+ python -m lidar_slam --no-model /working/737001a5-d028-4f7b-a8c7-6c969208c3d0 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/737001a5-d028-4f7b-a8c7-6c969208c3d0 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 0.02956246 Adjusted end_distance from 9.223372036854776e+18 to 19.90252246 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02956246 meters Centerline goodness [0,1] 0.9930491775903816 Centerline is valid? [0, True] SLAMing on 0.05956246 meters Centerline goodness [0,1] 0.993378313454348 Centerline is valid? [True, True] Translation: X:-0.03, Y:-0.00, Z:0.00 [[ 9.99999605e-01 -4.38612134e-04 -7.72684611e-04 -2.98133538e-02] [ 4.38583240e-04 9.99999903e-01 -3.75623339e-05 -2.91837936e-04] [ 7.72701011e-04 3.72234325e-05 9.99999701e-01 4.70266138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08956246 meters Centerline goodness [0,1] 0.9948509485094851 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.00, Z:0.00 [[ 9.99998884e-01 -7.33662737e-04 -1.30105605e-03 -5.81198810e-02] [ 7.33581770e-04 9.99999729e-01 -6.27082833e-05 -4.32941492e-04] [ 1.30110170e-03 6.17537824e-05 9.99999152e-01 3.40170733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11956246 meters Centerline goodness [0,1] 0.9965404414063314 Centerline is valid? [True, True] Translation: X:-0.09, Y:0.00, Z:0.01 [[ 9.99997929e-01 -1.17066516e-03 -1.66493405e-03 -8.66433819e-02] [ 1.17053340e-03 9.99999312e-01 -8.01083320e-05 1.42723201e-03] [ 1.66502668e-03 7.81593052e-05 9.99998611e-01 6.02828238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14956246 meters Centerline goodness [0,1] 0.9971643035863219 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.00, Z:0.01 [[ 9.99999032e-01 -1.26711249e-03 -5.75497465e-04 -1.15428401e-01] [ 1.26709703e-03 9.99999197e-01 -2.72146067e-05 4.51124912e-03] [ 5.75531487e-04 2.64853692e-05 9.99999834e-01 6.84450103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17956245999999998 meters Centerline goodness [0,1] 0.9978376580172987 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.01, Z:0.01 [[ 9.99994791e-01 -3.36806908e-04 -3.21017449e-03 -1.45566850e-01] [ 3.36310656e-04 9.99999931e-01 -1.55125707e-04 9.59731717e-03] [ 3.21022651e-03 1.54045283e-04 9.99994835e-01 6.38374359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20956246 meters Centerline goodness [0,1] 0.9982354162341707 Centerline is valid? [True, True] Translation: X:-0.17, Y:0.01, Z:0.00 [[ 9.99988222e-01 1.25134226e-03 -4.68928535e-03 -1.73799612e-01] [-1.25241653e-03 9.99999190e-01 -2.26161183e-04 1.02891357e-02] [ 4.68899854e-03 2.32031458e-04 9.99988980e-01 2.44995860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23956245999999998 meters Centerline goodness [0,1] 0.9978479493440384 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.01, Z:0.01 [[ 9.99988126e-01 2.83783720e-03 -3.96174903e-03 -2.03211034e-01] [-2.83861592e-03 9.99995953e-01 -1.90950638e-04 1.29573814e-02] [ 3.96119111e-03 2.02194255e-04 9.99992134e-01 9.79813027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.26956246 meters Centerline goodness [0,1] 0.9978693475652641 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.02, Z:0.01 [[ 9.99985781e-01 3.56069163e-03 -3.96972283e-03 -2.32145954e-01] [-3.56146884e-03 9.99993640e-01 -1.88731277e-04 1.88673338e-02] [ 3.96902557e-03 2.02866638e-04 9.99992103e-01 5.65484987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29956246000000003 meters Centerline goodness [0,1] 0.9987794029418458 Centerline is valid? [True, True] Translation: X:-0.26, Y:0.02, Z:0.01 [[ 9.99979761e-01 3.47712137e-03 -5.32795836e-03 -2.59501089e-01] [-3.47852996e-03 9.99993917e-01 -2.55131734e-04 