y:-0.90, Z:0.33 [[ 9.99866307e-01 -5.94784769e-03 -1.52312379e-02 -1.16282827e+01] [ 5.92632707e-03 9.99981377e-01 -1.45767230e-03 -8.97036691e-01] [ 1.52396243e-02 1.36721212e-03 9.99882935e-01 3.29168940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.088033873999999 meters Centerline goodness [0,1] 0.9803490278267726 Centerline is valid? [True, True] Translation: X:-11.66, Y:-0.89, Z:0.32 [[ 9.99860683e-01 -2.47787081e-03 -1.65067881e-02 -1.16593047e+01] [ 2.45213142e-03 9.99995746e-01 -1.57937888e-03 -8.86549491e-01] [ 1.65106314e-02 1.53868203e-03 9.99862506e-01 3.23837632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.118033874 meters Centerline goodness [0,1] 0.9673704414587332 Centerline is valid? [True, True] Translation: X:-11.69, Y:-0.86, Z:0.32 [[ 9.99831117e-01 1.57876696e-03 -1.83096826e-02 -1.16919731e+01] [-1.61111171e-03 9.99997168e-01 -1.75192194e-03 -8.63823798e-01] [ 1.83068648e-02 1.78112501e-03 9.99830829e-01 3.15102126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.148033874 meters Centerline goodness [0,1] 0.9711900747309478 Centerline is valid? [True, True] Translation: X:-11.72, Y:-0.87, Z:0.31 [[ 9.99740421e-01 8.73567764e-03 -2.10422945e-02 -1.17214152e+01] [-8.77995636e-03 9.99959430e-01 -2.01280472e-03 -8.65506217e-01] [ 2.10238576e-02 2.19703266e-03 9.99776560e-01 3.10507326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.178033874 meters Centerline goodness [0,1] 0.9666931172736385 Centerline is valid? [True, True] Translation: X:-11.75, Y:-0.86, Z:0.31 [[ 9.99572167e-01 1.43992023e-02 -2.54587124e-02 -1.17521647e+01] [-1.44658269e-02 9.99892400e-01 -2.43472317e-03 -8.58571938e-01] [ 2.54209150e-02 2.80196284e-03 9.99672910e-01 3.07134538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.208033874 meters Centerline goodness [0,1] 0.952805989447561 Centerline is valid? [True, True] Translation: X:-11.78, Y:-0.84, Z:0.30 [[ 9.99471491e-01 1.78565415e-02 -2.71639997e-02 -1.17843038e+01] [-1.79336527e-02 9.99835804e-01 -2.59774482e-03 -8.44837520e-01] [ 2.71131527e-02 3.08352162e-03 9.99627615e-01 3.00627662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.238033874 meters Centerline goodness [0,1] 0.9689113776445111 Centerline is valid? [True, True] Translation: X:-11.81, Y:-0.85, Z:0.31 [[ 9.99656732e-01 1.68714827e-02 -2.00442517e-02 -1.18127315e+01] [-1.69132500e-02 9.99855125e-01 -1.91604856e-03 -8.50749020e-01] [ 2.00090212e-02 2.25440428e-03 9.99797258e-01 3.09355893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.268033874 meters Centerline goodness [0,1] 0.9661368205085694 Centerline is valid? [True, True] Translation: X:-11.84, Y:-0.85, Z:0.32 [[ 9.99789992e-01 1.56044730e-02 -1.32843032e-02 -1.18433284e+01] [-1.56227079e-02 9.99877152e-01 -1.26999508e-03 -8.54784215e-01] [ 1.32628536e-02 1.47726516e-03 9.99910953e-01 3.16109080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.298033874 meters Centerline goodness [0,1] 0.9613821561803139 Centerline is valid? [True, True] Translation: X:-11.87, Y:-0.85, Z:0.31 [[ 9.99696625e-01 1.31032234e-02 -2.08557741e-02 -1.18735202e+01] [-1.31476181e-02 9.99911580e-01 -1.99295405e-03 -8.48310461e-01] [ 2.08278159e-02 2.26655319e-03 9.99780508e-01 3.10416230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.328033873999999 meters Centerline goodness [0,1] 0.9474046709661261 Centerline is valid? [True, False] Translation: X:-11.89, Y:-0.84, Z:0.31 [[ 9.99687649e-01 7.63185755e-03 -2.37983195e-02 -1.18877979e+01] [-7.65810431e-03 9.99970164e-01 -1.01193882e-03 -8.42749562e-01] [ 2.37898865e-02 1.19387276e-03 9.99716268e-01 3.08438720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.358033874 meters Centerline goodness [0,1] 0.9751132638787398 Centerline is valid? [False, True] Translation: X:-11.94, Y:-0.84, Z:0.31 [[ 9.99698911e-01 -3.40318152e-04 -2.45351269e-02 -1.19392259e+01] [ 4.00658510e-04 9.99996908e-01 2.45447175e-03 -8.39915631e-01] [ 2.45342158e-02 -2.46356294e-03 9.99695955e-01 3.13239654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.388033874 meters Centerline goodness [0,1] 0.976627955205309 Centerline is valid? [True, True] Translation: X:-11.97, Y:-0.85, Z:0.32 [[ 9.99798358e-01 -4.27413746e-03 -1.96207765e-02 -1.19682557e+01] [ 4.23582330e-03 9.99989041e-01 -1.99387824e-03 -8.52976438e-01] [ 1.96290836e-02 1.91036605e-03 9.99805506e-01 3.23322720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.418033873999999 meters Centerline goodness [0,1] 0.976627955205309 Centerline is valid? [True, True] Translation: X:-12.00, Y:-0.86, Z:0.32 [[ 9.99799414e-01 -4.01637362e-03 -1.96214133e-02 -1.19955838e+01] [ 3.97813228e-03 9.99990112e-01 -1.98760314e-03 -8.55905240e-01] [ 1.96292023e-02 1.90914788e-03 9.99805506e-01 3.23458656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.448033874 meters Centerline goodness [0,1] 0.9810565801813067 Centerline is valid? [True, True] Translation: X:-12.02, Y:-0.86, Z:0.33 [[ 9.99806809e-01 -5.70298824e-03 -1.88101172e-02 -1.20249102e+01] [ 5.66812644e-03 9.99982119e-01 -1.90614727e-03 -8.59081437e-01] [ 1.88206516e-02 1.79916090e-03 9.99821257e-01 3.25910269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.478033874 meters Centerline goodness [0,1] 0.9795116883116883 Centerline is valid? [True, True] Translation: X:-12.06, Y:-0.85, Z:0.32 [[ 9.99795841e-01 -5.21856026e-03 -1.95203444e-02 -1.20552788e+01] [ 5.18103412e-03 9.99984633e-01 -1.97249111e-03 -8.47054042e-01] [ 1.95303380e-02 1.87095283e-03 9.99807514e-01 3.17908845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.508033874 meters Centerline goodness [0,1] 0.9802553475100494 Centerline is valid? [True, True] Translation: X:-12.08, Y:-0.84, Z:0.31 [[ 9.99765324e-01 -4.15595596e-03 -2.12608802e-02 -1.20849307e+01] [ 4.11119184e-03 9.99989240e-01 -2.14874440e-03 -8.41290978e-01] [ 2.12695815e-02 2.06083259e-03 9.99771653e-01 3.11467336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.538033874 meters Centerline goodness [0,1] 0.969876749529977 Centerline is valid? [True, True] Translation: X:-12.12, Y:-0.83, Z:0.29 [[ 9.99664376e-01 -2.48537470e-03 -2.57867966e-02 -1.21165006e+01] [ 2.41896875e-03 9.99993678e-01 -2.60606614e-03 -8.34235303e-01] [ 2.57931106e-02 2.54281403e-03 9.99664068e-01 2.93977392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.568033874 meters Centerline goodness [0,1] 0.9694924462461082 Centerline is valid? [True, True] Translation: X:-12.15, Y:-0.84, Z:0.29 [[ 9.99621059e-01 -8.50108310e-04 -2.75139054e-02 -1.21469904e+01] [ 7.73901051e-04 9.99995835e-01 -2.78030255e-03 -8.35382783e-01] [ 2.75161544e-02 2.75795594e-03 9.99617554e-01 2.94295999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.598033874 meters Centerline goodness [0,1] 0.9650198491052314 Centerline is valid? [True, True] Translation: X:-12.18, Y:-0.83, Z:0.30 [[ 9.99649251e-01 2.94733995e-03 -2.63189588e-02 -1.21781684e+01] [-3.01834323e-03 9.99991911e-01 -2.65848041e-03 -8.29191412e-01] [ 2.63109105e-02 2.73698761e-03 9.99650061e-01 2.97910708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.628033874 meters Centerline goodness [0,1] 0.9705459919651964 Centerline is valid? [True, True] Translation: X:-12.21, Y:-0.82, Z:0.30 [[ 9.99720303e-01 5.71437284e-03 -2.29491229e-02 -1.22076894e+01] [-5.76905645e-03 9.99980674e-01 -2.31731950e-03 -8.23507025e-01] [ 2.29354374e-02 2.44906614e-03 9.99733949e-01 2.99251369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.658033874 meters Centerline goodness [0,1] 0.9589917231000753 Centerline is valid? [True, True] Translation: X:-12.24, Y:-0.82, Z:0.29 [[ 9.99633214e-01 1.07724570e-02 -2.48473790e-02 -1.22392146e+01] [-1.08380988e-02 9.99938119e-01 -2.50864016e-03 -8.15387007e-01] [ 2.48188172e-02 2.77701838e-03 9.99688109e-01 2.90443834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.688033874 meters Centerline goodness [0,1] 0.9492630918783318 Centerline is valid? [True, False] Translation: X:-12.26, Y:-0.81, Z:0.29 [[ 9.99619964e-01 8.96367769e-03 -2.60687460e-02 -1.22592011e+01] [-8.94383740e-03 9.99959618e-01 8.77575639e-04 -8.12265322e-01] [ 2.60755596e-02 -6.44087503e-04 9.99659767e-01 2.91400708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.718033874 meters Centerline goodness [0,1] 0.954120628063471 Centerline is valid? [False, True] Translation: X:-12.27, Y:-0.81, Z:0.30 [[ 9.99614290e-01 9.67019599e-03 -2.60337938e-02 -1.22679917e+01] [-9.63621488e-03 9.99952548e-01 1.43041057e-03 -8.11982360e-01] [ 2.60463908e-02 -1.17899162e-03 9.99660040e-01 2.97285527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.748033873999999 meters Centerline goodness [0,1] 0.9431359493986934 Centerline is valid? [True, False] Translation: X:-12.29, Y:-0.81, Z:0.30 [[ 9.99739361e-01 5.35108118e-03 -2.21940579e-02 -1.22852566e+01] [-5.30931069e-03 9.99984023e-01 1.94055554e-03 -8.07896907e-01] [ 2.22040874e-02 -1.82221460e-03 9.99751798e-01 2.97472859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.778033874 meters Centerline goodness [0,1] 0.9431917460581604 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.80, Z:0.30 [[ 9.99810490e-01 -1.57098588e-05 -1.94675173e-02 -1.23027596e+01] [ 6.10367293e-05 9.99997289e-01 2.32774139e-03 -8.04373859e-01] [ 1.94674280e-02 -2.32848850e-03 9.99807780e-01 2.96388170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.808033874 meters Centerline goodness [0,1] 0.9509216493987434 Centerline is valid? [False, True] Translation: X:-12.34, Y:-0.80, Z:0.30 [[ 9.99707348e-01 -8.75730726e-03 -2.25505722e-02 -1.23392690e+01] [ 8.88606828e-03 9.99944748e-01 5.61601508e-03 -8.02778252e-01] [ 2.25001451e-02 -5.81475747e-03 9.99729930e-01 2.96093309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.838033873999999 meters Centerline goodness [0,1] 0.9494823240214153 Centerline is valid? [True, False] Translation: X:-12.36, Y:-0.82, Z:0.30 [[ 9.99759125e-01 -1.01687270e-02 -1.94496710e-02 -1.23626716e+01] [ 1.01339245e-02 9.99946870e-01 -1.88709241e-03 -8.15773960e-01] [ 1.94678270e-02 1.68953636e-03 9.99809056e-01 3.01494247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.868033874 meters Centerline goodness [0,1] 0.9449231922068191 Centerline is valid? [False, False] Translation: X:-12.39, Y:-0.82, Z:0.31 [[ 9.99784132e-01 -1.01873241e-02 -1.81082017e-02 -1.23866450e+01] [ 9.99313859e-03 9.99891937e-01 -1.07819564e-02 -8.22065389e-01] [ 1.82160842e-02 1.05986712e-02 9.99777897e-01 3.06030883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.898033874 meters Centerline goodness [0,1] 0.9643991447491334 Centerline is valid? [False, True] Translation: X:-12.39, Y:-0.82, Z:0.31 [[ 9.99756891e-01 -1.19423526e-02 -1.85347879e-02 -1.23909967e+01] [ 1.17076164e-02 9.99850532e-01 -1.27218810e-02 -8.19576866e-01] [ 1.86839468e-02 1.25017900e-02 9.99747276e-01 3.08684956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.928033874 meters Centerline goodness [0,1] 0.9787429525997077 Centerline is valid? [True, True] Translation: X:-12.42, Y:-0.81, Z:0.29 [[ 9.99631468e-01 -1.18880845e-02 -2.44049562e-02 -1.24209631e+01] [ 1.18206531e-02 9.99925913e-01 -2.90543089e-03 -8.13975667e-01] [ 2.44376881e-02 2.61587763e-03 9.99697933e-01 2.94105141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.958033874 meters Centerline goodness [0,1] 0.931196688409433 Centerline is valid? [True, False] Translation: X:-12.45, Y:-0.82, Z:0.30 [[ 9.99515351e-01 -9.29488405e-03 -2.97097437e-02 -1.24465122e+01] [ 9.10471345e-03 9.99937231e-01 -6.52983633e-03 -8.24873718e-01] [ 2.97685729e-02 6.25617295e-03 9.99537239e-01 2.99341618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.988033874 meters Centerline goodness [0,1] 0.9722158534297685 Centerline is valid? [False, True] Translation: X:-12.48, Y:-0.83, Z:0.31 [[ 9.99609311e-01 -1.17662418e-02 -2.53531382e-02 -1.24774514e+01] [ 1.17378695e-02 9.99930305e-01 -1.26762201e-03 -8.29465767e-01] [ 2.53662864e-02 9.69534934e-04 9.99677754e-01 3.05717504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.018033874 meters Centerline goodness [0,1] 0.9742241145409388 Centerline is valid? [True, True] Translation: X:-12.51, Y:-0.84, Z:0.31 [[ 9.99631480e-01 -1.22755996e-02 -2.42118708e-02 -1.25064488e+01] [ 1.22113542e-02 9.99921520e-01 -2.79953941e-03 -8.35629343e-01] [ 2.42443367e-02 2.50284799e-03 9.99702930e-01 3.14483813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.048033874 meters Centerline goodness [0,1] 0.9664891951143125 Centerline is valid? [True, True] Translation: X:-12.54, Y:-0.83, Z:0.31 [[ 9.99624739e-01 -1.09723590e-02 -2.50995625e-02 -1.25370632e+01] [ 1.09029296e-02 9.99936352e-01 -2.90134096e-03 -8.27373222e-01] [ 2.51297996e-02 2.62659344e-03 9.99680746e-01 3.07403149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.078033873999999 meters Centerline goodness [0,1] 0.9547331139845339 Centerline is valid? [True, True] Translation: X:-12.57, Y:-0.82, Z:0.30 [[ 9.99534550e-01 -5.99010110e-03 -2.99132278e-02 -1.25685264e+01] [ 5.88928319e-03 9.99976681e-01 -3.45731313e-03 -8.22811039e-01] [ 2.99332399e-02 3.27953645e-03 9.99546520e-01 2.96033795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.108033874 meters Centerline goodness [0,1] 0.9421707439678284 Centerline is valid? [True, False] Translation: X:-12.58, Y:-0.83, Z:0.30 [[ 9.99499537e-01 -4.54657891e-03 -3.13050034e-02 -1.25751046e+01] [ 4.47696456e-03 9.99987348e-01 -2.29347965e-03 -8.25010219e-01] [ 3.13150348e-02 2.15218046e-03 9.99507247e-01 3.00643640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.138033874 meters Centerline goodness [0,1] 0.9448700553178165 Centerline is valid? [False, False] Translation: X:-12.59, Y:-0.83, Z:0.31 [[ 9.99550554e-01 -2.72084039e-03 -2.98544275e-02 -1.25870236e+01] [ 2.72992912e-03 9.99996239e-01 2.63680011e-04 -8.29729371e-01] [ 2.98535978e-02 -3.45061973e-04 9.99554222e-01 3.07896453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.168033873999999 meters Centerline goodness [0,1] 0.9523650621506632 Centerline is valid? [False, True] Translation: X:-12.60, Y:-0.83, Z:0.31 [[ 9.99598179e-01 -1.91227154e-03 -2.82811564e-02 -1.25989092e+01] [ 1.94795070e-03 9.99997341e-01 1.23409093e-03 -8.33460370e-01] [ 2.82787213e-02 -1.28868534e-03 9.99599246e-01 3.14473004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.198033874 meters Centerline goodness [0,1] 0.9298556280077498 Centerline is valid? [True, False] Translation: X:-12.62, Y:-0.84, Z:0.32 [[ 9.99583458e-01 2.51951994e-04 -2.88590910e-02 -1.26209619e+01] [-4.15918061e-04 9.99983806e-01 -5.67574704e-03 -8.40119067e-01] [ 2.88571936e-02 5.68538587e-03 9.99567376e-01 3.16627659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.228033874 meters Centerline goodness [0,1] 0.9246255267659699 Centerline is valid? [False, False] Translation: X:-12.66, Y:-0.84, Z:0.31 [[ 9.99401588e-01 -1.57502971e-03 -3.45540841e-02 -1.26615652e+01] [ 1.29312001e-03 9.99965713e-01 -8.17933761e-03 -8.40464009e-01] [ 3.45657820e-02 8.12976042e-03 9.99369358e-01 3.14863625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.258033873999999 meters Centerline goodness [0,1] 0.9075048347855019 Centerline is valid? [False, False] Translation: X:-12.69, Y:-0.84, Z:0.32 [[ 9.99426426e-01 -5.10044825e-03 -3.34784042e-02 -1.26873098e+01] [ 4.96260949e-03 9.99978870e-01 -4.19904745e-03 -8.43440090e-01] [ 3.34991138e-02 4.03049874e-03 9.99430620e-01 3.18114749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.288033874 meters Centerline goodness [0,1] 0.9492629198425329 Centerline is valid? [False, False] Translation: X:-12.69, Y:-0.85, Z:0.32 [[ 9.99425374e-01 -6.82158503e-03 -3.32022379e-02 -1.26942810e+01] [ 6.65521978e-03 9.99964753e-01 -5.11860309e-03 -8.49535842e-01] [ 3.32359846e-02 4.89469361e-03 9.99435546e-01 3.22799203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.318033874 meters Centerline goodness [0,1] 0.9648418720344475 Centerline is valid? [False, True] Translation: X:-12.75, Y:-0.85, Z:0.32 [[ 9.99329829e-01 -1.01834575e-02 -3.51594944e-02 -1.27513252e+01] [ 1.01217503e-02 9.99946906e-01 -1.93261501e-03 -8.53529278e-01] [ 3.51773083e-02 1.57544421e-03 9.99379845e-01 3.19030627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.348033874 meters Centerline goodness [0,1] 0.9602873719707601 Centerline is valid? [True, True] Translation: X:-12.78, Y:-0.85, Z:0.32 [[ 9.99238541e-01 -1.37277214e-02 -3.65224294e-02 -1.27821099e+01] [ 1.35741505e-02 9.99897967e-01 -4.44949376e-03 -8.50432967e-01] [ 3.65797843e-02 3.95034469e-03 9.99322928e-01 3.16472232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.378033874 meters Centerline goodness [0,1] 0.9657661805017891 Centerline is valid? [True, True] Translation: X:-12.81, Y:-0.86, Z:0.32 [[ 9.99237571e-01 -1.44530720e-02 -3.62682482e-02 -1.28115305e+01] [ 1.43021424e-02 9.99887961e-01 -4.41748983e-03 -8.55859681e-01] [ 3.63280310e-02 3.89540815e-03 9.99332327e-01 3.18372278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.408033874 meters Centerline goodness [0,1] 0.9496193742680274 Centerline is valid? [True, False] Translation: X:-12.85, Y:-0.87, Z:0.32 [[ 9.99220923e-01 -1.25108535e-02 -3.74302691e-02 -1.28463648e+01] [ 1.22536973e-02 9.99899771e-01 -7.09182083e-03 -8.66786798e-01] [ 3.75152422e-02 6.62763657e-03 9.99274077e-01 3.23083549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.438033874 meters Centerline goodness [0,1] 0.955304231700192 Centerline is valid? [False, True] Translation: X:-12.90, Y:-0.88, Z:0.32 [[ 9.99225166e-01 -1.21337274e-02 -3.74411685e-02 -1.28995894e+01] [ 1.19575929e-02 9.99916378e-01 -4.92465919e-03 -8.76453335e-01] [ 3.74977921e-02 4.47313714e-03 9.99286699e-01 3.24531067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.468033874 meters Centerline goodness [0,1] 0.9681686561256588 Centerline is valid? [True, True] Translation: X:-12.93, Y:-0.88, Z:0.33 [[ 9.99217274e-01 -1.16959195e-02 -3.77894776e-02 -1.29262967e+01] [ 1.15332302e-02 9.99923273e-01 -4.52028780e-03 -8.84407137e-01] [ 3.78394470e-02 4.08091491e-03 9.99275499e-01 3.25481092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.498033873999999 meters Centerline goodness [0,1] 0.9543692153756358 Centerline is valid? [True, True] Translation: X:-12.96, Y:-0.88, Z:0.32 [[ 9.99111030e-01 -9.23385674e-03 -4.11325288e-02 -1.29580689e+01] [ 9.03908851e-03 9.99947050e-01 -4.91860754e-03 -8.75074589e-01] [ 4.11757685e-02 4.54243448e-03 9.99141593e-01 3.22886718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.528033874 meters Centerline goodness [0,1] 0.9492761214356051 Centerline is valid? [True, False] Translation: X:-13.00, Y:-0.88, Z:0.33 [[ 9.99091601e-01 -5.98622471e-03 -4.21916777e-02 -1.30049958e+01] [ 5.70630834e-03 9.99960925e-01 -6.75171223e-03 -8.78650206e-01] [ 4.22304463e-02 6.50482026e-03 9.99086721e-01 3.28552863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.558033874 meters Centerline goodness [0,1] 0.9094173399302728 Centerline is valid? [False, False] Translation: X:-13.02, Y:-0.88, Z:0.34 [[ 9.99090970e-01 -5.17865165e-03 -4.23132899e-02 -1.30212112e+01] [ 4.94790510e-03 9.99972323e-01 -5.55619797e-03 -8.81209833e-01] [ 4.23408924e-02 5.34178508e-03 9.99088942e-01 3.37260375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.588033873999999 meters Centerline goodness [0,1] 0.9207140324901466 Centerline is valid? [False, False] Translation: X:-13.05, Y:-0.88, Z:0.33 [[ 9.99072126e-01 -2.30093114e-03 -4.30068889e-02 -1.30531104e+01] [ 2.07057806e-03 9.99983276e-01 -5.39996821e-03 -8.80864090e-01] [ 4.30185946e-02 5.30590860e-03 9.99060182e-01 3.33631236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.618033874 meters Centerline goodness [0,1] 0.9144721705118283 Centerline is valid? [False, False] Translation: X:-13.08, Y:-0.88, Z:0.33 [[ 9.99083101e-01 -1.21394197e-03 -4.27958267e-02 -1.30834649e+01] [ 8.64046293e-04 9.99966060e-01 -8.19347928e-03 -8.81310739e-01] [ 4.28043206e-02 8.14898912e-03 9.99050241e-01 3.29712393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.648033874 meters Centerline goodness [0,1] 0.921388784185618 Centerline is valid? [False, False] Translation: X:-13.10, Y:-0.88, Z:0.33 [[ 9.99049640e-01 -4.16852160e-03 -4.33870872e-02 -1.31046352e+01] [ 3.93992533e-03 9.99977911e-01 -5.35294150e-03 -8.79266455e-01] [ 4.34084426e-02 5.17691240e-03 9.99043996e-01 3.30109594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.678033874 meters Centerline goodness [0,1] 0.9348925279344139 Centerline is valid? [False, False] Translation: X:-13.13, Y:-0.88, Z:0.33 [[ 9.98982772e-01 -6.23454227e-03 -4.46604130e-02 -1.31259274e+01] [ 6.18765654e-03 9.99980151e-01 -1.18799249e-03 -8.77450619e-01] [ 4.46669331e-02 9.10440737e-04 9.99001520e-01 3.30916154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.708033874 meters Centerline goodness [0,1] 0.9086197889457737 Centerline is valid? [False, False] Translation: X:-13.15, Y:-0.89, Z:0.34 [[ 9.98927361e-01 -4.82179749e-03 -4.60529787e-02 -1.31517229e+01] [ 4.46588810e-03 9.99959388e-01 -7.82802464e-03 -8.89744916e-01] [ 4.60888536e-02 7.61396055e-03 9.98908327e-01 3.36766727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.738033874 meters Centerline goodness [0,1] 0.9404449443819523 Centerline is valid? [False, False] Translation: X:-13.18, Y:-0.89, Z:0.34 [[ 9.99002926e-01 -8.25162378e-03 -4.38755467e-02 -1.31757873e+01] [ 8.08139159e-03 9.99959120e-01 -4.05584927e-03 -8.90231950e-01] [ 4.39072204e-02 3.69722982e-03 9.99028772e-01 3.38457701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.768033874 meters Centerline goodness [0,1] 0.9338098522373398 Centerline is valid? [False, False] Translation: X:-13.20, Y:-0.90, Z:0.34 [[ 9.99141398e-01 -8.59476185e-03 -4.05289574e-02 -1.32006121e+01] [ 8.14221149e-03 9.99902799e-01 -1.13179783e-02 -9.02529971e-01] [ 4.06222933e-02 1.09782653e-02 9.99114261e-01 3.43196757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.798033874 meters Centerline goodness [0,1] 0.9437109537692628 Centerline is valid? [False, False] Translation: X:-13.23, Y:-0.89, Z:0.34 [[ 9.98918489e-01 -1.34679732e-02 -4.45024278e-02 -1.32256476e+01] [ 1.31066979e-02 9.99878820e-01 -8.39995336e-03 -8.94065383e-01] [ 4.46101653e-02 7.80758884e-03 9.98973961e-01 3.40486911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.828033873999999 meters Centerline goodness [0,1] 0.9559511080361448 Centerline is valid? [False, True] Translation: X:-13.26, Y:-0.90, Z:0.34 [[ 9.98739413e-01 -1.41119795e-02 -4.81709174e-02 -1.32557162e+01] [ 1.35929718e-02 9.99846166e-01 -1.10849456e-02 -8.96573492e-01] [ 4.83199376e-02 1.04161861e-02 9.98777596e-01 3.37693257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.858033874 meters Centerline goodness [0,1] 0.9523301985370951 Centerline is valid? [True, True] Translation: X:-13.29, Y:-0.90, Z:0.32 [[ 9.98618797e-01 -1.53507150e-02 -5.02479218e-02 -1.32850490e+01] [ 1.50487136e-02 9.99866387e-01 -6.38306298e-03 -8.98061502e-01] [ 5.03391926e-02 5.61808009e-03 9.98716378e-01 3.22061256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.888033874 meters Centerline goodness [0,1] 0.9330070803831737 Centerline is valid? [True, False] Translation: X:-13.31, Y:-0.90, Z:0.33 [[ 9.98635831e-01 -1.86354138e-02 -4.87770193e-02 -1.33090763e+01] [ 1.85608175e-02 9.99825769e-01 -1.98186572e-03 -9.03589803e-01] [ 4.88054537e-02 1.07382077e-03 9.98807727e-01 3.25150853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.918033873999999 meters Centerline goodness [0,1] 0.9550298825594516 Centerline is valid? [False, True] Translation: X:-13.33, Y:-0.92, Z:0.33 [[ 9.98787620e-01 -1.73180535e-02 -4.60800870e-02 -1.33335724e+01] [ 1.70253238e-02 9.99832358e-01 -6.73756719e-03 -9.19183431e-01] [ 4.61890436e-02 5.94487030e-03 9.98915027e-01 3.31012758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.948033874 meters Centerline goodness [0,1] 0.9542734418982881 Centerline is valid? [True, True] Translation: X:-13.36, Y:-0.92, Z:0.32 [[ 9.98722774e-01 -1.70600811e-02 -4.75581054e-02 -1.33632846e+01] [ 1.67951586e-02 9.99841161e-01 -5.96457560e-03 -9.16400082e-01] [ 4.76523075e-02 5.15821156e-03 9.98850665e-01 3.23524409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.978033874 meters Centerline goodness [0,1] 0.9322108070935878 Centerline is valid? [True, False] Translation: X:-13.39, Y:-0.92, Z:0.33 [[ 9.98673394e-01 -1.44022285e-02 -4.94371016e-02 -1.33906089e+01] [ 1.38685745e-02 9.99841984e-01 -1.11207225e-02 -9.18759092e-01] [ 4.95894530e-02 1.04203476e-02 9.98715326e-01 3.25634478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.008033873999999 meters Centerline goodness [0,1] 0.9454169451871658 Centerline is valid? [False, False] Translation: X:-13.42, Y:-0.93, Z:0.33 [[ 9.98748638e-01 -1.09368821e-02 -4.88010594e-02 -1.34156378e+01] [ 1.01581745e-02 9.99817552e-01 -1.61763652e-02 -9.26796116e-01] [ 4.89690747e-02 1.56603931e-02 9.98677516e-01 3.29842907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.038033874 meters Centerline goodness [0,1] 0.9566818550652268 Centerline is valid? [False, True] Translation: X:-13.42, Y:-0.93, Z:0.33 [[ 9.98790434e-01 -9.08793240e-03 -4.83226531e-02 -1.34211396e+01] [ 8.42242297e-03 9.99867109e-01 -1.39580335e-02 -9.27020764e-01] [ 4.84430811e-02 1.35341565e-02 9.98734246e-01 3.32780968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.068033874 meters Centerline goodness [0,1] 0.936949138416019 Centerline is valid? [True, False] Translation: X:-13.46, Y:-0.93, Z:0.33 [[ 9.98695384e-01 -4.83487611e-03 -5.08345812e-02 -1.34567638e+01] [ 4.21619879e-03 9.99915824e-01 -1.22706010e-02 -9.34588463e-01] [ 5.08896290e-02 1.20402638e-02 9.98631703e-01 3.32146975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.098033874 meters Centerline goodness [0,1] 0.9255336926097673 Centerline is valid? [False, False] Translation: X:-13.48, Y:-0.93, Z:0.33 [[ 9.98406746e-01 -6.60488171e-03 -5.60387782e-02 -1.34763160e+01] [ 6.12839591e-03 9.99943632e-01 -8.67038164e-03 -9.32453252e-01] [ 5.60928862e-02 8.31313970e-03 9.98390945e-01 3.31477762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.128033874 meters Centerline goodness [0,1] 0.8987667224080268 Centerline is valid? [False, False] Translation: X:-13.49, Y:-0.93, Z:0.33 [[ 9.98459515e-01 -9.50271144e-03 -5.46652991e-02 -1.34942653e+01] [ 9.18234111e-03 9.99939182e-01 -6.10876825e-03 -9.25910363e-01] [ 5.47200244e-02 5.59740236e-03 9.98486048e-01 3.29982732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.158033874 meters Centerline goodness [0,1] 0.9267033219743692 Centerline is valid? [False, False] Translation: X:-13.50, Y:-0.93, Z:0.33 [[ 9.98462151e-01 -1.11938062e-02 -5.42957781e-02 -1.35012602e+01] [ 1.07958581e-02 9.99912711e-01 -7.61704590e-03 -9.25492682e-01] [ 5.43763024e-02 7.01916252e-03 9.98495843e-01 3.33758427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.188033874 meters Centerline goodness [0,1] 0.9399222375517371 Centerline is valid? [False, False] Translation: X:-13.51, Y:-0.93, Z:0.34 [[ 9.98502721e-01 -9.33135068e-03 -5.39002993e-02 -1.35063681e+01] [ 9.07989855e-03 9.99946731e-01 -4.90813970e-03 -9.31174264e-01] [ 5.39432277e-02 4.41138160e-03 9.98534260e-01 3.37171186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.218033874 meters Centerline goodness [0,1] 0.9091707255889793 Centerline is valid? [False, False] Translation: X:-13.51, Y:-0.93, Z:0.34 [[ 9.98493980e-01 -9.09973332e-03 -5.41014532e-02 -1.35070440e+01] [ 8.89711902e-03 9.99952480e-01 -3.98475647e-03 -9.34794412e-01] [ 5.41351426e-02 3.49740828e-03 9.98527493e-01 3.36990016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.248033873999999 meters Centerline goodness [0,1] 0.947611678099381 Centerline is valid? [False, False] Translation: X:-13.51, Y:-0.94, Z:0.34 [[ 9.98429736e-01 -1.33729775e-02 -5.43987724e-02 -1.35060399e+01] [ 1.29562601e-02 9.99884014e-01 -8.00589841e-03 -9.35729912e-01] [ 5.44995256e-02 7.28852238e-03 9.98487195e-01 3.35615994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.278033874 meters Centerline goodness [0,1] 0.9504853355599624 Centerline is valid? [False, True] Translation: X:-13.51, Y:-0.94, Z:0.34 [[ 9.98458607e-01 -1.37046996e-02 -5.37828212e-02 -1.35072643e+01] [ 1.33046508e-02 9.99881150e-01 -7.78924752e-03 -9.38183159e-01] [ 5.38831784e-02 7.06167957e-03 9.98522276e-01 3.35793929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.308033874 meters Centerline goodness [0,1] 0.9413604704508487 Centerline is valid? [True, False] Translation: X:-13.51, Y:-0.95, Z:0.34 [[ 9.98534862e-01 -1.28572487e-02 -5.25625343e-02 -1.35138529e+01] [ 1.26201672e-02 9.99908649e-01 -4.83989654e-03 -9.49392650e-01] [ 5.26199604e-02 4.16945745e-03 9.98605906e-01 3.41392884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.338033873999999 meters Centerline goodness [0,1] 0.9413604704508487 Centerline is valid? [False, False] Translation: X:-13.51, Y:-0.95, Z:0.34 [[ 9.98534862e-01 -1.28572487e-02 -5.25625343e-02 -1.35138529e+01] [ 1.26201672e-02 9.99908649e-01 -4.83989654e-03 -9.49392650e-01] [ 5.26199604e-02 4.16945745e-03 9.98605906e-01 3.41392884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.368033874 meters Centerline goodness [0,1] 0.965299091763232 Centerline is valid? [False, True] Translation: X:-13.51, Y:-0.95, Z:0.34 [[ 9.98500314e-01 -1.37002123e-02 -5.30040318e-02 -1.35148063e+01] [ 1.34119578e-02 9.99893291e-01 -5.79024535e-03 -9.49334011e-01] [ 5.30777034e-02 5.07067397e-03 9.98577511e-01 3.41505321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.398033874 meters Centerline goodness [0,1] 0.9312184751344366 Centerline is valid? [True, False] Translation: X:-13.52, Y:-0.95, Z:0.34 [[ 9.98374466e-01 -1.46768762e-02 -5.50728224e-02 -1.35166615e+01] [ 1.43183747e-02 9.99873689e-01 -6.89855100e-03 -9.47979395e-01] [ 5.51671153e-02 6.09878387e-03 9.98458509e-01 3.42864364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.428033873999999 meters Centerline goodness [0,1] 0.9159258638040926 Centerline is valid? [False, False] Translation: X:-13.54, Y:-0.96, Z:0.35 [[ 9.98577978e-01 -1.13607519e-02 -5.20860420e-02 -1.35352330e+01] [ 1.08671653e-02 9.99893417e-01 -9.74981222e-03 -9.59298405e-01] [ 5.21912557e-02 9.16992014e-03 9.98595006e-01 3.45757293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.458033874 meters Centerline goodness [0,1] 0.9467352163686698 Centerline is valid? [False, False] Translation: X:-13.56, Y:-0.96, Z:0.35 [[ 9.98670157e-01 -1.32544402e-02 -4.98220644e-02 -1.35558950e+01] [ 1.30174006e-02 9.99902370e-01 -5.07920988e-03 -9.56538051e-01] [ 4.98845223e-02 4.42390156e-03 9.98745194e-01 3.45772729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.488033874 meters Centerline goodness [0,1] 0.9556534998851127 Centerline is valid? [False, True] Translation: X:-13.58, Y:-0.96, Z:0.35 [[ 9.98719314e-01 -1.16687892e-02 -4.92297725e-02 -1.35816311e+01] [ 1.10848017e-02 9.99865121e-01 -1.21188815e-02 -9.59653887e-01] [ 4.93645451e-02 1.15576588e-02 9.98713954e-01 3.48346587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.518033874 meters Centerline goodness [0,1] 0.9553181257448722 Centerline is valid? [True, True] Translation: X:-13.61, Y:-0.95, Z:0.34 [[ 9.98600725e-01 -1.31885400e-02 -5.12118625e-02 -1.36131413e+01] [ 1.28821968e-02 9.99897128e-01 -6.30737003e-03 -9.46159946e-01] [ 5.12897792e-02 5.63882300e-03 9.98667894e-01 3.42156490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.548033874 meters Centerline goodness [0,1] 0.9264874798989203 Centerline is valid? [True, False] Translation: X:-13.65, Y:-0.95, Z:0.34 [[ 9.98410975e-01 -1.10502436e-02 -5.52577384e-02 -1.36455982e+01] [ 1.05715357e-02 9.99904083e-01 -8.94800187e-03 -9.52341117e-01] [ 5.53513159e-02 8.34962411e-03 9.98432029e-01 3.43586715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.578033873999999 meters Centerline goodness [0,1] 0.9267454931512553 Centerline is valid? [False, False] Translation: X:-13.67, Y:-0.95, Z:0.35 [[ 9.98036144e-01 -1.12162224e-02 -6.16283351e-02 -1.36741765e+01] [ 1.10415066e-02 9.99934001e-01 -3.17482927e-03 -9.51363934e-01] [ 6.16598772e-02 2.48812469e-03 9.98094118e-01 3.46195243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.608033874 meters Centerline goodness [0,1] 0.9093282646837664 Centerline is valid? [False, False] Translation: X:-13.71, Y:-0.96, Z:0.35 [[ 9.98026032e-01 -1.12986332e-02 -6.17768665e-02 -1.37107355e+01] [ 1.09710410e-02 9.99923913e-01 -5.63947473e-03 -9.57954352e-01] [ 6.18358845e-02 4.95058605e-03 9.98074053e-01 3.46256654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.638033874 meters Centerline goodness [0,1] 0.9263162261959093 Centerline is valid? [False, False] Translation: X:-13.76, Y:-0.95, Z:0.35 [[ 9.98127534e-01 -1.81980991e-02 -5.83973826e-02 -1.37598685e+01] [ 1.81605437e-02 9.99834395e-01 -1.17379690e-03 -9.53356770e-01] [ 5.84090725e-02 1.11070791e-04 9.98292727e-01 3.46706804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.668033873999999 meters Centerline goodness [0,1] 0.939121714787114 Centerline is valid? [False, False] Translation: X:-13.80, Y:-0.96, Z:0.35 [[ 9.98101112e-01 -1.92916151e-02 -5.84978964e-02 -1.37953840e+01] [ 1.89674217e-02 9.99801541e-01 -6.09221545e-03 -9.59245680e-01] [ 5.86038157e-02 4.97109275e-03 9.98268942e-01 3.46475635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.698033874 meters Centerline goodness [0,1] 0.93804920913884 Centerline is valid? [False, False] Translation: X:-13.83, Y:-0.96, Z:0.34 [[ 9.97865010e-01 -1.85680778e-02 -6.26150805e-02 -1.38284161e+01] [ 1.80801643e-02 9.99801673e-01 -8.34993580e-03 -9.61348991e-01] [ 6.27577045e-02 7.20001783e-03 9.98002821e-01 3.44927819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.728033874 meters Centerline goodness [0,1] 0.9083403185247276 Centerline is valid? [False, False] Translation: X:-13.87, Y:-0.97, Z:0.35 [[ 9.97769066e-01 -1.62035350e-02 -6.47637038e-02 -1.38710628e+01] [ 1.56719953e-02 9.99839275e-01 -8.70701488e-03 -9.67883904e-01] [ 6.48943791e-02 7.67261364e-03 9.97862641e-01 3.47740456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.758033873999999 meters Centerline goodness [0,1] 0.9491253644314869 Centerline is valid? [False, False] Translation: X:-13.88, Y:-0.97, Z:0.35 [[ 9.97787797e-01 -1.56302325e-02 -6.46158561e-02 -1.38829314e+01] [ 1.51809788e-02 9.99857098e-01 -7.43785777e-03 -9.67914433e-01] [ 6.47228778e-02 6.44047177e-03 9.97882493e-01 3.53926898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.788033874 meters Centerline goodness [0,1] 0.9139158847184987 Centerline is valid? [False, False] Translation: X:-13.90, Y:-0.98, Z:0.36 [[ 9.97885843e-01 -1.19808790e-02 -6.38772497e-02 -1.39037849e+01] [ 1.11871776e-02 9.99855894e-01 -1.27686511e-02 -9.75174450e-01] [ 6.40210243e-02 1.20270501e-02 9.97876074e-01 3.55781891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.818033874 meters Centerline goodness [0,1] 0.9110842972455688 Centerline is valid? [False, False] Translation: X:-13.92, Y:-0.97, Z:0.35 [[ 9.97885694e-01 -1.39412475e-02 -6.34805700e-02 -1.39207315e+01] [ 1.34036618e-02 9.99870677e-01 -8.88653306e-03 -9.68543233e-01] [ 6.35962499e-02 8.01687212e-03 9.97943509e-01 3.53190125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.848033874 meters Centerline goodness [0,1] 0.9397411503962197 Centerline is valid? [False, False] Translation: X:-13.94, Y:-0.98, Z:0.36 [[ 9.97933610e-01 -1.29583560e-02 -6.29332327e-02 -1.39431925e+01] [ 1.19416039e-02 9.99792463e-01 -1.65054086e-02 -9.77057208e-01] [ 6.31340547e-02 1.57197782e-02 9.97881245e-01 3.55930390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.878033874 meters Centerline goodness [0,1] 0.9451912055850786 Centerline is valid? [False, False] Translation: X:-13.98, Y:-0.97, Z:0.36 [[ 9.97697244e-01 -1.73546972e-02 -6.55669398e-02 -1.39818505e+01] [ 1.67679096e-02 9.99814379e-01 -9.48921168e-03 -9.72845652e-01] [ 6.57194516e-02 8.36793983e-03 9.97803052e-01 3.55148753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.908033874 meters Centerline goodness [0,1] 0.9223797447303871 Centerline is valid? [False, False] Translation: X:-14.00, Y:-0.97, Z:0.36 [[ 9.97622242e-01 -2.07407324e-02 -6.57242987e-02 -1.40047029e+01] [ 2.04184878e-02 9.99776000e-01 -5.57098158e-03 -9.72149557e-01] [ 6.58251227e-02 4.21574435e-03 9.97822269e-01 3.55412896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.938033874 meters Centerline goodness [0,1] 0.9546328415597443 Centerline is valid? [False, True] Translation: X:-14.02, Y:-0.98, Z:0.36 [[ 9.97824476e-01 -1.91871914e-02 -6.30727157e-02 -1.40220421e+01] [ 1.85078413e-02 9.99764431e-01 -1.13376205e-02 -9.82221638e-01] [ 6.32753948e-02 1.01456154e-02 9.97944533e-01 3.56823717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.968033874 meters Centerline goodness [0,1] 0.9498124218424343 Centerline is valid? [True, False] Translation: X:-14.08, Y:-0.99, Z:0.35 [[ 9.97843345e-01 -2.09111302e-02 -6.22204416e-02 -1.40759909e+01] [ 2.03438918e-02 9.99745633e-01 -9.73625479e-03 -9.85399823e-01] [ 6.24082109e-02 8.44945112e-03 9.98014941e-01 3.53931731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.998033873999999 meters Centerline goodness [0,1] 0.9180430823337311 Centerline is valid? [False, False] Translation: X:-14.11, Y:-0.99, Z:0.35 [[ 9.97626847e-01 -2.05678325e-02 -6.57087425e-02 -1.41111906e+01] [ 1.98098703e-02 9.99729742e-01 -1.21660437e-02 -9.86157173e-01] [ 6.59412133e-02 1.08354902e-02 9.97764676e-01 3.52334317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.028033874 meters Centerline goodness [0,1] 0.9465231684080487 Centerline is valid? [False, False] Translation: X:-14.14, Y:-0.98, Z:0.35 [[ 9.97437592e-01 -1.92387627e-02 -6.89066056e-02 -1.41448815e+01] [ 1.82778571e-02 9.99727093e-01 -1.45485408e-02 -9.82970422e-01] [ 6.91676964e-02 1.32517964e-02 9.97517027e-01 3.49960216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.058033874 meters Centerline goodness [0,1] 0.9186556869957782 Centerline is valid? [False, False] Translation: X:-14.17, Y:-0.99, Z:0.36 [[ 9.97482151e-01 -1.52010106e-02 -6.92696788e-02 -1.41731051e+01] [ 1.39005160e-02 9.99718684e-01 -1.92178997e-02 -9.88571762e-01] [ 6.95423237e-02 1.82066276e-02 9.97412845e-01 3.55779623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.088033873999999 meters Centerline goodness [0,1] 0.9345944816053512 Centerline is valid? [False, False] Translation: X:-14.20, Y:-0.99, Z:0.36 [[ 9.97707526e-01 -1.53460566e-02 -6.59104794e-02 -1.42011594e+01] [ 1.44573409e-02 9.99798316e-01 -1.39395708e-02 -9.85496585e-01] [ 6.61111038e-02 1.29547245e-02 9.97728168e-01 3.59241511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.118033874 meters Centerline goodness [0,1] 0.868186571846894 Centerline is valid? [False, False] Translation: X:-14.24, Y:-0.98, Z:0.36 [[ 9.97851493e-01 -1.21028670e-02 -6.43888123e-02 -1.42390623e+01] [ 1.11520097e-02 9.99823699e-01 -1.51064076e-02 -9.82922396e-01] [ 6.45602913e-02 1.43558867e-02 9.97810542e-01 3.57924222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.148033874 meters Centerline goodness [0,1] 0.883234532854638 Centerline is valid? [False, False] Translation: X:-14.28, Y:-0.98, Z:0.36 [[ 9.97638065e-01 -9.77905741e-03 -6.79901495e-02 -1.42761122e+01] [ 8.69242926e-03 9.99830018e-01 -1.62596618e-02 -9.78347271e-01] [ 6.81375965e-02 1.56302580e-02 9.97553489e-01 3.55346467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.178033873999999 meters Centerline goodness [0,1] 0.8519051492210474 Centerline is valid? [False, False] Translation: X:-14.31, Y:-0.98, Z:0.36 [[ 9.97276983e-01 -1.04521135e-02 -7.30025501e-02 -1.43116634e+01] [ 9.63832623e-03 9.99887526e-01 -1.14907899e-02 -9.77998459e-01] [ 7.31144422e-02 1.07558779e-02 9.97265556e-01 3.57231698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.208033874 meters Centerline goodness [0,1] 0.8966361752454315 Centerline is valid? [False, False] Translation: X:-14.34, Y:-0.98, Z:0.36 [[ 9.97196879e-01 -1.30851078e-02 -7.36692911e-02 -1.43437379e+01] [ 1.25681624e-02 9.99893067e-01 -7.47633417e-03 -9.82887792e-01] [ 7.37592421e-02 6.52948948e-03 9.97254702e-01 3.62123053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.238033874 meters Centerline goodness [0,1] 0.9140538623610155 Centerline is valid? [False, False] Translation: X:-14.40, Y:-0.98, Z:0.36 [[ 9.96950718e-01 -1.71284585e-02 -7.61306910e-02 -1.43968772e+01] [ 1.63939144e-02 9.99812938e-01 -1.02630046e-02 -9.77347836e-01] [ 7.62922393e-02 8.98362974e-03 9.97045028e-01 3.56424253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.268033874 meters Centerline goodness [0,1] 0.931894383906119 Centerline is valid? [False, False] Translation: X:-14.43, Y:-0.98, Z:0.35 [[ 9.96866562e-01 -1.75578618e-02 -7.71283341e-02 -1.44303712e+01] [ 1.65360328e-02 9.99767103e-01 -1.38672056e-02 -9.77696979e-01] [ 7.73538496e-02 1.25483569e-02 9.96924732e-01 3.54603833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.298033874 meters Centerline goodness [0,1] 0.9210954107790421 Centerline is valid? [False, False] Translation: X:-14.45, Y:-0.98, Z:0.36 [[ 9.96816996e-01 -2.14924739e-02 -7.67720660e-02 -1.44541393e+01] [ 2.07507932e-02 9.99730111e-01 -1.04455955e-02 -9.77083928e-01] [ 7.69758478e-02 8.81926583e-03 9.96993952e-01 3.57018801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.328033873999999 meters Centerline goodness [0,1] 0.9018972217027201 Centerline is valid? [False, False] Translation: X:-14.48, Y:-0.98, Z:0.36 [[ 9.96888649e-01 -2.50373801e-02 -7.47405625e-02 -1.44771765e+01] [ 2.45909588e-02 9.99673871e-01 -6.88738504e-03 -9.75172515e-01] [ 7.48886295e-02 5.02801388e-03 9.97179228e-01 3.57291620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.358033874 meters Centerline goodness [0,1] 0.9613211101343715 Centerline is valid? [False, True] Translation: X:-14.50, Y:-0.98, Z:0.36 [[ 9.96922350e-01 -2.54769901e-02 -7.41400775e-02 -1.45014185e+01] [ 2.43487830e-02 9.99574168e-01 -1.60816565e-02 -9.80831220e-01] [ 7.45182184e-02 1.42269421e-02 9.97118162e-01 3.60540125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.388033874 meters Centerline goodness [0,1] 0.9518586738111185 Centerline is valid? [True, True] Translation: X:-14.53, Y:-0.97, Z:0.35 [[ 9.96848076e-01 -2.62579828e-02 -7.48627465e-02 -1.45324534e+01] [ 2.55925986e-02 9.99624088e-01 -9.83372211e-03 -9.67188237e-01] [ 7.50928183e-02 7.88679475e-03 9.97145359e-01 3.49018459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.418033873999999 meters Centerline goodness [0,1] 0.9687663766900744 Centerline is valid? [True, True] Translation: X:-14.56, Y:-0.98, Z:0.35 [[ 9.96820600e-01 -2.53488301e-02 -7.55389209e-02 -1.45585968e+01] [ 2.46691023e-02 9.99646471e-01 -9.91805639e-03 -9.83299883e-01] [ 7.57636269e-02 8.02304555e-03 9.97093528e-01 3.48943167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.448033874 meters Centerline goodness [0,1] 0.9247408460123725 Centerline is valid? [True, False] Translation: X:-14.58, Y:-0.99, Z:0.35 [[ 9.96848538e-01 -2.32345138e-02 -7.58495138e-02 -1.45838442e+01] [ 2.20869656e-02 9.99629078e-01 -1.59333426e-02 -9.93016251e-01] [ 7.61915831e-02 1.42078437e-02 9.96991966e-01 3.54302106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.478033874 meters Centerline goodness [0,1] 0.9448983429801283 Centerline is valid? [False, False] Translation: X:-14.62, Y:-0.99, Z:0.35 [[ 0.99702199 -0.02236067 -0.07380482 -14.61560337] [ 0.02097353 0.99958952 -0.01951659 -0.99126337] [ 0.07421093 0.01791053 0.99708172 0.35157824] [ 0. 0. 0. 1. ]] SLAMing on 15.508033873999999 meters Centerline goodness [0,1] 0.9537307820855615 Centerline is valid? [False, True] Translation: X:-14.65, Y:-0.99, Z:0.35 [[ 0.99719305 -0.02143611 -0.07173928 -14.64925036] [ 0.0197967 0.99952814 -0.0234859 -0.98562453] [ 0.07220887 0.02199977 0.99714687 0.34872484] [ 0. 0. 0. 1. ]] SLAMing on 15.538033874 meters Centerline goodness [0,1] 0.9695442090070492 Centerline is valid? [True, True] Translation: X:-14.68, Y:-0.97, Z:0.33 [[ 9.97154007e-01 -1.94361274e-02 -7.28431377e-02 -1.46788594e+01] [ 1.88229498e-02 9.99781466e-01 -9.09488637e-03 -9.73951060e-01] [ 7.30039884e-02 7.69787967e-03 9.97301940e-01 3.33952629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.568033874 meters Centerline goodness [0,1] 0.9550915034040516 Centerline is valid? [True, True] Translation: X:-14.71, Y:-0.97, Z:0.33 [[ 9.97090482e-01 -1.88597631e-02 -7.38571537e-02 -1.47077649e+01] [ 1.82281194e-02 9.99791369e-01 -9.21703609e-03 -9.72281562e-01] [ 7.40155760e-02 7.84394194e-03 9.97226237e-01 3.30501134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.598033874 meters Centerline goodness [0,1] 0.9515933168627779 Centerline is valid? [True, True] Translation: X:-14.74, Y:-0.98, Z:0.33 [[ 9.97132622e-01 -1.84727839e-02 -7.33845333e-02 -1.47350686e+01] [ 1.78490534e-02 9.99798858e-01 -9.14627058e-03 -9.75496229e-01] [ 7.35387297e-02 7.81020032e-03 9.97261779e-01 3.28148377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.628033874 meters Centerline goodness [0,1] 0.9298543791178816 Centerline is valid? [True, False] Translation: X:-14.80, Y:-0.97, Z:0.33 [[ 9.96928534e-01 -2.03374399e-02 -7.56299340e-02 -1.47951673e+01] [ 1.96993919e-02 9.99763867e-01 -9.17297682e-03 -9.72073094e-01] [ 7.57986302e-02 7.65493862e-03 9.97093762e-01 3.25786645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.658033874 meters Centerline goodness [0,1] 0.9289657633451583 Centerline is valid? [False, False] Translation: X:-14.84, Y:-0.97, Z:0.33 [[ 9.96739408e-01 -1.97534096e-02 -7.82326943e-02 -1.48350487e+01] [ 1.88703083e-02 9.99749787e-01 -1.20114365e-02 -9.74570393e-01] [ 7.84503863e-02 1.04959970e-02 9.96862764e-01 3.27052712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.688033874 meters Centerline goodness [0,1] 0.9412355390054601 Centerline is valid? [False, False] Translation: X:-14.88, Y:-0.98, Z:0.33 [[ 9.96713846e-01 -1.75538419e-02 -7.90782675e-02 -1.48771812e+01] [ 1.66157460e-02 9.99783743e-01 -1.25053528e-02 -9.77672604e-01] [ 7.92806832e-02 1.11503139e-02 9.96789970e-01 3.29123294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.718033874 meters Centerline goodness [0,1] 0.9462441558441559 Centerline is valid? [False, False] Translation: X:-14.92, Y:-0.97, Z:0.33 [[ 9.96729737e-01 -2.05936065e-02 -7.81391977e-02 -1.49177433e+01] [ 2.02066606e-02 9.99779350e-01 -5.73953946e-03 -9.69218109e-01] [ 7.82401541e-02 4.14183741e-03 9.96925937e-01 3.27806435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.748033873999999 meters Centerline goodness [0,1] 0.9333865680423636 Centerline is valid? [False, False] Translation: X:-14.95, Y:-0.97, Z:0.33 [[ 9.96577142e-01 -2.03398256e-02 -8.01267271e-02 -1.49529116e+01] [ 1.92759543e-02 9.99715777e-01 -1.40286417e-02 -9.70324453e-01] [ 8.03892933e-02 1.24361045e-02 9.96685961e-01 3.32311068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.778033874 meters Centerline goodness [0,1] 0.9149213558751788 Centerline is valid? [False, False] Translation: X:-14.99, Y:-0.97, Z:0.33 [[ 9.96459585e-01 -1.75161295e-02 -8.22282245e-02 -1.49892443e+01] [ 1.63417566e-02 9.99754942e-01 -1.49332794e-02 -9.67008655e-01] [ 8.24696471e-02 1.35366557e-02 9.96501639e-01 3.30049158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.808033874 meters Centerline goodness [0,1] 0.9263323541754092 Centerline is valid? [False, False] Translation: X:-15.02, Y:-0.97, Z:0.33 [[ 9.96426274e-01 -1.35295610e-02 -8.33764391e-02 -1.50234804e+01] [ 1.23580520e-02 9.99817757e-01 -1.45509652e-02 -9.70535150e-01] [ 8.35581126e-02 1.34685936e-02 9.96411882e-01 3.29092704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.838033873999999 meters Centerline goodness [0,1] 0.8907610634324443 Centerline is valid? [False, False] Translation: X:-15.05, Y:-0.97, Z:0.33 [[ 9.96023849e-01 -1.54092554e-02 -8.77442115e-02 -1.50486810e+01] [ 1.44527590e-02 9.99829121e-01 -1.15258836e-02 -9.67330737e-01] [ 8.79068232e-02 1.02119090e-02 9.96076356e-01 3.30177292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.868033874 meters Centerline goodness [0,1] 0.9082580321285141 Centerline is valid? [False, False] Translation: X:-15.07, Y:-0.96, Z:0.33 [[ 9.95567136e-01 -1.77248901e-02 -9.23683202e-02 -1.50732741e+01] [ 1.69341002e-02 9.99813001e-01 -9.33807132e-03 -9.59759025e-01] [ 9.25165637e-02 7.73250252e-03 9.95681121e-01 3.29391072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.898033874 meters Centerline goodness [0,1] 0.8961679790026247 Centerline is valid? [False, False] Translation: X:-15.10, Y:-0.97, Z:0.33 [[ 9.95876280e-01 -1.53170601e-02 -8.94193690e-02 -1.50974586e+01] [ 1.40464253e-02 9.99791483e-01 -1.48218949e-02 -9.69400691e-01] [ 8.96277514e-02 1.35047511e-02 9.95883772e-01 3.33248928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.928033873999999 meters Centerline goodness [0,1] 0.9343067226890757 Centerline is valid? [False, False] Translation: X:-15.12, Y:-0.97, Z:0.33 [[ 9.96163108e-01 -1.72582895e-02 -8.57975188e-02 -1.51188354e+01] [ 1.63942891e-02 9.99807656e-01 -1.07646930e-02 -9.69724414e-01] [ 8.59667964e-02 9.31680073e-03 9.96254439e-01 3.33986341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.958033874 meters Centerline goodness [0,1] 0.9466401090261034 Centerline is valid? [False, False] Translation: X:-15.14, Y:-0.96, Z:0.33 [[ 9.95603248e-01 -1.93136995e-02 -9.16578074e-02 -1.51408764e+01] [ 1.86628021e-02 9.99794202e-01 -7.95325962e-03 -9.63684002e-01] [ 9.17925512e-02 6.20769959e-03 9.95758802e-01 3.31707898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.988033874 meters Centerline goodness [0,1] 0.9349907609608601 Centerline is valid? [False, False] Translation: X:-15.17, Y:-0.96, Z:0.33 [[ 9.95355582e-01 -1.94811178e-02 -9.42748738e-02 -1.51667027e+01] [ 1.83227730e-02 9.99745815e-01 -1.31370274e-02 -9.60402479e-01] [ 9.45068345e-02 1.13486365e-02 9.95459525e-01 3.27094730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.018033874 meters Centerline goodness [0,1] 0.9526262668741327 Centerline is valid? [False, True] Translation: X:-15.18, Y:-0.96, Z:0.33 [[ 9.95304013e-01 -2.30149311e-02 -9.40225198e-02 -1.51777758e+01] [ 2.15984523e-02 9.99637800e-01 -1.60553966e-02 -9.57852694e-01] [ 9.43579787e-02 1.39492598e-02 9.95440601e-01 3.32831201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.048033873999998 meters Centerline goodness [0,1] 0.8414412152407256 Centerline is valid? [True, False] Translation: X:-15.20, Y:-0.96, Z:0.33 [[ 9.95731959e-01 -2.24063834e-02 -8.95311153e-02 -1.51994118e+01] [ 2.16095942e-02 9.99717872e-01 -9.85912443e-03 -9.57352956e-01] [ 8.97267634e-02 7.88231421e-03 9.95935227e-01 3.34117021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.078033874 meters Centerline goodness [0,1] 0.9567848244383492 Centerline is valid? [False, True] Translation: X:-15.21, Y:-0.96, Z:0.34 [[ 9.95613762e-01 -2.50071538e-02 -9.01547520e-02 -1.52121984e+01] [ 2.41131604e-02 9.99648805e-01 -1.09919563e-02 -9.62780146e-01] [ 9.03979676e-02 8.76982695e-03 9.95867108e-01 3.41935393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.108033873999997 meters Centerline goodness [0,1] 0.9587713224649084 Centerline is valid? [True, True] Translation: X:-15.24, Y:-0.97, Z:0.34 [[ 9.95390011e-01 -2.60767428e-02 -9.22969606e-02 -1.52407316e+01] [ 2.50579476e-02 9.99611796e-01 -1.21801304e-02 -9.65388584e-01] [ 9.25787487e-02 9.81120778e-03 9.95657027e-01 3.36342206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.138033873999998 meters Centerline goodness [0,1] 0.918629236534154 Centerline is valid? [True, False] Translation: X:-15.26, Y:-0.97, Z:0.34 [[ 0.99534115 -0.02384361 -0.09342093 -15.26463803] [ 0.02220208 0.99958099 -0.01857161 -0.96924719] [ 0.0938246 0.01641095 0.99545348 0.33844554] [ 0. 0. 0. 1. ]] SLAMing on 16.168033874 meters Centerline goodness [0,1] 0.9383871306907791 Centerline is valid? [False, False] Translation: X:-15.31, Y:-0.97, Z:0.34 [[ 0.9953454 -0.02184636 -0.09386304 -15.30641361] [ 0.02002058 0.99959245 -0.02034954 -0.96689278] [ 0.09426935 0.01837563 0.99537713 0.33796975] [ 0. 0. 0. 1. ]] SLAMing on 16.198033873999997 meters Centerline goodness [0,1] 0.8978037883078472 Centerline is valid? [False, False] Translation: X:-15.31, Y:-0.97, Z:0.34 [[ 0.99527447 -0.02312997 -0.09430655 -15.31028549] [ 0.02118383 0.99954255 -0.02158555 -0.96530022] [ 0.09476268 0.01948577 0.99530917 0.34054823] [ 0. 0. 0. 1. ]] SLAMing on 16.228033873999998 meters Centerline goodness [0,1] 0.8978037883078472 Centerline is valid? [False, False] Translation: X:-15.31, Y:-0.97, Z:0.34 [[ 0.99527447 -0.02312997 -0.09430655 -15.31028549] [ 0.02118383 0.99954255 -0.02158555 -0.96530022] [ 0.09476268 0.01948577 0.99530917 0.34054823] [ 0. 0. 0. 1. ]] SLAMing on 16.258033874 meters Centerline goodness [0,1] 0.8753954121713627 Centerline is valid? [False, False] Translation: X:-15.33, Y:-0.96, Z:0.34 [[ 0.99504272 -0.02536006 -0.09616055 -15.32873455] [ 0.02371575 0.99955298 -0.01820432 -0.95849594] [ 0.09657922 0.01583356 0.99519935 0.33849615] [ 0. 0. 0. 1. ]] SLAMing on 16.288033873999996 meters Centerline goodness [0,1] 0.9119133878170023 Centerline is valid? [False, False] Translation: X:-15.35, Y:-0.97, Z:0.34 [[ 0.99526055 -0.022165 -0.09468443 -15.34956495] [ 0.02002864 0.99952426 -0.0234542 -0.96762591] [ 0.09515925 0.02144664 0.99523101 0.34163784] [ 0. 0. 0. 1. ]] SLAMing on 16.318033873999997 meters Centerline goodness [0,1] 0.9038918441580286 Centerline is valid? [False, False] Translation: X:-15.37, Y:-0.96, Z:0.34 [[ 0.99542651 -0.02242795 -0.09286037 -15.36756442] [ 0.02081529 0.99961586 -0.01829894 -0.96436802] [ 0.09323511 0.01628233 0.99551097 0.34118904] [ 0. 0. 0. 1. ]] SLAMing on 16.348033874 meters Centerline goodness [0,1] 0.9111055043942643 Centerline is valid? [False, False] Translation: X:-15.37, Y:-0.96, Z:0.34 [[ 0.99530413 -0.02284975 -0.09406154 -15.36761203] [ 0.02112868 0.99959137 -0.01925283 -0.96159057] [ 0.09446303 0.01717503 0.99538021 0.34117196] [ 0. 0. 0. 1. ]] SLAMing on 16.378033873999996 meters Centerline goodness [0,1] 0.8877503689647902 Centerline is valid? [False, False] Translation: X:-15.37, Y:-0.96, Z:0.34 [[ 0.99522521 -0.0234041 -0.09475776 -15.36661936] [ 0.02156761 0.99956008 -0.02035908 -0.95789797] [ 0.09519256 0.01821817 0.99529216 0.34022399] [ 0. 0. 0. 1. ]] SLAMing on 16.408033873999997 meters Centerline goodness [0,1] 0.8917912018522416 Centerline is valid? [False, False] Translation: X:-15.37, Y:-0.96, Z:0.34 [[ 9.95371141e-01 -1.97971257e-02 -9.40444838e-02 -1.53683267e+01] [ 1.83183998e-02 9.99695036e-01 -1.65611178e-02 -9.60201488e-01] [ 9.43436661e-02 1.47617143e-02 9.95430241e-01 3.40661569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.438033874 meters Centerline goodness [0,1] 0.9078093157131752 Centerline is valid? [False, False] Translation: X:-15.37, Y:-0.96, Z:0.34 [[ 9.95502615e-01 -1.93802105e-02 -9.27305326e-02 -1.53715508e+01] [ 1.80158338e-02 9.99717116e-01 -1.55279869e-02 -9.63641058e-01] [ 9.30052363e-02 1.37875337e-02 9.95570153e-01 3.41552681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.468033873999996 meters Centerline goodness [0,1] 0.921871705115769 Centerline is valid? [False, False] Translation: X:-15.37, Y:-0.96, Z:0.34 [[ 9.95527755e-01 -1.99324817e-02 -9.23427566e-02 -1.53742349e+01] [ 1.85451729e-02 9.99702266e-01 -1.58573652e-02 -9.63111827e-01] [ 9.26313397e-02 1.40739348e-02 9.95601004e-01 3.41823623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.498033873999997 meters Centerline goodness [0,1] 0.9303011781566801 Centerline is valid? [False, False] Translation: X:-15.39, Y:-0.96, Z:0.34 [[ 9.95591944e-01 -2.18426309e-02 -9.12117383e-02 -1.53897077e+01] [ 2.08790775e-02 9.99715810e-01 -1.15049024e-02 -9.61021853e-01] [ 9.14371142e-02 9.54977119e-03 9.95765061e-01 3.38574659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.528033874 meters Centerline goodness [0,1] 0.9200335113624464 Centerline is valid? [False, False] Translation: X:-15.41, Y:-0.96, Z:0.34 [[ 9.95300592e-01 -2.40092984e-02 -9.38098309e-02 -1.54073522e+01] [ 2.34781661e-02 9.99701484e-01 -6.76153684e-03 -9.61095848e-01] [ 9.39441669e-02 4.52727883e-03 9.95567174e-01 3.37230127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.558033874 meters Centerline goodness [0,1] 0.9557987792043781 Centerline is valid? [False, True] Translation: X:-15.44, Y:-0.97, Z:0.34 [[ 9.95376360e-01 -2.32277316e-02 -9.32007252e-02 -1.54368652e+01] [ 2.24414124e-02 9.99703248e-01 -9.47618527e-03 -9.70668046e-01] [ 9.33931780e-02 7.34081488e-03 9.95602243e-01 3.35082172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.588033873999997 meters Centerline goodness [0,1] 0.9451220792307854 Centerline is valid? [True, False] Translation: X:-15.49, Y:-0.98, Z:0.33 [[ 9.95324096e-01 -2.40465113e-02 -9.35505750e-02 -1.54876693e+01] [ 2.32455303e-02 9.99683284e-01 -9.64247349e-03 -9.80735134e-01] [ 9.37528138e-02 7.42275348e-03 9.95567834e-01 3.34862977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.618033873999998 meters Centerline goodness [0,1] 0.9703003712453594 Centerline is valid? [False, True] Translation: X:-15.51, Y:-0.99, Z:0.34 [[ 9.95527639e-01 -2.14018294e-02 -9.20145729e-02 -1.55073912e+01] [ 2.00938189e-02 9.99683787e-01 -1.51183639e-02 -9.91541143e-01] [ 9.23090373e-02 1.32018250e-02 9.95642884e-01 3.37457242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.648033874 meters Centerline goodness [0,1] 0.9451925497105462 Centerline is valid? [True, False] Translation: X:-15.43, Y:-0.98, Z:0.34 [[ 9.95365584e-01 -1.84141892e-02 -9.43836436e-02 -1.54341379e+01] [ 1.69868939e-02 9.99729225e-01 -1.59035338e-02 -9.75437813e-01] [ 9.46509375e-02 1.42265452e-02 9.95408863e-01 3.36297022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.678033873999997 meters Centerline goodness [0,1] 0.9663980762740466 Centerline is valid? [False, True] Translation: X:-15.47, Y:-0.97, Z:0.33 [[ 9.95081385e-01 -1.64807881e-02 -9.76801968e-02 -1.54748470e+01] [ 1.47740897e-02 9.99725752e-01 -1.81699737e-02 -9.73741595e-01] [ 9.79528636e-02 1.66374666e-02 9.95051974e-01 3.34067578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.708033873999998 meters Centerline goodness [0,1] 0.9154368606406171 Centerline is valid? [True, False] Translation: X:-15.51, Y:-0.97, Z:0.34 [[ 9.95061237e-01 -1.65920100e-02 -9.78664400e-02 -1.55071174e+01] [ 1.53233013e-02 9.99788715e-01 -1.37011335e-02 -9.70331458e-01] [ 9.80730917e-02 1.21338299e-02 9.95105240e-01 3.36148775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.738033874 meters Centerline goodness [0,1] 0.9472633260467462 Centerline is valid? [False, False] Translation: X:-15.54, Y:-0.98, Z:0.34 [[ 9.95514406e-01 -1.30100055e-02 -9.37112924e-02 -1.55408169e+01] [ 1.16899335e-02 9.99824759e-01 -1.46218071e-02 -9.78631397e-01] [ 9.38851001e-02 1.34607408e-02 9.95492037e-01 3.35571093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.768033873999997 meters Centerline goodness [0,1] 0.8957533815665304 Centerline is valid? [False, False] Translation: X:-15.56, Y:-0.98, Z:0.33 [[ 9.95319285e-01 -1.56672996e-02 -9.53627625e-02 -1.55641017e+01] [ 1.46405614e-02 9.99827182e-01 -1.14568714e-02 -9.78000288e-01] [ 9.55257803e-02 1.00070806e-02 9.95376654e-01 3.34644919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.798033873999998 meters Centerline goodness [0,1] 0.8915956663511098 Centerline is valid? [False, False] Translation: X:-15.61, Y:-0.99, Z:0.33 [[ 9.94787370e-01 -1.60210023e-02 -1.00704593e-01 -1.56068985e+01] [ 1.47902239e-02 9.99806671e-01 -1.29564793e-02 -9.88018192e-01] [ 1.00892700e-01 1.13994985e-02 9.94832003e-01 3.33348949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.828033874 meters Centerline goodness [0,1] 0.8206037957675512 Centerline is valid? [False, False] Translation: X:-15.63, Y:-0.99, Z:0.33 [[ 9.94719134e-01 -1.89979709e-02 -1.00860899e-01 -1.56288392e+01] [ 1.81169438e-02 9.99789363e-01 -9.64396111e-03 -9.87249601e-01] [ 1.01022870e-01 7.76574141e-03 9.94853795e-01 3.33349405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.858033873999997 meters Centerline goodness [0,1] 0.8668129571577847 Centerline is valid? [False, False] Translation: X:-15.65, Y:-0.99, Z:0.33 [[ 9.95047914e-01 -2.20961411e-02 -9.69092821e-02 -1.56515092e+01] [ 2.15111729e-02 9.99743560e-01 -7.07700058e-03 -9.85239857e-01] [ 9.70408051e-02 4.95732234e-03 9.95268058e-01 3.33421541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.888033873999998 meters Centerline goodness [0,1] 0.9333862677086381 Centerline is valid? [False, False] Translation: X:-15.67, Y:-0.98, Z:0.33 [[ 9.95170648e-01 -2.76125573e-02 -9.41962184e-02 -1.56731615e+01] [ 2.71129411e-02 9.99610721e-01 -6.57993573e-03 -9.84415798e-01] [ 9.43412386e-02 3.99422238e-03 9.95531907e-01 3.33542366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.918033874 meters Centerline goodness [0,1] 0.9145724423169784 Centerline is valid? [False, False] Translation: X:-15.70, Y:-0.99, Z:0.33 [[ 9.94881966e-01 -2.67382916e-02 -9.74419709e-02 -1.57019294e+01] [ 2.58178475e-02 9.99609452e-01 -1.06949621e-02 -9.92055993e-01] [ 9.76898801e-02 8.12448300e-03 9.95183742e-01 3.33101855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.948033873999997 meters Centerline goodness [0,1] 0.9348159348159348 Centerline is valid? [False, False] Translation: X:-15.73, Y:-1.00, Z:0.33 [[ 9.94581400e-01 -2.41184971e-02 -1.01124363e-01 -1.57265464e+01] [ 2.27418954e-02 9.99632644e-01 -1.47439335e-02 -9.99405807e-01] [ 1.01442816e-01 1.23642823e-02 9.94764535e-01 3.33719354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.978033873999998 meters Centerline goodness [0,1] 0.9142119838872105 Centerline is valid? [False, False] Translation: X:-15.77, Y:-1.01, Z:0.34 [[ 9.94847535e-01 -2.07546257e-02 -9.92352113e-02 -1.57684271e+01] [ 1.93438992e-02 9.99697991e-01 -1.51571920e-02 -1.00822333e+00] [ 9.95198232e-02 1.31594992e-02 9.94948558e-01 3.35402850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.008033874 meters Centerline goodness [0,1] 0.8490218256461816 Centerline is valid? [False, False] Translation: X:-15.79, Y:-1.01, Z:0.34 [[ 9.94230966e-01 -2.09260717e-02 -1.05199267e-01 -1.57944677e+01] [ 1.98397743e-02 9.99738609e-01 -1.13620937e-02 -1.00754280e+00] [ 1.05409533e-01 9.20941567e-03 9.94386251e-01 3.35925623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.038033873999996 meters Centerline goodness [0,1] 0.8548254749731743 Centerline is valid? [False, False] Translation: X:-15.81, Y:-1.02, Z:0.34 [[ 9.94238118e-01 -1.76642565e-02 -1.05728612e-01 -1.58114321e+01] [ 1.59125956e-02 9.99722180e-01 -1.73882917e-02 -1.01634993e+00] [ 1.06006390e-01 1.56056857e-02 9.94242982e-01 3.36344037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.068033873999997 meters Centerline goodness [0,1] 0.845272026154749 Centerline is valid? [False, False] Translation: X:-15.84, Y:-1.01, Z:0.33 [[ 9.93571200e-01 -1.87878969e-02 -1.11639082e-01 -1.58371851e+01] [ 1.72402450e-02 9.99741651e-01 -1.48123059e-02 -1.01191851e+00] [ 1.11888532e-01 1.27923954e-02 9.93638421e-01 3.34162490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.098033874 meters Centerline goodness [0,1] 0.9143001601078622 Centerline is valid? [False, False] Translation: X:-15.88, Y:-1.02, Z:0.34 [[ 9.94365962e-01 -1.51812388e-02 -1.04908837e-01 -1.58786150e+01] [ 1.36029096e-02 9.99783521e-01 -1.57439748e-02 -1.01986989e+00] [ 1.05125140e-01 1.42282072e-02 9.94357211e-01 3.35863567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.128033873999996 meters Centerline goodness [0,1] 0.8753915035839657 Centerline is valid? [False, False] Translation: X:-15.90, Y:-1.02, Z:0.34 [[ 9.94591768e-01 -1.70906289e-02 -1.02445720e-01 -1.59023863e+01] [ 1.58789963e-02 9.99794137e-01 -1.26309968e-02 -1.01913960e+00] [ 1.02640502e-01 1.09359502e-02 9.94658400e-01 3.36040785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.158033873999997 meters Centerline goodness [0,1] 0.8427173094620597 Centerline is valid? [False, False] Translation: X:-15.93, Y:-1.02, Z:0.33 [[ 9.93921236e-01 -1.88777960e-02 -1.08462926e-01 -1.59293735e+01] [ 1.79291459e-02 9.99792061e-01 -9.71494898e-03 -1.01661401e+00] [ 1.08623769e-01 7.71124647e-03 9.94053023e-01 3.32875968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.188033874 meters Centerline goodness [0,1] 0.856297725937736 Centerline is valid? [False, False] Translation: X:-15.96, Y:-1.02, Z:0.33 [[ 9.93427420e-01 -1.91439807e-02 -1.12851532e-01 -1.59604210e+01] [ 1.77870113e-02 9.99757033e-01 -1.30190934e-02 -1.02429372e+00] [ 1.13073350e-01 1.09262329e-02 9.93526565e-01 3.29144902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.218033873999996 meters Centerline goodness [0,1] 0.851588400688237 Centerline is valid? [False, False] Translation: X:-15.99, Y:-1.03, Z:0.33 [[ 9.92868940e-01 -2.31980182e-02 -1.16932120e-01 -1.59874378e+01] [ 2.21765464e-02 9.99703764e-01 -1.00292544e-02 -1.02645613e+00] [ 1.17130139e-01 7.36458460e-03 9.93089268e-01 3.30564804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.248033873999997 meters Centerline goodness [0,1] 0.9203316888842238 Centerline is valid? [False, False] Translation: X:-16.01, Y:-1.04, Z:0.33 [[ 9.93062628e-01 -2.76932682e-02 -1.14279046e-01 -1.60145557e+01] [ 2.69498332e-02 9.99604409e-01 -8.04557655e-03 -1.03517235e+00] [ 1.14456646e-01 4.90996017e-03 9.93416110e-01 3.34533009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.278033874 meters Centerline goodness [0,1] 0.94279128248114 Centerline is valid? [False, False] Translation: X:-16.04, Y:-1.05, Z:0.34 [[ 9.93450198e-01 -2.60879768e-02 -1.11248022e-01 -1.60416279e+01] [ 2.47993579e-02 9.99608548e-01 -1.29515793e-02 -1.05046614e+00] [ 1.11542354e-01 1.01078695e-02 9.93708274e-01 3.39935706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.308033874 meters Centerline goodness [0,1] 0.8777082633523682 Centerline is valid? [False, False] Translation: X:-16.09, Y:-1.05, Z:0.33 [[ 9.93127723e-01 -2.92639823e-02 -1.13317898e-01 -1.60872266e+01] [ 2.76971023e-02 9.99498077e-01 -1.53773930e-02 -1.05041329e+00] [ 1.13711024e-01 1.21331379e-02 9.93439777e-01 3.30346115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.338033873999997 meters Centerline goodness [0,1] 0.9087697903744665 Centerline is valid? [False, False] Translation: X:-16.10, Y:-1.06, Z:0.33 [[ 0.99301223 -0.02805738 -0.11462766 -16.10274007] [ 0.02553344 0.9993994 -0.02342806 -1.05778101] [ 0.11521615 0.02033751 0.99313223 0.3296184 ] [ 0. 