1.56807488e-02] [ 5.32703883e-03 2.73660033e-04 9.99985774e-01 8.89838344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32956246 meters Centerline goodness [0,1] 0.9985737318615899 Centerline is valid? [True, True] Translation: X:-0.29, Y:0.02, Z:0.01 [[ 9.99979727e-01 2.64301794e-03 -5.79307553e-03 -2.88593893e-01] [-2.64465383e-03 9.99996465e-01 -2.74744958e-04 1.96656670e-02] [ 5.79232889e-03 2.90060068e-04 9.99983182e-01 1.16907354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.35956246 meters Centerline goodness [0,1] 0.9985778180843828 Centerline is valid? [True, True] Translation: X:-0.32, Y:0.02, Z:0.02 [[ 9.99980101e-01 2.90154004e-03 -5.60173004e-03 -3.15019117e-01] [-2.90306423e-03 9.99995751e-01 -2.63980790e-04 1.96437017e-02] [ 5.60094029e-03 2.80237719e-04 9.99984275e-01 1.66563778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38956246 meters Centerline goodness [0,1] 0.9985802176999526 Centerline is valid? [True, True] Translation: X:-0.34, Y:0.02, Z:0.02 [[ 9.99984542e-01 3.05987001e-03 -4.64249690e-03 -3.42960033e-01] [-3.06092316e-03 9.99995291e-01 -2.19762227e-04 2.09257205e-02] [ 4.64180260e-03 2.33969156e-04 9.99989199e-01 1.71715468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.41956246 meters Centerline goodness [0,1] 0.9987206999009575 Centerline is valid? [True, True] Translation: X:-0.37, Y:0.02, Z:0.02 [[ 9.99978957e-01 3.10739622e-03 -5.69461947e-03 -3.71240342e-01] [-3.10896438e-03 9.99995132e-01 -2.66544853e-04 2.38865944e-02] [ 5.69376348e-03 2.84243613e-04 9.99983750e-01 1.76684635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44956246 meters Centerline goodness [0,1] 0.9984374357498252 Centerline is valid? [True, True] Translation: X:-0.40, Y:0.02, Z:0.02 [[ 9.99980392e-01 3.06677484e-03 -5.45993962e-03 -3.99498474e-01] [-3.06821948e-03 9.99995260e-01 -2.56232793e-04 2.40139679e-02] [ 5.45912794e-03 2.72980062e-04 9.99985062e-01 1.91460174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.47956245999999997 meters Centerline goodness [0,1] 0.998790487904879 Centerline is valid? [True, True] Translation: X:-0.43, Y:0.03, Z:0.02 [[ 9.99984346e-01 2.44240557e-03 -5.03412263e-03 -4.28277004e-01] [-2.44361452e-03 9.99996987e-01 -2.34013804e-04 2.64610709e-02] [ 5.03353590e-03 2.46311596e-04 9.99987301e-01 1.89751561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5095624599999999 meters Centerline goodness [0,1] 0.9987295862959245 Centerline is valid? [True, True] Translation: X:-0.46, Y:0.03, Z:0.02 [[ 9.99978471e-01 2.48247923e-03 -6.07408742e-03 -4.56506248e-01] [-2.48423197e-03 9.99996875e-01 -2.81032072e-04 3.05092169e-02] [ 6.07337078e-03 2.96115464e-04 9.99981513e-01 1.97906394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.53956246 meters Centerline goodness [0,1] 0.998825831702544 Centerline is valid? [True, True] Translation: X:-0.49, Y:0.03, Z:0.02 [[ 9.99988894e-01 2.08683724e-03 -4.22571922e-03 -4.85207415e-01] [-2.08767645e-03 9.99997802e-01 -1.94195061e-04 3.11951218e-02] [ 4.22530468e-03 2.03014839e-04 9.99991053e-01 2.46350185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.56956246 meters Centerline goodness [0,1] 0.9992392310064768 Centerline is valid? [True, True] Translation: X:-0.51, Y:0.03, Z:0.03 [[ 9.99990761e-01 2.07229845e-03 -3.76611057e-03 -5.12540591e-01] [-2.07296839e-03 9.99997836e-01 -1.73990528e-04 2.93349417e-02] [ 3.76574186e-03 1.81795949e-04 9.99992893e-01 2.80554010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5995624599999999 meters Centerline goodness [0,1] 0.9991991128634795 Centerline is valid? [True, True] Translation: X:-0.54, Y:0.03, Z:0.03 [[ 9.99974207e-01 2.95571594e-04 -7.17618918e-03 -5.41671899e-01] [-2.97941979e-04 9.99999901e-01 -3.29245711e-04 3.38480994e-02] [ 7.17609115e-03 3.31375307e-04 9.99974197e-01 2.64231850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6295624599999999 meters Centerline goodness [0,1] 0.9991967706059233 Centerline is valid? [True, True] Translation: X:-0.57, Y:0.03, Z:0.03 [[ 9.99965410e-01 -3.72196504e-04 -8.30903340e-03 -5.69778613e-01] [ 3.69031322e-04 9.99999859e-01 -3.82462583e-04 3.11058974e-02] [ 8.30917458e-03 3.79383060e-04 9.99965406e-01 2.54818926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.65956246 meters Centerline goodness [0,1] 0.999011308162887 Centerline is valid? [True, True] Translation: X:-0.60, Y:0.04, Z:0.03 [[ 9.99988884e-01 -2.28065300e-03 -4.12678697e-03 -6.00414883e-01] [ 2.27988772e-03 9.99997383e-01 -1.90137145e-04 3.75276996e-02] [ 4.12720980e-03 1.80726420e-04 9.99991467e-01 3.14647509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6895624599999999 meters Centerline goodness [0,1] 0.9989958604860855 Centerline is valid? [True, True] Translation: X:-0.63, Y:0.04, Z:0.04 [[ 9.99994680e-01 -2.45127931e-03 -2.15219763e-03 -6.28599259e-01] [ 2.45107346e-03 9.99996991e-01 -9.82763626e-05 3.87220410e-02] [ 2.15243206e-03 9.30006453e-05 9.99997679e-01 3.72082248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7195624599999999 meters Centerline goodness [0,1] 0.9985875417084604 Centerline is valid? [True, True] Translation: X:-0.66, Y:0.04, Z:0.04 [[ 9.99995571e-01 -2.29609166e-03 -1.89344936e-03 -6.57928460e-01] [ 2.29593216e-03 9.99997361e-01 -8.64062290e-05 4.41301219e-02] [ 1.89364275e-03 8.20586150e-05 9.99998204e-01 4.18539233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7495624599999999 meters Centerline goodness [0,1] 0.9993222288401897 Centerline is valid? [True, True] Translation: X:-0.69, Y:0.05, Z:0.04 [[ 9.99991770e-01 -7.90656830e-04 -3.97941716e-03 -6.86582970e-01] [ 7.89937737e-04 9.99999671e-01 -1.82271644e-04 4.85577076e-02] [ 3.97955996e-03 1.79126652e-04 9.99992065e-01 4.22736984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.77956246 meters Centerline goodness [0,1] 0.999077225936103 Centerline is valid? [True, True] Translation: X:-0.72, Y:0.06, Z:0.04 [[ 9.99990079e-01 -1.72987092e-04 -4.45097950e-03 -7.16210617e-01] [ 1.72082070e-04 9.99999964e-01 -2.03713200e-04 5.63495057e-02] [ 4.45101458e-03 2.02945245e-04 9.99990074e-01 4.48733995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.80956246 meters Centerline goodness [0,1] 0.9986709740737711 Centerline is valid? [True, True] Translation: X:-0.75, Y:0.07, Z:0.05 [[ 9.99970247e-01 5.16847629e-03 -5.72640987e-03 -7.46234153e-01] [-5.17006379e-03 9.99986601e-01 -2.62456259e-04 6.78649067e-02] [ 5.72497664e-03 2.92054355e-04 9.99983570e-01 4.54979046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8395624599999999 meters Centerline goodness [0,1] 0.9983363115410685 Centerline is valid? [True, True] Translation: X:-0.78, Y:0.08, Z:0.05 [[ 9.99945064e-01 7.93749228e-03 -6.84576334e-03 -7.76362669e-01] [-7.93982360e-03 9.99968430e-01 -3.13438289e-04 7.66520739e-02] [ 6.84305931e-03 3.67775223e-04 9.99976518e-01 4.95421149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8695624599999999 meters Centerline goodness [0,1] 0.9975722662277543 Centerline is valid? [True, True] Translation: X:-0.81, Y:0.08, Z:0.05 [[ 9.99878015e-01 1.30133142e-02 -8.63758766e-03 -8.06059553e-01] [-1.30172143e-02 9.99915194e-01 -3.95449040e-04 8.43863194e-02] [ 8.63170904e-03 5.07838131e-04 9.99962617e-01 4.86256425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.89956246 meters Centerline goodness [0,1] 0.9934582889016488 Centerline is valid? [True, True] Translation: X:-0.84, Y:0.10, Z:0.05 [[ 9.99818876e-01 1.67963360e-02 -8.94980898e-03 -8.37405654e-01] [-1.68006759e-02 9.99858775e-01 -4.09947721e-04 9.94620151e-02] [ 8.94165942e-03 5.60236310e-04 9.99959866e-01 4.74753401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9295624599999999 meters Centerline goodness [0,1] 0.9926484215728671 Centerline is valid? [True, True] Translation: X:-0.87, Y:0.10, Z:0.05 [[ 9.99763150e-01 1.95864823e-02 -9.48752669e-03 -8.66650668e-01] [-1.95914790e-02 9.99807974e-01 -4.34004499e-04 1.02969919e-01] [ 9.47720422e-03 6.19776386e-04 9.99954898e-01 5.38942187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9595624599999999 meters Centerline goodness [0,1] 0.9941241730698114 Centerline is valid? [True, True] Translation: X:-0.90, Y:0.10, Z:0.06 [[ 9.99713470e-01 2.21308270e-02 -9.12169414e-03 -8.95973107e-01] [-2.21355483e-02 9.99754892e-01 -4.16948329e-04 1.00367707e-01] [ 9.11023093e-03 6.18742563e-04 9.99958310e-01 5.55032718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9895624599999999 meters Centerline goodness [0,1] 0.9941241730698114 Centerline is valid? [True, True] Translation: X:-0.92, Y:0.10, Z:0.06 [[ 9.99707787e-01 2.23859513e-02 -9.12191200e-03 -9.23395568e-01] [-2.23906399e-02 9.99749213e-01 -4.12171876e-04 9.89599869e-02] [ 9.11039748e-03 6.16296881e-04 9.99958310e-01 5.58044600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.01956246 meters Centerline goodness [0,1] 0.98957373153895 Centerline is valid? [True, True] Translation: X:-0.95, Y:0.11, Z:0.06 [[ 9.99669873e-01 2.49451495e-02 -6.15496167e-03 -9.54010571e-01] [-2.49473390e-02 9.99688728e-01 -2.79202082e-04 1.09011752e-01] [ 6.14608106e-03 4.32659826e-04 9.99981019e-01 5.62269870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.04956246 meters Centerline goodness [0,1] 0.9871857856382543 Centerline is valid? [True, True] Translation: X:-0.99, Y:0.11, Z:0.06 [[ 9.99650483e-01 2.58764941e-02 -5.41465438e-03 -9.85500369e-01] [-2.58782073e-02 9.99665073e-01 -2.46563597e-04 1.11041000e-01] [ 5.40646066e-03 3.86598967e-04 9.99985310e-01 5.66488219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.07956246 meters Centerline goodness [0,1] 0.9870413032746421 Centerline is valid? [True, True] Translation: X:-1.02, Y:0.11, Z:0.06 [[ 9.99626918e-01 2.67877292e-02 -5.33313059e-03 -1.01706399e+00] [-2.67894049e-02 9.99641070e-01 -2.43009924e-04 1.09126410e-01] [ 5.32470669e-03 3.85790656e-04 9.99985749e-01 6.12829423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.10956246 meters Centerline goodness [0,1] 0.9867219406078765 Centerline is valid? [True, True] Translation: X:-1.05, Y:0.11, Z:0.06 [[ 9.99607581e-01 2.72899988e-02 -6.31987565e-03 -1.04865788e+00] [-2.72923628e-02 9.99627453e-01 -2.88103011e-04 1.07328690e-01] [ 6.30965886e-03 4.60474293e-04 9.99979988e-01 5.64905924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1395624599999998 meters Centerline goodness [0,1] 0.9917572278039779 Centerline is valid? [True, True] Translation: X:-1.08, Y:0.10, Z:0.06 [[ 9.99608930e-01 2.73945664e-02 -5.61465540e-03 -1.07923386e+00] [-2.73964366e-02 9.99624614e-01 -2.56430846e-04 1.02860015e-01] [ 5.60552293e-03 4.10152114e-04 9.99984205e-01 5.75162268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1695624599999999 meters Centerline goodness [0,1] 0.9895028759244042 Centerline is valid? [True, True] Translation: X:-1.11, Y:0.11, Z:0.06 [[ 9.99644898e-01 2.62165503e-02 -4.77173781e-03 -1.11085586e+00] [-2.62178881e-02 9.99656228e-01 -2.17992658e-04 1.05706035e-01] [ 4.76438241e-03 3.43020136e-04 9.99988591e-01 5.92005626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1995624599999999 