0. 0. 1. ]] SLAMing on 17.368033873999998 meters Centerline goodness [0,1] 0.8184287549219852 Centerline is valid? [False, False] Translation: X:-16.12, Y:-1.07, Z:0.33 [[ 0.99249911 -0.0251975 -0.1196269 -16.12431468] [ 0.02232602 0.99943098 -0.02528365 -1.0650054 ] [ 0.12019592 0.02242321 0.99249692 0.32722576] [ 0. 0. 0. 1. ]] SLAMing on 17.398033874 meters Centerline goodness [0,1] 0.8759231285666331 Centerline is valid? [False, False] Translation: X:-16.13, Y:-1.08, Z:0.33 [[ 0.99266475 -0.02355184 -0.11858331 -16.13153701] [ 0.02113783 0.99954377 -0.02157404 -1.07965832] [ 0.11903732 0.01890919 0.99270971 0.3312265 ] [ 0. 0. 0. 1. ]] SLAMing on 17.428033873999997 meters Centerline goodness [0,1] 0.9013759543585871 Centerline is valid? [False, False] Translation: X:-16.13, Y:-1.08, Z:0.33 [[ 0.99271498 -0.02275967 -0.11831723 -16.13206981] [ 0.02050893 0.99958547 -0.02020594 -1.08388075] [ 0.11872807 0.01763218 0.99277024 0.33147868] [ 0. 0. 0. 1. ]] SLAMing on 17.458033873999998 meters Centerline goodness [0,1] 0.8830349064742147 Centerline is valid? [False, False] Translation: X:-16.13, Y:-1.09, Z:0.33 [[ 9.92768930e-01 -2.19333141e-02 -1.18020255e-01 -1.61303149e+01] [ 1.98853992e-02 9.99631055e-01 -1.85020398e-02 -1.09022330e+00] [ 1.18382523e-01 1.60213703e-02 9.92838806e-01 3.29855370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.488033874 meters Centerline goodness [0,1] 0.9236293387648825 Centerline is valid? [False, False] Translation: X:-16.13, Y:-1.10, Z:0.33 [[ 9.92867286e-01 -2.23363793e-02 -1.17113787e-01 -1.61289321e+01] [ 2.03708506e-02 9.99631284e-01 -1.79534142e-02 -1.09547952e+00] [ 1.17471619e-01 1.54396501e-02 9.92956210e-01 3.27507834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.518033873999997 meters Centerline goodness [0,1] 0.9401577108912548 Centerline is valid? [False, False] Translation: X:-16.13, Y:-1.10, Z:0.33 [[ 0.99286711 -0.02634234 -0.11627973 -16.13073662] [ 0.02413692 0.99950184 -0.02033429 -1.10284889] [ 0.11675746 0.01738261 0.99300833 0.32845394] [ 0. 0. 0. 1. ]] SLAMing on 17.548033873999998 meters Centerline goodness [0,1] 0.9720075203676625 Centerline is valid? [False, True] Translation: X:-16.14, Y:-1.11, Z:0.32 [[ 9.92730586e-01 -3.15782224e-02 -1.16141295e-01 -1.61405518e+01] [ 2.98220144e-02 9.99413553e-01 -1.68284478e-02 -1.10795878e+00] [ 1.16604597e-01 1.32425475e-02 9.93090128e-01 3.22817106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.578033874 meters Centerline goodness [0,1] 0.9852083986211219 Centerline is valid? [True, True] Translation: X:-16.17, Y:-1.12, Z:0.32 [[ 9.92388455e-01 -3.87972497e-02 -1.16875691e-01 -1.61693080e+01] [ 3.73135805e-02 9.99193163e-01 -1.48566401e-02 -1.11966533e+00] [ 1.17357789e-01 1.03825076e-02 9.93035424e-01 3.24104243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.608033873999997 meters Centerline goodness [0,1] 0.9739740368509213 Centerline is valid? [True, True] Translation: X:-16.20, Y:-1.12, Z:0.32 [[ 9.92526808e-01 -3.99359740e-02 -1.15306777e-01 -1.61989240e+01] [ 3.85004690e-02 9.99151175e-01 -1.46507244e-02 -1.11616233e+00] [ 1.15793992e-01 1.01018717e-02 9.93221880e-01 3.22553897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.638033873999998 meters Centerline goodness [0,1] 0.987328559797925 Centerline is valid? [True, True] Translation: X:-16.23, Y:-1.13, Z:0.32 [[ 9.92507643e-01 -3.89129025e-02 -1.15820401e-01 -1.62257495e+01] [ 3.74585192e-02 9.99189935e-01 -1.47082377e-02 -1.12731660e+00] [ 1.16298919e-01 1.02595776e-02 9.93161267e-01 3.24194303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.668033874 meters Centerline goodness [0,1] 0.9803502597620245 Centerline is valid? [True, True] Translation: X:-16.26, Y:-1.13, Z:0.32 [[ 9.92444024e-01 -3.49389192e-02 -1.17618580e-01 -1.62550866e+01] [ 3.34125868e-02 9.99330205e-01 -1.49244717e-02 -1.12678738e+00] [ 1.18061244e-01 1.08817617e-02 9.92946690e-01 3.19953600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.698033873999997 meters Centerline goodness [0,1] 0.9675941492938803 Centerline is valid? [True, True] Translation: X:-16.29, Y:-1.12, Z:0.31 [[ 9.92352168e-01 -3.12292767e-02 -1.19423229e-01 -1.62852267e+01] [ 2.96303515e-02 9.99446236e-01 -1.51414387e-02 -1.12120073e+00] [ 1.19829953e-01 1.14870872e-02 9.92727973e-01 3.11243225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.728033873999998 meters Centerline goodness [0,1] 0.9429211788609372 Centerline is valid? [True, False] Translation: X:-16.32, Y:-1.12, Z:0.31 [[ 9.92238018e-01 -2.79132851e-02 -1.21179887e-01 -1.63216920e+01] [ 2.61929736e-02 9.99532565e-01 -1.57664222e-02 -1.12125762e+00] [ 1.21563336e-01 1.24699819e-02 9.92505342e-01 3.08612968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.758033874 meters Centerline goodness [0,1] 0.9518695138419987 Centerline is valid? [False, True] Translation: X:-16.37, Y:-1.12, Z:0.31 [[ 9.92566482e-01 -2.70243759e-02 -1.18665335e-01 -1.63656053e+01] [ 2.48896615e-02 9.99501269e-01 -1.94349449e-02 -1.11921812e+00] [ 1.19131370e-01 1.63369349e-02 9.92744086e-01 3.08470817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.788033873999996 meters Centerline goodness [0,1] 0.9772344368629433 Centerline is valid? [True, True] Translation: X:-16.39, Y:-1.11, Z:0.31 [[ 9.92636404e-01 -2.64106311e-02 -1.18217798e-01 -1.63943974e+01] [ 2.48257496e-02 9.99581354e-01 -1.48592817e-02 -1.11146733e+00] [ 1.18560750e-01 1.18150185e-02 9.92876505e-01 3.06011837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.818033873999997 meters Centerline goodness [0,1] 0.9843552863991926 Centerline is valid? [True, True] Translation: X:-16.42, Y:-1.11, Z:0.30 [[ 9.92359514e-01 -2.81280248e-02 -1.20130800e-01 -1.64236037e+01] [ 2.65051500e-02 9.99534835e-01 -1.50860805e-02 -1.10901512e+00] [ 1.20499261e-01 1.17867306e-02 9.92643441e-01 3.03059562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.848033874 meters Centerline goodness [0,1] 0.9700233502324506 Centerline is valid? [True, True] Translation: X:-16.45, Y:-1.10, Z:0.29 [[ 9.92003591e-01 -3.00038199e-02 -1.22591379e-01 -1.64530338e+01] [ 2.83284788e-02 9.99480239e-01 -1.53866642e-02 -1.10412519e+00] [ 1.22989319e-01 1.17907988e-02 9.92337949e-01 2.93840944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.878033873999996 meters Centerline goodness [0,1] 0.9751815598358068 Centerline is valid? [True, True] Translation: X:-16.48, Y:-1.10, Z:0.29 [[ 9.91842412e-01 -3.02768312e-02 -1.23822222e-01 -1.64809105e+01] [ 2.85713326e-02 9.99471159e-01 -1.55267773e-02 -1.10318123e+00] [ 1.24226841e-01 1.18623503e-02 9.92182935e-01 2.90513672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.908033873999997 meters Centerline goodness [0,1] 0.9731269844607524 Centerline is valid? [True, True] Translation: X:-16.51, Y:-1.09, Z:0.29 [[ 9.92277324e-01 -3.31932899e-02 -1.19515346e-01 -1.65130100e+01] [ 3.16292415e-02 9.99387703e-01 -1.49603103e-02 -1.08891179e+00] [ 1.19938749e-01 1.10645969e-02 9.92719634e-01 2.92472387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.938033874 meters Centerline goodness [0,1] 0.980641499915924 Centerline is valid? [True, True] Translation: X:-16.54, Y:-1.09, Z:0.29 [[ 9.92404023e-01 -3.37767604e-02 -1.18293644e-01 -1.65407227e+01] [ 3.22507407e-02 9.99370354e-01 -1.47913968e-02 -1.09292386e+00] [ 1.18718766e-01 1.08639840e-02 9.92868485e-01 2.89934751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.968033873999996 meters Centerline goodness [0,1] 0.9835506223804208 Centerline is valid? [True, True] Translation: X:-16.57, Y:-1.10, Z:0.29 [[ 9.92251906e-01 -3.57528918e-02 -1.18986913e-01 -1.65703434e+01] [ 3.42239528e-02 9.99303575e-01 -1.48689475e-02 -1.09552888e+00] [ 1.19435656e-01 1.06815390e-02 9.92784483e-01 2.88831075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.998033873999997 meters Centerline goodness [0,1] 0.9717236601801121 Centerline is valid? [True, True] Translation: X:-16.60, Y:-1.09, Z:0.28 [[ 9.91683697e-01 -3.75289265e-02 -1.23105743e-01 -1.65987391e+01] [ 3.59072785e-02 9.99236987e-01 -1.53658860e-02 -1.09008868e+00] [ 1.23588477e-01 1.08177064e-02 9.92274592e-01 2.78249295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.028033874 meters Centerline goodness [0,1] 0.9870806461777619 Centerline is valid? [True, True] Translation: X:-16.63, Y:-1.09, Z:0.28 [[ 9.91687644e-01 -3.77540665e-02 -1.23005067e-01 -1.66261836e+01] [ 3.61397214e-02 9.99229161e-01 -1.53298485e-02 -1.09198371e+00] [ 1.23489014e-01 1.07570525e-02 9.92287634e-01 2.77082886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.058033873999996 meters Centerline goodness [0,1] 0.9710872212656952 Centerline is valid? [True, True] Translation: X:-16.66, Y:-1.08, Z:0.28 [[ 9.92175881e-01 -3.66068361e-02 -1.19360634e-01 -1.66567853e+01] [ 3.50809938e-02 9.99273983e-01 -1.48603682e-02 -1.07674254e+00] [ 1.19817967e-01 1.05568092e-02 9.92739749e-01 2.76037985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.088033873999997 meters Centerline goodness [0,1] 0.9859211330537231 Centerline is valid? [True, True] Translation: X:-16.68, Y:-1.08, Z:0.28 [[ 9.92409594e-01 -3.57703614e-02 -1.17659160e-01 -1.66832085e+01] [ 3.42850318e-02 9.99305088e-01 -1.46245278e-02 -1.08133329e+00] [ 1.18100522e-01 1.04795737e-02 9.92946346e-01 2.76184160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.118033873999998 meters Centerline goodness [0,1] 0.9688071081983742 Centerline is valid? [True, True] Translation: X:-16.72, Y:-1.07, Z:0.28 [[ 9.92806869e-01 -3.19659041e-02 -1.15380680e-01 -1.67152009e+01] [ 3.05143991e-02 9.99431671e-01 -1.43250318e-02 -1.06700637e+00] [ 1.15773019e-01 1.07012178e-02 9.93218049e-01 2.78919748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.148033874 meters Centerline goodness [0,1] 0.9688071081983742 Centerline is valid? [True, True] Translation: X:-16.74, Y:-1.07, Z:0.28 [[ 9.92814874e-01 -3.17048334e-02 -1.15383838e-01 -1.67422696e+01] [ 3.02545211e-02 9.99439936e-01 -1.42995606e-02 -1.07052416e+00] [ 1.15772581e-01 1.07059337e-02 9.93218049e-01 2.76557917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.178033873999997 meters Centerline goodness [0,1] 0.972651904711932 Centerline is valid? [True, True] Translation: X:-16.77, Y:-1.07, Z:0.27 [[ 9.92626925e-01 -2.99671238e-02 -1.17446838e-01 -1.67706418e+01] [ 2.84550603e-02 9.99489456e-01 -1.45305339e-02 -1.07107627e+00] [ 1.17822315e-01 1.10814423e-02 9.92972862e-01 2.70807271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.208033873999998 meters Centerline goodness [0,1] 0.971562585448962 Centerline is valid? [True, True] Translation: X:-16.80, Y:-1.06, Z:0.26 [[ 9.92045749e-01 -2.86539259e-02 -1.22573180e-01 -1.68009479e+01] [ 2.69968959e-02 9.99520578e-01 -1.51585585e-02 -1.06113184e+00] [ 1.22948768e-01 1.17288881e-02 9.92343707e-01 2.58394757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.238033874 meters Centerline goodness [0,1] 0.9320532997586822 Centerline is valid? [True, False] Translation: X:-16.84, Y:-1.06, Z:0.26 [[ 9.92021529e-01 -2.64895387e-02 -1.23254166e-01 -1.68372524e+01] [ 2.43294939e-02 9.99523470e-01 -1.89976042e-02 -1.05828966e+00] [ 1.23698670e-01 1.58473209e-02 9.92193278e-01 2.59443515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.268033873999997 meters Centerline goodness [0,1] 0.9665646437994723 Centerline is valid? [False, True] Translation: X:-16.88, Y:-1.06, Z:0.26 [[ 0.99271131 -0.02388695 -0.11812567 -16.88013104] [ 0.02150613 0.99953989 -0.02138893 -1.05911428] [ 0.11858224 0.01869261 0.99276827 0.26220863] [ 0. 0. 0. 1. ]] SLAMing on 18.298033873999998 meters Centerline goodness [0,1] 0.944652095871608 Centerline is valid? [True, False] Translation: X:-16.92, Y:-1.06, Z:0.26 [[ 0.99285087 -0.02171805 -0.11736899 -16.92385685] [ 0.01911041 0.99954591 -0.02329747 -1.05913405] [ 0.11782167 0.02088794 0.99281506 0.2630853 ] [ 0. 0. 0. 1. ]] SLAMing on 18.328033874 meters Centerline goodness [0,1] 0.9355408388520972 Centerline is valid? [False, False] Translation: X:-16.97, Y:-1.05, Z:0.25 [[ 0.99250125 -0.02127935 -0.12036804 -16.97108447] [ 0.01872861 0.99957626 -0.02228299 -1.05088937] [ 0.1207912 0.01986157 0.99247922 0.2536875 ] [ 0. 0. 0. 1. ]] SLAMing on 18.358033873999997 meters Centerline goodness [0,1] 0.9589521495721982 Centerline is valid? [False, True] Translation: X:-17.01, Y:-1.05, Z:0.25 [[ 0.99233457 -0.02025263 -0.12190955 -17.0109616 ] [ 0.01718253 0.9995095 -0.02618232 -1.04869694] [ 0.12238002 0.02388691 0.99219582 0.25314988] [ 0. 0. 0. 1. ]] SLAMing on 18.388033873999998 meters Centerline goodness [0,1] 0.9330555438047294 Centerline is valid? [True, False] Translation: X:-17.04, Y:-1.04, Z:0.26 [[ 0.99238057 -0.02229152 -0.12117714 -17.04299688] [ 0.01953262 0.99952333 -0.02390795 -1.04145573] [ 0.12165232 0.02135888 0.99234294 0.25630991] [ 0. 0. 0. 1. ]] SLAMing on 18.418033874 meters Centerline goodness [0,1] 0.8685731219439917 Centerline is valid? [False, False] Translation: X:-17.08, Y:-1.04, Z:0.26 [[ 9.92251909e-01 -1.83412796e-02 -1.22881023e-01 -1.70812626e+01] [ 1.54985304e-02 9.99590606e-01 -2.40502914e-02 -1.04141829e+00] [ 1.23271830e-01 2.19594723e-02 9.92129950e-01 2.55899247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.448033873999997 meters Centerline goodness [0,1] 0.8989123074318605 Centerline is valid? [False, False] Translation: X:-17.11, Y:-1.03, Z:0.25 [[ 0.99125976 -0.02164684 -0.13013644 -17.11373692] [ 0.01900159 0.99958752 -0.02153429 -1.03264355] [ 0.13054891 0.01887327 0.99126222 0.25076191] [ 0. 0. 0. 1. ]] SLAMing on 18.478033873999998 meters Centerline goodness [0,1] 0.9082926829268293 Centerline is valid? [False, False] Translation: X:-17.15, Y:-1.02, Z:0.25 [[ 9.91567416e-01 -2.88442828e-02 -1.26341075e-01 -1.71491223e+01] [ 2.65523348e-02 9.99451555e-01 -1.97879690e-02 -1.02406003e+00] [ 1.26842554e-01 1.62664547e-02 9.91789478e-01 2.47485746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.508033874 meters Centerline goodness [0,1] 0.9274656205180123 Centerline is valid? [False, False] Translation: X:-17.17, Y:-1.02, Z:0.25 [[ 9.92109474e-01 -2.98051169e-02 -1.21780324e-01 -1.71675314e+01] [ 2.79884941e-02 9.99470384e-01 -1.66010523e-02 -1.01886510e+00] [ 1.22210624e-01 1.30616134e-02 9.92418237e-01 2.46046479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.538033873999996 meters Centerline goodness [0,1] 0.9354797846511137 Centerline is valid? [False, False] Translation: X:-17.18, Y:-1.02, Z:0.25 [[ 9.91924568e-01 -3.34945904e-02 -1.22326460e-01 -1.71793356e+01] [ 3.13703980e-02 9.99322432e-01 -1.92503490e-02 -1.01552138e+00] [ 1.22888358e-01 1.52574644e-02 9.92303210e-01 2.51504833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.568033873999997 meters Centerline goodness [0,1] 0.936567480501865 Centerline is valid? [False, False] Translation: X:-17.20, Y:-1.02, Z:0.25 [[ 0.99170973 -0.03274563 -0.12425597 -17.19808426] [ 0.0295009 0.9991763 -0.02786445 -1.02164287] [ 0.12506605 0.02396778 0.99185887 0.25376213] [ 0. 0. 0. 1. ]] SLAMing on 18.598033874 meters Centerline goodness [0,1] 0.8738244514106583 Centerline is valid? [False, False] Translation: X:-17.21, Y:-1.02, Z:0.25 [[ 0.99187666 -0.03447888 -0.12244144 -17.21234234] [ 0.03165247 0.99918736 -0.02495493 -1.01759985] [ 0.12320236 0.02087664 0.99216195 0.25161494] [ 0. 0. 0. 1. ]] SLAMing on 18.628033873999996 meters Centerline goodness [0,1] 0.9608602696809975 Centerline is valid? [False, True] Translation: X:-17.22, Y:-1.02, Z:0.26 [[ 0.99197597 -0.0332521 -0.12197528 -17.2207502 ] [ 0.0306393 0.99926042 -0.02323472 -1.01819116] [ 0.12265767 0.01931105 0.99226114 0.25665775] [ 0. 0. 0. 1. ]] SLAMing on 18.658033873999997 meters Centerline goodness [0,1] 0.9214455378350865 Centerline is valid? [True, False] Translation: X:-17.24, Y:-1.02, Z:0.26 [[ 0.99218834 -0.02783327 -0.12160427 -17.2373165 ] [ 0.02460693 0.99930631 -0.02795345 -1.02476892] [ 0.12229795 0.02474278 0.99218497 0.25739458] [ 0. 0. 0. 1. ]] SLAMing on 18.688033874 meters Centerline goodness [0,1] 0.9002596739176706 Centerline is valid? [False, False] Translation: X:-17.25, Y:-1.03, Z:0.26 [[ 0.99199853 -0.02171148 -0.12436853 -17.25090192] [ 0.01777506 0.99930799 -0.03267403 -1.02558752] [ 0.12499187 0.03020193 0.99169798 0.25519469] [ 0. 0. 0. 1. ]] SLAMing on 18.718033873999996 meters Centerline goodness [0,1] 0.8845613587025922 Centerline is valid? [False, False] Translation: X:-17.26, Y:-1.02, Z:0.25 [[ 9.91174894e-01 -2.05293568e-02 -1.30961348e-01 -1.72621238e+01] [ 1.68164369e-02 9.99426419e-01 -2.93945620e-02 -1.01773805e+00] [ 1.31489682e-01 2.69328486e-02 9.90951606e-01 2.50921559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.748033873999997 meters Centerline goodness [0,1] 0.8680676925700157 Centerline is valid? [False, False] Translation: X:-17.27, Y:-1.02, Z:0.25 [[ 9.91311816e-01 -1.84461497e-02 -1.30232954e-01 -1.72658284e+01] [ 1.50049405e-02 9.99513144e-01 -2.73555515e-02 -1.01668678e+00] [ 1.30674154e-01 2.51637437e-02 9.91105974e-01 2.51805886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.778033874 meters Centerline goodness [0,1] 0.8967413225772211 Centerline is valid? [False, False] Translation: X:-17.28, Y:-1.02, Z:0.26 [[ 9.91603230e-01 -1.60842942e-02 -1.28313406e-01 -1.72759846e+01] [ 1.30609768e-02 9.99617714e-01 -2.43687609e-02 -1.01956508e+00] [ 1.28656307e-01 2.24882436e-02 9.91434231e-01 2.56554261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.808033873999996 meters Centerline goodness [0,1] 0.8161797466743046 Centerline is valid? [False, False] Translation: X:-17.30, Y:-1.03, Z:0.26 [[ 9.91953055e-01 -1.65447817e-02 -1.25520542e-01 -1.72991448e+01] [ 1.43850859e-02 9.99732822e-01 -1.80929063e-02 -1.03111793e+00] [ 1.25786349e-01 1.61416899e-02 9.91926026e-01 2.58418843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.838033873999997 meters Centerline goodness [0,1] 0.8905509478672986 Centerline is valid? [False, False] Translation: X:-17.32, Y:-1.03, Z:0.25 [[ 9.91105593e-01 -2.04463855e-02 -1.31497718e-01 -1.73153608e+01] [ 1.82976535e-02 9.99678928e-01 -1.75281675e-02 -1.03232050e+00] [ 1.31813885e-01 1.49661652e-02 9.91161497e-01 2.54349554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.868033873999998 meters Centerline goodness [0,1] 0.8900696458434768 Centerline is valid? [False, False] Translation: X:-17.34, Y:-1.03, Z:0.25 [[ 9.89925394e-01 -2.56871772e-02 -1.39240376e-01 -1.73351090e+01] [ 2.33586872e-02 9.99559066e-01 -1.83315591e-02 -1.03003998e+00] [ 1.39649866e-01 1.48944035e-02 9.90088921e-01 2.46791529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.898033874 meters Centerline goodness [0,1] 0.8790336313324819 Centerline is valid? [False, False] Translation: X:-17.35, Y:-1.04, Z:0.24 [[ 9.89395820e-01 -3.04298245e-02 -1.42020901e-01 -1.73526899e+01] [ 2.83643194e-02 9.99460703e-01 -1.65459783e-02 -1.03515427e+00] [ 1.42447801e-01 1.23421956e-02 9.89725363e-01 2.44955906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.928033873999997 meters Centerline goodness [0,1] 0.9022818508345658 Centerline is valid? [False, False] Translation: X:-17.37, Y:-1.05, Z:0.25 [[ 9.89507379e-01 -3.13426834e-02 -1.41041776e-01 -1.73674920e+01] [ 2.95433676e-02 9.99453426e-01 -1.48337048e-02 -1.04941126e+00] [ 1.41429615e-01 1.05112113e-02 9.89892509e-01 2.53032826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.958033873999998 meters Centerline goodness [0,1] 0.9027203711514129 Centerline is valid? [False, False] Translation: X:-17.39, Y:-1.06, Z:0.25 [[ 9.90042385e-01 -3.35629623e-02 -1.36709927e-01 -1.73918502e+01] [ 3.24709023e-02 9.99420520e-01 -1.02109896e-02 -1.05774242e+00] [ 1.36973417e-01 5.67021784e-03 9.90558495e-01 2.53006685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.988033874 meters Centerline goodness [0,1] 0.9143207371713585 Centerline is valid? [False, False] Translation: X:-17.42, Y:-1.07, Z:0.26 [[ 9.90231020e-01 -3.27204910e-02 -1.35542967e-01 -1.74199567e+01] [ 3.07217353e-02 9.99386571e-01 -1.68124109e-02 -1.07105071e+00] [ 1.36009932e-01 1.24840557e-02 9.90628814e-01 2.55078232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.018033873999997 meters Centerline goodness [0,1] 0.8267355013435457 Centerline is valid? [False, False] Translation: X:-17.46, Y:-1.08, Z:0.25 [[ 9.88773851e-01 -2.92670245e-02 -1.46525470e-01 -1.74644975e+01] [ 2.68378710e-02 9.99468073e-01 -1.85283248e-02 -1.08103595e+00] [ 1.46989798e-01 1.43878914e-02 9.89033360e-01 2.46124758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.048033873999998 meters Centerline goodness [0,1] 0.7741996830427892 Centerline is valid? [False, False] Translation: X:-17.48, Y:-1.09, Z:0.24 [[ 9.87733266e-01 -2.86631820e-02 -1.53497289e-01 -1.74760565e+01] [ 2.69002483e-02 9.99546282e-01 -1.35501211e-02 -1.08645834e+00] [ 1.53816034e-01 9.25479018e-03 9.88056161e-01 2.43447173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.078033874 meters Centerline goodness [0,1] 0.8669988338810559 Centerline is valid? [False, False] Translation: X:-17.48, Y:-1.09, Z:0.24 [[ 9.87743355e-01 -2.96468930e-02 -1.53245318e-01 -1.74774419e+01] [ 2.78990149e-02 9.99518986e-01 -1.35440731e-02 -1.09298074e+00] [ 1.53573144e-01 9.10267483e-03 9.88095355e-01 2.44480640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.108033873999997 meters Centerline goodness [0,1] 0.8315762733392608 Centerline is valid? [False, False] Translation: X:-17.48, Y:-1.11, Z:0.24 [[ 9.87871225e-01 -2.99091154e-02 -1.52367608e-01 -1.74761196e+01] [ 2.85120443e-02 9.99529052e-01 -1.13462542e-02 -1.10899548e+00] [ 1.52635208e-01 6.86432604e-03 9.88258759e-01 2.42601955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.138033873999998 meters Centerline goodness [0,1] 0.8638888302253385 Centerline is valid? [False, False] Translation: X:-17.48, Y:-1.12, Z:0.24 [[ 9.88053646e-01 -2.91027715e-02 -1.51337444e-01 -1.74770720e+01] [ 2.80147087e-02 9.99564087e-01 -9.31725887e-03 -1.11746672e+00] [ 1.51542632e-01 4.96627719e-03 9.88438246e-01 2.42183205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.168033874 meters Centerline goodness [0,1] 0.906527349405174 Centerline is valid? [False, False] Translation: X:-17.48, Y:-1.13, Z:0.24 [[ 9.88458565e-01 -2.70123297e-02 -1.49063744e-01 -1.74827515e+01] [ 2.64229654e-02 9.99633245e-01 -5.93314181e-03 -1.12861768e+00] [ 1.49169342e-01 1.92595869e-03 9.88809789e-01 2.43523195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.198033873999997 meters Centerline goodness [0,1] 0.9365449692078105 Centerline is valid? [False, False] Translation: X:-17.50, Y:-1.15, Z:0.24 [[ 9.89422086e-01 -2.10801259e-02 -1.43525479e-01 -1.75017771e+01] [ 2.03884579e-02 9.99772358e-01 -6.28833744e-03 -1.14563098e+00] [ 1.43625366e-01 3.29555675e-03 9.89626644e-01 2.43123354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.228033873999998 meters Centerline goodness [0,1] 0.7918967536813922 Centerline is valid? [False, False] Translation: X:-17.53, Y:-1.16, Z:0.24 [[ 9.89380202e-01 -1.66982825e-02 -1.44388309e-01 -1.75274553e+01] [ 1.53648333e-02 9.99828433e-01 -1.03454060e-02 -1.15979293e+00] [ 1.44536287e-01 8.01703753e-03 9.89467023e-01 2.43250186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.258033874 meters Centerline goodness [0,1] 0.8148498811252077 Centerline is valid? [False, False] Translation: X:-17.56, Y:-1.17, Z:0.24 [[ 9.88750633e-01 -1.52535785e-02 -1.48793525e-01 -1.75633293e+01] [ 1.32764655e-02 9.99810006e-01 -1.42719025e-02 -1.17403798e+00] [ 1.48982953e-01 1.21359005e-02 9.88765290e-01 2.40891216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.288033873999996 meters Centerline goodness [0,1] 0.8749446050604597 Centerline is valid? [False, False] Translation: X:-17.62, Y:-1.20, Z:0.24 [[ 9.87611768e-01 -1.76396119e-02 -1.55922546e-01 -1.76244662e+01] [ 1.54070372e-02 9.99760917e-01 -1.55155452e-02 -1.19974395e+00] [ 1.56158955e-01 1.29210306e-02 9.87647421e-01 2.35300852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.318033873999997 meters Centerline goodness [0,1] 0.8753592782964439 Centerline is valid? [False, False] Translation: X:-17.66, Y:-1.21, Z:0.23 [[ 9.86785421e-01 -2.30236039e-02 -1.60388427e-01 -1.76601149e+01] [ 2.16195878e-02 9.99711197e-01 -1.04936534e-02 -1.21434908e+00] [ 1.60583708e-01 6.88745252e-03 9.86998194e-01 2.30655673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.348033874 meters Centerline goodness [0,1] 0.8631267813786552 Centerline is valid? [False, False] Translation: X:-17.67, Y:-1.23, Z:0.23 [[ 9.86764847e-01 -2.69162418e-02 -1.59908265e-01 -1.76678544e+01] [ 2.51877916e-02 9.99600448e-01 -1.28264789e-02 -1.22599738e+00] [ 1.60189614e-01 8.62898245e-03 9.87048544e-01 2.34302127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.378033873999996 meters Centerline goodness [0,1] 0.8659376777700525 Centerline is valid? [False, False] Translation: X:-17.69, Y:-1.25, Z:0.23 [[ 9.87290687e-01 -2.33682813e-02 -1.57197398e-01 -1.76921259e+01] [ 2.20828479e-02 9.99706938e-01 -9.91901166e-03 -1.25325410e+00] [ 1.57383119e-01 6.32158162e-03 9.87517388e-01 2.27377506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.408033873999997 meters Centerline goodness [0,1] 0.8027246583681438 Centerline is valid? [False, False] Translation: X:-17.69, Y:-1.27, Z:0.23 [[ 9.87597215e-01 -2.05600641e-02 -1.55656755e-01 -1.76928897e+01] [ 1.99302205e-02 9.99785656e-01 -5.60609731e-03 -1.27149368e+00] [ 1.55738652e-01 2.43429264e-03 9.87795296e-01 2.25783324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.438033874 meters Centerline goodness [0,1] 0.78945374968437 Centerline is valid? [False, False] Translation: X:-17.69, Y:-1.30, Z:0.23 [[ 9.87765950e-01 -2.06775299e-02 -1.54566708e-01 -1.76939262e+01] [ 2.03435436e-02 9.99786045e-01 -3.74237238e-03 -1.29587529e+00] [ 1.54611020e-01 5.52153451e-04 9.87975267e-01 2.25872458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.468033873999996 meters Centerline goodness [0,1] 0.8197297524835832 Centerline is valid? [False, False] Translation: X:-17.70, Y:-1.32, Z:0.22 [[ 9.87938274e-01 -2.22222347e-02 -1.53245353e-01 -1.76977348e+01] [ 2.23792508e-02 9.99749308e-01 -7.00480683e-04 -1.32268009e+00] [ 1.53222501e-01 -2.73748450e-03 9.88187923e-01 2.24494019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.498033873999997 meters Centerline goodness [0,1] 0.8699691701096873 Centerline is valid? [False, False] Translation: X:-17.71, Y:-1.35, Z:0.22 [[ 9.87957287e-01 -2.39754790e-02 -1.52858025e-01 -1.77054552e+01] [ 2.48920198e-02 9.99681800e-01 4.08485192e-03 -1.35405989e+00] [ 1.52711449e-01 -7.84060421e-03 9.88239717e-01 2.22196236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.528033874 meters Centerline goodness [0,1] 0.868945393914131 Centerline is valid? [False, False] Translation: X:-17.72, Y:-1.39, Z:0.22 [[ 9.87520915e-01 -2.56608006e-02 -1.55383289e-01 -1.77184714e+01] [ 2.74908906e-02 9.99575569e-01 9.64016165e-03 -1.38812922e+00] [ 1.55069966e-01 -1.37914863e-02 9.87807218e-01 2.20376942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.558033873999996 meters Centerline goodness [0,1] 0.8239494298254825 Centerline is valid? [False, False] Translation: X:-17.73, Y:-1.43, Z:0.22 [[ 9.87773938e-01 -2.60561739e-02 -1.53700106e-01 -1.77317272e+01] [ 2.70892002e-02 9.99622297e-01 4.63027426e-03 -1.42700207e+00] [ 1.53521406e-01 -8.73727719e-03 9.88106694e-01 2.20495386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.588033873999997 meters Centerline goodness [0,1] 0.9047649008011409 Centerline is valid? [False, False] Translation: X:-17.75, Y:-1.46, Z:0.22 [[ 9.88073229e-01 -2.22947006e-02 -1.52362204e-01 -1.77490325e+01] [ 2.24322996e-02 9.99748031e-01 -8.16005488e-04 -1.46268171e+00] [ 1.52342006e-01 -2.61156143e-03 9.88324386e-01 2.18954235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.618033873999998 meters Centerline goodness [0,1] 0.8178316481400071 Centerline is valid? [False, False] Translation: X:-17.77, Y:-1.49, Z:0.21 [[ 9.87806901e-01 -2.08782124e-02 -1.54277757e-01 -1.77726246e+01] [ 2.12520988e-02 9.99773849e-01 7.74441424e-04 -1.49330111e+00] [ 1.54226698e-01 -4.04372471e-03 9.88027213e-01 2.14681802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.648033874 meters Centerline goodness [0,1] 0.8674379469920067 Centerline is valid? [False, False] Translation: X:-17.79, Y:-1.53, Z:0.21 [[ 9.86985956e-01 -2.35061377e-02 -1.59079173e-01 -1.77909903e+01] [ 2.44483949e-02 9.99693217e-01 3.96843914e-03 -1.52804200e+00] [ 1.58937088e-01 -7.80602415e-03 9.87257853e-01 2.14042070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.678033873999997 meters Centerline goodness [0,1] 0.9555657735233876 Centerline is valid? [False, True] Translation: X:-17.81, Y:-1.56, Z:0.21 [[ 9.86732579e-01 -2.59634036e-02 -1.60264527e-01 -1.78142547e+01] [ 2.77584703e-02 9.99574398e-01 8.97162689e-03 -1.56299247e+00] [ 1.59963385e-01 -1.33012947e-02 9.87033328e-01 2.13828702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.708033873999998 meters Centerline goodness [0,1] 0.9413534462946326 Centerline is valid? [True, False] Translation: X:-17.85, Y:-1.60, Z:0.21 [[ 9.87268477e-01 -2.78480589e-02 -1.56606000e-01 -1.78454255e+01] [ 2.97929833e-02 9.99505212e-01 1.00851388e-02 -1.59833534e+00] [ 1.56247662e-01 -1.46224996e-02 9.87609665e-01 2.11274388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.738033874 meters Centerline goodness [0,1] 0.8727613104524181 Centerline is valid? [False, False] Translation: X:-17.90, Y:-1.64, Z:0.21 [[ 9.87131427e-01 -2.61734959e-02 -1.57754538e-01 -1.78998727e+01] [ 2.83786194e-02 9.99528284e-01 1.17415171e-02 -1.64410412e+00] [ 1.57372806e-01 -1.60672765e-02 9.87408549e-01 2.06622313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.768033873999997 meters Centerline goodness [0,1] 0.8903499602792992 Centerline is valid? [False, False] Translation: X:-17.92, Y:-1.66, Z:0.21 [[ 9.87696349e-01 -2.61402827e-02 -1.54183683e-01 -1.79179202e+01] [ 2.76489896e-02 9.99588432e-01 7.64855147e-03 -1.66457493e+00] [ 1.53920291e-01 -1.18174694e-02 9.88012597e-01 2.05624657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.798033873999998 meters Centerline goodness [0,1] 0.8516499582289057 Centerline is valid? [False, False] Translation: X:-17.96, Y:-1.70, Z:0.20 [[ 9.87775216e-01 -2.66597661e-02 -1.53588341e-01 -1.79608358e+01] [ 2.81794243e-02 9.99573027e-01 7.72554678e-03 -1.69724157e+00] [ 1.53316802e-01 -1.19591347e-02 9.88104720e-01 2.03238508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.828033874 meters Centerline goodness [0,1] 0.928956250131019 Centerline is valid? [False, False] Translation: X:-17.89, Y:-1.72, Z:0.21 [[ 9.87249870e-01 -2.53918522e-02 -1.57139902e-01 -1.78934075e+01] [ 2.70308261e-02 9.99600131e-01 8.30139691e-03 -1.71756883e+00] [ 1.56866279e-01 -1.24431744e-02 9.87541461e-01 2.08682235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.858033873999997 meters Centerline goodness [0,1] 0.8213457076566125 Centerline is valid? [False, False] Translation: X:-17.94, Y:-1.74, Z:0.21 [[ 9.86706517e-01 -2.49587135e-02 -1.60584283e-01 -1.79378661e+01] [ 2.65052457e-02 9.99620573e-01 7.49547280e-03 -1.74418782e+00] [ 1.60336276e-01 -1.16521577e-02 