meters Centerline goodness [0,1] 0.9939189189189189 Centerline is valid? [True, True] Translation: X:-1.14, Y:0.10, Z:0.06 [[ 9.99672610e-01 2.52311677e-02 -4.24979367e-03 -1.14136633e+00] [-2.52322206e-02 9.99681598e-01 -1.94323637e-04 9.79079976e-02] [ 4.24353751e-03 3.01491749e-04 9.99990951e-01 6.20557246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.22956246 meters Centerline goodness [0,1] 0.984924416694052 Centerline is valid? [True, True] Translation: X:-1.17, Y:0.11, Z:0.06 [[ 9.99680687e-01 2.47893239e-02 -4.90034769e-03 -1.17428376e+00] [-2.47907216e-02 9.99692638e-01 -2.24677865e-04 1.09648257e-01] [ 4.89327190e-03 3.46089278e-04 9.99987968e-01 6.17382144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.25956246 meters Centerline goodness [0,1] 0.9950043172566917 Centerline is valid? [True, True] Translation: X:-1.20, Y:0.10, Z:0.06 [[ 9.99697843e-01 2.40483997e-02 -5.08899313e-03 -1.20436139e+00] [-2.40498965e-02 9.99710732e-01 -2.33126154e-04 9.64713186e-02] [ 5.08191474e-03 3.55445472e-04 9.99987024e-01 6.47334788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.28956246 meters Centerline goodness [0,1] 0.9871813307586433 Centerline is valid? [True, True] Translation: X:-1.24, Y:0.11, Z:0.06 [[ 9.99701807e-01 2.39841337e-02 -4.58895525e-03 -1.23587808e+00] [-2.39853522e-02 9.99712288e-01 -2.10656269e-04 1.07935214e-01] [ 4.58258255e-03 3.20661161e-04 9.99989449e-01 6.38736092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.31956246 meters Centerline goodness [0,1] 0.9814393240222318 Centerline is valid? [True, True] Translation: X:-1.27, Y:0.11, Z:0.06 [[ 9.99641279e-01 2.58020882e-02 -7.18090084e-03 -1.26710680e+00] [-2.58051144e-02 9.99666938e-01 -3.29074014e-04 1.12616276e-01] [ 7.17001836e-03 5.14259936e-04 9.99974163e-01 5.88832231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3495624599999998 meters Centerline goodness [0,1] 0.9814217308206087 Centerline is valid? [True, True] Translation: X:-1.30, Y:0.11, Z:0.05 [[ 9.99561195e-01 2.79253430e-02 -9.87892412e-03 -1.29692861e+00] [-2.79311704e-02 9.99609746e-01 -4.52375566e-04 1.12100562e-01] [ 9.86243609e-03 7.28106973e-04 9.99951100e-01 5.08587478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3795624599999998 meters Centerline goodness [0,1] 0.9813589279842158 Centerline is valid? [True, True] Translation: X:-1.33, Y:0.11, Z:0.06 [[ 9.99464686e-01 3.15397716e-02 -8.69387411e-03 -1.32660376e+00] [-3.15444181e-02 9.99502272e-01 -3.97813301e-04 1.11170043e-01] [ 8.67699998e-03 6.71843546e-04 9.99962128e-01 5.67336111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4095624599999999 meters Centerline goodness [0,1] 0.9803152838786485 Centerline is valid? [True, True] Translation: X:-1.36, Y:0.11, Z:0.06 [[ 9.99431429e-01 3.32425278e-02 -5.63491097e-03 -1.35811430e+00] [-3.32445115e-02 9.99447215e-01 -2.58722122e-04 1.11625345e-01] [ 5.62319550e-03 4.45904883e-04 9.99984090e-01 6.12882918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4395624599999999 meters Centerline goodness [0,1] 0.9848668405166219 Centerline is valid? [True, True] Translation: X:-1.39, Y:0.10, Z:0.07 [[ 9.99364923e-01 3.53832111e-02 -4.21653768e-03 -1.38708151e+00] [-3.53843383e-02 9.99373760e-01 -1.92988061e-04 1.03861074e-01] [ 4.20706858e-03 3.42064895e-04 9.99991092e-01 6.62864303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.46956246 meters Centerline goodness [0,1] 0.9698414322250639 Centerline is valid? [True, True] Translation: X:-1.42, Y:0.12, Z:0.06 [[ 9.99353869e-01 3.57599551e-02 -3.61530608e-03 -1.41952482e+00] [-3.57607900e-02 9.99360365e-01 -1.66536708e-04 1.16074279e-01] [ 3.60703825e-03 2.95715305e-04 