9.86993671e-01 2.05682326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.888033873999998 meters Centerline goodness [0,1] 0.9272761419836815 Centerline is valid? [False, False] Translation: X:-17.98, Y:-1.77, Z:0.20 [[ 9.86547550e-01 -2.50632366e-02 -1.61541840e-01 -1.79800841e+01] [ 2.66552271e-02 9.99615069e-01 7.69497254e-03 -1.76725661e+00] [ 1.61286797e-01 -1.18973908e-02 9.86835863e-01 2.03566209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.918033874 meters Centerline goodness [0,1] 0.9370706986094823 Centerline is valid? [False, False] Translation: X:-18.02, Y:-1.79, Z:0.20 [[ 9.86333493e-01 -2.74196504e-02 -1.62463545e-01 -1.80196106e+01] [ 2.85611165e-02 9.99581026e-01 4.69412065e-03 -1.78809024e+00] [ 1.62266766e-01 -9.27010864e-03 9.86703381e-01 2.01095722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.948033873999997 meters Centerline goodness [0,1] 0.9246551040427442 Centerline is valid? [False, False] Translation: X:-18.05, Y:-1.81, Z:0.20 [[ 9.86629270e-01 -2.86331095e-02 -1.60445717e-01 -1.80497752e+01] [ 2.86442854e-02 9.99587150e-01 -2.24373652e-03 -1.80761764e+00] [ 1.60443723e-01 -2.38211679e-03 9.87042115e-01 2.02250216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.978033873999998 meters Centerline goodness [0,1] 0.9136288318144159 Centerline is valid? [False, False] Translation: X:-18.08, Y:-1.83, Z:0.20 [[ 9.87170450e-01 -2.97266420e-02 -1.56878390e-01 -1.80764965e+01] [ 2.89403177e-02 9.99554524e-01 -7.29465061e-03 -1.82775280e+00] [ 1.57025350e-01 2.66095310e-03 9.87590988e-01 2.03658359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.008033874 meters Centerline goodness [0,1] 0.9447556540278417 Centerline is valid? [False, False] Translation: X:-18.10, Y:-1.85, Z:0.20 [[ 9.87015040e-01 -2.85089518e-02 -1.58077674e-01 -1.81043963e+01] [ 2.71414735e-02 9.99573225e-01 -1.08031851e-02 -1.84556058e+00] [ 1.58318198e-01 6.37244517e-03 9.87367581e-01 2.01968887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.038033873999996 meters Centerline goodness [0,1] 0.9447556540278417 Centerline is valid? [False, False] Translation: X:-18.10, Y:-1.85, Z:0.20 [[ 9.87015040e-01 -2.85089518e-02 -1.58077674e-01 -1.81043963e+01] [ 2.71414735e-02 9.99573225e-01 -1.08031851e-02 -1.84556058e+00] [ 1.58318198e-01 6.37244517e-03 9.87367581e-01 2.01968887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.068033873999997 meters Centerline goodness [0,1] 0.8623687220546948 Centerline is valid? [False, False] Translation: X:-18.14, Y:-1.86, Z:0.20 [[ 9.86413671e-01 -2.60551741e-02 -1.62201100e-01 -1.81350084e+01] [ 2.47991193e-02 9.99644771e-01 -9.76398010e-03 -1.85697626e+00] [ 1.62397884e-01 5.60887903e-03 9.86709414e-01 1.95943512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.098033874 meters Centerline goodness [0,1] 0.9319012892575799 Centerline is valid? [False, False] Translation: X:-18.16, Y:-1.87, Z:0.20 [[ 9.85947066e-01 -2.11539493e-02 -1.65713285e-01 -1.81581441e+01] [ 1.94020029e-02 9.99737522e-01 -1.21839899e-02 -1.87006379e+00] [ 1.65927528e-01 8.79759941e-03 9.86098706e-01 1.95239069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.128033873999996 meters Centerline goodness [0,1] 0.8910405585106382 Centerline is valid? [False, False] Translation: X:-18.17, Y:-1.87, Z:0.20 [[ 9.86001370e-01 -1.75547767e-02 -1.65810519e-01 -1.81693220e+01] [ 1.62486054e-02 9.99825372e-01 -9.23080147e-03 -1.87454038e+00] [ 1.65943609e-01 6.40739320e-03 9.86114427e-01 1.99329771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.158033873999997 meters Centerline goodness [0,1] 0.9083768001496229 Centerline is valid? [False, False] Translation: X:-18.21, Y:-1.89, Z:0.20 [[ 9.86513852e-01 -1.45396475e-02 -1.63030731e-01 -1.82090973e+01] [ 1.18026570e-02 9.99772893e-01 -1.77442676e-02 -1.89481443e+00] [ 1.63251701e-01 1.55807700e-02 9.86461414e-01 1.96471089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.188033874 meters Centerline goodness [0,1] 0.9003306269356324 Centerline is valid? [False, False] Translation: X:-18.22, Y:-1.89, Z:0.19 [[ 9.86741981e-01 -1.61007610e-02 -1.61496216e-01 -1.82249187e+01] [ 1.43348818e-02 9.99824110e-01 -1.20937779e-02 -1.89172863e+00] [ 1.61662530e-01 9.61840923e-03 9.86799226e-01 1.92292584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.218033873999996 meters Centerline goodness [0,1] 0.8282267290691627 Centerline is valid? [False, False] Translation: X:-18.25, Y:-1.91, Z:0.19 [[ 9.86568800e-01 -1.42752263e-02 -1.62721300e-01 -1.82499647e+01] [ 1.18039417e-02 9.99799999e-01 -1.61439876e-02 -1.91110749e+00] [ 1.62919215e-01 1.40064017e-02 9.86539989e-01 1.92180652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.248033873999997 meters Centerline goodness [0,1] 0.8795263751409598 Centerline is valid? [False, False] Translation: X:-18.27, Y:-1.92, Z:0.19 [[ 9.85941213e-01 -1.63625317e-02 -1.66289483e-01 -1.82724819e+01] [ 1.48816896e-02 9.99837770e-01 -1.01474015e-02 -1.91639151e+00] [ 1.66428543e-01 7.53007293e-03 9.86024766e-01 1.90917807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.278033874 meters Centerline goodness [0,1] 0.8989314058366489 Centerline is valid? [False, False] Translation: X:-18.30, Y:-1.92, Z:0.19 [[ 9.85439646e-01 -2.27614429e-02 -1.68495164e-01 -1.82955195e+01] [ 2.16664290e-02 9.99730513e-01 -8.33466602e-03 -1.91746462e+00] [ 1.68639465e-01 4.56262184e-03 9.85667243e-01 1.89319985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.308033873999996 meters Centerline goodness [0,1] 0.9364831689759914 Centerline is valid? [False, False] Translation: X:-18.34, Y:-1.91, Z:0.19 [[ 9.85501804e-01 -3.35795849e-02 -1.66308768e-01 -1.83431117e+01] [ 3.32149785e-02 9.99435853e-01 -4.97400028e-03 -1.91092795e+00] [ 1.66381971e-01 -6.22055916e-04 9.86061181e-01 1.86214215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.338033873999997 meters Centerline goodness [0,1] 0.9447738297607695 Centerline is valid? [False, False] Translation: X:-18.35, Y:-1.91, Z:0.19 [[ 9.85545560e-01 -3.55807686e-02 -1.65631998e-01 -1.83503376e+01] [ 3.49880867e-02 9.99366620e-01 -6.49559873e-03 -1.91248939e+00] [ 1.65758208e-01 6.06561791e-04 9.86166238e-01 1.89219293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.368033873999998 meters Centerline goodness [0,1] 0.9355542171176972 Centerline is valid? [False, False] Translation: X:-18.41, Y:-1.92, Z:0.18 [[ 9.85020918e-01 -3.87898895e-02 -1.68015282e-01 -1.84050342e+01] [ 3.84535405e-02 9.99246565e-01 -5.25620097e-03 -1.92169776e+00] [ 1.68092581e-01 -1.28331456e-03 9.85770378e-01 1.83069461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.398033874 meters Centerline goodness [0,1] 0.9441127348643006 Centerline is valid? [False, False] Translation: X:-18.44, Y:-1.92, Z:0.18 [[ 9.84729866e-01 -3.94209287e-02 -1.69567334e-01 -1.84444846e+01] [ 3.89260212e-02 9.99222591e-01 -6.24334215e-03 -1.92481152e+00] [ 1.69681629e-01 -4.52576147e-04 9.85498828e-01 1.78060940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.428033873999997 meters Centerline goodness [0,1] 0.9484409730156422 Centerline is valid? [False, False] Translation: X:-18.49, Y:-1.92, Z:0.17 [[ 9.84724622e-01 -3.91030056e-02 -1.69671373e-01 -1.84850846e+01] [ 3.84162620e-02 9.99234940e-01 -7.32975971e-03 -1.92428332e+00] [ 1.69828179e-01 6.99654955e-04 9.85473439e-01 1.72747588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.458033873999998 meters Centerline goodness [0,1] 0.9024218296425313 Centerline is valid? [False, False] Translation: X:-18.52, Y:-1.92, Z:0.17 [[ 9.84515650e-01 -3.89719623e-02 -1.70909685e-01 -1.85238355e+01] [ 3.80119242e-02 9.99237764e-01 -8.88727989e-03 -1.92255455e+00] [ 1.71125766e-01 2.25306015e-03 9.85246617e-01 1.66746264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.488033874 meters Centerline goodness [0,1] 0.9209509164207639 Centerline is valid? [False, False] Translation: X:-18.55, Y:-1.92, Z:0.17 [[ 9.83959229e-01 -3.67448403e-02 -1.74568186e-01 -1.85523231e+01] [ 3.49116952e-02 9.99298386e-01 -1.35613192e-02 -1.92136123e+00] [ 1.74944015e-01 7.24931394e-03 9.84551695e-01 1.66129985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.518033873999997 meters Centerline goodness [0,1] 0.9351577188218091 Centerline is valid? [False, False] Translation: X:-18.58, Y:-1.92, Z:0.17 [[ 9.83699514e-01 -3.54331567e-02 -1.76294518e-01 -1.85780252e+01] [ 3.24294803e-02 9.99276080e-01 -1.98908169e-02 -1.92107997e+00] [ 1.76871689e-01 1.38494473e-02 9.84136473e-01 1.66026417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.548033873999998 meters Centerline goodness [0,1] 0.9272644003580574 Centerline is valid? [False, False] Translation: X:-18.60, Y:-1.92, Z:0.17 [[ 0.98382301 -0.0335757 -0.17596862 -18.60350923] [ 0.02952396 0.99923635 -0.02559382 -1.92334723] [ 0.17669357 0.0199845 0.98406301 0.16624237] [ 0. 0. 0. 1. ]] SLAMing on 20.578033874 meters Centerline goodness [0,1] 0.8830599958480382 Centerline is valid? [False, False] Translation: X:-18.63, Y:-1.93, Z:0.17 [[ 0.98403104 -0.03194107 -0.17510764 -18.62930432] [ 0.02690491 0.99915535 -0.03105992 -1.92809977] [ 0.17595182 0.02585267 0.98405924 0.16619594] [ 0. 0. 0. 1. ]] SLAMing on 20.608033873999997 meters Centerline goodness [0,1] 0.8744179278230501 Centerline is valid? [False, False] Translation: X:-18.66, Y:-1.91, Z:0.16 [[ 0.98342556 -0.03300512 -0.17828299 -18.65714651] [ 0.02902523 0.99926883 -0.02488645 -1.9147105 ] [ 0.17897402 0.01929926 0.9836645 0.16460386] [ 0. 0. 0. 1. ]] SLAMing on 20.638033873999998 meters Centerline goodness [0,1] 0.9408801365585578 Centerline is valid? [False, False] Translation: X:-18.68, Y:-1.91, Z:0.16 [[ 0.98350946 -0.03311427 -0.17779932 -18.68433882] [ 0.02779077 0.99909019 -0.03234916 -1.91296204] [ 0.17870877 0.02687452 0.98353492 0.1644631 ] [ 0. 0. 0. 1. ]] SLAMing on 20.668033874 meters Centerline goodness [0,1] 0.950706429868314 Centerline is valid? [False, True] Translation: X:-18.72, Y:-1.91, Z:0.16 [[ 0.9840519 -0.03258493 -0.1748716 -18.72063173] [ 0.02706416 0.99905996 -0.03386344 -1.90648809] [ 0.17581065 0.02859063 0.98400873 0.15800288] [ 0. 0. 0. 1. ]] SLAMing on 20.698033873999997 meters Centerline goodness [0,1] 0.9553610594698473 Centerline is valid? [True, True] Translation: X:-18.75, Y:-1.89, Z:0.15 [[ 0.98362216 -0.0304824 -0.17764648 -18.75098311] [ 0.02641822 0.99933332 -0.02519911 -1.89159776] [ 0.17829617 0.0200933 0.98377169 0.15022131] [ 0. 0. 0. 1. ]] SLAMing on 20.728033873999998 meters Centerline goodness [0,1] 0.9341256507580943 Centerline is valid? [True, False] Translation: X:-18.79, Y:-1.89, Z:0.14 [[ 9.83125990e-01 -2.80869117e-02 -1.80760652e-01 -1.87874874e+01] [ 2.42356347e-02 9.99430503e-01 -2.34798550e-02 -1.88563030e+00] [ 1.81317186e-01 1.87028066e-02 9.83246807e-01 1.43358132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.758033874 meters Centerline goodness [0,1] 0.947255538897218 Centerline is valid? [False, False] Translation: X:-18.82, Y:-1.88, Z:0.14 [[ 0.98256356 -0.02898022 -0.18365457 -18.81584713] [ 0.02370473 0.99924271 -0.03085612 -1.88280297] [ 0.18440971 0.02596462 0.98250644 0.14273923] [ 0. 0. 0. 1. ]] SLAMing on 20.788033873999996 meters Centerline goodness [0,1] 0.9528305819576455 Centerline is valid? [False, True] Translation: X:-18.84, Y:-1.87, Z:0.14 [[ 0.98265958 -0.03052068 -0.18288969 -18.84183289] [ 0.02602915 0.99929893 -0.02690959 -1.86863245] [ 0.18358277 0.0216825 0.9827651 0.14126256] [ 0. 0. 0. 1. ]] SLAMing on 20.818033873999997 meters Centerline goodness [0,1] 0.9598843136846924 Centerline is valid? [True, True] Translation: X:-18.87, Y:-1.86, Z:0.14 [[ 0.98286515 -0.02944449 -0.18195911 -18.8716118 ] [ 0.02525801 0.9993612 -0.02528298 -1.86274469] [ 0.18258731 0.02025383 0.982981 0.13530156] [ 0. 0. 0. 1. ]] SLAMing on 20.848033874 meters Centerline goodness [0,1] 0.9531035344073935 Centerline is valid? [True, True] Translation: X:-18.90, Y:-1.86, Z:0.13 [[ 0.98288449 -0.02720229 -0.1822035 -18.90072311] [ 0.02297022 0.99941603 -0.0252977 -1.85771525] [ 0.18278525 0.02067946 0.98293535 0.13108865] [ 0. 0. 0. 1. ]] SLAMing on 20.878033873999996 meters Centerline goodness [0,1] 0.9328531161916693 Centerline is valid? [True, False] Translation: X:-18.92, Y:-1.85, Z:0.13 [[ 9.82594246e-01 -2.38644497e-02 -1.84225502e-01 -1.89197725e+01] [ 1.84807605e-02 9.99352064e-01 -3.08855079e-02 -1.85356507e+00] [ 1.84843201e-01 2.69432950e-02 9.82398621e-01 1.28505114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.908033873999997 meters Centerline goodness [0,1] 0.9305410049029879 Centerline is valid? [False, False] Translation: X:-18.94, Y:-1.84, Z:0.12 [[ 0.9831039 -0.02523383 -0.1813008 -18.93618002] [ 0.02033219 0.99937712 -0.02884411 -1.83626384] [ 0.18191571 0.02467051 0.9830046 0.12426987] [ 0. 0. 0. 1. ]] SLAMing on 20.938033874 meters Centerline goodness [0,1] 0.9276867258851496 Centerline is valid? [False, False] Translation: X:-18.96, Y:-1.82, Z:0.12 [[ 0.98375425 -0.02452991 -0.17783658 -18.95566439] [ 0.02056261 0.99949763 -0.02411783 -1.82254089] [ 0.17833885 0.02006924 0.98376444 0.12146167] [ 0. 0. 0. 1. ]] SLAMing on 20.968033873999996 meters Centerline goodness [0,1] 0.9147204529370134 Centerline is valid? [False, False] Translation: X:-18.97, Y:-1.81, Z:0.12 [[ 0.98371414 -0.02397337 -0.17813414 -18.96794354] [ 0.02012287 0.99952384 -0.02339138 -1.81255234] [ 0.17861009 0.01942586 0.98372815 0.12440935] [ 0. 0. 0. 1. ]] SLAMing on 20.998033873999997 meters Centerline goodness [0,1] 0.9275029728996724 Centerline is valid? [False, False] Translation: X:-19.01, Y:-1.80, Z:0.12 [[ 0.98351338 -0.0234889 -0.17930337 -19.00666994] [ 0.01900948 0.9994638 -0.02666 -1.80057338] [ 0.17983344 0.022812 0.98343253 0.11988884] [ 0. 0. 0. 1. ]] SLAMing on 21.028033874 meters Centerline goodness [0,1] 0.9334613858905568 Centerline is valid? [False, False] Translation: X:-19.02, Y:-1.79, Z:0.12 [[ 9.84253544e-01 -2.44376025e-02 -1.75065029e-01 -1.90232040e+01] [ 2.07358255e-02 9.99521696e-01 -2.29434980e-02 -1.79428819e+00] [ 1.75541979e-01 1.89521013e-02 9.84289506e-01 1.16870377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.058033873999996 meters Centerline goodness [0,1] 0.8854108324517186 Centerline is valid? [False, False] Translation: X:-19.05, Y:-1.79, Z:0.12 [[ 9.84609786e-01 -2.59373429e-02 -1.72831777e-01 -1.90506158e+01] [ 2.31456815e-02 9.99567359e-01 -1.81486123e-02 -1.78999343e+00] [ 1.73227730e-01 1.38689920e-02 9.84784141e-01 1.16648329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.088033873999997 meters Centerline goodness [0,1] 0.944687682428488 Centerline is valid? [False, False] Translation: X:-19.09, Y:-1.79, Z:0.11 [[ 9.84088747e-01 -2.68948219e-02 -1.75630313e-01 -1.90860059e+01] [ 2.37547769e-02 9.99518597e-01 -1.99570677e-02 -1.79349528e+00] [ 1.76082506e-01 1.54674668e-02 9.84253884e-01 1.11009632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.118033873999998 meters Centerline goodness [0,1] 0.8959433784996973 Centerline is valid? [False, False] Translation: X:-19.12, Y:-1.79, Z:0.10 [[ 9.83162574e-01 -2.89785167e-02 -1.80420616e-01 -1.91184816e+01] [ 2.51495890e-02 9.99408055e-01 -2.34741928e-02 -1.78789801e+00] [ 1.80994064e-01 1.85414435e-02 9.83309394e-01 1.02478527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.148033873999996 meters Centerline goodness [0,1] 0.91373279996649 Centerline is valid? [False, False] Translation: X:-19.15, Y:-1.78, Z:0.10 [[ 0.98290475 -0.03039973 -0.18158773 -19.15295636] [ 0.02584042 0.99928991 -0.02742185 -1.78136107] [ 0.18229241 0.02226076 0.98299234 0.09556856] [ 0. 0. 0. 1. ]] SLAMing on 21.178033873999997 meters Centerline goodness [0,1] 0.9571909571909571 Centerline is valid? [False, True] Translation: X:-19.18, Y:-1.77, Z:0.10 [[ 9.83903447e-01 -3.02882579e-02 -1.76115382e-01 -1.91793985e+01] [ 2.67267677e-02 9.99388175e-01 -2.25600277e-02 -1.77300585e+00] [ 1.76690934e-01 1.74898942e-02 9.84110978e-01 9.51583394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.208033873999998 meters Centerline goodness [0,1] 0.9567222419297623 Centerline is valid? [True, True] Translation: X:-19.21, Y:-1.78, Z:0.09 [[ 0.98417476 -0.03073513 -0.17451472 -19.20677439] [ 0.02664781 0.99931404 -0.02571672 -1.77935737] [ 0.17518542 0.02065931 0.98431868 0.09354194] [ 0. 0. 0. 1. ]] SLAMing on 21.238033874 meters Centerline goodness [0,1] 0.9301900508879427 Centerline is valid? [True, False] Translation: X:-19.21, Y:-1.77, Z:0.10 [[ 0.98418795 -0.02952583 -0.17464908 -19.21355876] [ 0.02555573 0.9993623 -0.02493775 -1.77252056] [ 0.17527401 0.02008015 0.98431489 0.09546943] [ 0. 0. 0. 1. ]] SLAMing on 21.268033873999997 meters Centerline goodness [0,1] 0.9476264997391758 Centerline is valid? [False, False] Translation: X:-19.25, Y:-1.77, Z:0.09 [[ 0.98406638 -0.03047391 -0.17517047 -19.24942991] [ 0.02588586 0.9992609 -0.02841793 -1.76599773] [ 0.175907 0.02343069 0.9841279 0.09012828] [ 0. 0. 0. 1. ]] SLAMing on 21.298033873999998 meters Centerline goodness [0,1] 0.9432085895965808 Centerline is valid? [False, False] Translation: X:-19.25, Y:-1.76, Z:0.09 [[ 0.98403907 -0.03130758 -0.17517691 -19.25311053] [ 0.02659266 0.99921983 -0.02919871 -1.7646493 ] [ 0.17595439 0.02407426 0.9841039 0.09190375] [ 0. 0. 0. 1. ]] SLAMing on 21.328033874 meters Centerline goodness [0,1] 0.9555208333333334 Centerline is valid? [False, True] Translation: X:-19.28, Y:-1.76, Z:0.09 [[ 0.98319665 -0.03458305 -0.17924383 -19.27807423] [ 0.03043878 0.99920307 -0.02582061 -1.75647631] [ 0.17999394 0.01993077 0.98346578 0.0904869 ] [ 0. 0. 0. 1. ]] SLAMing on 21.358033873999997 meters Centerline goodness [0,1] 0.948160814079573 Centerline is valid? [True, False] Translation: X:-19.33, Y:-1.75, Z:0.08 [[ 0.98289801 -0.03886189 -0.18000346 -19.33294095] [ 0.03454104 0.99903639 -0.02707792 -1.74826193] [ 0.18088231 0.02039733 0.98329321 0.08136767] [ 0. 0. 0. 1. ]] SLAMing on 21.388033873999998 meters Centerline goodness [0,1] 0.9547851827145567 Centerline is valid? [False, True] Translation: X:-19.37, Y:-1.75, Z:0.08 [[ 0.98391681 -0.0394913 -0.1742072 -19.37198184] [ 0.03473896 0.99893862 -0.0302464 -1.74835028] [ 0.17521677 0.02370816 0.98424438 0.07755991] [ 0. 0. 0. 1. ]] SLAMing on 21.418033874 meters Centerline goodness [0,1] 0.9683569387371977 Centerline is valid? [True, True] Translation: X:-19.40, Y:-1.74, Z:0.07 [[ 9.84115392e-01 -3.81749142e-02 -1.73376965e-01 -1.93998040e+01] [ 3.43654184e-02 9.99098541e-01 -2.49223641e-02 -1.74277073e+00] [ 1.74172081e-01 1.85683102e-02 9.84540148e-01 7.00404361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.448033873999997 meters Centerline goodness [0,1] 0.9678759288636554 Centerline is valid? [True, True] Translation: X:-19.43, Y:-1.74, Z:0.06 [[ 9.83467010e-01 -3.69487006e-02 -1.77277842e-01 -1.94284979e+01] [ 3.29469889e-02 9.99132639e-01 -2.54649763e-02 -1.73568159e+00] [ 1.78064976e-01 1.92031930e-02 9.83831338e-01 5.88653005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.478033873999998 meters Centerline goodness [0,1] 0.9444397888209168 Centerline is valid? [True, False] Translation: X:-19.47, Y:-1.73, Z:0.05 [[ 0.982462 -0.03692691 -0.18276985 -19.46636382] [ 0.03249914 0.99910258 -0.02716312 -1.72913816] [ 0.18360888 0.02074687 0.98278042 0.05249523] [ 0. 0. 0. 1. ]] SLAMing on 21.508033874 meters Centerline goodness [0,1] 0.9584854972085799 Centerline is valid? [False, True] Translation: X:-19.50, Y:-1.73, Z:0.06 [[ 0.98214836 -0.03722749 -0.18438739 -19.49867463] [ 0.03143123 0.99891858 -0.03425995 -1.73429254] [ 0.1854634 0.02785283 0.98225636 0.05582814] [ 0. 0. 0. 1. ]] SLAMing on 21.538033873999996 meters Centerline goodness [0,1] 0.9615440976365426 Centerline is valid? [True, True] Translation: X:-19.53, Y:-1.73, Z:0.05 [[ 9.82513621e-01 -3.59913334e-02 -1.82678976e-01 -1.95292354e+01] [ 3.18177976e-02 9.99162525e-01 -2.57269451e-02 -1.72583054e+00] [ 1.83451934e-01 1.94646313e-02 9.82835956e-01 5.42813520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.568033873999997 meters Centerline goodness [0,1] 0.9841103909680117 Centerline is valid? [True, True] Translation: X:-19.56, Y:-1.72, Z:0.06 [[ 9.82923826e-01 -3.62053220e-02 -1.80415983e-01 -1.95581873e+01] [ 3.21414970e-02 9.99160569e-01 -2.53984536e-02 -1.72468835e+00] [ 1.81184095e-01 1.91659054e-02 9.83262423e-01 5.52083221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.598033874 meters Centerline goodness [0,1] 0.969548565329315 Centerline is valid? [True, True] Translation: X:-19.59, Y:-1.70, Z:0.05 [[ 9.83105674e-01 -3.79803399e-02 -1.79055094e-01 -1.95894799e+01] [ 3.40110350e-02 9.99104030e-01 -2.51870476e-02 -1.70470665e+00] [ 1.79851279e-01 1.86716803e-02 9.83516592e-01 4.68300919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.628033873999996 meters Centerline goodness [0,1] 0.963688145247419 Centerline is valid? [True, True] Translation: X:-19.62, Y:-1.70, Z:0.04 [[ 9.82880896e-01 -3.86008022e-02 -1.80153051e-01 -1.96181098e+01] [ 3.45995036e-02 9.99080933e-01 -2.53014555e-02 -1.69915981e+00] [ 1.80964134e-01 1.86351112e-02 9.83313132e-01 3.76955375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.658033873999997 meters Centerline goodness [0,1] 0.9595823792618112 Centerline is valid? [True, True] Translation: X:-19.64, Y:-1.70, Z:0.03 [[ 9.82302998e-01 -3.99904080e-02 -1.82979746e-01 -1.96448271e+01] [ 3.58912412e-02 9.99026199e-01 -2.56607170e-02 -1.70270787e+00] [ 1.83827743e-01 1.86392290e-02 9.82781736e-01 2.75264044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.688033874 meters Centerline goodness [0,1] 0.9770506181089208 Centerline is valid? [True, True] Translation: X:-19.67, Y:-1.71, Z:0.03 [[ 9.82112165e-01 -4.37683718e-02 -1.83139359e-01 -1.96729580e+01] [ 3.97293197e-02 9.98880753e-01 -2.56675357e-02 -1.70944847e+00] [ 1.84057807e-01 1.79323969e-02 9.82751827e-01 3.03896968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.718033873999996 meters Centerline goodness [0,1] 0.9759300237985888 Centerline is valid? [True, True] Translation: X:-19.70, Y:-1.70, Z:0.03 [[ 9.82621699e-01 -4.64918204e-02 -1.79702828e-01 -1.97030436e+01] [ 4.26532527e-02 9.98772883e-01 -2.51679836e-02 -1.70028595e+00] [ 1.80652417e-01 1.70656967e-02 9.83398935e-01 2.70371300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.748033873999997 meters Centerline goodness [0,1] 0.9802250398858007 Centerline is valid? [True, True] Translation: X:-19.73, Y:-1.70, Z:0.03 [[ 9.83388979e-01 -4.72417412e-02 -1.75255051e-01 -1.97333647e+01] [ 4.36085545e-02 9.98747587e-01 -2.45265579e-02 -1.69561657e+00] [ 1.76194237e-01 1.64765273e-02 9.84217514e-01 2.61329664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.778033874 meters Centerline goodness [0,1] 0.9890160566805014 Centerline is valid? [True, True] Translation: X:-19.76, Y:-1.69, Z:0.02 [[ 9.82882927e-01 -4.57338597e-02 -1.78464466e-01 -1.97606232e+01] [ 4.19462065e-02 9.98808511e-01 -2.49414250e-02 -1.69367809e+00] [ 1.79392495e-01 1.70285934e-02 9.83630195e-01 1.73586139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.808033873999996 meters Centerline goodness [0,1] 0.9730504467181387 Centerline is valid? [True, True] Translation: X:-19.79, Y:-1.68, Z:0.00 [[ 9.82246334e-01 -4.50351741e-02 -1.82109782e-01 -1.97902580e+01] [ 4.10792824e-02 9.98832006e-01 -2.54384948e-02 -1.67661892e+00] [ 1.83042706e-01 1.75059291e-02 9.82949088e-01 3.06241020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.838033873999997 meters Centerline goodness [0,1] 0.9805746068919371 Centerline is valid? [True, True] Translation: X:-19.82, Y:-1.67, Z:-0.00 [[ 9.82032104e-01 -4.39453489e-02 -1.83525893e-01 -1.98193697e+01] [ 3.99103406e-02 9.98874656e-01 -2.56239568e-02 -1.67142493e+00] [ 1.84445417e-01 1.78389673e-02 9.82680853e-01 -6.30923601e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.868033873999998 meters Centerline goodness [0,1] 0.9765633166774685 Centerline is valid? [True, True] Translation: X:-19.85, Y:-1.66, Z:-0.00 [[ 9.82441377e-01 -4.04808602e-02 -1.82126990e-01 -1.98498988e+01] [ 3.64527199e-02 9.99012226e-01 -2.54120159e-02 -1.66469588e+00] [ 1.82975790e-01 1.83267918e-02 9.82946585e-01 -2.33782042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.898033873999996 meters Centerline goodness [0,1] 0.9515412940557602 Centerline is valid? [True, True] Translation: X:-19.88, Y:-1.65, Z:-0.01 [[ 9.82595260e-01 -3.69161486e-02 -1.82054257e-01 -1.98809961e+01] [ 3.28380366e-02 9.99138762e-01 -2.53652732e-02 -1.64735594e+00] [ 1.82833853e-01 1.89454929e-02 9.82961266e-01 -1.01479097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.928033873999997 meters Centerline goodness [0,1] 0.9764246911508694 Centerline is valid? [True, True] Translation: X:-19.91, Y:-1.64, Z:-0.01 [[ 9.82687016e-01 -3.57917949e-02 -1.81783322e-01 -1.99091776e+01] [ 3.17106782e-02 9.99176619e-01 -2.53084430e-02 -1.64442570e+00] [ 1.82539480e-01 1.91058059e-02 9.83012872e-01 -1.47975891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.958033873999998 meters Centerline goodness [0,1] 0.9764246911508694 Centerline is valid? [True, True] Translation: X:-19.94, Y:-1.65, Z:-0.02 [[ 9.82695909e-01 -3.55282976e-02 -1.81786935e-01 -1.99360416e+01] [ 3.14475116e-02 9.99185594e-01 -2.52824668e-02 -1.64829998e+00] [ 1.82537130e-01 1.91282300e-02 9.83012872e-01 -1.90060649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.988033874 meters Centerline goodness [0,1] 0.9533430140791717 Centerline is valid? [True, True] Translation: X:-19.97, Y:-1.63, Z:-0.03 [[ 9.82773993e-01 -3.70868048e-02 -1.81052058e-01 -1.99668216e+01] [ 3.30741326e-02 9.99136843e-01 -2.51330786e-02 -1.63404118e+00] [ 1.81827888e-01 1.87119962e-02 9.83152318e-01 -2.77054004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.018033873999997 meters Centerline goodness [0,1] 0.9621908422459893 Centerline is valid? [True, True] Translation: X:-20.00, Y:-1.64, Z:-0.03 [[ 9.82909250e-01 -4.06219126e-02 -1.79552964e-01 -1.99961878e+01] [ 3.67410528e-02 9.99014848e-01 -2.48883284e-02 -1.63682070e+00] [ 1.80387089e-01 1.78660033e-02 9.83433426e-01 -3.02163401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.048033873999998 meters Centerline goodness [0,1] 0.9855267303854637 Centerline is valid? [True, True] Translation: X:-20.02, Y:-1.64, Z:-0.03 [[ 9.82854278e-01 -4.65170599e-02 -1.78419818e-01 -2.00239873e+01] [ 4.27871004e-02 9.98778869e-01 -2.46988918e-02 -1.64249833e+00] [ 1.79350864e-01 1.66413448e-02 9.83644414e-01 -3.30157462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.078033874 meters Centerline goodness [0,1] 0.9890096061076388 Centerline is valid? [True, True] Translation: X:-20.05, Y:-1.64, Z:-0.04 [[ 9.82551756e-01 -4.83657267e-02 -1.79590656e-01 -2.00526401e+01] [ 4.46192431e-02 9.98695078e-01 -2.48448201e-02 -1.63653667e+00] [ 1.80557942e-01 1.63981224e-02 9.83427644e-01 -3.98594273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.108033873999997 meters Centerline goodness [0,1] 0.9652197698150525 Centerline is valid? [True, True] Translation: X:-20.08, Y:-1.61, Z:-0.06 [[ 9.81755057e-01 -4.67580451e-02 -1.84311404e-01 -2.00827698e+01] [ 4.27835816e-02 9.98759290e-01 -2.54842308e-02 -1.60919384e+00] [ 1.85274320e-01 1.71337704e-02 9.82537460e-01 -5.94245841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.138033873999998 meters Centerline goodness [0,1] 0.9619794301129658 Centerline is valid? [True, True] Translation: X:-20.11, Y:-1.61, Z:-0.06 [[ 9.81702156e-01 -4.54156102e-02 -1.84927823e-01 -2.01120273e+01] [ 4.13946530e-02 9.98816178e-01 -2.55484874e-02 -1.60802660e+00] [ 1.85869202e-01 1.74259821e-02 9.82419959e-01 -6.21038423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.168033874 meters Centerline goodness [0,1] 0.9636100203683095 Centerline is valid? [True, True] Translation: X:-20.14, Y:-1.61, Z:-0.06 [[ 9.81873029e-01 -4.28942254e-02 -1.84622424e-01 -2.01420704e+01] [ 3.88501452e-02 9.98920435e-01 -2.54682417e-02 -1.60532560e+00] [ 1.85515553e-01 1.78339716e-02 9.82479480e-01 -6.31407227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.198033873999997 meters Centerline goodness [0,1] 0.949538306915974 Centerline is valid? [True, False] Translation: X:-20.17, Y:-1.60, Z:-0.06 [[ 0.9821601 -0.03890432 -0.18397826 -20.16606102] [ 0.0337714 0.99895017 -0.03095231 -1.60499112] [ 0.18498929 0.02418692 0.98244285 -0.06255608] [ 0. 0. 0. 1. ]] SLAMing on 22.228033873999998 meters Centerline goodness [0,1] 0.9179989468141126 Centerline is valid? [False, False] Translation: X:-20.20, Y:-1.59, Z:-0.07 [[ 0.98271268 -0.03574468 -0.18165382 -20.20485086] [ 0.03006819 0.99897254 -0.03390824 -1.59367777] [ 0.18267921 0.02786005 0.98277776 -0.06708802] [ 0. 0. 0. 1. ]] SLAMing on 22.258033874 meters Centerline goodness [0,1] 0.9584315045439246 Centerline is valid? [False, True] Translation: X:-20.23, Y:-1.58, Z:-0.07 [[ 0.98321302 -0.03735849 -0.17859592 -20.22715634] [ 0.03227128 0.99898873 -0.0313062 -1.5844054 ] [ 0.17958486 0.02501714 0.98342433 -0.06867931] [ 0. 0. 0. 1. ]] SLAMing on 22.288033873999996 meters Centerline goodness [0,1] 0.9517799012916098 Centerline is valid? [True, True] Translation: X:-20.26, Y:-1.58, Z:-0.08 [[ 9.82658952e-01 -3.49704760e-02 -1.82094616e-01 -2.02556718e+01] [ 3.09029416e-02 9.99206481e-01 -2.51280027e-02 -1.57815728e+00] [ 1.82828859e-01 1.90649975e-02 9.82959884e-01 -7.96269664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.318033873999997 meters Centerline goodness [0,1] 0.9489401076716016 Centerline is valid? [True, False] Translation: X:-20.29, Y:-1.58, Z:-0.08 [[ 0.98207222 -0.03417874 -0.18538059 -20.2885448 ] [ 0.02951514 0.99917602 -0.02785932 -1.58065228] [ 0.18618004 0.02188833 0.9822718 -0.08379174] [ 0. 0. 0. 1. ]] SLAMing on 22.348033874 meters Centerline goodness [0,1] 0.8489024905023217 Centerline is valid? [False, False] Translation: X:-20.30, Y:-1.57, Z:-0.09 [[ 9.82469605e-01 -3.71212949e-02 -1.82689583e-01 -2.03013562e+01] [ 3.28045578e-02 9.99107876e-01 -2.65953708e-02 -1.57335253e+00] [ 1.83513856e-01 2.01360925e-02 9.82810868e-01 -8.86556083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.378033873999996 meters Centerline goodness [0,1] 0.9501774847870182 Centerline is valid? [False, True] Translation: X:-20.34, Y:-1.57, Z:-0.09 [[ 0.9829299 -0.03884521 -0.1798329 -20.33522479] [ 0.03344838 0.99889724 -0.03294706 -1.56940955] [ 0.18091442 0.02636953 0.98314527 -0.09477026] [ 0. 0. 0. 1. ]] SLAMing on 22.408033873999997 meters Centerline goodness [0,1] 0.955800755290196 Centerline is valid? [True, True] Translation: X:-20.36, Y:-1.56, Z:-0.11 [[ 9.82784154e-01 -4.33731115e-02 -1.79594208e-01 -2.03646205e+01] [ 3.96185475e-02 9.98915896e-01 -2.44418231e-02 -1.55956109e+00] [ 1.80459627e-01 1.69057747e-02 9.83437094e-01 -1.05291518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.438033874 meters Centerline goodness [0,1] 0.9828488555394413 Centerline is valid? [True, True] Translation: X:-20.39, Y:-1.58, Z:-0.10 [[ 9.82801413e-01 -4.56396049e-02 -1.78936884e-01 -2.03911310e+01] [ 4.19559991e-02 9.98823458e-01 -2.43185906e-02 -1.57611463e+00] [ 1.79836248e-01 1.63928695e-02 9.83559961e-01 -1.02779502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.468033873999996 meters Centerline goodness [0,1] 0.9727429388029589 Centerline is valid? [True, True] Translation: X:-20.42, Y:-1.57, Z:-0.11 [[ 9.82923136e-01 -4.74623089e-02 -1.77790432e-01 -2.04202488e+01] [ 4.38588029e-02 9.98745898e-01 -2.41461487e-02 -1.57494792e+00] [ 1.78713497e-01 1.59361327e-02 9.83772090e-01 -1.07088197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.498033873999997 meters Centerline goodness [0,1] 0.9581295908215322 Centerline is valid? [True, True] Translation: X:-20.45, Y:-1.55, Z:-0.12 [[ 9.82218972e-01 -4.87501287e-02 -1.81298970e-01 -2.04504189e+01] [ 4.50301382e-02 9.98683168e-01 -2.45808178e-02 -1.55400016e+00] [ 1.82258547e-01 1.59798279e-02 9.83120779e-01 -1.17505651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.528033874 meters Centerline goodness [0,1] 0.9714327817776094 Centerline is valid? [True, True] Translation: X:-20.48, Y:-1.55, Z:-0.13 [[ 9.82062326e-01 -4.74743503e-02 -1.82482258e-01 -2.04770946e+01] [ 4.36902262e-02 9.98739651e-01 -2.47037214e-02 -1.55233018e+00] [ 1.83425060e-01 1.62879030e-02 9.82898749e-01 -1.30465110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.558033873999996 meters Centerline goodness [0,1] 0.9477476718216679 Centerline is valid? [True, False] Translation: X:-20.50, Y:-1.56, Z:-0.13 [[ 0.98203472 -0.04244012 -0.18386585 -20.50031796] [ 0.0377139 0.99886398 -0.02912748 -1.55638438] [ 0.18489315 0.0216699 0.98251969 -0.12872981] [ 0. 0. 0. 1. ]] SLAMing on 22.588033873999997 meters Centerline goodness [0,1] 0.945041664016284 Centerline is valid? [False, False] Translation: X:-20.52, Y:-1.56, Z:-0.13 [[ 0.98245846 -0.03493946 -0.18317916 -20.52455196] [ 0.02971539 0.99907174 -0.03118743 -1.56229042] [ 0.1840988 0.02519711 0.98258472 -0.12689865] [ 0. 0. 0. 1. ]] SLAMing on 22.618033873999998 meters Centerline goodness [0,1] 0.9195601607105096 Centerline is valid? [False, False] Translation: X:-20.55, Y:-1.56, Z:-0.13 [[ 0.98328316 -0.03500309 -0.17868688 -20.54533323] [ 0.03053141 0.99914949 -0.02771499 -1.55570943] [ 0.17950502 0.02179612 0.98351557 -0.12881005] [ 0. 0. 0. 1. ]] SLAMing on 22.648033873999996 meters Centerline goodness [0,1] 0.9267090686997178 Centerline is valid? [False, False] Translation: X:-20.57, Y:-1.55, Z:-0.13 [[ 9.83535819e-01 -3.70412294e-02 -1.76876339e-01 -2.05663425e+01] [ 3.29886154e-02 9.99122694e-01 -2.57990871e-02 -1.54601186e+00] [ 1.77676794e-01 1.95394208e-02 9.83894897e-01 -1.33609433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.678033873999997 meters Centerline goodness [0,1] 0.9220773741720457 Centerline is valid? [False, False] Translation: X:-20.60, Y:-1.55, Z:-0.14 [[ 0.98292367 -0.03551465 -0.18055407 -20.59801415] [ 0.03085015 0.99911539 -0.02857809 -1.54624163] [ 0.18140929 0.02251996 0.9831498 -0.13898047] [ 0. 0. 0. 1. ]] SLAMing on 22.708033873999998 meters Centerline goodness [0,1] 0.9286347892202416 Centerline is valid? [False, False] Translation: X:-20.63, Y:-1.55, Z:-0.14 [[ 9.81788214e-01 -3.67877158e-02 -1.86382848e-01 -2.06276477e+01] [ 3.28917704e-02 9.99171841e-01 -2.39533696e-02 -1.54751886e+00] [ 1.87109683e-01 1.73866741e-02 9.82185151e-01 -1.38809177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.738033874 meters Centerline goodness [0,1] 0.9046123361018593 Centerline is valid? [False, False] Translation: X:-20.66, Y:-1.55, Z:-0.14 [[ 9.82032511e-01 -3.90827566e-02 -1.84620384e-01 -2.06563128e+01] [ 3.59892974e-02 9.99150452e-01 -2.00784642e-02 -1.55139556e+00] [ 1.85248262e-01 1.30733468e-02 9.82604788e-01 -1.37646182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.768033873999997 meters Centerline goodness [0,1] 0.9143604454944313 Centerline is valid? [False, False] Translation: X:-20.70, Y:-1.56, Z:-0.14 [[ 9.82302389e-01 -4.03737852e-02 -1.82898808e-01 -2.06950759e+01] [ 3.64218217e-02 9.99025833e-01 -2.49165756e-02 -1.55625117e+00] [ 1.83726610e-01 1.78141039e-02 9.82815949e-01 -1.41135278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.798033873999998 meters Centerline goodness [0,1] 0.9366853671911249 Centerline is valid? [False, False] Translation: X:-20.74, Y:-1.56, Z:-0.15 [[ 9.81828783e-01 -4.32268781e-02 -1.84780078e-01 -2.07379740e+01] [ 3.86669477e-02 9.98853819e-01 -2.82119703e-02 -1.55615761e+00] [ 1.85787802e-01 2.05544428e-02 9.82374881e-01 -1.50487028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.828033874 meters Centerline goodness [0,1] 0.9194630872483222 Centerline is valid? [False, False] Translation: X:-20.78, Y:-1.56, Z:-0.15 [[ 0.98124924 -0.04352453 -0.18776458 -20.78033327] [ 0.03857452 0.99880713 -0.02993852 -1.56382029] [ 0.18884366 0.02213422 0.98175768 -0.15390902] [ 0. 0. 0. 1. ]] SLAMing on 22.858033873999997 meters Centerline goodness [0,1] 0.9414160599345784 Centerline is valid? [False, False] Translation: X:-20.81, Y:-1.56, Z:-0.16 [[ 9.80601685e-01 -4.72158712e-02 -1.90239314e-01 -2.08143137e+01] [ 4.34225772e-02 9.98767007e-01 -2.40612833e-02 -1.56336459e+00] [ 1.91140824e-01 1.53338537e-02 9.81442845e-01 -1.58571564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.888033873999998 meters Centerline goodness [0,1] 0.9467623779050185 Centerline is valid? [False, False] Translation: X:-20.85, Y:-1.57, Z:-0.16 [[ 9.80871480e-01 -4.73144693e-02 -1.88818643e-01 -2.08462595e+01] [ 4.27828344e-02 9.98691783e-01 -2.80062896e-02 -1.56906248e+00] [ 1.89896729e-01 1.93923740e-02 9.81612535e-01 -1.64253856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.918033874 meters Centerline goodness [0,1] 0.9341408816084018 Centerline is valid? [False, False] Translation: X:-20.87, Y:-1.56, Z:-0.17 [[ 9.80796149e-01 -5.13669934e-02 -1.88149797e-01 -2.08738497e+01] [ 4.78894685e-02 9.98588143e-01 -2.29852187e-02 -1.56200226e+00] [ 1.89064838e-01 1.35334202e-02 9.81871343e-01 -1.73879389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.948033873999997 meters Centerline goodness [0,1] 0.9280633076566907 Centerline is valid? [False, False] Translation: X:-20.90, Y:-1.57, Z:-0.17 [[ 9.80835722e-01 -4.94415084e-02 -1.88459076e-01 -2.08993250e+01] [ 4.47126510e-02 9.98571173e-01 -2.92641763e-02 -1.57193039e+00] [ 1.89636666e-01 2.02768446e-02 9.81644938e-01 -1.71115599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.978033873999998 meters Centerline goodness [0,1] 0.9607500631366277 Centerline is valid? [False, True] Translation: X:-20.93, Y:-1.58, Z:-0.18 [[ 0.98105852 -0.04520231 -0.18836383 -20.93068264] [ 0.04032574 0.99874677 -0.02964342 -1.57696166] [ 0.18946772 0.02148602 0.98165184 -0.1759781 ] [ 0. 0. 0. 1. ]] SLAMing on 23.008033874 meters Centerline goodness [0,1] 0.9569550377143821 Centerline is valid? [True, True] Translation: X:-20.96, Y:-1.57, Z:-0.18 [[ 9.81713155e-01 -4.23746551e-02 -1.85590060e-01 -2.09605113e+01] [ 3.82128216e-02 9.98932712e-01 -2.59464297e-02 -1.57251165e+00] [ 1.86491453e-01 1.83800315e-02 9.82284639e-01 -1.79465422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.038033873999996 meters Centerline goodness [0,1] 0.9538049777665382 Centerline is valid? [True, True] Translation: X:-20.99, Y:-1.57, Z:-0.18 [[ 9.82478605e-01 -3.87119228e-02 -1.82310662e-01 -2.09889320e+01] [ 3.46431155e-02 9.99075619e-01 -2.54511632e-02 -1.57316710e+00] [ 1.83127401e-01 1.86894140e-02 9.82911522e-01 -1.79773173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.068033873999997 meters Centerline goodness [0,1] 0.8781049340993579 Centerline is valid? [True, False] Translation: X:-21.02, Y:-1.58, Z:-0.18 [[ 9.82480527e-01 -3.45226072e-02 -1.83139849e-01 -2.10195970e+01] [ 3.01278345e-02 9.99188689e-01 -2.67259581e-02 -1.57861568e+00] [ 1.83913915e-01 2.07401263e-02 9.82723521e-01 -1.83292930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.098033874 meters Centerline goodness [0,1] 0.9494592478147685 Centerline is valid? [False, False] Translation: X:-21.03, Y:-1.58, Z:-0.18 [[ 9.82632965e-01 -3.73315715e-02 -1.81765808e-01 -2.10301003e+01] [ 3.30523558e-02 9.99101818e-01 -2.65160239e-02 -1.57656359e+00] [ 1.82592434e-01 2.00477310e-02 9.82984278e-01 -1.84780392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.128033873999996 meters Centerline goodness [0,1] 0.8844260390035708 Centerline is valid? [False, False] Translation: X:-21.07, Y:-1.58, Z:-0.19 [[ 9.81942504e-01 -3.39395569e-02 -1.86110252e-01 -2.10668581e+01] [ 2.98185304e-02 9.99245176e-01 -2.48984463e-02 -1.57839158e+00] [ 1.86814814e-01 1.88993085e-02 9.82213338e-01 -1.92793619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.158033873999997 meters Centerline goodness [0,1] 0.8756851336537651 Centerline is valid? [False, False] Translation: X:-21.11, Y:-1.58, Z:-0.20 [[ 9.81887027e-01 -2.98383465e-02 -1.87103015e-01 -2.11055447e+01] [ 2.57250197e-02 9.99371857e-01 -2.43744904e-02 -1.58315773e+00] [ 1.87712782e-01 1.91197671e-02 9.82037854e-01 -1.96541815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.188033874 meters Centerline goodness [0,1] 0.8803287648196418 Centerline is valid? [False, False] Translation: X:-21.14, Y:-1.58, Z:-0.20 [[ 9.82504158e-01 -3.10066553e-02 -1.83641406e-01 -2.11357808e+01] [ 2.76270250e-02 9.99399076e-01 -2.09340355e-02 -1.58184295e+00] [ 1.84180146e-01 1.54943112e-02 9.82770370e-01 -1.97031054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.218033873999996 meters Centerline goodness [0,1] 0.89584297555434 Centerline is valid? [False, False] Translation: X:-21.19, Y:-1.58, Z:-0.21 [[ 9.82718813e-01 -3.21683943e-02 -1.82288041e-01 -2.11929899e+01] [ 2.87841681e-02 9.99361208e-01 -2.11813231e-02 -1.58408841e+00] [ 1.82852965e-01 1.55682751e-02 9.83017000e-01 -2.06597803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.248033873999997 meters Centerline goodness [0,1] 0.9052175749894381 Centerline is valid? [False, False] Translation: X:-21.23, Y:-1.59, Z:-0.21 [[ 9.81906239e-01 -3.40166302e-02 -1.86287433e-01 -2.12311473e+01] [ 2.98424884e-02 9.99237750e-01 -2.51663542e-02 -1.58961372e+00] [ 1.87001509e-01 1.91517197e-02 9.82172921e-01 -2.12372208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.278033874 meters Centerline goodness [0,1] 0.9011328745367919 Centerline is valid? [False, False] Translation: X:-21.25, Y:-1.59, Z:-0.22 [[ 9.81850482e-01 -3.87872524e-02 -1.85648001e-01 -2.12475218e+01] [ 3.48568211e-02 9.99094656e-01 -2.43899744e-02 -1.58871659e+00] [ 1.86425946e-01 1.74762090e-02 9.82313570e-01 -2.15628201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.308033873999996 meters Centerline goodness [0,1] 0.9267334262897706 Centerline is valid? [False, False] Translation: X:-21.28, Y:-1.59, Z:-0.22 [[ 9.81072912e-01 -4.33871960e-02 -1.88715377e-01 -2.12805107e+01] [ 4.03335275e-02 9.98986220e-01 -1.99934939e-02 -1.58515851e+00] [ 1.89391522e-01 1.20035185e-02 9.81828278e-01 -2.24154884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.338033873999997 meters Centerline goodness [0,1] 0.8050034922852245 Centerline is valid? [False, False] Translation: X:-21.33, Y:-1.60, Z:-0.23 [[ 9.80374207e-01 -4.46237804e-02 -1.92028988e-01 -2.13262551e+01] [ 4.11727351e-02 9.98911426e-01 -2.19264634e-02 -1.59720973e+00] [ 1.92798392e-01 1.35897805e-02 9.81144280e-01 -2.28434664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.368033873999998 meters Centerline goodness [0,1] 0.9147922226458254 Centerline is valid? [False, False] Translation: X:-21.35, Y:-1.60, Z:-0.23 [[ 9.80837728e-01 -4.75339670e-02 -1.88938809e-01 -2.13511335e+01] [ 4.47990379e-02 9.98820570e-01 -1.87220268e-02 -1.60143254e+00] [ 1.89605901e-01 9.89899337e-03 9.81810375e-01 -2.28291275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.398033873999996 meters Centerline goodness [0,1] 0.9057510006319781 Centerline is valid? [False, False] Translation: X:-21.37, Y:-1.60, Z:-0.23 [[ 9.81342446e-01 -5.00730279e-02 -1.85633231e-01 -2.13743671e+01] [ 4.80674937e-02 9.98727032e-01 -1.52915230e-02 -1.60430269e+00] [ 1.86162618e-01 6.08329649e-03 9.82500114e-01 -2.29474167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.428033873999997 meters Centerline goodness [0,1] 0.9247164481173842 Centerline is valid? [False, False] Translation: X:-21.40, Y:-1.62, Z:-0.23 [[ 9.81207389e-01 -5.07100535e-02 -1.86173442e-01 -2.13976940e+01] [ 4.70823926e-02 9.98606044e-01 -2.38582602e-02 -1.61612368e+00] [ 1.87123778e-01 1.46444101e-02 9.82227180e-01 -2.27776230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.458033873999998 meters Centerline goodness [0,1] 0.9351665785298784 Centerline is valid? [False, False] Translation: X:-21.42, Y:-1.63, Z:-0.23 [[ 0.98080834 -0.04993037 -0.18847271 -21.41671055] [ 0.04482439 0.99850568 -0.0312598 -1.62556369] [ 0.18975188 0.0222117 0.9815808 -0.22850503] [ 0. 0. 0. 1. ]] SLAMing on 23.488033874 meters Centerline goodness [0,1] 0.9149425772673535 Centerline is valid? [False, False] Translation: X:-21.42, Y:-1.63, Z:-0.23 [[ 0.98081138 -0.05168746 -0.18798255 -21.42381045] [ 0.04640396 0.99839709 -0.03240237 -1.62796414] [ 0.18935603 0.02305748 0.98163774 -0.22649623] [ 0. 0. 0. 1. ]] SLAMing on 23.518033873999997 meters Centerline goodness [0,1] 0.851681602530311 Centerline is valid? [False, False] Translation: X:-21.43, Y:-1.63, Z:-0.22 [[ 9.81000672e-01 -4.94618380e-02 -1.87593196e-01 -2.14321332e+01] [ 4.47085989e-02 9.98564780e-01 -2.94876572e-02 -1.63093436e+00] [ 1.88782472e-01 2.05403826e-02 9.81804090e-01 -2.23989979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.548033873999998 meters Centerline goodness [0,1] 0.8924513585868168 Centerline is valid? [False, False] Translation: X:-21.45, Y:-1.65, Z:-0.22 [[ 0.98126358 -0.04463415 -0.18742886 -21.45332037] [ 0.03910928 0.99868742 -0.03307417 -1.64667602] [ 0.18865908 0.02512427 0.9817212 -0.2215441 ] [ 0. 0. 0. 1. ]] SLAMing on 23.578033874 meters Centerline goodness [0,1] 0.9144700887039139 Centerline is valid? [False, False] Translation: X:-21.47, Y:-1.64, Z:-0.23 [[ 9.81402948e-01 -4.52730572e-02 -1.86543839e-01 -2.14705941e+01] [ 4.05992915e-02 9.98760328e-01 -2.88011068e-02 -1.64446092e+00] [ 1.87616500e-01 2.06919434e-02 9.82024385e-01 -2.26417645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.608033873999997 meters Centerline goodness [0,1] 0.914720490330762 Centerline is valid? [False, False] Translation: X:-21.49, Y:-1.65, Z:-0.23 [[ 0.98169892 -0.0428578 -0.18555441 -21.49203342] [ 0.0369283 0.99869438 -0.03529628 -1.65093926] [ 0.18682487 0.02779811 0.98199986 -0.22781044] [ 0. 0. 0. 1. ]] SLAMing on 23.638033873999998 meters Centerline goodness [0,1] 0.9087078355771865 Centerline is valid? [False, False] Translation: X:-21.51, Y:-1.65, Z:-0.23 [[ 0.98170036 -0.04423618 -0.185223 -21.51115223] [ 0.0392167 0.99875969 -0.03067794 -1.65171691] [ 0.18635034 0.02285271 0.98221754 -0.23079273] [ 0. 0. 0. 1. ]] SLAMing on 23.668033874 meters Centerline goodness [0,1] 0.9133128885901529 Centerline is valid? [False, False] Translation: X:-21.53, Y:-1.66, Z:-0.23 [[ 9.81449181e-01 -4.50362730e-02 -1.86357827e-01 -2.15326362e+01] [ 4.10806904e-02 9.98842136e-01 -2.50352624e-02 -1.65536880e+00] [ 1.87269545e-01 1.69151296e-02 9.82162917e-01 -2.31160241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.698033873999997 meters Centerline goodness [0,1] 0.870863309352518 Centerline is valid? [False, False] Translation: X:-21.56, Y:-1.66, Z:-0.24 [[ 0.9816061 -0.04491296 -0.1855594 -21.56078157] [ 0.04004955 0.99875092 -0.02987713 -1.66160245] [ 0.18666949 0.021896 0.98217873 -0.23688773] [ 0. 0. 0. 1. ]] SLAMing on 23.728033873999998 meters Centerline goodness [0,1] 0.9142016842283441 Centerline is valid? [False, False] Translation: X:-21.59, Y:-1.66, Z:-0.25 [[ 0.98160327 -0.04482527 -0.18559556 -21.59135527] [ 0.03929946 0.99867085 -0.03334784 -1.66291936] [ 0.18684371 0.02544055 0.98206019 -0.24624237] [ 0. 0. 0. 1. ]] SLAMing on 23.758033874 meters Centerline goodness [0,1] 0.9279313471229469 Centerline is valid? [False, False] Translation: X:-21.62, Y:-1.66, Z:-0.25 [[ 9.81735530e-01 -4.66188632e-02 -1.84450619e-01 -2.16245755e+01] [ 4.28221789e-02 9.98781868e-01 -2.45161588e-02 -1.66434015e+00] [ 1.85368850e-01 1.61698067e-02 9.82535967e-01 -2.54128741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.788033873999996 meters Centerline goodness [0,1] 0.9172962226640159 Centerline is valid? [False, False] Translation: X:-21.65, Y:-1.67, Z:-0.25 [[ 9.81559810e-01 -4.70747893e-02 -1.85268196e-01 -2.16538730e+01] [ 4.44949163e-02 9.98846343e-01 -1.80606259e-02 -1.67303447e+00] [ 1.85904660e-01 9.48409165e-03 9.82522015e-01 -2.52302641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.818033873999997 meters Centerline goodness [0,1] 0.8221950499641607 Centerline is valid? [False, False] Translation: X:-21.69, Y:-1.68, Z:-0.26 [[ 9.80592641e-01 -4.73399111e-02 -1.90255106e-01 -2.16888726e+01] [ 4.41193128e-02 9.98802780e-01 -2.11303726e-02 -1.67997800e+00] [ 1.91027639e-01 1.23263634e-02 9.81507260e-01 -2.57894224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.848033874 meters Centerline goodness [0,1] 0.8221950499641607 Centerline is valid? [False, False] Translation: X:-21.69, Y:-1.68, Z:-0.26 [[ 9.80592641e-01 -4.73399111e-02 -1.90255106e-01 -2.16888726e+01] [ 4.41193128e-02 9.98802780e-01 -2.11303726e-02 -1.67997800e+00] [ 1.91027639e-01 1.23263634e-02 9.81507260e-01 -2.57894224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.878033873999996 meters Centerline goodness [0,1] 0.8275526605194146 Centerline is valid? [False, False] Translation: X:-21.72, Y:-1.68, Z:-0.27 [[ 9.79383451e-01 -4.91178837e-02 -1.95947670e-01 -2.17234946e+01] [ 4.49331418e-02 9.98658134e-01 -2.57476838e-02 -1.67696428e+00] [ 1.96949407e-01 1.64123110e-02 9.80276271e-01 -2.68407944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.908033873999997 meters Centerline goodness [0,1] 0.8912432066653979 Centerline is valid? [False, False] Translation: X:-21.76, Y:-1.68, Z:-0.27 [[ 0.97986895 -0.04861598 -0.19363196 -21.7552082 ] [ 0.04307878 0.99853614 -0.03270769 -1.68279677] [ 0.19493863 0.02370782 0.98052887 -0.26609982] [ 0. 0. 0. 1. ]] SLAMing on 23.938033874 meters Centerline goodness [0,1] 0.9036565977742448 Centerline is valid? [False, False] Translation: X:-21.79, Y:-1.69, Z:-0.26 [[ 9.81108402e-01 -4.74430813e-02 -1.87551212e-01 -2.17860076e+01] [ 4.33139328e-02 9.98721686e-01 -2.60556602e-02 -1.68925190e+00] [ 1.88547624e-01 1.74398465e-02 9.81909184e-01 -2.63406119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.968033873999996 meters Centerline goodness [0,1] 0.8537667416580812 Centerline is valid? [False, False] Translation: X:-21.81, Y:-1.69, Z:-0.26 [[ 9.81079099e-01 -4.63521225e-02 -1.87976815e-01 -2.18104874e+01] [ 4.35732166e-02 9.98871618e-01 -1.88908804e-02 -1.69469765e+00] [ 1.88640338e-01 1.03426935e-02 9.81991778e-01 -2.64013027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.998033873999997 meters Centerline goodness [0,1] 0.8111064366848969 Centerline is valid? [False, False] Translation: X:-21.84, Y:-1.70, Z:-0.27 [[ 9.79785844e-01 -4.47067825e-02 -1.94989752e-01 -2.18365909e+01] [ 4.13423974e-02 9.98918143e-01 -2.12919930e-02 -1.69995915e+00] [ 1.95730698e-01 1.28002495e-02 9.80574142e-01 -2.71987491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.028033874 meters Centerline goodness [0,1] 0.7951059322033898 Centerline is valid? [False, False] Translation: X:-21.85, Y:-1.70, Z:-0.28 [[ 9.78746984e-01 -4.51619165e-02 -2.00036851e-01 -2.18535032e+01] [ 4.00415038e-02 9.98760328e-01 -2.95716981e-02 -1.69766423e+00] [ 2.01124386e-01 2.09334340e-02 9.79342010e-01 -2.78482978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.058033873999996 meters Centerline goodness [0,1] 0.8486124928560845 Centerline is valid? [False, False] Translation: X:-21.89, Y:-1.70, Z:-0.28 [[ 9.80460107e-01 -3.93073912e-02 -1.92750894e-01 -2.18887097e+01] [ 3.43441098e-02 9.98988503e-01 -2.90250394e-02 -1.70374108e+00] [ 1.93696826e-01 2.18380353e-02 9.80818352e-01 -2.82393163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.088033873999997 meters Centerline goodness [0,1] 0.8890137143099391 Centerline is valid? [False, False] Translation: X:-21.90, Y:-1.71, Z:-0.28 [[ 9.80900991e-01 -3.69334654e-02 -1.90969015e-01 -2.18987667e+01] [ 3.25435810e-02 9.99130155e-01 -2.60739063e-02 -1.70974257e+00] [ 1.91765901e-01 1.93611049e-02 9.81249707e-01 -2.77274834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.118033873999998 meters Centerline goodness [0,1] 0.8145257084676735 Centerline is valid? [False, False] Translation: X:-21.94, Y:-1.72, Z:-0.28 [[ 9.81060742e-01 -3.31213991e-02 -1.90847568e-01 -2.19369184e+01] [ 2.88101857e-02 9.99264135e-01 -2.53211716e-02 -1.72075639e+00] [ 1.91545803e-01 1.93432535e-02 9.81293047e-01 -2.80834979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.148033873999996 meters Centerline goodness [0,1] 0.809728363866077 Centerline is valid? [False, False] Translation: X:-21.95, Y:-1.71, Z:-0.29 [[ 9.79801652e-01 -3.54656051e-02 -1.96801712e-01 -2.19456143e+01] [ 3.14561822e-02 9.99229712e-01 -2.34625353e-02 -1.71283066e+00] [ 1.97482231e-01 1.67980004e-02 9.80162535e-01 -2.87877296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.178033873999997 meters Centerline goodness [0,1] 0.8388018628281118 Centerline is valid? [False, False] Translation: X:-21.97, Y:-1.71, Z:-0.30 [[ 0.97917808 -0.03794726 -0.1994249 -21.96947274] [ 0.03262909 0.99902055 -0.02988795 -1.71218845] [ 0.20036374 0.02275858 0.97945721 -0.29826385] [ 0. 0. 0. 1. ]] SLAMing on 24.208033873999998 meters Centerline goodness [0,1] 0.7805849382611993 Centerline is valid? [False, False] Translation: X:-21.99, Y:-1.72, Z:-0.30 [[ 9.79652152e-01 -3.85813967e-02 -1.96959734e-01 -2.19895948e+01] [ 3.43171729e-02 9.99097789e-01 -2.50187980e-02 -1.71524059e+00] [ 1.97747295e-01 1.77506180e-02 9.80092303e-01 -3.00083410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.238033874 meters Centerline goodness [0,1] 0.787938029471737 Centerline is valid? [False, False] Translation: X:-22.01, Y:-1.72, Z:-0.29 [[ 9.79762718e-01 -3.76901618e-02 -1.96581965e-01 -2.20057375e+01] [ 3.38736944e-02 9.99167349e-01 -2.27416391e-02 -1.72461726e+00] [ 1.97275417e-01 1.56224528e-02 9.80223622e-01 -2.91562961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.268033873999997 meters Centerline goodness [0,1] 0.8601336864673982 Centerline is valid? [False, False] Translation: X:-22.04, Y:-1.72, Z:-0.30 [[ 9.79420365e-01 -4.40028692e-02 -1.96975876e-01 -2.20408792e+01] [ 4.10593475e-02 9.98975953e-01 -1.90045967e-02 -1.72489750e+00] [ 1.97610420e-01 1.05257881e-02 9.80224122e-01 -2.99851898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.298033873999998 meters Centerline goodness [0,1] 0.821796356744235 Centerline is valid? [False, False] Translation: X:-22.07, Y:-1.73, Z:-0.31 [[ 9.78682297e-01 -4.52436982e-02 -2.00334644e-01 -2.20680284e+01] [ 4.13904181e-02 9.98869389e-01 -2.33832532e-02 -1.72953996e+00] [ 2.01166088e-01 1.45928412e-02 9.79448444e-01 -3.06950093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.328033874 meters Centerline goodness [0,1] 0.8688251774767752 Centerline is valid? [False, False] Translation: X:-22.09, Y:-1.73, Z:-0.31 [[ 9.77586784e-01 -5.08427993e-02 -2.04301469e-01 -2.20879417e+01] [ 4.71778999e-02 9.98626882e-01 -2.27726938e-02 -1.73048403e+00] [ 2.05178766e-01 1.26237702e-02 9.78643099e-01 -3.09157314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.358033873999997 meters Centerline goodness [0,1] 0.8960619618436603 Centerline is valid? [False, False] Translation: X:-22.11, Y:-1.73, Z:-0.31 [[ 9.78078968e-01 -5.41351301e-02 -2.01074416e-01 -2.21117102e+01] [ 5.11451496e-02 9.98490159e-01 -2.00393449e-02 -1.73412296e+00] [ 2.01855658e-01 9.31608069e-03 9.79370974e-01 -3.10585196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.388033873999998 meters Centerline goodness [0,1] 0.8864151894480383 Centerline is valid? [False, False] Translation: X:-22.14, Y:-1.75, Z:-0.31 [[ 9.79053494e-01 -5.22506806e-02 -1.96784457e-01 -2.21387153e+01] [ 4.83822582e-02 9.98530381e-01 -2.44179500e-02 -1.74824941e+00] [ 1.97771113e-01 1.43856028e-02 9.80142664e-01 -3.07842160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.418033874 meters Centerline goodness [0,1] 0.8550181174686105 Centerline is valid? [False, False] Translation: X:-22.17, Y:-1.76, Z:-0.31 [[ 9.79226518e-01 -5.12255192e-02 -1.96192181e-01 -2.21664886e+01] [ 4.60177958e-02 9.98459055e-01 -3.10141693e-02 -1.75707676e+00] [ 1.97478577e-01 2.13415652e-02 9.80074869e-01 -3.06628419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.448033873999997 meters Centerline goodness [0,1] 0.8924636218353099 Centerline is valid? [False, False] Translation: X:-22.20, Y:-1.76, Z:-0.31 [[ 0.97871993 -0.0504504 -0.1989021 -22.19826093] [ 0.04455987 0.99842852 -0.03398402 -1.75819194] [ 0.20030404 0.02439779 0.97942996 -0.31414282] [ 0. 0. 0. 1. ]] SLAMing on 24.478033873999998 meters Centerline goodness [0,1] 0.8912186795355405 Centerline is valid? [False, False] Translation: X:-22.23, Y:-1.76, Z:-0.32 [[ 0.97814331 -0.04782484 -0.20235722 -22.23286264] [ 0.04171883 0.99853925 -0.03433527 -1.76089633] [ 0.20370371 0.02514271 0.97870968 -0.32052193] [ 0. 0. 0. 1. ]] SLAMing on 24.508033874 meters Centerline goodness [0,1] 0.8629573138881343 Centerline is valid? [False, False] Translation: X:-22.27, Y:-1.76, Z:-0.33 [[ 9.78019825e-01 -4.86030978e-02 -2.02768243e-01 -2.22661510e+01] [ 4.42850444e-02 9.98686221e-01 -2.57811213e-02 -1.75793526e+00] [ 2.03754892e-01 1.62348472e-02 9.78887314e-01 -3.27210900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.538033873999996 meters Centerline goodness [0,1] 0.8770313285307422 Centerline is valid? [False, False] Translation: X:-22.29, Y:-1.76, Z:-0.33 [[ 9.78683121e-01 -4.37489339e-02 -2.00662350e-01 -2.22948000e+01] [ 3.85847729e-02 9.98817517e-01 -2.95767273e-02 -1.76298924e+00] [ 2.01719020e-01 2.12037326e-02 9.79213888e-01 -3.26250134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.568033873999997 meters Centerline goodness [0,1] 0.847452992891095 Centerline is valid? [False, False] Translation: X:-22.35, Y:-1.76, Z:-0.34 [[ 0.97828275 -0.03681271 -0.20397961 -22.34510411] [ 0.03004102 0.99889306 -0.03619649 -1.76096546] [ 0.20508631 0.02928265 0.97830575 -0.33868163] [ 0. 0. 0. 1. ]] SLAMing on 24.598033874 meters Centerline goodness [0,1] 0.810335024953147 Centerline is valid? [False, False] Translation: X:-22.36, Y:-1.76, Z:-0.34 [[ 0.97831729 -0.0376366 -0.20366338 -22.35930967] [ 0.03175112 0.99898053 -0.03209001 -1.75716999] [ 0.20466351 0.02492767 0.97851493 -0.34370723] [ 0. 0. 0. 1. ]] SLAMing on 24.628033873999996 meters Centerline goodness [0,1] 0.8031125131440588 Centerline is valid? [False, False] Translation: X:-22.39, Y:-1.76, Z:-0.34 [[ 9.78428509e-01 -3.89572774e-02 -2.02879231e-01 -2.23861498e+01] [ 3.40086603e-02 9.99034193e-01 -2.78225099e-02 -1.76123086e+00] [ 2.03767178e-01 2.03226861e-02 9.78808421e-01 -3.42983439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.658033873999997 meters Centerline goodness [0,1] 0.8315800547022933 Centerline is valid? [False, False] Translation: X:-22.41, Y:-1.76, Z:-0.34 [[ 9.79218100e-01 -4.10990589e-02 -1.98602067e-01 -2.24126646e+01] [ 3.68658498e-02 9.99008275e-01 -2.49674771e-02 -1.76210648e+00] [ 1.99431248e-01 1.71269716e-02 9.79762137e-01 -3.43242505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.688033874 meters Centerline goodness [0,1] 0.7862579370085362 Centerline is valid? [False, False] Translation: X:-22.44, Y:-1.76, Z:-0.35 [[ 9.78623896e-01 -4.44599367e-02 -2.00794883e-01 -2.24380792e+01] [ 4.04610889e-02 9.98893379e-01 -2.39774436e-02 -1.75676551e+00] [ 2.01638715e-01 1.53405197e-02 9.79339827e-01 -3.46616721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.718033873999996 meters Centerline goodness [0,1] 0.834306184806659 Centerline is valid? [False, False] Translation: X:-22.48, Y:-1.76, Z:-0.36 [[ 9.76928386e-01 -4.84330158e-02 -2.08002816e-01 -2.24845054e+01] [ 4.35601776e-02 9.98659856e-01 -2.79464223e-02 -1.75523526e+00] [ 2.09077592e-01 1.82410136e-02 9.77728912e-01 -3.56977363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.748033873999997 meters Centerline goodness [0,1] 0.8016626328527834 Centerline is valid? [False, False] Translation: X:-22.51, Y:-1.75, Z:-0.36 [[ 9.76596193e-01 -5.29716735e-02 -2.08455936e-01 -2.25082775e+01] [ 4.84727318e-02 9.98469304e-01 -2.66353870e-02 -1.75318652e+00] [ 2.09547774e-01 1.59075889e-02 9.77669003e-01 -3.58756524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.778033874 meters Centerline goodness [0,1] 0.8821744627054362 Centerline is valid? [False, False] Translation: X:-22.53, Y:-1.76, Z:-0.36 [[ 9.77234382e-01 -5.57476335e-02 -2.04707506e-01 -2.25329580e+01] [ 5.19896976e-02 9.98366486e-01 -2.36945339e-02 -1.75520109e+00] [ 2.05694028e-01 1.25124318e-02 9.78536359e-01 -3.59283840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.808033873999996 meters Centerline goodness [0,1] 0.8832399646181711 Centerline is valid? [False, False] Translation: X:-22.54, Y:-1.76, Z:-0.36 [[ 9.77408205e-01 -5.69938822e-02 -2.03531076e-01 -2.25406519e+01] [ 5.31990523e-02 9.98293739e-01 -2.40722231e-02 -1.75791488e+00] [ 2.04555769e-01 1.27007280e-02 9.78772511e-01 -3.56020681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.838033873999997 meters Centerline goodness [0,1] 0.8613564968058864 Centerline is valid? [False, False] Translation: X:-22.57, Y:-1.77, Z:-0.35 [[ 9.77514592e-01 -5.99598850e-02 -2.02163386e-01 -2.25654701e+01] [ 5.41793775e-02 9.97951798e-01 -3.40118114e-02 -1.77096786e+00] [ 2.03788659e-01 2.22939555e-02 9.78761034e-01 -3.53386310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.868033873999998 meters Centerline goodness [0,1] 0.8865406946057215 Centerline is valid? [False, False] Translation: X:-22.61, Y:-1.77, Z:-0.36 [[ 0.97603764 -0.06467242 -0.20776912 -22.6052137 ] [ 0.05808052 0.99760061 -0.03767868 -1.77210133] [ 0.20970737 0.02470847 0.97745195 -0.36421595] [ 0. 0. 0. 1. ]] SLAMing on 24.898033873999996 meters Centerline goodness [0,1] 0.8562248995983935 Centerline is valid? [False, False] Translation: X:-22.63, Y:-1.77, Z:-0.36 [[ 9.76588775e-01 -6.67744387e-02 -2.04488482e-01 -2.26259906e+01] [ 6.08850772e-02 9.97532178e-01 -3.49651397e-02 -1.77122508e+00] [ 2.06318618e-01 2.16962659e-02 9.78244295e-01 -3.64561298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.928033873999997 meters Centerline goodness [0,1] 0.8754320155104105 Centerline is valid? [False, False] Translation: X:-22.65, Y:-1.78, Z:-0.36 [[ 0.97737671 -0.06538787 -0.20114469 -22.65092697] [ 0.05807468 0.99742613 -0.04205298 -1.77671048] [ 0.20337672 0.02942019 0.97865845 -0.36376473] [ 0. 0. 0. 1. ]] SLAMing on 24.958033873999998 meters Centerline goodness [0,1] 0.8485731787170225 Centerline is valid? [False, False] Translation: X:-22.68, Y:-1.77, Z:-0.37 [[ 0.97763821 -0.06428252 -0.20022808 -22.68001232] [ 0.05611932 0.99735515 -0.04618788 -1.77489701] [ 0.20266758 0.03391838 0.97866 -0.37128647] [ 0. 0. 0. 1. ]] SLAMing on 24.988033874 meters Centerline goodness [0,1] 0.8925152856841662 Centerline is valid? [False, False] Translation: X:-22.71, Y:-1.78, Z:-0.38 [[ 0.97750974 -0.06030938 -0.20208287 -22.7124577 ] [ 0.05194811 0.9975698 -0.04643162 -1.77990124] [ 0.20439203 0.03488954 0.97826715 -0.37552751] [ 0. 0. 0. 1. ]] SLAMing on 25.018033873999997 meters Centerline goodness [0,1] 0.8779858108391755 Centerline is valid? [False, False] Translation: X:-22.74, Y:-1.78, Z:-0.38 [[ 0.97739174 -0.057633 -0.20343013 -22.74086833] [ 0.05104798 0.99799287 -0.03747455 -1.77777427] [ 0.20518159 0.02624261 0.97837204 -0.37706043] [ 0. 0. 0. 1. ]] SLAMing on 25.048033873999998 meters Centerline goodness [0,1] 0.861603197980223 Centerline is valid? [False, False] Translation: X:-22.78, Y:-1.77, Z:-0.38 [[ 0.97791359 -0.05270857 -0.20225434 -22.77518644] [ 0.04581934 0.99820379 -0.03859766 -1.77458709] [ 0.20392547 0.02847802 0.97857212 -0.38294033] [ 0. 0. 0. 1. ]] SLAMing on 25.078033874 meters Centerline goodness [0,1] 0.8680860960757781 Centerline is valid? [False, False] Translation: X:-22.81, Y:-1.76, Z:-0.39 [[ 0.97789369 -0.05184625 -0.20257321 -22.80965797] [ 0.04387499 0.99808311 -0.04364741 -1.76494732] [ 0.20444785 0.03379463 0.97829392 -0.39056214] [ 0. 0. 0. 1. ]] SLAMing on 25.108033873999997 meters Centerline goodness [0,1] 0.8268073565556403 Centerline is valid? [False, False] Translation: X:-22.85, Y:-1.76, Z:-0.40 [[ 0.97765903 -0.04848969 -0.20452768 -22.84834244] [ 0.04021181 0.99820246 -0.04443943 -1.76183353] [ 0.20631488 0.03522218 0.97785151 -0.39756984] [ 0. 0. 0. 1. ]] SLAMing on 25.138033873999998 meters Centerline goodness [0,1] 0.7952961489061546 Centerline is valid? [False, False] Translation: X:-22.89, Y:-1.76, Z:-0.40 [[ 0.97688451 -0.04744232 -0.20843677 -22.88819188] [ 0.04121523 0.99856754 -0.0341199 -1.75667464] [ 0.20975692 0.02474043 0.97744051 -0.40483258] [ 0. 0. 0. 1. ]] SLAMing on 25.168033874 meters Centerline goodness [0,1] 0.8296457374488029 Centerline is valid? [False, False] Translation: X:-22.92, Y:-1.75, Z:-0.40 [[ 9.76739418e-01 -4.98930110e-02 -2.08544474e-01 -2.29197823e+01] [ 4.42659588e-02 9.98520963e-01 -3.15659793e-02 -1.75495048e+00] [ 2.09810951e-01 2.16003151e-02 9.77503346e-01 -4.03061296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.198033873999997 meters Centerline goodness [0,1] 0.8033578705363734 Centerline is valid? [False, False] Translation: X:-22.95, Y:-1.75, Z:-0.41 [[ 0.97708882 -0.05007587 -0.20685709 -22.95391939] [ 0.04336462 0.99837931 -0.03685456 -1.75366387] [ 0.20836736 0.0270399 0.97767678 -0.4087621 ] [ 0. 0. 0. 1. ]] SLAMing on 25.228033873999998 meters Centerline goodness [0,1] 0.8270396270396271 Centerline is valid? [False, False] Translation: X:-22.98, Y:-1.75, Z:-0.42 [[ 0.97656356 -0.05100442 -0.20909843 -22.9843737 ] [ 0.04322303 0.99819819 -0.04161906 -1.75067726] [ 0.21084443 0.03160579 0.97700855 -0.41806652] [ 0. 0. 0. 