9.99993451e-01 6.32169315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.49956246 meters Centerline goodness [0,1] 0.9810387469084914 Centerline is valid? [True, True] Translation: X:-1.45, Y:0.10, Z:0.07 [[ 9.99311504e-01 3.68869771e-02 -3.98355580e-03 -1.44995272e+00] [-3.68879985e-02 9.99319389e-01 -1.83194438e-04 1.04203832e-01] [ 3.97408706e-03 3.30013709e-04 9.99992049e-01 6.64506030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.52956246 meters Centerline goodness [0,1] 0.9831831216714462 Centerline is valid? [True, True] Translation: X:-1.48, Y:0.10, Z:0.07 [[ 9.99330149e-01 3.63603209e-02 -4.14497067e-03 -1.48108784e+00] [-3.63614236e-02 9.99338687e-01 -1.90962094e-04 9.96624597e-02] [ 4.13528610e-03 3.41551212e-04 9.99991391e-01 6.77103898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.55956246 meters Centerline goodness [0,1] 0.9815035065414428 Centerline is valid? [True, True] Translation: X:-1.51, Y:0.10, Z:0.07 [[ 9.99375054e-01 3.51071099e-02 -4.12223312e-03 -1.51335716e+00] [-3.51081917e-02 9.99383499e-01 -1.90340140e-04 9.78992024e-02] [ 4.11300947e-03 3.34945338e-04 9.99991485e-01 6.66303953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.58956246 meters Centerline goodness [0,1] 0.9866237863083289 Centerline is valid? [True, True] Translation: X:-1.54, Y:0.09, Z:0.07 [[ 9.99427957e-01 3.35992569e-02 -3.85344560e-03 -1.54337817e+00] [-3.36001911e-02 9.99435338e-01 -1.77935531e-04 9.06554138e-02] [ 3.84529120e-03 3.07310252e-04 9.99992560e-01 6.70820902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6195624599999998 meters Centerline goodness [0,1] 0.9782559595918116 Centerline is valid? [True, True] Translation: X:-1.57, Y:0.10, Z:0.07 [[ 9.99500115e-01 3.13430889e-02 -4.13890516e-03 -1.57488109e+00] [-3.13441476e-02 9.99508633e-01 -1.91156208e-04 9.58236870e-02] [ 4.13088001e-03 3.20791106e-04 9.99991416e-01 6.58808700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6495624599999998 meters Centerline goodness [0,1] 0.9858769745703906 Centerline is valid? [True, True] Translation: X:-1.60, Y:0.09, Z:0.07 [[ 9.99575297e-01 2.89406808e-02 -3.41515071e-03 -1.60430197e+00] [-2.89413891e-02 9.99581098e-01 -1.58135529e-04 8.72738936e-02] [ 3.40914355e-03 2.56907573e-04 9.99994156e-01 6.61007021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6795624599999999 meters Centerline goodness [0,1] 0.9895803362242591 Centerline is valid? [True, True] Translation: X:-1.64, Y:0.08, Z:0.06 [[ 9.99596910e-01 2.80160463e-02 -4.59554189e-03 -1.63531899e+00] [-2.80173189e-02 9.99607415e-01 -2.12772496e-04 7.97320376e-02] [ 4.58777671e-03 3.41441492e-04 9.99989418e-01 6.48330196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.70956246 meters Centerline goodness [0,1] 0.9895886600257726 Centerline is valid? [True, True] Translation: X:-1.67, Y:0.08, Z:0.06 [[ 9.99635436e-01 2.66983163e-02 -4.02428592e-03 -1.66642894e+00] [-2.66992817e-02 9.99643493e-01 -1.86348846e-04 7.88243747e-02] [ 4.01787603e-03 2.93726453e-04 9.99991885e-01 6.48107511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.73956246 meters Centerline goodness [0,1] 0.9906804885558863 Centerline is valid? [True, True] Translation: X:-1.70, Y:0.08, Z:0.07 [[ 9.99630737e-01 2.68200957e-02 -4.36707307e-03 -1.69780749e+00] [-2.68212352e-02 9.99640225e-01 -2.02577148e-04 7.56623267e-02] [ 4.36006877e-03 3.19632638e-04 9.99990444e-01 6.50368563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.76956246 meters Centerline goodness [0,1] 0.9821560423332513 Centerline is valid? [True, True] Translation: X:-1.73, Y:0.09, Z:0.06 [[ 9.99633311e-01 2.67402052e-02 -4.26665998e-03 -1.73086333e+00] [-2.67412952e-02 9.99642368e-01 -1.98621496e-04 8.84652580e-02] [ 4.25982291e-03 3.12644678e-04 9.99990878e-01 6.12055475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.79956246 meters Centerline goodness [0,1] 0.9901699774728651 Centerline is valid? [True, True] Translation: X:-1.76, Y:0.08, Z:0.07 [[ 9.99591969e-01 2.83821202e-02 -3.21729744e-03 -1.76073659e+00] [-2.83827470e-02 9.99597118e-01 -1.49332451e-04 7.85380488e-02] [ 3.21176288e-03 2.40587258e-04 9.99994813e-01 6.55458753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8295624599999998 meters Centerline goodness [0,1] 0.9808784046891972 Centerline is valid? [True, True] Translation: X:-1.79, Y:0.09, Z:0.07 [[ 9.99556076e-01 2.95935930e-02 -3.44526832e-03 -1.79301277e+00] [-2.95943207e-02 9.99561979e-01 -1.60408791e-04 8.90223933e-02] [ 3.43901215e-03 2.62297957e-04 9.99994052e-01 6.59046573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8595624599999998 meters Centerline goodness [0,1] 0.9886982430905168 Centerline is valid? [True, True] Translation: X:-1.82, Y:0.08, Z:0.07 [[ 9.99526358e-01 3.06160435e-02 -3.11715739e-03 -1.82313097e+00] [-3.06166467e-02 9.99531190e-01 -1.45962246e-04 7.84467960e-02] [ 3.11122725e-03 2.41330018e-04 9.99995131e-01 6.91885725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8895624599999998 meters Centerline goodness [0,1] 0.9882299961107813 Centerline is valid? [True, True] Translation: X:-1.86, Y:0.08, Z:0.07 [[ 9.99468410e-01 3.25082301e-02 -2.47216437e-03 -1.85504527e+00] [-3.25086148e-02 9.99471449e-01 -1.15588560e-04 8.04846126e-02] [ 2.46710013e-03 1.95893754e-04 9.99996938e-01 6.55706365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9195624599999999 meters Centerline goodness [0,1] 0.9773645254546572 Centerline is valid? [True, True] Translation: X:-1.89, Y:0.09, Z:0.06 [[ 9.99416950e-01 3.39765655e-02 -3.36957634e-03 -1.88706970e+00] [-3.39772877e-02 9.99422593e-01 -1.57298605e-04 9.03855578e-02] [ 3.36228626e-03 2.71695957e-04 9.99994311e-01 6.24385526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9495624599999999 meters Centerline goodness [0,1] 0.9819577577536485 Centerline is valid? [True, True] Translation: X:-1.92, Y:0.09, Z:0.06 [[ 9.99425877e-01 3.37016432e-02 -3.48077105e-03 -1.91853052e+00] [-3.37024168e-02 9.99431899e-01 -1.63810453e-04 8.56858836e-02] [ 3.47327294e-03 2.81026803e-04 9.99993929e-01 6.40412811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.97956246 meters Centerline goodness [0,1] 0.9779500997593434 Centerline is valid? [True, True] Translation: X:-1.95, Y:0.09, Z:0.07 [[ 9.99409370e-01 3.42648359e-02 -2.61378142e-03 -1.95069998e+00] [-3.42652737e-02 9.99412766e-01 -1.22879259e-04 8.84645923e-02] [ 2.60803608e-03 2.12368619e-04 9.99996577e-01 6.72190116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.00956246 meters Centerline goodness [0,1] 0.9845439862613211 Centerline is valid? [True, True] Translation: X:-1.98, Y:0.08, Z:0.07 [[ 9.99487571e-01 3.19446887e-02 -2.03299867e-03 -1.98055914e+00] [-3.19449477e-02 9.99489625e-01 -9.50506369e-05 7.87613560e-02] [ 2.02892472e-03 1.59945966e-04 9.99997929e-01 6.66229518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.03956246 meters Centerline goodness [0,1] 0.9848531368334869 Centerline is valid? [True, True] Translation: X:-2.01, Y:0.08, Z:0.07 [[ 9.99513007e-01 3.11925715e-02 -8.78977759e-04 -2.01245336e+00] [-3.11926203e-02 9.99513391e-01 -4.18256682e-05 7.75015236e-02] [ 8.77245390e-04 6.92229188e-05 9.99999613e-01 6.56201210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.06956246 meters Centerline goodness [0,1] 0.9851276813074565 Centerline is valid? [True, True] Translation: X:-2.04, Y:0.08, Z:0.07 [[ 9.99556897e-01 