1. ]] SLAMing on 25.258033874 meters Centerline goodness [0,1] 0.805804234375663 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.75, Z:-0.42 [[ 0.9751344 -0.0539395 -0.21494984 -23.00949833] [ 0.04686473 0.99818279 -0.03787889 -1.74771609] [ 0.2166024 0.02686345 0.97589024 -0.4208771 ] [ 0. 0. 0. 1. ]] SLAMing on 25.288033873999996 meters Centerline goodness [0,1] 0.8001397032364583 Centerline is valid? [False, False] Translation: X:-23.04, Y:-1.75, Z:-0.42 [[ 0.97562624 -0.05602948 -0.21216534 -23.03536763] [ 0.0498317 0.99816326 -0.03445166 -1.75035384] [ 0.21370596 0.02303938 0.97662631 -0.41900182] [ 0. 0. 0. 1. ]] SLAMing on 25.318033873999997 meters Centerline goodness [0,1] 0.8279229682127867 Centerline is valid? [False, False] Translation: X:-23.07, Y:-1.74, Z:-0.43 [[ 9.76761047e-01 -6.19640447e-02 -2.05178738e-01 -2.30723866e+01] [ 5.66266092e-02 9.97889191e-01 -3.17897675e-02 -1.74234098e+00] [ 2.06715468e-01 1.94324304e-02 9.78208105e-01 -4.25158890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.348033874 meters Centerline goodness [0,1] 0.7781580059146599 Centerline is valid? [False, False] Translation: X:-23.10, Y:-1.74, Z:-0.43 [[ 0.97579117 -0.06493269 -0.20884284 -23.09881694] [ 0.05817607 0.99756981 -0.03834079 -1.74210699] [ 0.21082488 0.02526295 0.97719735 -0.43294309] [ 0. 0. 0. 1. ]] SLAMing on 25.378033873999996 meters Centerline goodness [0,1] 0.8354708529654123 Centerline is valid? [False, False] Translation: X:-23.11, Y:-1.75, Z:-0.43 [[ 0.97528729 -0.06438618 -0.21135069 -23.11336619] [ 0.05566917 0.99734504 -0.04694473 -1.74998271] [ 0.21381216 0.03401888 0.97628227 -0.43210581] [ 0. 0. 0. 1. ]] SLAMing on 25.408033873999997 meters Centerline goodness [0,1] 0.8959653995378125 Centerline is valid? [False, False] Translation: X:-23.15, Y:-1.76, Z:-0.43 [[ 0.97527185 -0.06488614 -0.21126903 -23.15099173] [ 0.05513422 0.99713786 -0.051733 -1.75656189] [ 0.21402111 0.03880559 0.97605793 -0.4323743 ] [ 0. 0. 0. 1. ]] SLAMing on 25.438033874 meters Centerline goodness [0,1] 0.8927997971773853 Centerline is valid? [False, False] Translation: X:-23.16, Y:-1.75, Z:-0.43 [[ 0.9755991 -0.06272572 -0.21040886 -23.15711946] [ 0.05340739 0.99733592 -0.04968617 -1.75426359] [ 0.21296492 0.0372364 0.97635004 -0.43057461] [ 0. 0. 0. 1. ]] SLAMing on 25.468033873999996 meters Centerline goodness [0,1] 0.9118562265828412 Centerline is valid? [False, False] Translation: X:-23.18, Y:-1.75, Z:-0.43 [[ 0.97630609 -0.06289818 -0.2070513 -23.17583508] [ 0.05443828 0.99744258 -0.04631171 -1.74971269] [ 0.20943471 0.03394288 0.97723333 -0.43168884] [ 0. 0. 0. 1. ]] SLAMing on 25.498033873999997 meters Centerline goodness [0,1] 0.8812586999620365 Centerline is valid? [False, False] Translation: X:-23.21, Y:-1.74, Z:-0.44 [[ 0.97534036 -0.0641162 -0.21118781 -23.20541175] [ 0.05688086 0.99757272 -0.04016507 -1.73869963] [ 0.21325043 0.02716207 0.97661992 -0.44070876] [ 0. 0. 0. 1. ]] SLAMing on 25.528033874 meters Centerline goodness [0,1] 0.7966445934795947 Centerline is valid? [False, False] Translation: X:-23.23, Y:-1.74, Z:-0.44 [[ 0.97521254 -0.06142582 -0.21257323 -23.22602722] [ 0.05262238 0.99751574 -0.04683193 -1.74341311] [ 0.21492183 0.03448498 0.97602223 -0.43949464] [ 0. 0. 0. 1. ]] SLAMing on 25.558033873999996 meters Centerline goodness [0,1] 0.8356654526867293 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.75, Z:-0.44 [[ 0.97545126 -0.05894227 -0.2121807 -23.24689956] [ 0.04851231 0.99735988 -0.05403537 -1.74546547] [ 0.21480549 0.04241549 0.97573538 -0.43992204] [ 0. 0. 0. 1. ]] SLAMing on 25.588033873999997 meters Centerline goodness [0,1] 0.8519422627892167 Centerline is valid? [False, False] Translation: X:-23.26, Y:-1.74, Z:-0.44 [[ 0.97604225 -0.05861335 -0.20953758 -23.25600871] [ 0.04889989 0.99748822 -0.05124505 -1.73971427] [ 0.21201491 0.03977097 0.97645683 -0.44431666] [ 0. 0. 0. 1. ]] SLAMing on 25.618033873999998 meters Centerline goodness [0,1] 0.8393931689126197 Centerline is valid? [False, False] Translation: X:-23.29, Y:-1.73, Z:-0.45 [[ 0.97503559 -0.06013201 -0.21375158 -23.28944422] [ 0.05175719 0.99766472 -0.04456801 -1.72710735] [ 0.21593237 0.03239221 0.97587087 -0.45355829] [ 0. 0. 0. 1. ]] SLAMing on 25.648033873999996 meters Centerline goodness [0,1] 0.8974969695680837 Centerline is valid? [False, False] Translation: X:-23.31, Y:-1.72, Z:-0.46 [[ 0.97552318 -0.06089073 -0.21129801 -23.30711624] [ 0.05327972 0.9977155 -0.04153385 -1.72254383] [ 0.21334432 0.02925933 0.97653883 -0.45532785] [ 0. 0. 0. 1. ]] SLAMing on 25.678033873999997 meters Centerline goodness [0,1] 0.8280702495039474 Centerline is valid? [False, False] Translation: X:-23.32, Y:-1.72, Z:-0.46 [[ 0.97630316 -0.06067911 -0.20772624 -23.32469453] [ 0.05394235 0.9978227 -0.03794853 -1.71834041] [ 0.20957664 0.02584403 0.97745062 -0.45662724] [ 0. 0. 0. 1. ]] SLAMing on 25.708033873999998 meters Centerline goodness [0,1] 0.8484296189547748 Centerline is valid? [False, False] Translation: X:-23.35, Y:-1.72, Z:-0.45 [[ 0.97627113 -0.0612468 -0.20771014 -23.34780676] [ 0.05254441 0.99750423 -0.04716358 -1.72449186] [ 0.21008036 0.03513043 0.97705276 -0.45449952] [ 0. 0. 0. 1. ]] SLAMing on 25.738033873999996 meters Centerline goodness [0,1] 0.8864621398827228 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.72, Z:-0.46 [[ 0.97513934 -0.0620342 -0.2127323 -23.37822892] [ 0.05214318 0.99729526 -0.05180005 -1.72264687] [ 0.21537029 0.03941973 0.9757365 -0.46133331] [ 0. 0. 0. 1. ]] SLAMing on 25.768033873999997 meters Centerline goodness [0,1] 0.8864621398827228 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.72, Z:-0.46 [[ 0.97513934 -0.0620342 -0.2127323 -23.37822892] [ 0.05214318 0.99729526 -0.05180005 -1.72264687] [ 0.21537029 0.03941973 0.9757365 -0.46133331] [ 0. 0. 0. 1. ]] SLAMing on 25.798033873999998 meters Centerline goodness [0,1] 0.8657823359891507 Centerline is valid? [False, False] Translation: X:-23.41, Y:-1.71, Z:-0.47 [[ 0.97428762 -0.0645459 -0.21586446 -23.41299393] [ 0.05620327 0.99742395 -0.04457188 -1.70809885] [ 0.21818531 0.03129354 0.9754055 -0.4744366 ] [ 0. 0. 0. 1. ]] SLAMing on 25.828033874 meters Centerline goodness [0,1] 0.9350321444484522 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.70, Z:-0.48 [[ 0.97551215 -0.06534864 -0.21001331 -23.44962189] [ 0.05859673 0.99754983 -0.03821998 -1.70283949] [ 0.21199637 0.02497796 0.9769512 -0.47739733] [ 0. 0. 0. 1. ]] SLAMing on 25.858033873999997 meters Centerline goodness [0,1] 0.9154280618311534 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.71, Z:-0.48 [[ 0.97613227 -0.06282077 -0.20789262 -23.4892868 ] [ 0.0556074 0.99763635 -0.04036752 -1.70770589] [ 0.20993715 0.02784367 0.97731833 -0.47932444] [ 0. 0. 0. 1. ]] SLAMing on 25.888033873999998 meters Centerline goodness [0,1] 0.9344815868835747 Centerline is valid? [False, False] Translation: X:-23.53, Y:-1.70, Z:-0.49 [[ 0.97479181 -0.06235089 -0.21422721 -23.53035635] [ 0.05494025 0.99767281 -0.04037995 -1.70415805] [ 0.21624639 0.02759235 0.97594885 -0.49289236] [ 0. 0. 0. 1. ]] SLAMing on 25.918033874 meters Centerline goodness [0,1] 0.8414616021571584 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.70, Z:-0.51 [[ 0.97418485 -0.06098643 -0.21735808 -23.57081206] [ 0.05350575 0.99776034 -0.04014275 -1.69973575] [ 0.21931944 0.02747655 0.97526613 -0.50594512] [ 0. 0. 0. 1. ]] SLAMing on 25.948033873999997 meters Centerline goodness [0,1] 0.9024343695661393 Centerline is valid? [False, False] Translation: X:-23.61, Y:-1.70, Z:-0.51 [[ 0.97489414 -0.0573911 -0.2151457 -23.60718738] [ 0.04926811 0.99786235 -0.04293472 -1.69978121] [ 0.21714987 0.03125699 0.97563771 -0.50805582] [ 0. 0. 0. 1. ]] SLAMing on 25.978033873999998 meters Centerline goodness [0,1] 0.9086602799668628 Centerline is valid? [False, False] Translation: X:-23.64, Y:-1.70, Z:-0.51 [[ 0.97597329 -0.0520682 -0.21157749 -23.64045451] [ 0.0434843 0.99803895 -0.0450264 -1.70094012] [ 0.21350701 0.03474426 0.97632351 -0.50971707] [ 0. 0. 0. 1. ]] SLAMing on 26.008033874 meters Centerline goodness [0,1] 0.8986894732363203 Centerline is valid? [False, False] Translation: X:-23.67, Y:-1.69, Z:-0.52 [[ 0.97532983 -0.05426285 -0.21397961 -23.67039212] [ 0.04676115 0.99810614 -0.03996898 -1.69218626] [ 0.2157432 0.02897701 0.97602009 -0.51640644] [ 0. 0. 0. 1. ]] SLAMing on 26.038033873999996 meters Centerline goodness [0,1] 0.8781526018942216 Centerline is valid? [False, False] Translation: X:-23.70, Y:-1.68, Z:-0.52 [[ 9.74676357e-01 -5.69963546e-02 -2.16234628e-01 -2.36993347e+01] [ 5.05821715e-02 9.98103377e-01 -3.50869212e-02 -1.68481748e+00] [ 2.17824339e-01 2.32607754e-02 9.75710763e-01 -5.22865608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.068033873999997 meters Centerline goodness [0,1] 0.9203451638892423 Centerline is valid? [False, False] Translation: X:-23.74, Y:-1.68, Z:-0.53 [[ 0.97463952 -0.05579477 -0.21671353 -23.74423121] [ 0.04910456 0.99813964 -0.03613861 -1.67744899] [ 0.21832671 0.02458049 0.97556612 -0.53483188] [ 0. 0. 0. 1. ]] SLAMing on 26.098033874 meters Centerline goodness [0,1] 0.8908400366995968 Centerline is valid? [False, False] Translation: X:-23.77, Y:-1.68, Z:-0.54 [[ 0.97462953 -0.05457832 -0.21706792 -23.77444082] [ 0.04656521 0.99803761 -0.04186427 -1.67633571] [ 0.21892683 0.03069435 0.97525838 -0.53787304] [ 0. 0. 0. 1. ]] SLAMing on 26.128033873999996 meters Centerline goodness [0,1] 0.9132486772486772 Centerline is valid? [False, False] Translation: X:-23.81, Y:-1.67, Z:-0.54 [[ 0.9749577 -0.05726638 -0.21489075 -23.80508325] [ 0.05063173 0.99805902 -0.03625765 -1.67121317] [ 0.21655 0.02446938 0.97596483 -0.54460239] [ 0. 0. 0. 1. ]] SLAMing on 26.158033873999997 meters Centerline goodness [0,1] 0.896686740578384 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.68, Z:-0.54 [[ 0.97543288 -0.05635022 -0.21296797 -23.83658276] [ 0.04824658 0.99790675 -0.04306265 -1.68072447] [ 0.21494877 0.03172975 0.97610975 -0.53908665] [ 0. 0. 0. 1. ]] SLAMing on 26.188033874 meters Centerline goodness [0,1] 0.9053202622754747 Centerline is valid? [False, False] Translation: X:-23.87, Y:-1.67, Z:-0.55 [[ 0.97472459 -0.06089513 -0.21495061 -23.86989149] [ 0.05364522 0.99778214 -0.03940791 -1.67150818] [ 0.21687363 0.02688079 0.97582952 -0.54785751] [ 0. 0. 0. 1. ]] SLAMing on 26.218033873999996 meters Centerline goodness [0,1] 0.9187230959382858 Centerline is valid? [False, False] Translation: X:-23.91, Y:-1.67, Z:-0.56 [[ 0.9747165 -0.05893898 -0.21553175 -23.90852471] [ 0.05162549 0.99788856 -0.03941094 -1.67107305] [ 0.21739951 0.02728756 0.9757012 -0.55870847] [ 0. 0. 0. 1. ]] SLAMing on 26.248033873999997 meters Centerline goodness [0,1] 0.9544381843308175 Centerline is valid? [False, True] Translation: X:-23.92, Y:-1.67, Z:-0.56 [[ 0.97474602 -0.05966433 -0.21519845 -23.92273411] [ 0.05306953 0.99793085 -0.03629935 -1.66607301] [ 0.21691895 0.02396216 0.97589548 -0.562204 ] [ 0. 0. 0. 1. ]] SLAMing on 26.278033874 meters Centerline goodness [0,1] 0.9334671821269143 Centerline is valid? [True, False] Translation: X:-23.98, Y:-1.67, Z:-0.57 [[ 0.97450854 -0.06113167 -0.21586111 -23.98232594] [ 0.05429777 0.9978221 -0.03745415 -1.6672191 ] [ 0.21768062 0.02477861 0.97570547 -0.568773 ] [ 0. 0. 0. 1. ]] SLAMing on 26.308033873999996 meters Centerline goodness [0,1] 0.9308448521137227 Centerline is valid? [False, False] Translation: X:-24.00, Y:-1.66, Z:-0.57 [[ 9.74798213e-01 -6.23696675e-02 -2.14192596e-01 -2.39970425e+01] [ 5.60644417e-02 9.97799637e-01 -3.53929788e-02 -1.66170641e+00] [ 2.15928742e-01 2.24924242e-02 9.76150024e-01 -5.71398225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.338033873999997 meters Centerline goodness [0,1] 0.9406483258690552 Centerline is valid? [False, False] Translation: X:-24.04, Y:-1.66, Z:-0.58 [[ 0.97500097 -0.06299039 -0.21308522 -24.03652108] [ 0.05562858 0.99763483 -0.04037582 -1.66039658] [ 0.21512453 0.02751283 0.976199 -0.57786719] [ 0. 0. 0. 1. ]] SLAMing on 26.368033873999998 meters Centerline goodness [0,1] 0.9645169534844096 Centerline is valid? [False, True] Translation: X:-24.08, Y:-1.66, Z:-0.58 [[ 0.97529239 -0.06054855 -0.21245854 -24.08010467] [ 0.05308455 0.99776161 -0.04066702 -1.66292056] [ 0.21444531 0.02838397 0.97632349 -0.5849186 ] [ 0. 0. 0. 1. ]] SLAMing on 26.398033873999996 meters Centerline goodness [0,1] 0.9431693989071038 Centerline is valid? [True, False] Translation: X:-24.12, Y:-1.67, Z:-0.58 [[ 0.97515457 -0.05845506 -0.213674 -24.1249084 ] [ 0.05026753 0.99778553 -0.04355703 -1.67266263] [ 0.21574696 0.03173397 0.9759335 -0.58182593] [ 0. 0. 0. 1. ]] SLAMing on 26.428033873999997 meters Centerline goodness [0,1] 0.918195244108645 Centerline is valid? [False, False] Translation: X:-24.06, Y:-1.65, Z:-0.58 [[ 0.97424975 -0.05884348 -0.21765768 -24.05829159] [ 0.05010869 0.99770955 -0.04543978 -1.64523776] [ 0.21983298 0.03336315 0.97496685 -0.57611574] [ 0. 0. 0. 1. ]] SLAMing on 26.458033873999998 meters Centerline goodness [0,1] 0.9281284748952185 Centerline is valid? [False, False] Translation: X:-24.11, Y:-1.64, Z:-0.59 [[ 0.97476284 -0.06006678 -0.21501023 -24.10803849] [ 0.05127143 0.99761288 -0.04625785 -1.63968272] [ 0.21727553 0.03406655 0.97551567 -0.5922695 ] [ 0. 0. 0. 1. ]] SLAMing on 26.488033873999996 meters Centerline goodness [0,1] 0.8903890453033018 Centerline is valid? [False, False] Translation: X:-24.16, Y:-1.64, Z:-0.60 [[ 9.75706376e-01 -5.99238773e-02 -2.10727779e-01 -2.41551677e+01] [ 5.38054248e-02 9.97949909e-01 -3.46548130e-02 -1.63560848e+00] [ 2.12372419e-01 2.24746244e-02 9.76930318e-01 -6.02676323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.518033873999997 meters Centerline goodness [0,1] 0.9499303695768613 Centerline is valid? [False, False] Translation: X:-24.20, Y:-1.65, Z:-0.60 [[ 0.97538661 -0.05718278 -0.21295798 -24.19721882] [ 0.05016367 0.99800931 -0.03822339 -1.64720659] [ 0.21471976 0.02659983 0.97631341 -0.59644699] [ 0. 0. 0. 1. ]] SLAMing on 26.548033873999998 meters Centerline goodness [0,1] 0.958902344756506 Centerline is valid? [False, True] Translation: X:-24.22, Y:-1.65, Z:-0.59 [[ 0.9750545 -0.0564059 -0.21467904 -24.21654896] [ 0.04738111 0.99777247 -0.04695889 -1.65388847] [ 0.2168496 0.03561575 0.97555511 -0.59429587] [ 0. 0. 0. 1. ]] SLAMing on 26.578033874 meters Centerline goodness [0,1] 0.9032451024375654 Centerline is valid? [True, False] Translation: X:-24.26, Y:-1.64, Z:-0.62 [[ 0.97441631 -0.05462405 -0.21801162 -24.25669891] [ 0.04613836 0.99797306 -0.04382959 -1.64368238] [ 0.21996387 0.03264957 0.97496149 -0.61916396] [ 0. 0. 0. 1. ]] SLAMing on 26.608033873999997 meters Centerline goodness [0,1] 0.9146219488838289 Centerline is valid? [False, False] Translation: X:-24.31, Y:-1.64, Z:-0.63 [[ 9.75066675e-01 -5.30714869e-02 -2.15472494e-01 -2.43055711e+01] [ 4.74919716e-02 9.98390664e-01 -3.09934600e-02 -1.63712956e+00] [ 2.16770595e-01 1.99874765e-02 9.76017935e-01 -6.30883369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.638033873999998 meters Centerline goodness [0,1] 0.9022694309359269 Centerline is valid? [False, False] Translation: X:-24.33, Y:-1.64, Z:-0.63 [[ 0.97528808 -0.04817094 -0.21562172 -24.32954598] [ 0.04131807 0.99849077 -0.03618012 -1.64478706] [ 0.21703913 0.02637697 0.97580647 -0.6255318 ] [ 0. 0. 0. 1. ]] SLAMing on 26.668033874 meters Centerline goodness [0,1] 0.8915290585460004 Centerline is valid? [False, False] Translation: X:-24.35, Y:-1.64, Z:-0.63 [[ 0.97510658 -0.04662711 -0.21677883 -24.34613331] [ 0.03764822 0.99826063 -0.04536871 -1.64442425] [ 0.21851719 0.03607799 0.97516594 -0.62734584] [ 0. 0. 0. 1. ]] SLAMing on 26.698033873999997 meters Centerline goodness [0,1] 0.9009309791332263 Centerline is valid? [False, False] Translation: X:-24.36, Y:-1.64, Z:-0.63 [[ 0.97555013 -0.04528062 -0.21506189 -24.35518553] [ 0.0368012 0.99838531 -0.04327172 -1.63858021] [ 0.216674 0.0342992 0.9756413 -0.62914694] [ 0. 0. 0. 1. ]] SLAMing on 26.728033873999998 meters Centerline goodness [0,1] 0.9173864941917366 Centerline is valid? [False, False] Translation: X:-24.36, Y:-1.64, Z:-0.63 [[ 0.97584359 -0.04184864 -0.21442477 -24.36171782] [ 0.03411168 0.99863088 -0.0396581 -1.64029964] [ 0.21579084 0.03138571 0.97593507 -0.6265917 ] [ 0. 0. 0. 1. ]] SLAMing on 26.758033874 meters Centerline goodness [0,1] 0.8987899260272801 Centerline is valid? [False, False] Translation: X:-24.37, Y:-1.64, Z:-0.62 [[ 0.9757288 -0.04306648 -0.2147058 -24.36542371] [ 0.03521561 0.99856849 -0.04025947 -1.64248728] [ 0.21613228 0.03172133 0.97584865 -0.62427742] [ 0. 0. 0. 1. ]] SLAMing on 26.788033873999996 meters Centerline goodness [0,1] 0.8563946901519848 Centerline is valid? [False, False] Translation: X:-24.36, Y:-1.64, Z:-0.63 [[ 0.97549672 -0.04469465 -0.21542641 -24.36427208] [ 0.03663824 0.99847693 -0.04124884 -1.64341021] [ 0.2169419 0.03234527 0.9756485 -0.62513964] [ 0. 0. 0. 1. ]] SLAMing on 26.818033873999997 meters Centerline goodness [0,1] 0.8890764201935608 Centerline is valid? [False, False] Translation: X:-24.36, Y:-1.65, Z:-0.63 [[ 0.97549489 -0.04603405 -0.21515246 -24.36403609] [ 0.03789136 0.99840636 -0.04182086 -1.64605539] [ 0.21673477 0.03264362 0.9756846 -0.62580248] [ 0. 0. 0. 1. ]] SLAMing on 26.848033874 meters Centerline goodness [0,1] 0.9352223265340958 Centerline is valid? [False, False] Translation: X:-24.36, Y:-1.64, Z:-0.63 [[ 0.97607086 -0.05335619 -0.21080511 -24.35958438] [ 0.04686537 0.9982641 -0.03567111 -1.64229643] [ 0.21234245 0.02493807 0.97687705 -0.6272339 ] [ 0. 0. 0. 1. ]] SLAMing on 26.878033873999996 meters Centerline goodness [0,1] 0.9343647545374676 Centerline is valid? [False, False] Translation: X:-24.36, Y:-1.65, Z:-0.63 [[ 0.97593542 -0.05725906 -0.21040783 -24.35962965] [ 0.05039657 0.99801225 -0.03783818 -1.64912591] [ 0.21215617 0.02632379 0.97688117 -0.62681294] [ 0. 0. 0. 1. ]] SLAMing on 26.908033873999997 meters Centerline goodness [0,1] 0.9598498901895562 Centerline is valid? [False, True] Translation: X:-24.36, Y:-1.66, Z:-0.62 [[ 0.97534124 -0.06324444 -0.21144647 -24.36029283] [ 0.05577168 0.99759619 -0.04112623 -1.65989696] [ 0.2135392 0.02831939 0.97652395 -0.62402342] [ 0. 0. 0. 1. ]] SLAMing on 26.938033874 meters Centerline goodness [0,1] 0.9632729757430817 Centerline is valid? [True, True] Translation: X:-24.39, Y:-1.67, Z:-0.64 [[ 9.74272227e-01 -6.83633725e-02 -2.14755854e-01 -2.43855196e+01] [ 6.25320685e-02 9.97469133e-01 -3.38388738e-02 -1.66654672e+00] [ 2.16525675e-01 1.95391472e-02 9.76081377e-01 -6.40438590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.968033873999996 meters Centerline goodness [0,1] 0.9798139634341922 Centerline is valid? [True, True] Translation: X:-24.41, Y:-1.68, Z:-0.65 [[ 9.74066244e-01 -7.72902193e-02 -2.12652707e-01 -2.44117383e+01] [ 7.17944315e-02 9.96858138e-01 -3.34576126e-02 -1.67976877e+00] [ 2.14570528e-01 1.73226508e-02 9.76554870e-01 -6.45762071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.998033873999997 meters Centerline goodness [0,1] 0.9813010383573911 Centerline is valid? [True, True] Translation: X:-24.44, Y:-1.68, Z:-0.65 [[ 9.74252332e-01 -8.22267682e-02 -2.09931303e-01 -2.44385338e+01] [ 7.69922125e-02 9.96485392e-01 -3.30009424e-02 -1.68208904e+00] [ 2.11907037e-01 1.59881696e-02 9.77159038e-01 -6.53786398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.028033874 meters Centerline goodness [0,1] 0.9928955083349382 Centerline is valid? [True, True] Translation: X:-24.46, Y:-1.69, Z:-0.66 [[ 9.74013692e-01 -8.25008901e-02 -2.10928733e-01 -2.44646812e+01] [ 7.72328345e-02 9.96463246e-01 -3.31072314e-02 -1.69413272e+00] [ 2.12914106e-01 1.59562728e-02 9.76940623e-01 -6.58574349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.058033873999996 meters Centerline goodness [0,1] 0.9920451629458558 Centerline is valid? [True, True] Translation: X:-24.49, Y:-1.70, Z:-0.66 [[ 9.73806045e-01 -8.03672503e-02 -2.12703764e-01 -2.44919749e+01] [ 7.49656850e-02 9.96628190e-01 -3.33526300e-02 -1.70284190e+00] [ 2.14667027e-01 1.65335093e-02 9.76547342e-01 -6.58785053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.088033873999997 meters Centerline goodness [0,1] 0.991475816099812 Centerline is valid? [True, True] Translation: X:-24.52, Y:-1.71, Z:-0.66 [[ 9.74148520e-01 -7.56705049e-02 -2.12858254e-01 -2.45202534e+01] [ 7.01604156e-02 9.96978648e-01 -3.33330400e-02 -1.70908244e+00] [ 2.14737462e-01 1.75371081e-02 9.76514348e-01 -6.60507963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.118033873999998 meters Centerline goodness [0,1] 0.944540542849211 Centerline is valid? [True, False] Translation: X:-24.54, Y:-1.71, Z:-0.66 [[ 9.74247922e-01 -6.94923955e-02 -2.14503600e-01 -2.45373573e+01] [ 6.27011987e-02 9.97296728e-01 -3.83118328e-02 -1.70951825e+00] [ 2.16586119e-01 2.38755907e-02 9.75971521e-01 -6.61761031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.148033873999996 meters Centerline goodness [0,1] 0.9506104564597779 Centerline is valid? [False, True] Translation: X:-24.55, Y:-1.71, Z:-0.67 [[ 0.97427734 -0.06334838 -0.21626524 -24.55258316] [ 0.0551779 0.9975234 -0.04361731 -1.70683961] [ 0.21849273 0.0305623 0.97535987 -0.66509262] [ 0. 0. 0. 1. ]] SLAMing on 27.178033873999997 meters Centerline goodness [0,1] 0.9520128136679125 Centerline is valid? [True, True] Translation: X:-24.58, Y:-1.70, Z:-0.68 [[ 9.73871139e-01 -5.47318253e-02 -2.20407420e-01 -2.45778838e+01] [ 4.83558593e-02 9.98243657e-01 -3.42244451e-02 -1.70103761e+00] [ 2.21893476e-01 2.26722091e-02 9.74807292e-01 -6.82880681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.208033873999998 meters Centerline goodness [0,1] 0.8698192051850588 Centerline is valid? [True, False] Translation: X:-24.58, Y:-1.71, Z:-0.68 [[ 9.73942421e-01 -5.08202738e-02 -2.21028187e-01 -2.45816155e+01] [ 4.52406484e-02 9.98518411e-01 -3.02368332e-02 -1.70531240e+00] [ 2.22237358e-01 1.94494761e-02 9.74798581e-01 -6.79658004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.238033873999996 meters Centerline goodness [0,1] 0.922288569855588 Centerline is valid? [False, False] Translation: X:-24.59, Y:-1.71, Z:-0.68 [[ 9.74349504e-01 -4.85225547e-02 -2.19746685e-01 -2.45855821e+01] [ 4.35330601e-02 9.98673589e-01 -2.74942861e-02 -1.70895971e+00] [ 2.20789304e-01 1.72227983e-02 9.75169451e-01 -6.78467431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.268033873999997 meters Centerline goodness [0,1] 0.9412772518953184 Centerline is valid? [False, False] Translation: X:-24.59, Y:-1.71, Z:-0.68 [[ 9.74415245e-01 -5.52172148e-02 -2.17866908e-01 -2.45899736e+01] [ 4.92660175e-02 9.98251626e-01 -3.26580848e-02 -1.71063194e+00] [ 2.19289284e-01 2.10891008e-02 9.75431935e-01 -6.78680169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.298033873999998 meters Centerline goodness [0,1] 0.9359388021111562 Centerline is valid? [False, False] Translation: X:-24.62, Y:-1.71, Z:-0.69 [[ 9.73395023e-01 -6.21588878e-02 -2.20541157e-01 -2.46166193e+01] [ 5.72760444e-02 9.97952285e-01 -2.84726337e-02 -1.71048694e+00] [ 2.21859379e-01 1.50833948e-02 9.74962003e-01 -6.92489444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.328033874 meters Centerline goodness [0,1] 0.9547325980758155 Centerline is valid? [False, True] Translation: X:-24.64, Y:-1.72, Z:-0.69 [[ 9.73351340e-01 -6.53159067e-02 -2.19820385e-01 -2.46392337e+01] [ 6.07797172e-02 9.97776607e-01 -2.73435268e-02 -1.71829984e+00] [ 2.21117605e-01 1.32542376e-02 9.75157080e-01 -6.86139769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.358033873999997 meters Centerline goodness [0,1] 0.9658196249119887 Centerline is valid? [True, True] Translation: X:-24.67, Y:-1.73, Z:-0.68 [[ 9.73278487e-01 -6.84204656e-02 -2.19197686e-01 -2.46688515e+01] [ 6.25801924e-02 9.97478038e-01 -3.34855575e-02 -1.72922287e+00] [ 2.20935976e-01 1.88733394e-02 9.75105682e-01 -6.78133038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.388033873999998 meters Centerline goodness [0,1] 0.9558889722430608 Centerline is valid? [True, True] Translation: X:-24.70, Y:-1.72, Z:-0.69 [[ 9.72965032e-01 -6.72531568e-02 -2.20943564e-01 -2.46965571e+01] [ 6.12950648e-02 9.97549905e-01 -3.37209434e-02 -1.71674653e+00] [ 2.22670071e-01 1.92665487e-02 9.74703462e-01 -6.93249264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.418033874 meters Centerline goodness [0,1] 0.9412155643691714 Centerline is valid? [True, False] Translation: X:-24.74, Y:-1.72, Z:-0.70 [[ 9.73188293e-01 -6.30750885e-02 -2.21192405e-01 -2.47360133e+01] [ 5.65964086e-02 9.97765345e-01 -3.55128610e-02 -1.71792574e+00] [ 2.22938093e-01 2.20420048e-02 9.74583376e-01 -6.96821218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.448033873999997 meters Centerline goodness [0,1] 0.931924882629108 Centerline is valid? [False, False] Translation: X:-24.78, Y:-1.72, Z:-0.70 [[ 9.73379709e-01 -5.62436950e-02 -2.22190436e-01 -2.47798922e+01] [ 4.97103750e-02 9.98153989e-01 -3.48925829e-02 -1.72283982e+00] [ 2.23742758e-01 2.29185623e-02 9.74378734e-01 -6.96928796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.478033873999998 meters Centerline goodness [0,1] 0.9183073821472998 Centerline is valid? [False, False] Translation: X:-24.82, Y:-1.73, Z:-0.70 [[ 0.97305522 -0.05376311 -0.22421658 -24.82179051] [ 0.04607301 0.99816103 -0.03939342 -1.72641972] [ 0.22592216 0.02800164 0.97374282 -0.69622174] [ 0. 0. 0. 1. ]] SLAMing on 27.508033874 meters Centerline goodness [0,1] 0.9225756995017248 Centerline is valid? [False, False] Translation: X:-24.86, Y:-1.72, Z:-0.71 [[ 9.72480711e-01 -5.35223818e-02 -2.26752337e-01 -2.48648001e+01] [ 4.74309336e-02 9.98354355e-01 -3.22317956e-02 -1.71511985e+00] [ 2.28104305e-01 2.05897245e-02 9.73418969e-01 -7.14403705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.538033873999996 meters Centerline goodness [0,1] 0.928685573050945 Centerline is valid? [False, False] Translation: X:-24.93, Y:-1.72, Z:-0.73 [[ 9.72401710e-01 -5.39377751e-02 -2.26992580e-01 -2.49267236e+01] [ 4.81415884e-02 9.98359409e-01 -3.09980281e-02 -1.71906064e+00] [ 2.28292143e-01 1.92147521e-02 9.73403046e-01 -7.28224943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.568033873999997 meters Centerline goodness [0,1] 0.9108236895847516 Centerline is valid? [False, False] Translation: X:-24.94, Y:-1.72, Z:-0.72 [[ 9.72181100e-01 -5.68209461e-02 -2.27233996e-01 -2.49378398e+01] [ 5.06958534e-02 9.98178468e-01 -3.27059093e-02 -1.71859740e+00] [ 2.28678463e-01 2.02762455e-02 9.73290827e-01 -7.23759393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.598033874 meters Centerline goodness [0,1] 0.9252124403347675 Centerline is valid? [False, False] Translation: X:-25.00, Y:-1.73, Z:-0.73 [[ 9.72449802e-01 -5.96423032e-02 -2.25353452e-01 -2.49994141e+01] [ 5.32466890e-02 9.97990139e-01 -3.43580191e-02 -1.72624993e+00] [ 2.26949714e-01 2.14121237e-02 9.73671068e-01 -7.33732558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.628033873999996 meters Centerline goodness [0,1] 0.9352870402200069 Centerline is valid? [False, False] Translation: X:-25.03, Y:-1.74, Z:-0.73 [[ 0.97194977 -0.06023863 -0.22734327 -25.03462106] [ 0.05225498 0.99779261 -0.04097963 -1.7366921 ] [ 0.22930999 0.02795033 0.97295206 -0.73194992] [ 0. 0. 0. 1. ]] SLAMing on 27.658033873999997 meters Centerline goodness [0,1] 0.9352870402200069 Centerline is valid? [False, False] Translation: X:-25.03, Y:-1.74, Z:-0.73 [[ 0.97194977 -0.06023863 -0.22734327 -25.03462106] [ 0.05225498 0.99779261 -0.04097963 -1.7366921 ] [ 0.22930999 0.02795033 0.97295206 -0.73194992] [ 0. 0. 0. 1. ]] SLAMing on 27.688033874 meters Centerline goodness [0,1] 0.94033525293828 Centerline is valid? [False, False] Translation: X:-25.07, Y:-1.73, Z:-0.75 [[ 9.71841897e-01 -6.30511853e-02 -2.27041571e-01 -2.50734580e+01] [ 5.74484708e-02 9.97860586e-01 -3.12077732e-02 -1.73488763e+00] [ 2.28523522e-01 1.72858304e-02 9.73384919e-01 -7.48201883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.718033873999996 meters Centerline goodness [0,1] 0.9301864254937929 Centerline is valid? [False, False] Translation: X:-25.10, Y:-1.74, Z:-0.75 [[ 9.72084225e-01 -6.64953993e-02 -2.25012493e-01 -2.50979786e+01] [ 6.14680411e-02 9.97679409e-01 -2.92827188e-02 -1.73778835e+00] [ 2.26437497e-01 1.46341919e-02 9.73915756e-01 -7.48659944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.748033873999997 meters Centerline goodness [0,1] 0.940737254230761 Centerline is valid? [False, False] Translation: X:-25.12, Y:-1.75, Z:-0.75 [[ 9.71784865e-01 -6.72755305e-02 -2.26071182e-01 -2.51219650e+01] [ 6.00634324e-02 9.97446473e-01 -3.86382994e-02 -1.74746994e+00] [ 2.28093315e-01 2.39695034e-02 9.73344185e-01 -7.46163847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.778033874 meters Centerline goodness [0,1] 0.9355598877439534 Centerline is valid? [False, False] Translation: X:-25.15, Y:-1.75, Z:-0.75 [[ 0.97062452 -0.06590168 -0.23139795 -25.14527041] [ 0.0571683 0.99738326 -0.04425396 -1.7528572 ] [ 0.23370885 0.02972535 0.97185214 -0.7487085 ] [ 0. 0. 0. 1. ]] SLAMing on 27.808033873999996 meters Centerline goodness [0,1] 0.9174399795675123 Centerline is valid? [False, False] Translation: X:-25.16, Y:-1.75, Z:-0.75 [[ 0.97034354 -0.06682313 -0.23231033 -25.16472477] [ 0.05874759 0.9974092 -0.04151628 -1.75419528] [ 0.23448271 0.02663738 0.97175527 -0.74802906] [ 0. 0. 0. 1. ]] SLAMing on 27.838033873999997 meters Centerline goodness [0,1] 0.9386126326600479 Centerline is valid? [False, False] Translation: X:-25.19, Y:-1.77, Z:-0.74 [[ 0.97182252 -0.05998171 -0.22795435 -25.1901169 ] [ 0.05131991 0.99772383 -0.04374269 -1.76723071] [ 0.23005924 0.03081154 0.97268874 -0.74426389] [ 0. 0. 0. 1. ]] SLAMing on 27.868033873999998 meters Centerline goodness [0,1] 0.9221096974596825 Centerline is valid? [False, False] Translation: X:-25.21, Y:-1.76, Z:-0.75 [[ 0.97252718 -0.05929734 -0.22511045 -25.2069889 ] [ 0.05150406 0.99785767 -0.04034112 -1.76126671] [ 0.2270203 0.02763873 0.97349776 -0.74867576] [ 0. 0. 0. 1. ]] SLAMing on 27.898033873999996 meters Centerline goodness [0,1] 0.9248117083190688 Centerline is valid? [False, False] Translation: X:-25.22, Y:-1.77, Z:-0.75 [[ 0.9724756 -0.0557095 -0.2262469 -25.22498168] [ 0.0461861 0.99781832 -0.04717461 -1.76558122] [ 0.22838138 0.0354267 0.97292697 -0.7502787 ] [ 0. 0. 0. 1. ]] SLAMing on 27.928033873999997 meters Centerline goodness [0,1] 0.8817738207345261 Centerline is valid? [False, False] Translation: X:-25.24, Y:-1.77, Z:-0.75 [[ 0.97143039 -0.05029686 -0.23193365 -25.24457474] [ 0.03960701 0.9979373 -0.05052162 -1.77011581] [ 0.23399632 0.03989204 0.97141873 -0.75136503] [ 0. 0. 0. 1. ]] SLAMing on 27.958033873999998 meters Centerline goodness [0,1] 0.866629595568578 Centerline is valid? [False, False] Translation: X:-25.26, Y:-1.77, Z:-0.75 [[ 0.97173527 -0.05017499 -0.2306795 -25.26342193] [ 0.04027953 0.998063 -0.04741105 -1.77277943] [ 0.23261152 0.03677933 0.97187405 -0.74947096] [ 0. 0. 0. 1. ]] SLAMing on 27.988033873999996 meters Centerline goodness [0,1] 0.899062679334311 Centerline is valid? [False, False] Translation: X:-25.28, Y:-1.77, Z:-0.75 [[ 0.97241271 -0.0512646 -0.2275642 -25.28359529] [ 0.04227249 0.99812718 -0.04421735 -1.77492976] [ 0.22940479 0.03337781 0.97275864 -0.75130637] [ 0. 0. 0. 1. ]] SLAMing on 28.018033873999997 meters Centerline goodness [0,1] 0.8558476303720062 Centerline is valid? [False, False] Translation: X:-25.31, Y:-1.77, Z:-0.77 [[ 0.97168501 -0.05447931 -0.22991357 -25.31284257] [ 0.04704703 0.99818138 -0.03768958 -1.77178871] [ 0.23154875 0.02580565 0.97248097 -0.76597499] [ 0. 0. 0. 1. ]] SLAMing on 28.048033873999998 meters Centerline goodness [0,1] 0.8564607579826917 Centerline is valid? [False, False] Translation: X:-25.34, Y:-1.78, Z:-0.76 [[ 0.97129757 -0.06062797 -0.23001149 -25.33584089] [ 0.05292645 0.99781641 -0.03951215 -1.77667413] [ 0.23190478 0.02620436 0.97238547 -0.76435506] [ 0. 0. 0. 1. ]] SLAMing on 28.078033874 meters Centerline goodness [0,1] 0.9129539180293056 Centerline is valid? [False, False] Translation: X:-25.37, Y:-1.77, Z:-0.78 [[ 9.71017141e-01 -6.41774449e-02 -2.30232422e-01 -2.53700859e+01] [ 5.84672929e-02 9.97790772e-01 -3.15460289e-02 -1.77303603e+00] [ 2.31748329e-01 1.71706684e-02 9.72624223e-01 -7.81942124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.108033873999997 meters Centerline goodness [0,1] 0.9118808937218588 Centerline is valid? [False, False] Translation: X:-25.38, Y:-1.77, Z:-0.78 [[ 9.70850290e-01 -6.69404153e-02 -2.30149288e-01 -2.53767034e+01] [ 6.08770203e-02 9.97587830e-01 -3.33543105e-02 -1.77400709e+00] [ 2.31826880e-01 1.83712391e-02 9.72583567e-01 -7.80052265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.138033873999998 meters Centerline goodness [0,1] 0.8925498693518578 Centerline is valid? [False, False] Translation: X:-25.42, Y:-1.78, Z:-0.79 [[ 9.68981892e-01 -7.23709913e-02 -2.36297552e-01 -2.54244085e+01] [ 6.79252428e-02 9.97327381e-01 -2.69120051e-02 -1.77925182e+00] [ 2.37613667e-01 1.00266770e-02 9.71307990e-01 -7.93912980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.168033874 meters Centerline goodness [0,1] 0.8826586025512703 Centerline is valid? [False, False] Translation: X:-25.45, Y:-1.80, Z:-0.79 [[ 9.69155528e-01 -7.25668342e-02 -2.35524133e-01 -2.54493011e+01] [ 6.62565425e-02 9.97202280e-01 -3.46075706e-02 -1.79586738e+00] [ 2.37376564e-01 1.79351036e-02 9.71252129e-01 -7.87472355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.198033873999997 meters Centerline goodness [0,1] 0.9231179583475589 Centerline is valid? [False, False] Translation: X:-25.47, Y:-1.80, Z:-0.79 [[ 0.96914763 -0.07325346 -0.23534401 -25.46863203] [ 0.06465079 0.99693415 -0.04407472 -1.80412323] [ 0.2378511 0.02749974 0.97091226 -0.78688384] [ 0. 0. 0. 1. ]] SLAMing on 28.228033873999998 meters Centerline goodness [0,1] 0.8907921548650025 Centerline is valid? [False, False] Translation: X:-25.48, Y:-1.80, Z:-0.79 [[ 0.96921916 -0.07526973 -0.23441135 -25.47528421] [ 0.06645755 0.99676134 -0.04527951 -1.80326141] [ 0.23706034 0.02830736 0.97108243 -0.78589221] [ 0. 0. 0. 1. ]] SLAMing on 28.258033874 meters Centerline goodness [0,1] 0.9309604303544471 Centerline is valid? [False, False] Translation: X:-25.48, Y:-1.81, Z:-0.78 [[ 0.96957201 -0.07287252 -0.23370859 -25.48301582] [ 0.06479382 0.99701141 -0.04207143 -1.80799529] [ 0.23607598 0.02564841 0.97139605 -0.7825279 ] [ 0. 0. 0. 1. ]] SLAMing on 28.288033873999996 meters Centerline goodness [0,1] 0.9017593452029364 Centerline is valid? [False, False] Translation: X:-25.49, Y:-1.81, Z:-0.78 [[ 0.96945024 -0.0746164 -0.23366348 -25.48862878] [ 0.06637094 0.99686953 -0.04296559 -1.80894601] [ 0.23613795 0.02614454 0.97136776 -0.78084761] [ 0. 0. 0. 1. ]] SLAMing on 28.318033873999997 meters Centerline goodness [0,1] 0.864406779661017 Centerline is valid? [False, False] Translation: X:-25.51, Y:-1.81, Z:-0.78 [[ 0.96925816 -0.07039408 -0.23576108 -25.50504492] [ 0.06048118 0.99696461 -0.04902644 -1.81262479] [ 0.23849663 0.03326017 0.9705736 -0.78238444] [ 0. 0. 0. 1. ]] SLAMing on 28.348033874 meters Centerline goodness [0,1] 0.881015873015873 Centerline is valid? [False, False] Translation: X:-25.52, Y:-1.81, Z:-0.78 [[ 0.9698622 -0.06681716 -0.23431343 -25.52462999] [ 0.05833365 0.99737238 -0.04295951 -1.8094375 ] [ 0.23656817 0.02799645 0.97121146 -0.78329128] [ 0. 0. 0. 1. ]] SLAMing on 28.378033873999996 meters Centerline goodness [0,1] 0.894116144414169 Centerline is valid? [False, False] Translation: X:-25.55, Y:-1.82, Z:-0.78 [[ 0.97098686 -0.06055383 -0.23133902 -25.55438632] [ 0.05103929 0.99759482 -0.04689958 -1.81788042] [ 0.23362256 0.03373149 0.97174209 -0.77763336] [ 0. 0. 0. 1. ]] SLAMing on 28.408033873999997 meters Centerline goodness [0,1] 0.8728099191190593 Centerline is valid? [False, False] Translation: X:-25.59, Y:-1.81, Z:-0.79 [[ 0.97096984 -0.05994585 -0.23156872 -25.59418904] [ 0.05002183 0.99756996 -0.04849743 -1.81405098] [ 0.23391321 0.03550605 0.97160894 -0.79222008] [ 0. 0. 0. 1. ]] SLAMing on 28.438033874 meters Centerline goodness [0,1] 0.8234714215297572 Centerline is valid? [False, False] Translation: X:-25.64, Y:-1.81, Z:-0.81 [[ 0.970371 -0.06131758 -0.23370981 -25.63723736] [ 0.05117337 0.99747564 -0.04923042 -1.80939026] [ 0.23613853 0.03581205 0.97105926 -0.81272114] [ 0. 0. 0. 1. ]] SLAMing on 28.468033873999996 meters Centerline goodness [0,1] 0.7851374899060733 Centerline is valid? [False, False] Translation: X:-25.68, Y:-1.81, Z:-0.83 [[ 9.69697215e-01 -6.25587757e-02 -2.36164585e-01 -2.56770042e+01] [ 5.48834412e-02 9.97733108e-01 -3.89416630e-02 -1.80725922e+00] [ 2.38065368e-01 2.48000971e-02 9.70932457e-01 -8.26353616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.498033873999997 meters Centerline goodness [0,1] 0.8271492445593439 Centerline is valid? [False, False] Translation: X:-25.70, Y:-1.82, Z:-0.82 [[ 9.69262862e-01 -6.57363506e-02 -2.37082765e-01 -2.57025622e+01] [ 5.83153214e-02 9.97567564e-01 -3.81874062e-02 -1.81681219e+00] [ 2.39016377e-01 2.31880770e-02 9.70738628e-01 -8.17628458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.528033874 meters Centerline goodness [0,1] 0.8820798909803254 Centerline is valid? [False, False] Translation: X:-25.72, Y:-1.83, Z:-0.82 [[ 0.96905111 -0.06737774 -0.23748724 -25.72229189] [ 0.05744773 0.99716993 -0.04849638 -1.82774817] [ 0.24008271 0.03335237 0.97017932 -0.81537746] [ 0. 0. 0. 1. ]] SLAMing on 28.558033873999996 meters Centerline goodness [0,1] 0.8077299829642248 Centerline is valid? [False, False] Translation: X:-25.72, Y:-1.82, Z:-0.82 [[ 0.96897086 -0.07233093 -0.23635503 -25.72345561] [ 0.06140245 0.99668972 -0.05328553 -1.82081392] [ 0.23942682 0.03711935 0.97020459 -0.81868164] [ 0. 0. 0. 1. ]] SLAMing on 28.588033873999997 meters Centerline goodness [0,1] 0.8437253522627955 Centerline is valid? [False, False] Translation: X:-25.73, Y:-1.82, Z:-0.82 [[ 0.9695583 -0.06770035 -0.23531547 -25.7259949 ] [ 0.05761803 0.99711232 -0.04946897 -1.81956789] [ 0.23798503 0.03440464 0.97065929 -0.8195472 ] [ 0. 0. 0. 1. ]] SLAMing on 28.618033873999998 meters Centerline goodness [0,1] 0.8513161517121619 Centerline is valid? [False, False] Translation: X:-25.73, Y:-1.82, Z:-0.82 [[ 0.97000433 -0.05942756 -0.23571163 -25.7305181 ] [ 0.05102332 0.99783064 -0.04160086 -1.824217 ] [ 0.23767252 0.02832622 0.97093223 -0.81637425] [ 0. 0. 0. 1. ]] SLAMing on 28.648033873999996 meters Centerline goodness [0,1] 0.8333333333333334 Centerline is valid? [False, False] Translation: X:-25.74, Y:-1.83, Z:-0.81 [[ 0.96994645 -0.06117278 -0.23550325 -25.73531762] [ 0.05252302 0.99770064 -0.04283427 -1.82577444] [ 0.23758203 0.02917761 0.97092917 -0.814418 ] [ 0. 0. 0. 1. ]] SLAMing on 28.678033873999997 meters Centerline goodness [0,1] 0.8378020946652162 Centerline is valid? [False, False] Translation: X:-25.74, Y:-1.82, Z:-0.82 [[ 0.96978368 -0.06649408 -0.23472996 -25.74063083] [ 0.05679298 0.9972383 -0.04785731 -1.82012152] [ 0.23726393 0.03308023 0.97088183 -0.81550753] [ 0. 0. 0. 1. ]] SLAMing on 28.708033873999998 meters Centerline goodness [0,1] 0.8495531914893617 Centerline is valid? [False, False] Translation: X:-25.76, Y:-1.82, Z:-0.81 [[ 0.96973739 -0.07091433 -0.23362482 -25.75562394] [ 0.06099175 0.99691328 -0.04943593 -1.81856298] [ 0.2364094 0.03369068 0.97106927 -0.81479048] [ 0. 0. 0. 1. ]] SLAMing on 28.738033873999996 meters Centerline goodness [0,1] 0.8386319023640864 Centerline is valid? [False, False] Translation: X:-25.79, Y:-1.82, Z:-0.82 [[ 0.96890936 -0.07538168 -0.23565282 -25.78655895] [ 0.06692459 0.99680084 -0.04369419 -1.82065441] [ 0.23819267 0.02656474 0.97085455 -0.8238395 ] [ 0. 0. 0. 1. ]] SLAMing on 28.768033873999997 meters Centerline goodness [0,1] 0.911311464927425 Centerline is valid? [False, False] Translation: X:-25.84, Y:-1.83, Z:-0.84 [[ 9.67255270e-01 -8.78086832e-02 -2.38132061e-01 -2.58409003e+01] [ 8.07448994e-02 9.95960639e-01 -3.92767897e-02 -1.82635551e+00] [ 2.40619003e-01 1.87627325e-02 9.70438280e-01 -8.37485478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.798033873999998 meters Centerline goodness [0,1] 0.8863099670247846 Centerline is valid? [False, False] Translation: X:-25.88, Y:-1.84, Z:-0.83 [[ 0.96756486 -0.09026979 -0.2359441 -25.87534994] [ 0.08121113 0.99554747 -0.04785381 -1.84240963] [ 0.2392133 0.02714038 0.97058766 -0.83076876] [ 0. 0. 0. 1. ]] SLAMing on 28.828033873999996 meters Centerline goodness [0,1] 0.9213769114933509 Centerline is valid? [False, False] Translation: X:-25.92, Y:-1.85, Z:-0.85 [[ 0.967982 -0.09093714 -0.23396854 -25.91655027] [ 0.08209298 0.99550224 -0.04728672 -1.84627052] [ 0.23721632 0.02656552 0.97109355 -0.84821487] [ 0. 0. 0. 1. ]] SLAMing on 28.858033873999997 meters Centerline goodness [0,1] 0.961737089201878 Centerline is valid? [False, True] Translation: X:-25.93, Y:-1.85, Z:-0.85 [[ 0.968006 -0.09111257 -0.23380093 -25.9343981 ] [ 0.07996847 0.99518175 -0.05673033 -1.85457247] [ 0.23784326 0.0362186 0.97062804 -0.84691674] [ 0. 0. 0. 1. ]] SLAMing on 28.888033873999998 meters Centerline goodness [0,1] 0.9465205221887486 Centerline is valid? [True, False] Translation: X:-25.97, Y:-1.86, Z:-0.87 [[ 0.96827401 -0.08900204 -0.23350391 -25.97392161] [ 0.07842449 0.99544461 -0.05421838 -1.85569212] [ 0.23726576 0.03418583 0.97084308 -0.86628804] [ 0. 0. 0. 1. ]] SLAMing on 28.918033874 meters Centerline goodness [0,1] 0.9627062070736248 Centerline is valid? [False, True] Translation: X:-26.01, Y:-1.87, Z:-0.86 [[ 0.96801091 -0.08517973 -0.23600697 -26.00815226] [ 0.07358502 0.99562851 -0.05752487 -1.86991958] [ 0.23987522 0.03831812 0.97004722 -0.86069199] [ 0. 0. 0. 1. ]] SLAMing on 28.948033873999997 meters Centerline goodness [0,1] 0.9554221757054061 Centerline is valid? [True, True] Translation: X:-26.04, Y:-1.86, Z:-0.87 [[ 0.9683768 -0.08145037 -0.23582243 -26.03688177] [ 0.07288759 0.99633266 -0.04481767 -1.86066378] [ 0.23860801 0.02621186 0.97076215 -0.86871985] [ 0. 0. 0. 1. ]] SLAMing on 28.978033873999998 meters Centerline goodness [0,1] 0.927306815518674 Centerline is valid? [True, False] Translation: X:-26.08, Y:-1.86, Z:-0.89 [[ 9.69092096e-01 -7.88813420e-02 -2.33748248e-01 -2.60784760e+01] [ 7.05311120e-02 9.96543850e-01 -4.38829946e-02 -1.85798034e+00] [ 2.36401928e-01 2.60401393e-02 9.71306357e-01 -8.85095473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.008033874 meters Centerline goodness [0,1] 0.9502814459687948 Centerline is valid? [False, True] Translation: X:-26.11, Y:-1.86, Z:-0.89 [[ 0.96923338 -0.07784899 -0.23350845 -26.11415326] [ 0.06809545 0.99644724 -0.0495572 -1.85794601] [ 0.23653682 0.03213163 0.97109108 -0.88917333] [ 0. 0. 0. 1. ]] SLAMing on 29.038033873999996 meters Centerline goodness [0,1] 0.9471884417277565 Centerline is valid? [True, False] Translation: X:-26.15, Y:-1.86, Z:-0.89 [[ 0.96955314 -0.07396537 -0.23344344 -26.15130893] [ 0.06373254 0.99665851 -0.05108787 -1.86338038] [ 0.23644212 0.03465446 0.97102739 -0.89415196] [ 0. 0. 0. 1. ]] SLAMing on 29.068033873999997 meters Centerline goodness [0,1] 0.8984229956680395 Centerline is valid? [False, False] Translation: X:-26.19, Y:-1.86, Z:-0.91 [[ 9.69172521e-01 -7.48719974e-02 -2.34731356e-01 -2.61929621e+01] [ 6.73024429e-02 9.96926214e-01 -4.01061824e-02 -1.86306687e+00] [ 2.37012672e-01 2.30718162e-02 9.71232560e-01 -9.07635400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.098033874 meters Centerline goodness [0,1] 0.8681036145094594 Centerline is valid? [False, False] Translation: X:-26.23, Y:-1.87, Z:-0.91 [[ 9.68107555e-01 -7.34979958e-02 -2.39511598e-01 -2.62291537e+01] [ 6.50060223e-02 9.96950396e-01 -4.31755072e-02 -1.87491802e+00] [ 2.41954496e-01 2.62288384e-02 9.69933023e-01 -9.08668230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.128033873999996 meters Centerline goodness [0,1] 0.9054700963809281 Centerline is valid? [False, False] Translation: X:-26.27, Y:-1.87, Z:-0.93 [[ 9.68041360e-01 -7.48886468e-02 -2.39348316e-01 -2.62689584e+01] [ 6.63784255e-02 9.96848778e-01 -4.34329138e-02 -1.87299666e+00] [ 2.41846708e-01 2.61572926e-02 9.69961837e-01 -9.31696650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.158033873999997 meters Centerline goodness [0,1] 0.923216535349006 Centerline is valid? [False, False] Translation: X:-26.30, Y:-1.88, Z:-0.94 [[ 0.9683287 -0.07567725 -0.23793379 -26.30127036] [ 0.06545499 0.99657252 -0.05058519 -1.87629046] [ 0.24094643 0.03340914 0.96996322 -0.93643038] [ 0. 0. 0. 1. ]] SLAMing on 29.188033874 meters Centerline goodness [0,1] 0.8774127789692736 Centerline is valid? [False, False] Translation: X:-26.33, Y:-1.88, Z:-0.94 [[ 9.68750707e-01 -7.44790789e-02 -2.36590225e-01 -2.63331482e+01] [ 6.63294836e-02 9.96903626e-01 -4.22322165e-02 -1.87980242e+00] [ 2.39003070e-01 2.52195821e-02 9.70691251e-01 -9.40319932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.218033873999996 meters Centerline goodness [0,1] 0.8667240980816506 Centerline is valid? [False, False] Translation: X:-26.36, Y:-1.88, Z:-0.94 [[ 9.68415125e-01 -7.01219662e-02 -2.39280288e-01 -2.63596876e+01] [ 6.42024780e-02 9.97409029e-01 -3.24541213e-02 -1.88487895e+00] [ 2.40936067e-01 1.60666745e-02 9.70407993e-01 -9.40411126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.248033873999997 meters Centerline goodness [0,1] 0.9150776572852973 Centerline is valid? [False, False] Translation: X:-26.38, Y:-1.89, Z:-0.94 [[ 0.96801944 -0.07142644 -0.24049247 -26.37982959] [ 0.06287187 0.99709191 -0.04306801 -1.89376323] [ 0.24286929 0.02657046 0.96969506 -0.93963696] [ 0. 0. 0. 1. ]] SLAMing on 29.278033874 meters Centerline goodness [0,1] 0.8454663184935143 Centerline is valid? [False, False] Translation: X:-26.40, Y:-1.89, Z:-0.94 [[ 0.9677531 -0.07128409 -0.24160403 -26.39522158] [ 0.06023994 0.99678629 -0.05280383 -1.89205443] [ 0.24459166 0.03654685 0.96893717 -0.94482989] [ 0. 0. 0. 1. ]] SLAMing on 29.308033873999996 meters Centerline goodness [0,1] 0.8760688294328574 Centerline is valid? [False, False] Translation: X:-26.41, Y:-1.89, Z:-0.94 [[ 0.9683176 -0.06942108 -0.2398786 -26.40774115] [ 0.05918055 0.9970122 -0.04964215 -1.89145787] [ 0.24260811 0.03387322 0.96953283 -0.94393047] [ 0. 0. 0. 1. ]] SLAMing on 29.338033873999997 meters Centerline goodness [0,1] 0.8754807895515448 Centerline is valid? [False, False] Translation: X:-26.42, Y:-1.90, Z:-0.94 [[ 0.96876897 -0.06427849 -0.23948896 -26.420778 ] [ 0.0553721 0.99750722 -0.04374098 -1.89674542] [ 0.24170357 0.0291139 0.96991328 -0.93863399] [ 0. 0. 0. 1. ]] SLAMing on 29.368033873999998 meters Centerline goodness [0,1] 0.8625854081611067 Centerline is valid? [False, False] Translation: X:-26.43, Y:-1.90, Z:-0.94 [[ 0.96844405 -0.06756752 -0.23989737 -26.4300148 ] [ 0.0582435 0.99725334 -0.04575442 -1.89717707] [ 0.24232997 0.03033813 0.96971944 -0.93639567] [ 0. 0. 0. 1. ]] SLAMing on 29.398033873999996 meters Centerline goodness [0,1] 0.8459389130620254 Centerline is valid? [False, False] Translation: X:-26.44, Y:-1.90, Z:-0.94 [[ 0.96812611 -0.06500258 -0.24188116 -26.44494555] [ 0.0536204 0.99713506 -0.05335281 -1.90458183] [ 0.24465625 0.03868248 0.96883795 -0.93728565] [ 0. 0. 0. 1. ]] SLAMing on 29.428033873999997 meters Centerline goodness [0,1] 0.8617279224093926 Centerline is valid? [False, False] Translation: X:-26.45, Y:-1.91, Z:-0.93 [[ 0.96807833 -0.06353642 -0.24246126 -26.45239147] [ 0.05259107 0.99729462 -0.05135767 -1.90696143] [ 0.24506839 0.03696695 0.96880077 -0.9344632 ] [ 0. 0. 0. 1. ]] SLAMing on 29.458033873999998 meters Centerline goodness [0,1] 0.8583827940519497 Centerline is valid? [False, False] Translation: X:-26.46, Y:-1.91, Z:-0.93 [[ 0.9681463 -0.06495253 -0.2418138 -26.4591852 ] [ 0.05391392 0.99719087 -0.05199668 -1.9072823 ] [ 0.24451183 0.03730327 0.9689285 -0.93285412] [ 0. 0. 0. 1. ]] SLAMing on 29.488033873999996 meters Centerline goodness [0,1] 0.8290631056588503 Centerline is valid? [False, False] Translation: X:-26.46, Y:-1.91, Z:-0.93 [[ 0.96820944 -0.06688276 -0.24103357 -26.46348976] [ 0.05563029 0.99703321 -0.05319824 -1.90789625] [ 0.24387652 0.03809827 0.96905767 -0.93230464] [ 0. 0. 0. 1. ]] SLAMing on 29.518033873999997 meters Centerline goodness [0,1] 0.8301172989538201 Centerline is valid? [False, False] Translation: X:-26.46, Y:-1.91, Z:-0.93 [[ 0.96855512 -0.06319153 -0.24064041 -26.46490041] [ 0.05271646 0.99737059 -0.04972805 -1.90844472] [ 0.24315006 0.03547864 0.96933963 -0.93239782] [ 0. 0. 0. 1. ]] SLAMing on 29.548033873999998 meters Centerline goodness [0,1] 0.8211395962865173 Centerline is valid? [False, False] Translation: X:-26.47, Y:-1.91, Z:-0.93 [[ 0.96857483 -0.06341332 -0.24050269 -26.46651047] [ 0.05291047 0.99735244 -0.04988583 -1.90900847] [ 0.24302938 0.03559305 0.9693657 -0.93123225] [ 0. 0. 0. 1. ]] SLAMing on 29.578033873999996 meters Centerline goodness [0,1] 0.8211395962865173 Centerline is valid? [False, False] Translation: X:-26.47, Y:-1.91, Z:-0.93 [[ 0.96857483 -0.06341332 -0.24050269 -26.46651047] [ 0.05291047 0.99735244 -0.04988583 -1.90900847] [ 0.24302938 0.03559305 0.9693657 -0.93123225] [ 0. 0. 0. 1. ]] SLAMing on 29.608033873999997 meters Centerline goodness [0,1] 0.8426682513742386 Centerline is valid? [False, False] Translation: X:-26.47, Y:-1.91, Z:-0.93 [[ 0.96848477 -0.06375132 -0.24077586 -26.46715363] [ 0.05326442 0.99733683 -0.04982126 -1.91035224] [ 0.24331081 0.03542635 0.9693012 -0.93006543] [ 0. 0. 0. 1. ]] SLAMing on 29.638033873999998 meters Centerline goodness [0,1] 0.9491529040242394 Centerline is valid? [False, False] Translation: X:-26.47, Y:-1.91, Z:-0.93 [[ 0.96798197 -0.06961716 -0.24117287 -26.4695893 ] [ 0.05823378 0.99684039 -0.05401909 -1.91373945] [ 0.24417151 0.0382451 0.9689776 -0.92679797] [ 0. 0. 0. 1. ]] SLAMing on 29.668033874 meters Centerline goodness [0,1] 0.918881268752679 Centerline is valid? [False, False] Translation: X:-26.47, Y:-1.92, Z:-0.92 [[ 0.96736766 -0.0758409 -0.24176015 -26.47236459] [ 0.06352637 0.99627333 -0.05834258 -1.91730008] [ 0.24528395 0.04108058 0.96858049 -0.92272672] [ 0. 0. 0. 1. ]] SLAMing on 29.698033873999997 meters Centerline goodness [0,1] 0.9193507374131209 Centerline is valid? [False, False] Translation: X:-26.47, Y:-1.91, Z:-0.92 [[ 0.9663779 -0.08530528 -0.2425629 -26.46853907] [ 0.07423761 0.99575433 -0.05442514 -1.90916533] [ 0.24617581 0.03458797 0.96860784 -0.92089336] [ 0. 0. 0. 1. ]] SLAMing on 29.728033873999998 meters Centerline goodness [0,1] 0.9762912245635672 Centerline is valid? [False, True] Translation: X:-26.47, Y:-1.91, Z:-0.92 [[ 0.96615862 -0.08739817 -0.24269132 -26.47216076] [ 0.07629974 0.99557909 -0.05477799 -1.91388446] [ 0.2464059 0.03440694 0.96855578 -0.91668375] [ 0. 0. 0. 1. ]] SLAMing on 29.758033874 meters Centerline goodness [0,1] 0.9878199395255739 Centerline is valid? [True, True] Translation: X:-26.50, Y:-1.91, Z:-0.93 [[ 9.65906205e-01 -9.06324026e-02 -2.42509732e-01 -2.64982096e+01] [ 8.23088144e-02 9.95623637e-01 -4.42587091e-02 -1.91085512e+00] [ 2.45459694e-01 2.27890732e-02 9.69138894e-01 -9.25231198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.788033873999996 meters Centerline goodness [0,1] 0.9937125684690638 Centerline is valid? [True, True] Translation: X:-26.53, Y:-1.92, Z:-0.93 [[ 9.66590511e-01 -9.60366785e-02 -2.37654668e-01 -2.65250476e+01] [ 8.82243484e-02 9.95158259e-01 -4.33186349e-02 -1.91720373e+00] [ 2.40664183e-01 2.09044532e-02 9.70383303e-01 -9.27835494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.818033873999997 meters Centerline goodness [0,1] 0.9964020302829117 Centerline is valid? [True, True] Translation: X:-26.55, Y:-1.92, Z:-0.93 [[ 9.67535255e-01 -9.71369411e-02 -2.33323691e-01 -2.65523588e+01] [ 8.96567211e-02 9.95066377e-01 -4.24803219e-02 -1.92444984e+00] [ 2.36298968e-01 2.01821721e-02 9.71470781e-01 -9.25817555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.848033874 meters Centerline goodness [0,1] 0.993987287407662 Centerline is valid? [True, True] Translation: X:-26.58, Y:-1.93, Z:-0.93 [[ 9.68830431e-01 -8.77795816e-02 -2.31651336e-01 -2.65782911e+01] [ 8.01634946e-02 9.95891969e-01 -4.21070193e-02 -1.92936704e+00] [ 2.34395841e-01 2.22245810e-02 9.71887163e-01 -9.28210998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.878033873999996 meters Centerline goodness [0,1] 0.9890190022734097 Centerline is valid? [True, True] Translation: X:-26.61, Y:-1.93, Z:-0.93 [[ 9.69169693e-01 -7.85687297e-02 -2.33531712e-01 -2.66072436e+01] [ 7.05758432e-02 9.96604834e-01 -4.24011259e-02 -1.92793494e+00] [ 2.36070235e-01 2.46121887e-02 9.71424255e-01 -9.30042859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.908033873999997 meters Centerline goodness [0,1] 0.9765241089247012 Centerline is valid? [True, True] Translation: X:-26.63, Y:-1.93, Z:-0.94 [[ 9.69452872e-01 -7.19505644e-02 -2.34487197e-01 -2.66346422e+01] [ 6.37140091e-02 9.97061783e-01 -4.25244068e-02 -1.92537424e+00] [ 2.36857878e-01 2.62852889e-02 9.71188668e-01 -9.39502249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.938033874 meters Centerline goodness [0,1] 0.9695531745861335 Centerline is valid? [True, True] Translation: X:-26.66, Y:-1.92, Z:-0.95 [[ 0.96960761 -0.06665132 -0.23541175 -26.66087947] [ 0.05821329 0.99739392 -0.04262138 -1.92425988] [ 0.23763902 0.02762192 0.97096072 -0.9493848 ] [ 0. 0. 0. 1. ]] SLAMing on 29.968033873999996 meters Centerline goodness [0,1] 0.9404063879234984 Centerline is valid? [True, False] Translation: X:-26.66, Y:-1.92, Z:-0.95 [[ 9.69772825e-01 -6.27423533e-02 -2.35805144e-01 -2.66585362e+01] [ 5.49046927e-02 9.97703449e-01 -3.96648828e-02 -1.92141550e+00] [ 2.37752273e-01 2.55191165e-02 9.70990541e-01 -9.51447030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.998033873999997 meters Centerline goodness [0,1] 0.9148940677966102 Centerline is valid? [False, False] Translation: X:-26.66, Y:-1.92, Z:-0.95 [[ 9.69708057e-01 -6.23164490e-02 -2.36184133e-01 -2.66577719e+01] [ 5.45352918e-02 9.97736472e-01 -3.93425335e-02 -1.92061294e+00] [ 2.38101211e-01 2.52704011e-02 9.70911541e-01 -9.51477282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.028033874 meters Centerline goodness [0,1] 0.9661728658211659 Centerline is valid? [False, True] Translation: X:-26.66, Y:-1.92, Z:-0.95 [[ 9.69918765e-01 -6.38340754e-02 -2.34910194e-01 -2.66621791e+01] [ 5.58725989e-02 9.97620230e-01 -4.03996212e-02 -1.92124020e+00] [ 2.36930035e-01 2.60593077e-02 9.71177157e-01 -9.49872025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.058033873999996 meters Centerline goodness [0,1] 0.9732700739203186 Centerline is valid? [True, True] Translation: X:-26.70, Y:-1.91, Z:-0.93 [[ 9.74938534e-01 -6.48308933e-02 -2.12818725e-01 -2.66968595e+01] [ 5.80565359e-02 9.97592295e-01 -3.79348462e-02 -1.91499011e+00] [ 2.14765671e-01 2.46286254e-02 9.76355026e-01 -9.30065722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.088033873999997 meters Centerline goodness [0,1] 0.9696009590683337 Centerline is valid? [True, True] Translation: X:-26.72, Y:-1.91, Z:-0.94 [[ 9.76286367e-01 -5.33977512e-02 -2.09794209e-01 -2.67237349e+01] [ 4.65741685e-02 9.98216857e-01 -3.73356811e-02 -1.91242662e+00] [ 2.11413757e-01 2.66793257e-02 9.77032465e-01 -9.38633090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.118033873999998 meters Centerline goodness [0,1] 0.9695428217239832 Centerline is valid? [True, True] Translation: X:-26.75, Y:-1.92, Z:-0.95 [[ 0.97528018 -0.04420935 -0.21650427 -26.74912084] [ 0.0367202 0.99858389 -0.03849466 -1.92274925] [ 0.2178995 0.029593 0.97552246 -0.94524434] [ 0. 0. 0. 1. ]] SLAMing on 30.148033873999996 meters Centerline goodness [0,1] 0.9129336188436831 Centerline is valid? [True, False] Translation: X:-26.75, Y:-1.92, Z:-0.95 [[ 0.9752509 -0.04551168 -0.21636629 -26.74992918] [ 0.0378286 0.9985024 -0.03952163 -1.92228408] [ 0.21784096 0.03035867 0.975512 -0.94500703] [ 0. 0. 0. 1. ]] SLAMing on 30.178033873999997 meters Centerline goodness [0,1] 0.9671551613317907 Centerline is valid? [False, True] Translation: X:-26.75, Y:-1.92, Z:-0.94 [[ 0.97528923 -0.0460811 -0.21607277 -26.75180951] [ 0.03839507 0.99847618 -0.03963751 -1.9241262 ] [ 0.21757006 0.03036191 0.97557236 -0.94380121] [ 0. 0. 0. 1. ]] SLAMing on 30.208033873999998 meters Centerline goodness [0,1] 0.9149339986778411 Centerline is valid? [True, False] Translation: X:-26.75, Y:-1.92, Z:-0.94 [[ 0.97523453 -0.04587881 -0.21636254 -26.75151064] [ 0.0382126 0.99848919 -0.03948581 -1.92301085] [ 0.21784722 0.03024015 0.97551429 -0.94389671] [ 0. 0. 0. 1. ]] SLAMing on 30.238033873999996 meters Centerline goodness [0,1] 0.9729562035987077 Centerline is valid? [False, True] Translation: X:-26.75, Y:-1.92, Z:-0.94 [[ 0.97525418 -0.04662696 -0.2161139 -26.7517142 ] [ 0.0388176 0.99843564 -0.04024264 -1.92223108] [ 0.21765221 0.03085778 0.97553847 -0.94426515] [ 0. 0. 0. 1. ]] SLAMing on 30.268033873999997 meters Centerline goodness [0,1] 0.96258962011771 Centerline is valid? [True, True] Translation: X:-26.78, Y:-1.92, Z:-0.95 [[ 0.97425726 -0.04574032 -0.22075012 -26.77919429] [ 0.03805248 0.99851612 -0.03895601 -1.92149103] [ 0.22220442 0.02955309 0.97455211 -0.95135881] [ 0. 0. 0. 1. ]] SLAMing on 30.298033873999998 meters Centerline goodness [0,1] 0.9451621182308153 Centerline is valid? [True, False] Translation: X:-26.78, Y:-1.92, Z:-0.95 [[ 0.97427346 -0.04585796 -0.2206542 -26.77948221] [ 0.03816658 0.99851015 -0.03899742 -1.92098502] [ 0.22211379 0.02957253 0.97457218 -0.9514454 ] [ 0. 0. 0. 1. ]] SLAMing on 30.328033873999996 meters Centerline goodness [0,1] 0.9570478438103411 Centerline is valid? [False, True] Translation: X:-26.78, Y:-1.92, Z:-0.95 [[ 0.97392457 -0.04821977 -0.22168849 -26.7815675 ] [ 0.04022146 0.99837146 -0.04045573 -1.92343468] [ 0.22327823 0.0304842 0.97427796 -0.94875963] [ 0. 0. 0. 1. ]] SLAMing on 30.358033873999997 meters Centerline goodness [0,1] 0.9564965446194789 Centerline is valid? [True, True] Translation: X:-26.81, Y:-1.93, Z:-0.96 [[ 0.97348963 -0.04834773 -0.22356304 -26.80903382] [ 0.04048774 0.99839454 -0.03961171 -1.92672127] [ 0.22511925 0.02951003 0.97388422 -0.95593265] [ 0. 0. 0. 1. ]] SLAMing on 30.388033873999998 meters Centerline goodness [0,1] 0.9345110328840045 Centerline is valid? [True, False] Translation: X:-26.81, Y:-1.93, Z:-0.95 [[ 0.97316796 -0.04935736 -0.22473978 -26.80881666] [ 0.04132566 0.99833244 -0.04030549 -1.92649901] [ 0.22635439 0.0299365 0.97358487 -0.95489073] [ 0. 0. 0. 1. ]] SLAMing on 30.418033874 meters Centerline goodness [0,1] 0.9490741727216552 Centerline is valid? [False, False] Translation: X:-26.81, Y:-1.93, Z:-0.95 [[ 0.97306664 -0.04949433 -0.22514802 -26.80841619] [ 0.04142359 0.99832322 -0.0404331 -1.92568597] [ 0.22677171 0.03001766 0.97348525 -0.95470196] [ 0. 0. 0. 1. ]] SLAMing on 30.448033873999997 meters Centerline goodness [0,1] 0.9308387594242632 Centerline is valid? [False, False] Translation: X:-26.81, Y:-1.93, Z:-0.95 [[ 0.97285967 -0.05085961 -0.22573739 -26.81051861] [ 0.04261187 0.99823923 -0.04126337 -1.92677746] [ 0.22743856 0.03052438 0.97331391 -0.95265234] [ 0. 0. 0. 1. ]] SLAMing on 30.478033873999998 meters Centerline goodness [0,1] 0.8987320082248115 Centerline is valid? [False, False] Translation: X:-26.82, Y:-1.92, Z:-0.95 [[ 0.9742028 -0.0531849 -0.21931774 -26.82410548] [ 0.04480572 0.99806952 -0.04300781 -1.91908899] [ 0.22118172 0.03207164 0.97470511 -0.95418116] [ 0. 0. 0. 1. ]] SLAMing on 30.508033874 meters Centerline goodness [0,1] 0.9523951903978813 Centerline is valid? [False, True] Translation: X:-26.91, Y:-1.90, Z:-0.98 [[ 0.98310105 -0.04883446 -0.17642991 -26.90945686] [ 0.04060784 0.99792616 -0.04994374 -1.89983269] [ 0.17850299 0.04193531 0.98304532 -0.97787192] [ 0. 0. 0. 1. ]] SLAMing on 30.538033873999996 meters Centerline goodness [0,1] 0.9734608590754383 Centerline is valid? [True, True] Translation: X:-26.93, Y:-1.90, Z:-1.01 [[ 9.81581162e-01 -4.50725397e-02 -1.85652601e-01 -2.69308937e+01] [ 3.93945999e-02 9.98639593e-01 -3.41617918e-02 -1.89566950e+00] [ 1.86939797e-01 2.62188614e-02 9.82021427e-01 -1.01017115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.568033873999997 meters Centerline goodness [0,1] 0.9637772958581152 Centerline is valid? [True, True] Translation: X:-26.96, Y:-1.90, Z:-1.01 [[ 9.80408451e-01 -4.94921580e-02 -1.90656221e-01 -2.69605380e+01] [ 4.35832125e-02 9.98434257e-01 -3.50647675e-02 -1.89547689e+00] [ 1.92093134e-01 2.60683837e-02 9.81030411e-01 -1.00971061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.598033874 meters Centerline goodness [0,1] 0.9347662385163192 Centerline is valid? [True, False] Translation: X:-26.96, Y:-1.90, Z:-1.01 [[ 9.79862790e-01 -5.13129874e-02 -1.92966031e-01 -2.69606999e+01] [ 4.51211605e-02 9.98319983e-01 -3.63495816e-02 -1.89537171e+00] [ 1.94507051e-01 2.69107511e-02 9.80531906e-01 -1.00742221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.628033873999996 meters Centerline goodness [0,1] 0.972610384871316 Centerline is valid? [False, True] Translation: X:-26.96, Y:-1.90, Z:-1.01 [[ 9.79594223e-01 -5.19453313e-02 -1.94156741e-01 -2.69607558e+01] [ 4.56912046e-02 9.98286539e-01 -3.65554392e-02 -1.89609747e+00] [ 1.95722946e-01 2.69382417e-02 9.80289171e-01 -1.00546590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.658033873999997 meters Centerline goodness [0,1] 0.963774510859037 Centerline is valid? [True, True] Translation: X:-26.99, Y:-1.89, Z:-1.01 [[ 9.80064340e-01 -4.82559901e-02 -1.92731029e-01 -2.69888972e+01] [ 4.22394344e-02 9.98486980e-01 -3.52076907e-02 -1.89245833e+00] [ 1.94138405e-01 2.63649525e-02 9.80619788e-01 -1.01418011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.688033874 meters Centerline goodness [0,1] 0.979939690754721 Centerline is valid? [True, True] Translation: X:-27.01, Y:-1.91, Z:-1.02 [[ 0.97954864 -0.04496413 -0.19611907 -27.01163051] [ 0.03867776 0.99861135 -0.03576881 -1.91047851] [ 0.19745504 0.02745184 0.9799275 -1.02440893] [ 0. 0. 0. 1. ]] SLAMing on 30.718033873999996 meters Centerline goodness [0,1] 0.9600266489007329 Centerline is valid? [True, True] Translation: X:-27.04, Y:-1.90, Z:-1.03 [[ 0.97824251 -0.04547237 -0.20242001 -27.04106347] [ 0.03878226 0.99856624 -0.03689714 -1.90449945] [ 0.20380759 0.02824404 0.97860347 -1.02958601] [ 0. 0. 0. 1. ]] SLAMing on 30.748033873999997 meters Centerline goodness [0,1] 0.9696734729042819 Centerline is valid? [True, True] Translation: X:-27.07, Y:-1.91, Z:-1.02 [[ 9.80321212e-01 -4.92302302e-02 -1.91171929e-01 -2.70717462e+01] [ 4.33557091e-02 9.98453644e-01 -3.47937142e-02 -1.90646177e+00] [ 1.92589212e-01 2.58206215e-02 9.80939698e-01 -1.02283063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.778033874 meters Centerline goodness [0,1] 0.975684872501723 Centerline is valid? [True, True] Translation: X:-27.10, Y:-1.92, Z:-1.03 [[ 9.79339276e-01 -5.15315138e-02 -1.95548169e-01 -2.70957963e+01] [ 4.54352350e-02 9.98334993e-01 -3.55370413e-02 -1.91767275e+00] [ 1.97053858e-01 2.59180433e-02 9.80050015e-01 -1.03276448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.808033873999996 meters Centerline goodness [0,1] 0.9762601696009642 Centerline is valid? [True, True] Translation: X:-27.12, Y:-1.92, Z:-1.04 [[ 9.79867825e-01 -4.95833682e-02 -1.93392180e-01 -2.71234962e+01] [ 4.35923060e-02 9.98432102e-01 -3.51148038e-02 -1.92241842e+00] [ 1.94830071e-01 2.59774553e-02 9.80492945e-01 -1.03692574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.838033873999997 meters Centerline goodness [0,1] 0.9268674647101729 Centerline is valid? [True, False] Translation: X:-27.12, Y:-1.92, Z:-1.04 [[ 9.79979531e-01 -4.86376183e-02 -1.93066053e-01 -2.71223213e+01] [ 4.27547002e-02 9.98488926e-01 -3.45238955e-02 -1.92061119e+00] [ 1.94453476e-01 2.55782297e-02 9.80578197e-01 -1.03847603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.868033873999998 meters Centerline goodness [0,1] 0.9761545427105343 Centerline is valid? [False, True] Translation: X:-27.12, Y:-1.92, Z:-1.04 [[ 9.79957353e-01 -4.90864700e-02 -1.93065027e-01 -2.71233938e+01] [ 4.31629686e-02 9.98462772e-01 -3.47714165e-02 -1.92099308e+00] [ 1.94475048e-01 2.57412455e-02 9.80569653e-01 -1.03774461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.898033873999996 meters Centerline goodness [0,1] 0.9719892761394102 Centerline is valid? [True, True] Translation: X:-27.15, Y:-1.92, Z:-1.04 [[ 9.80236918e-01 -4.97980020e-02 -1.91456897e-01 -2.71520164e+01] [ 4.39311148e-02 9.98429332e-01 -3.47696285e-02 -1.92228313e+00] [ 1.92887640e-01 2.56715586e-02 9.80884973e-01 -1.04177582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.928033873999997 meters Centerline goodness [0,1] 0.9781125578392338 Centerline is valid? [True, True] Translation: X:-27.18, Y:-1.93, Z:-1.05 [[ 9.80437993e-01 -4.81102102e-02 -1.90857928e-01 -2.71751306e+01] [ 4.22597221e-02 9.98507062e-01 -3.46087142e-02 -1.93404179e+00] [ 1.92238022e-01 2.58660953e-02 9.81007384e-01 -1.05485374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.958033873999998 meters Centerline goodness [0,1] 0.9817512750435774 Centerline is valid? [True, True] Translation: X:-27.20, Y:-1.94, Z:-1.06 [[ 9.80229446e-01 -4.95674294e-02 -1.91554963e-01 -2.72029584e+01] [ 4.37079390e-02 9.98441654e-01 -3.46969730e-02 -1.93967381e+00] [ 1.92976294e-01 2.56385220e-02 9.80868399e-01 -1.05697562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.988033873999996 meters Centerline goodness [0,1] 0.9681596946761294 Centerline is valid? [True, True] Translation: X:-27.23, Y:-1.94, Z:-1.06 [[ 9.80369443e-01 -4.73369112e-02 -1.91402646e-01 -2.72312190e+01] [ 4.14560132e-02 9.98540497e-01 -3.46161061e-02 -1.93591147e+00] [ 1.92761912e-01 2.60017821e-02 9.80900990e-01 -1.06455686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.018033873999997 meters Centerline goodness [0,1] 0.9706337604265199 Centerline is valid? [True, True] Translation: X:-27.26, Y:-1.94, Z:-1.07 [[ 9.80264084e-01 -4.87896017e-02 -1.91577403e-01 -2.72583668e+01] [ 4.29361783e-02 9.98478864e-01 -3.45896359e-02 -1.94186390e+00] [ 1.92973602e-01 2.56813762e-02 9.80867808e-01 -1.06992408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.048033873999998 meters Centerline goodness [0,1] 0.9695744726600297 Centerline is valid? [True, True] Translation: X:-27.29, Y:-1.95, Z:-1.08 [[ 9.80479206e-01 -4.60217641e-02 -1.91160991e-01 -2.72852746e+01] [ 4.01475518e-02 9.98598276e-01 -3.44914229e-02 -1.94710223e+00] [ 1.92480392e-01 2.61434771e-02 9.80952505e-01 -1.07696036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.078033873999996 meters Centerline goodness [0,1] 0.9681764389456697 Centerline is valid? [True, True] Translation: X:-27.31, Y:-1.95, Z:-1.08 [[ 9.80321572e-01 -4.64081768e-02 -1.91874688e-01 -2.73141364e+01] [ 4.05069866e-02 9.98581160e-01 -3.45666137e-02 -1.94846011e+00] [ 1.93206622e-01 2.61141316e-02 9.80810508e-01 -1.08000820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.108033873999997 meters Centerline goodness [0,1] 0.976170451359686 Centerline is valid? [True, True] Translation: X:-27.34, Y:-1.96, Z:-1.09 [[ 9.80431070e-01 -4.60510439e-02 -1.91400676e-01 -2.73391857e+01] [ 4.01824747e-02 9.98598909e-01 -3.44323526e-02 -1.95941056e+00] [ 1.92718152e-01 2.60675955e-02 9.80907842e-01 -1.08903696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.138033873999998 meters Centerline goodness [0,1] 0.9862027470019503 Centerline is valid? [True, True] Translation: X:-27.12, Y:-3.28, Z:-1.15 [[ 9.65086798e-01 -1.16328858e-01 -2.34680782e-01 -2.71195772e+01] [ 1.09456499e-01 9.93097667e-01 -4.21461685e-02 -3.27552101e+00] [ 2.37963753e-01 1.49873741e-02 9.71158396e-01 -1.14918655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.168033874 meters Centerline goodness [0,1] 0.9880656804857184 Centerline is valid? [True, True] Translation: X:-27.15, Y:-3.28, Z:-1.15 [[ 9.65391184e-01 -1.14179101e-01 -2.34484530e-01 -2.71477597e+01] [ 1.07262077e-01 9.93339584e-01 -4.20870292e-02 -3.27938392e+00] [ 2.37728225e-01 1.54791493e-02 9.71208364e-01 -1.15205792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.198033873999997 meters Centerline goodness [0,1] 0.9862357493985985 Centerline is valid? [True, True] Translation: X:-27.18, Y:-3.27, Z:-1.17 [[ 9.65252653e-01 -1.10928511e-01 -2.36605540e-01 -2.71764868e+01] [ 1.03798612e-01 9.93693269e-01 -4.24209393e-02 -3.26563208e+00] [ 2.39819024e-01 1.63875975e-02 9.70679289e-01 -1.16722727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.228033873999998 meters Centerline goodness [0,1] 0.9834839190981433 Centerline is valid? [True, True] Translation: X:-27.21, Y:-3.26, Z:-1.18 [[ 9.64831488e-01 -1.09342755e-01 -2.39048867e-01 -2.72062559e+01] [ 1.02019679e-01 9.93859739e-01 -4.28346058e-02 -3.26020778e+00] [ 2.42264699e-01 1.69404879e-02 9.70062284e-01 -1.17526674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.258033874 meters Centerline goodness [0,1] 0.9816044433308277 Centerline is valid? [True, True] Translation: X:-27.24, Y:-3.25, Z:-1.18 [[ 9.64997292e-01 -1.07514237e-01 -2.39208936e-01 -2.72359093e+01] [ 1.00132565e-01 9.94051530e-01 -4.28371849e-02 -3.25208423e+00] [ 2.42391616e-01 1.73851632e-02 9.70022711e-01 -1.18426061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.288033873999996 meters Centerline goodness [0,1] 0.9839854679082974 Centerline is valid? [True, True] Translation: X:-27.26, Y:-3.25, Z:-1.19 [[ 9.65599745e-01 -1.06484525e-01 -2.37230221e-01 -2.72635996e+01] [ 9.92082982e-02 9.94161370e-01 -4.24368116e-02 -3.25212591e+00] [ 2.40363985e-01 1.74417680e-02 9.70526115e-01 -1.18969859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.318033873999997 meters Centerline goodness [0,1] 0.9840576681989135 Centerline is valid? [True, True] Translation: X:-27.29, Y:-3.25, Z:-1.19 [[ 9.66552118e-01 -1.04174318e-01 -2.34360226e-01 -2.72928763e+01] [ 9.70173100e-02 9.94400515e-01 -4.18958014e-02 -3.24960536e+00] [ 2.37412396e-01 1.77574768e-02 9.71246635e-01 -1.19135567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.348033874 meters Centerline goodness [0,1] 0.981362721291742 Centerline is valid? [True, True] Translation: X:-27.32, Y:-3.25, Z:-1.20 [[ 9.66348967e-01 -1.03213971e-01 -2.35619502e-01 -2.73215349e+01] [ 9.59619725e-02 9.94495457e-01 -4.20723771e-02 -3.24667814e+00] [ 2.38664981e-01 1.80460861e-02 9.70934275e-01 -1.19789888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.378033873999996 meters Centerline goodness [0,1] 0.9815387185698772 Centerline is valid? [True, True] Translation: X:-27.35, Y:-3.24, Z:-1.21 [[ 9.65277815e-01 -1.01360562e-01 -2.40758752e-01 -2.73478362e+01] [ 9.37369257e-02 9.94670569e-01 -4.29400525e-02 -3.24388210e+00] [ 2.43828073e-01 1.88810947e-02 9.69634661e-01 -1.21248473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.408033873999997 meters Centerline goodness [0,1] 0.979625204376808 Centerline is valid? [True, True] Translation: X:-27.38, Y:-3.24, Z:-1.22 [[ 9.65287753e-01 -9.93974096e-02 -2.41536144e-01 -2.73761379e+01] [ 9.16674883e-02 9.94858186e-01 -4.30611440e-02 -3.24222449e+00] [ 2.44574376e-01 1.94253833e-02 9.69435933e-01 -1.22004619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.438033874 meters Centerline goodness [0,1] 0.980065680758048 Centerline is valid? [True, True] Translation: X:-27.41, Y:-3.24, Z:-1.22 [[ 9.66521579e-01 -9.67233299e-02 -2.37656547e-01 -2.74051112e+01] [ 8.91710986e-02 9.95115507e-01 -4.23514289e-02 -3.24475885e+00] [ 2.40592087e-01 1.97414746e-02 9.70425537e-01 -1.22004993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.468033873999996 meters Centerline goodness [0,1] 0.980065680758048 Centerline is valid? [True, True] Translation: X:-27.43, Y:-3.25, Z:-1.23 [[ 9.66543183e-01 -9.64873823e-02 -2.37664597e-01 -2.74315261e+01] [ 8.89392132e-02 9.95138182e-01 -4.23062087e-02 -3.24954971e+00] [ 2.40591131e-01 1.97530753e-02 9.70425538e-01 -1.22621427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.498033873999997 meters Centerline goodness [0,1] 0.982750329311895 Centerline is valid? [True, True] Translation: X:-27.46, Y:-3.25, Z:-1.23 [[ 9.67177278e-01 -9.43869766e-02 -2.35922046e-01 -2.74588895e+01] [ 8.69046442e-02 9.95333466e-01 -4.19389347e-02 -3.25471929e+00] [ 2.38779597e-01 2.00596633e-02 9.70866579e-01 -1.23208016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.528033874 meters Centerline goodness [0,1] 0.9816164884341451 Centerline is valid? [True, True] Translation: X:-27.49, Y:-3.26, Z:-1.24 [[ 9.66554319e-01 -9.20300575e-02 -2.39380904e-01 -2.74855378e+01] [ 8.42622737e-02 9.95536576e-01 -4.25064141e-02 -3.25705851e+00] [ 2.42224314e-01 2.09139788e-02 9.69994839e-01 -1.24349586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.558033873999996 meters Centerline goodness [0,1] 0.973720954464937 Centerline is valid? [True, True] Translation: X:-27.51, Y:-3.26, Z:-1.25 [[ 9.66635104e-01 -9.34547871e-02 -2.38501109e-01 -2.75139269e+01] [ 8.58008734e-02 9.95414038e-01 -4.22977942e-02 -3.25814690e+00] [ 2.41360284e-01 2.04229292e-02 9.70220654e-01 -1.25205661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.588033873999997 meters Centerline goodness [0,1] 0.9795099018139457 Centerline is valid? [True, True] Translation: X:-27.54, Y:-3.27, Z:-1.25 [[ 9.67712311e-01 -9.53110502e-02 -2.33342425e-01 -2.75409115e+01] [ 8.80562997e-02 9.95257391e-01 -4.13377974e-02 -3.26756067e+00] [ 2.36175722e-01 1.94558249e-02 9.71515568e-01 -1.25186136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.618033873999998 meters Centerline goodness [0,1] 0.9772632804056862 Centerline is valid? [True, True] Translation: X:-27.57, Y:-3.27, Z:-1.26 [[ 9.67587050e-01 -9.66210387e-02 -2.33323114e-01 -2.75691248e+01] [ 8.94123003e-02 9.95137908e-01 -4.13035566e-02 -3.27162668e+00] [ 2.36179468e-01 1.91028302e-02 9.71521663e-01 -1.25823917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.648033873999996 meters Centerline goodness [0,1] 0.979579402928633 Centerline is valid? [True, True] Translation: X:-27.60, Y:-3.28, Z:-1.27 [[ 9.66400919e-01 -9.96347665e-02 -2.36943406e-01 -2.75951167e+01] [ 9.22954007e-02 9.94849829e-01 -4.18972213e-02 -3.28134733e+00] [ 2.39897527e-01 1.86207266e-02 9.70619619e-01 -1.26994283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.678033873999997 meters Centerline goodness [0,1] 0.9826328658906143 Centerline is valid? [True, True] Translation: X:-27.62, Y:-3.29, Z:-1.27 [[ 9.66393981e-01 -1.02768959e-01 -2.35629403e-01 -2.76219958e+01] [ 9.56154703e-02 9.94547946e-01 -4.16180757e-02 -3.29080967e+00] [ 2.38621785e-01 1.76896417e-02 9.70951451e-01 -1.27465745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.708033873999998 meters Centerline goodness [0,1] 0.9819244416614485 Centerline is valid? [True, True] Translation: X:-27.65, Y:-3.29, Z:-1.28 [[ 9.66477360e-01 -1.06772329e-01 -2.33497714e-01 -2.76493082e+01] [ 9.98691267e-02 9.94146176e-01 -4.12254676e-02 -3.29476683e+00] [ 2.36532598e-01 1.65242684e-02 9.71483030e-01 -1.27773271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.738033873999996 meters Centerline goodness [0,1] 0.9848068903371823 Centerline is valid? [True, True] Translation: X:-27.68, Y:-3.30, Z:-1.28 [[ 9.66385084e-01 -1.07690057e-01 -2.33458178e-01 -2.76758028e+01] [ 1.00822488e-01 9.94051419e-01 -4.11898434e-02 -3.30356456e+00] [ 2.36505170e-01 1.62674160e-02 9.71494043e-01 -1.28270909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.768033873999997 meters Centerline goodness [0,1] 0.9855908995154835 Centerline is valid? [True, True] Translation: X:-27.70, Y:-3.31, Z:-1.29 [[ 9.66250556e-01 -1.10639675e-01 -2.32634319e-01 -2.77024762e+01] [ 1.03917029e-01 9.93740668e-01 -4.09967782e-02 -3.31064542e+00] [ 2.35714054e-01 1.54384926e-02 9.71699819e-01 -1.29052062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.798033873999998 meters Centerline goodness [0,1] 0.985508458626963 Centerline is valid? [True, True] Translation: X:-27.73, Y:-3.31, Z:-1.29 [[ 9.65906086e-01 -1.12510662e-01 -2.33166857e-01 -2.77310914e+01] [ 1.05821828e-01 9.93537766e-01 -4.10420425e-02 -3.31465289e+00] [ 2.36277745e-01 1.49686156e-02 9.71570259e-01 -1.29314998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.828033873999996 meters Centerline goodness [0,1] 0.9834740171334018 Centerline is valid? [True, True] Translation: X:-27.76, Y:-3.31, Z:-1.31 [[ 9.65574350e-01 -1.13108261e-01 -2.34249219e-01 -2.77584434e+01] [ 1.06382828e-01 9.93471625e-01 -4.11925278e-02 -3.30883444e+00] [ 2.37379167e-01 1.48543538e-02 9.71303495e-01 -1.30675518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.858033873999997 meters Centerline goodness [0,1] 0.9862684300449281 Centerline is valid? [True, True] Translation: X:-27.79, Y:-3.31, Z:-1.32 [[ 9.65318448e-01 -1.08993421e-01 -2.37235596e-01 -2.77850889e+01] [ 1.01974077e-01 9.93912713e-01 -4.16990098e-02 -3.30750542e+00] [ 2.40336392e-01 1.60609426e-02 9.70556781e-01 -1.31710486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.888033873999998 meters Centerline goodness [0,1] 0.987168917919124 Centerline is valid? [True, True] Translation: X:-27.81, Y:-3.32, Z:-1.32 [[ 9.66324644e-01 -1.05084886e-01 -2.34891141e-01 -2.78126632e+01] [ 9.80977872e-02 9.94320712e-01 -4.12691989e-02 -3.31707608e+00] [ 2.37893896e-01 1.68371428e-02 9.71145203e-01 -1.31635688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.918033874 meters Centerline goodness [0,1] 0.9834396518947235 Centerline is valid? [True, True] Translation: X:-27.84, Y:-3.31, Z:-1.32 [[ 9.67255336e-01 -1.02784752e-01 -2.32061219e-01 -2.78434807e+01] [ 9.59084934e-02 9.94555564e-01 -4.07528011e-02 -3.30637323e+00] [ 2.34986543e-01 1.71617225e-02 9.71847107e-01 -1.31966953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.948033873999997 meters Centerline goodness [0,1] 0.98205268473321 Centerline is valid? [True, True] Translation: X:-27.87, Y:-3.31, Z:-1.32 [[ 9.67985849e-01 -9.80426347e-02 -2.31065008e-01 -2.78719940e+01] [ 9.11061603e-02 9.95016167e-01 -4.05276971e-02 -3.30960683e+00] [ 2.33886861e-01 1.81787917e-02 9.72093858e-01 -1.32071485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.978033873999998 meters Centerline goodness [0,1] 0.9820322573826283 Centerline is valid? [True, True] Translation: X:-27.90, Y:-3.31, Z:-1.34 [[ 9.67452880e-01 -9.63250975e-02 -2.34000857e-01 -2.78986543e+01] [ 8.91697235e-02 9.95172483e-01 -4.09937842e-02 -3.31202137e+00] [ 2.36819944e-01 1.87937629e-02 9.71371766e-01 -1.33536780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.008033874 meters Centerline goodness [0,1] 0.9795235574377977 Centerline is valid? [True, True] Translation: X:-27.93, Y:-3.31, Z:-1.35 [[ 9.66500511e-01 -9.68236840e-02 -2.37701360e-01 -2.79252243e+01] [ 8.94618898e-02 9.95121457e-01 -4.15915303e-02 -3.31257701e+00] [ 2.40568769e-01 1.89330224e-02 9.70447427e-01 -1.34746626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.038033874 meters Centerline goodness [0,1] 0.9813121523681105 Centerline is valid? [True, True] Translation: X:-27.95, Y:-3.32, Z:-1.35 [[ 9.66522607e-01 -1.00909756e-01 -2.35905218e-01 -2.79530509e+01] [ 9.37931634e-02 9.94737766e-01 -4.12264421e-02 -3.32273714e+00] [ 2.38823979e-01 1.77199917e-02 9.70901184e-01 -1.34964497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.068033874 meters Centerline goodness [0,1] 0.9858771948314748 Centerline is valid? [True, True] Translation: X:-27.98, Y:-3.34, Z:-1.35 [[ 9.66999604e-01 -1.03976143e-01 -2.32595631e-01 -2.79774598e+01] [ 9.71608041e-02 9.94440216e-01 -4.06009284e-02 -3.34354333e+00] [ 2.35523977e-01 1.66619031e-02 9.71725701e-01 -1.35225114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.098033874 meters Centerline goodness [0,1] 0.9869510135135136 Centerline is valid? [True, True] Translation: X:-28.00, Y:-3.36, Z:-1.36 [[ 9.66448953e-01 -1.10171326e-01 -2.32031679e-01 -2.80042429e+01] [ 1.03570085e-01 9.93798036e-01 -4.04808805e-02 -3.35767561e+00] [ 2.35052459e-01 1.50911639e-02 9.71865525e-01 -1.35767717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.128033874 meters Centerline goodness [0,1] 0.9848125196933095 Centerline is valid? [True, True] Translation: X:-28.03, Y:-3.36, Z:-1.36 [[ 9.65910171e-01 -1.16527258e-01 -2.31168639e-01 -2.80313046e+01] [ 1.10166682e-01 9.93096544e-01 -4.02809744e-02 -3.36423507e+00] [ 2.34266608e-01 1.34407209e-02 9.72079474e-01 -1.36477578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.158033874 meters Centerline goodness [0,1] 0.9874894869638352 Centerline is valid? [True, True] Translation: X:-28.06, Y:-3.38, Z:-1.37 [[ 9.66001901e-01 -1.19625847e-01 -2.29194207e-01 -2.80575201e+01] [ 1.13466995e-01 9.92739712e-01 -3.99137302e-02 -3.37859576e+00] [ 2.32304905e-01 1.25507611e-02 9.72562034e-01 -1.36721210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.188033874 meters Centerline goodness [0,1] 0.9881765688783604 Centerline is valid? [True, True] Translation: X:-28.08, Y:-3.38, Z:-1.38 [[ 9.65527640e-01 -1.22143997e-01 -2.29863480e-01 -2.80849292e+01] [ 1.16022549e-01 9.92440269e-01 -4.00135052e-02 -3.38466826e+00] [ 2.33013184e-01 1.19647983e-02 9.72399969e-01 -1.37541715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.218033874 meters Centerline goodness [0,1] 0.9871616493802176 Centerline is valid? [True, True] Translation: X:-28.11, Y:-3.38, Z:-1.38 [[ 9.65162830e-01 -1.23388206e-01 -2.30729412e-01 -2.81132440e+01] [ 1.17260069e-01 9.92289651e-01 -4.01413068e-02 -3.38488815e+00] [ 2.33903372e-01 1.16875505e-02 9.72189598e-01 -1.38340131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.248033874 meters Centerline goodness [0,1] 0.9877202573699483 Centerline is valid? [True, True] Translation: X:-28.14, Y:-3.39, Z:-1.38 [[ 9.65618995e-01 -1.22040773e-01 -2.29534326e-01 -2.81429241e+01] [ 1.15951815e-01 9.92453783e-01 -3.98831495e-02 -3.38565012e+00] [ 2.32669580e-01 1.18970051e-02 9.72483073e-01 -1.38495855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.278033874 meters Centerline goodness [0,1] 0.9881896406276363 Centerline is valid? [True, True] Translation: X:-28.17, Y:-3.39, Z:-1.39 [[ 9.66049618e-01 -1.20083542e-01 -2.28753312e-01 -2.81711625e+01] [ 1.13994599e-01 9.92687918e-01 -3.96979717e-02 -3.38923597e+00] [ 2.31847722e-01 1.22735683e-02 9.72674660e-01 -1.38744784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.308033874 meters Centerline goodness [0,1] 0.9893335029794093 Centerline is valid? [True, True] Translation: X:-28.20, Y:-3.38, Z:-1.40 [[ 9.66376226e-01 -1.17775913e-01 -2.28573454e-01 -2.82005267e+01] [ 1.11645078e-01 9.92958140e-01 -3.96170345e-02 -3.38424655e+00] [ 2.31629804e-01 1.27658593e-02 9.72720241e-01 -1.39635084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.338033874000004 meters Centerline goodness [0,1] 0.9855989204461594 Centerline is valid? [True, True] Translation: X:-28.23, Y:-3.37, Z:-1.40 [[ 9.66255399e-01 -1.16644537e-01 -2.29661831e-01 -2.82305655e+01] [ 1.10433829e-01 9.93087929e-01 -3.97584453e-02 -3.37339204e+00] [ 2.32711997e-01 1.30543770e-02 9.72458076e-01 -1.40400546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.368033874 meters Centerline goodness [0,1] 0.9878582760444209 Centerline is valid? [True, True] Translation: X:-28.26, Y:-3.38, Z:-1.40 [[ 9.66508397e-01 -1.15625225e-01 -2.29112038e-01 -2.82582734e+01] [ 1.09428502e-01 9.93204991e-01 -3.96137375e-02 -3.38335045e+00] [ 2.32135567e-01 1.32156228e-02 9.72593659e-01 -1.40437212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.398033874 meters Centerline goodness [0,1] 0.9875137327812051 Centerline is valid? [True, True] Translation: X:-28.29, Y:-3.38, Z:-1.41 [[ 9.66568248e-01 -1.14545428e-01 -2.29401757e-01 -2.82870055e+01] [ 1.08314222e-01 9.93327036e-01 -3.96160128e-02 -3.37950281e+00] [ 2.32408800e-01 1.34441073e-02 9.72525272e-01 -1.40729608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.428033874 meters Centerline goodness [0,1] 0.9824738368427689 Centerline is valid? [True, True] Translation: X:-28.32, Y:-3.37, Z:-1.41 [[ 9.66826461e-01 -1.15658780e-01 -2.27749073e-01 -2.83170350e+01] [ 1.09553381e-01 9.93203164e-01 -3.93132580e-02 -3.37236564e+00] [ 2.30748023e-01 1.30584171e-02 9.72925911e-01 -1.41215914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.458033874 meters Centerline goodness [0,1] 0.9835619328972357 Centerline is valid? [True, True] Translation: X:-28.34, Y:-3.38, Z:-1.41 [[ 9.66810813e-01 -1.17643117e-01 -2.26797155e-01 -2.83443117e+01] [ 1.11646970e-01 9.92977091e-01 -3.91337469e-02 -3.38282301e+00] [ 2.29808195e-01 1.25137146e-02 9.73155486e-01 -1.41305914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.488033874 meters Centerline goodness [0,1] 0.9828538889826219 Centerline is valid? [True, True] Translation: X:-28.37, Y:-3.39, Z:-1.42 [[ 9.66010666e-01 -1.20489700e-01 -2.28704230e-01 -2.83714722e+01] [ 1.14472634e-01 9.92642952e-01 -3.94459926e-02 -3.38635081e+00] [ 2.31774477e-01 1.19248739e-02 9.72696453e-01 -1.42027548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.518033874000004 meters Centerline goodness [0,1] 0.9809157092959643 Centerline is valid? [True, True] Translation: X:-28.40, Y:-3.39, Z:-1.42 [[ 9.65688731e-01 -1.23361531e-01 -2.28532726e-01 -2.83997986e+01] [ 1.17438125e-01 9.92298548e-01 -3.93938950e-02 -3.38876095e+00] [ 2.31632383e-01 1.12037856e-02 9.72738873e-01 -1.42433607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.548033874 meters Centerline goodness [0,1] 0.9832477765806874 Centerline is valid? [True, True] Translation: X:-28.42, Y:-3.40, Z:-1.44 [[ 9.63988419e-01 -1.26740277e-01 -2.33801691e-01 -2.84239379e+01] [ 1.20644799e-01 9.91879351e-01 -4.02515242e-02 -3.39877196e+00] [ 2.37004558e-01 1.05950452e-02 9.71450763e-01 -1.43690404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.578033874 meters Centerline goodness [0,1] 0.9819138371822772 Centerline is valid? [True, True] Translation: X:-28.45, Y:-3.41, Z:-1.45 [[ 9.63268971e-01 -1.29047183e-01 -2.35498861e-01 -2.84498339e+01] [ 1.22933202e-01 9.91587154e-01 -4.05258441e-02 -3.40890395e+00] [ 2.38747392e-01 1.00866591e-02 9.71029321e-01 -1.44607895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.608033874 meters Centerline goodness [0,1] 0.9823142683106135 Centerline is valid? [True, True] Translation: X:-28.48, Y:-3.42, Z:-1.45 [[ 9.64011686e-01 -1.29684750e-01 -2.32084756e-01 -2.84768308e+01] [ 1.23772416e-01 9.91507244e-01 -3.99221106e-02 -3.42014710e+00] [ 2.35291006e-01 9.75969020e-03 9.71875965e-01 -1.45029614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.638033874 meters Centerline goodness [0,1] 0.9848427354751665 Centerline is valid? [True, True] Translation: X:-28.50, Y:-3.43, Z:-1.45 [[ 9.64965573e-01 -1.28605067e-01 -2.28696698e-01 -2.85027068e+01] [ 1.22841485e-01 9.91646953e-01 -3.93229071e-02 -3.43182246e+00] [ 2.31843509e-01 9.85180950e-03 9.72703207e-01 -1.45328519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.668033874 meters Centerline goodness [0,1] 0.9844727694090383 Centerline is valid? [True, True] Translation: X:-28.53, Y:-3.44, Z:-1.46 [[ 9.64910320e-01 -1.27217418e-01 -2.29703729e-01 -2.85282584e+01] [ 1.21372958e-01 9.91822498e-01 -3.94555117e-02 -3.44178971e+00] [ 2.32844755e-01 1.01912093e-02 9.72460518e-01 -1.46279126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.698033874000004 meters Centerline goodness [0,1] 0.9869663970791144 Centerline is valid? [True, True] Translation: X:-28.55, Y:-3.45, Z:-1.48 [[ 9.62759325e-01 -1.24552840e-01 -2.39960562e-01 -2.85525890e+01] [ 1.18094403e-01 9.92148675e-01 -4.11669638e-02 -3.44919114e+00] [ 2.43204016e-01 1.12958789e-02 9.69909382e-01 -1.48382802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.728033874 meters Centerline goodness [0,1] 0.9859298186133243 Centerline is valid? [True, True] Translation: X:-28.58, Y:-3.45, Z:-1.49 [[ 9.62896788e-01 -1.24194820e-01 -2.39594287e-01 -2.85788643e+01] [ 1.17753341e-01 9.92193093e-01 -4.10733030e-02 -3.45032710e+00] [ 2.42824889e-01 1.13363238e-02 9.70003898e-01 -1.49312414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.758033874 meters Centerline goodness [0,1] 0.987326186179811 Centerline is valid? [True, True] Translation: X:-28.61, Y:-3.46, Z:-1.49 [[ 9.64606378e-01 -1.21531640e-01 -2.34018368e-01 -2.86060528e+01] [ 1.15329207e-01 9.92519133e-01 -4.00617679e-02 -3.46129160e+00] [ 2.37136480e-01 1.16546840e-02 9.71406433e-01 -1.49097583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.788033874 meters Centerline goodness [0,1] 0.98770326711472 Centerline is valid? [True, True] Translation: X:-28.64, Y:-3.46, Z:-1.50 [[ 9.65504551e-01 -1.20921436e-01 -2.30605656e-01 -2.86353452e+01] [ 1.14889850e-01 9.92594270e-01 -3.94580602e-02 -3.46097358e+00] [ 2.33669178e-01 1.16026875e-02 9.72246930e-01 -1.49503525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.818033874 meters Centerline goodness [0,1] 0.9870176780554138 Centerline is valid? [True, True] Translation: X:-28.66, Y:-3.47, Z:-1.50 [[ 9.65476676e-01 -1.19234009e-01 -2.31598876e-01 -2.86626400e+01] [ 1.13114007e-01 9.92793504e-01 -3.95762458e-02 -3.46501275e+00] [ 2.34648694e-01 1.20128653e-02 9.72006009e-01 -1.50227147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.848033874 meters Centerline goodness [0,1] 0.9860547667342799 Centerline is valid? [True, True] Translation: X:-28.69, Y:-3.47, Z:-1.51 [[ 9.64312942e-01 -1.20325973e-01 -2.35843615e-01 -2.86890438e+01] [ 1.14019335e-01 9.92662831e-01 -4.02504057e-02 -3.46691707e+00] [ 2.38956360e-01 1.19232549e-02 9.70957102e-01 -1.51220155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.878033874 meters Centerline goodness [0,1] 0.9883264353178394 Centerline is valid? [True, True] Translation: X:-28.72, Y:-3.47, Z:-1.52 [[ 9.64414115e-01 -1.20539764e-01 -2.35320164e-01 -2.87151520e+01] [ 1.14281445e-01 9.92638530e-01 -4.01061058e-02 -3.47426884e+00] [ 2.38422242e-01 1.17861662e-02 9.71090068e-01 -1.51951603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.908033874 meters Centerline goodness [0,1] 0.9877190005514784 Centerline is valid? [True, True] Translation: X:-28.74, Y:-3.48, Z:-1.52 [[ 9.65322996e-01 -1.19889013e-01 -2.31901140e-01 -2.87445430e+01] [ 1.13801270e-01 9.92717845e-01 -3.95038147e-02 -3.47985040e+00] [ 2.34948473e-01 1.17432965e-02 9.71936886e-01 -1.51780540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.938033874 meters Centerline goodness [0,1] 0.9844802897574124 Centerline is valid? [True, True] Translation: X:-28.77, Y:-3.48, Z:-1.52 [[ 9.65232042e-01 -1.20078644e-01 -2.32181447e-01 -2.87741911e+01] [ 1.13993642e-01 9.92695909e-01 -3.95004121e-02 -3.47576327e+00] [ 2.35228729e-01 1.16598547e-02 9.71870101e-01 -1.52406395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.968033874 meters Centerline goodness [0,1] 0.9857578840284842 Centerline is valid? [True, True] Translation: X:-28.80, Y:-3.49, Z:-1.53 [[ 9.64833104e-01 -1.21325369e-01 -2.33189271e-01 -2.87994652e+01] [ 1.15234308e-01 9.92547820e-01 -3.96216994e-02 -3.48676993e+00] [ 2.36258620e-01 1.13569230e-02 9.71623839e-01 -1.53308409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.998033874 meters Centerline goodness [0,1] 0.9847245990999556 Centerline is valid? [True, True] Translation: X:-28.83, Y:-3.48, Z:-1.54 [[ 9.65121379e-01 -1.20160633e-01 -2.32598682e-01 -2.88293374e+01] [ 1.14075070e-01 9.92686921e-01 -3.94911975e-02 -3.48441279e+00] [ 2.35642957e-01 1.15800881e-02 9.71770703e-01 -1.53713742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.028033874 meters Centerline goodness [0,1] 0.9829533526472688 Centerline is valid? [True, True] Translation: X:-28.86, Y:-3.48, Z:-1.54 [[ 9.65386151e-01 -1.20428096e-01 -2.31358277e-01 -2.88582218e+01] [ 1.14428064e-01 9.92656601e-01 -3.92312573e-02 -3.48372928e+00] [ 2.34383866e-01 1.13994328e-02 9.72077289e-01 -1.54069393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.058033874 meters Centerline goodness [0,1] 0.9833871614632808 Centerline is valid? [True, True] Translation: X:-28.89, Y:-3.48, Z:-1.54 [[ 9.65208724e-01 -1.20762510e-01 -2.31923555e-01 -2.88865932e+01] [ 1.14753867e-01 9.92617139e-01 -3.92780472e-02 -3.48398956e+00] [ 2.34954611e-01 1.12973892e-02 9.71940687e-01 -1.54352355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.088033874000004 meters Centerline goodness [0,1] 0.9819808387792652 Centerline is valid? [True, True] Translation: X:-28.91, Y:-3.49, Z:-1.55 [[ 9.64905724e-01 -1.22733773e-01 -2.32149443e-01 -2.89139561e+01] [ 1.16773698e-01 9.92380756e-01 -3.92980727e-02 -3.48670821e+00] [ 2.35203841e-01 1.08099864e-02 9.71885949e-01 -1.55088183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.118033874 meters Centerline goodness [0,1] 0.9841613128935819 Centerline is valid? [True, True] Translation: X:-28.94, Y:-3.50, Z:-1.56 [[ 9.64980921e-01 -1.22876930e-01 -2.31760829e-01 -2.89403349e+01] [ 1.16946738e-01 9.92363878e-01 -3.92096290e-02 -3.49623060e+00] [ 2.34809034e-01 1.07328710e-02 9.71982265e-01 -1.55643973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.148033874 meters Centerline goodness [0,1] 0.9823167390296337 Centerline is valid? [True, True] Translation: X:-28.97, Y:-3.49, Z:-1.56 [[ 9.65610576e-01 -1.22780483e-01 -2.29174976e-01 -2.89706701e+01] [ 1.16988788e-01 9.92377245e-01 -3.87430881e-02 -3.49345889e+00] [ 2.32184926e-01 1.05998329e-02 9.72613903e-01 -1.55796431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.178033874 meters Centerline goodness [0,1] 0.9821319711588994 Centerline is valid? [True, True] Translation: X:-29.00, Y:-3.50, Z:-1.56 [[ 9.65506238e-01 -1.23782432e-01 -2.29075563e-01 -2.89988638e+01] [ 1.18035927e-01 9.92255909e-01 -3.86746857e-02 -3.49614264e+00] [ 2.32088827e-01 1.03015038e-02 9.72640044e-01 -1.55867379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.208033874 meters Centerline goodness [0,1] 0.982421833932589 Centerline is valid? [True, True] Translation: X:-29.03, Y:-3.50, Z:-1.57 [[ 9.65565019e-01 -1.24156641e-01 -2.28624852e-01 -2.90258942e+01] [ 1.18447762e-01 9.92210490e-01 -3.85807008e-02 -3.50033530e+00] [ 2.31634027e-01 1.01720731e-02 9.72749817e-01 -1.56587012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.238033874 meters Centerline goodness [0,1] 0.9802195960103931 Centerline is valid? [True, True] Translation: X:-29.06, Y:-3.50, Z:-1.57 [[ 9.65735607e-01 -1.25064306e-01 -2.27406371e-01 -2.90555541e+01] [ 1.19446626e-01 9.92099456e-01 -3.83558707e-02 -3.49667860e+00] [ 2.30406687e-01 9.87870629e-03 9.73044279e-01 -1.56845543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.268033874000004 meters Centerline goodness [0,1] 0.983199814966673 Centerline is valid? [True, True] Translation: X:-29.08, Y:-3.51, Z:-1.57 [[ 9.65136449e-01 -1.26786746e-01 -2.28990734e-01 -2.90815350e+01] [ 1.21148885e-01 9.91884646e-01 -3.85719630e-02 -3.50771630e+00] [ 2.32022806e-01 9.48523540e-03 9.72664098e-01 -1.57071953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.298033874 meters Centerline goodness [0,1] 0.9827845877086558 Centerline is valid? [True, True] Translation: X:-29.11, Y:-3.51, Z:-1.58 [[ 9.64745693e-01 -1.27583560e-01 -2.30191621e-01 -2.91094805e+01] [ 1.21913121e-01 9.91784021e-01 -3.87510948e-02 -3.50864636e+00] [ 2.33244374e-01 9.32157294e-03 9.72373473e-01 -1.57661851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.328033874 meters Centerline goodness [0,1] 0.9837857187980374 Centerline is valid? [True, True] Translation: X:-29.14, Y:-3.51, Z:-1.59 [[ 9.64433329e-01 -1.28100049e-01 -2.31211443e-01 -2.91374677e+01] [ 1.22400164e-01 9.91718495e-01 -3.88924968e-02 -3.50888112e+00] [ 2.34278795e-01 9.20890167e-03 9.72125837e-01 -1.58517840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.358033874 meters Centerline goodness [0,1] 0.984747940761339 Centerline is valid? [True, True] Translation: X:-29.17, Y:-3.51, Z:-1.59 [[ 9.64841678e-01 -1.26581954e-01 -2.30342234e-01 -2.91674165e+01] [ 1.20895643e-01 9.91910793e-01 -3.86939491e-02 -3.50788061e+00] [ 2.33376904e-01 9.48616221e-03 9.72340081e-01 -1.58669633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.388033874 meters Centerline goodness [0,1] 0.984747940761339 Centerline is valid? [True, True] Translation: X:-29.19, Y:-3.51, Z:-1.59 [[ 9.64870391e-01 -1.26347938e-01 -2.30350444e-01 -2.91937938e+01] [ 1.20666725e-01 9.91940575e-01 -3.86450128e-02 -3.51241675e+00] [ 2.33376670e-01 9.49179484e-03 9.72340082e-01 -1.59284499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.418033874 meters Centerline goodness [0,1] 0.984392022123523 Centerline is valid? [True, True] Translation: X:-29.22, Y:-3.52, Z:-1.59 [[ 9.65279604e-01 -1.26415958e-01 -2.28591978e-01 -2.92208541e+01] [ 1.20837575e-01 9.91933313e-01 -3.82959820e-02 -3.52136844e+00] [ 2.31589221e-01 9.34383015e-03 9.72768793e-01 -1.59413708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.448033874000004 meters Centerline goodness [0,1] 0.9887821856915205 Centerline is valid? [True, True] Translation: X:-29.25, Y:-3.52, Z:-1.60 [[ 9.65639403e-01 -1.22034394e-01 -2.29451848e-01 -2.92501313e+01] [ 1.16296080e-01 9.92471220e-01 -3.84200315e-02 -3.51741977e+00] [ 2.32412921e-01 1.04155459e-02 9.72561438e-01 -1.60058365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.478033874 meters Centerline goodness [0,1] 0.9931031555715892 Centerline is valid? [True, True] Translation: X:-29.28, Y:-3.52, Z:-1.61 [[ 9.65229020e-01 -1.19628393e-01 -2.32426302e-01 -2.92764429e+01] [ 1.13680777e-01 9.92756753e-01 -3.88678472e-02 -3.52115128e+00] [ 2.35392480e-01 1.10939713e-02 9.71837077e-01 -1.60829276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1591.81 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%| | 0/1116 [00:00