2.96566908e-02 -2.54762629e-03 -2.04428992e+00] [-2.96570921e-02 9.99560125e-01 -1.19895643e-04 7.75392776e-02] [ 2.54294994e-03 1.95397704e-04 9.99996748e-01 6.52171469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.09956246 meters Centerline goodness [0,1] 0.9822258625985462 Centerline is valid? [True, True] Translation: X:-2.08, Y:0.08, Z:0.06 [[ 9.99582127e-01 2.88101600e-02 -2.35513175e-03 -2.07681745e+00] [-2.88105014e-02 9.99584885e-01 -1.11183419e-04 8.20174964e-02] [ 2.35095088e-03 1.78989485e-04 9.99997220e-01 6.42671598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1295624600000003 meters Centerline goodness [0,1] 0.9885874687538417 Centerline is valid? [True, True] Translation: X:-2.11, Y:0.07, Z:0.07 [[ 9.99589266e-01 2.86571056e-02 -2.62242234e-04 -2.10794131e+00] [-2.86571100e-02 9.99589301e-01 -1.29987694e-05 7.16352484e-02] [ 2.61762024e-04 2.05085349e-05 9.99999966e-01 6.92542141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.15956246 meters Centerline goodness [0,1] 0.9886995221395024 Centerline is valid? [True, True] Translation: X:-2.14, Y:0.07, Z:0.07 [[ 9.99585714e-01 2.87683057e-02 -8.85761780e-04 -2.14068733e+00] [-2.87683544e-02 9.99586104e-01 -4.23557007e-05 7.42075821e-02] [ 8.84176665e-04 6.78200622e-05 9.99999607e-01 6.60715196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1895624600000003 meters Centerline goodness [0,1] 0.981246790592585 Centerline is valid? [True, True] Translation: X:-2.17, Y:0.08, Z:0.06 [[ 9.99582908e-01 2.87205436e-02 -3.02322053e-03 -2.17296416e+00] [-2.87211070e-02 9.99587454e-01 -1.43107620e-04 8.17223965e-02] [ 3.01786319e-03 2.29878171e-04 9.99995420e-01 6.19222999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.21956246 meters Centerline goodness [0,1] 0.9905887683024774 Centerline is valid? [True, True] Translation: X:-2.20, Y:0.07, Z:0.06 [[ 9.99662709e-01 2.54342124e-02 -5.25063465e-03 -2.20179804e+00] [-2.54358597e-02 9.99676426e-01 -2.47178494e-04 6.55275463e-02] [ 5.24264889e-03 3.80649530e-04 9.99986185e-01 6.20630401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.24956246 meters Centerline goodness [0,1] 0.9908762123951997 Centerline is valid? [True, True] Translation: X:-2.23, Y:0.07, Z:0.06 [[ 9.99801791e-01 1.97228408e-02 -2.71820874e-03 -2.23234983e+00] [-1.97232614e-02 9.99805469e-01 -1.28029357e-04 6.65410115e-02] [ 2.71515486e-03 1.81615922e-04 9.99996297e-01 6.36310420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.27956246 meters Centerline goodness [0,1] 0.9920363584252871 Centerline is valid? [True, True] Translation: X:-2.26, Y:0.06, Z:0.06 [[ 9.99879577e-01 1.54681379e-02 -1.25256022e-03 -2.26252702e+00] [-1.54682239e-02 9.99880358e-01 -5.90290709e-05 6.17975181e-02] [ 1.25149730e-03 7.83968445e-05 9.99999214e-01 6.46640654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.30956246 meters Centerline goodness [0,1] 0.9921388463501787 Centerline is valid? [True, True] Translation: X:-2.29, Y:0.06, Z:0.06 [[ 9.99944095e-01 1.04032952e-02 -1.89158191e-03 -2.29377938e+00] [-1.04034830e-02 9.99945878e-01 -8.94398508e-05 5.80516473e-02] [ 1.89054906e-03 1.09113891e-04 9.99998207e-01 6.29742236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3395624600000002 meters Centerline goodness [0,1] 0.9954662016617088 Centerline is valid? [True, True] Translation: X:-2.32, Y:0.05, Z:0.06 [[ 9.99986424e-01 4.15966328e-03 -3.13832015e-03 -2.32301435e+00] [-4.16015032e-03 9.99991335e-01 -1.48680178e-04 4.87196189e-02] [ 3.13767450e-03 1.61734044e-04 9.99995064e-01 6.13905918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.36956246 meters Centerline goodness [0,1] 0.9964236532176844 Centerline is valid? [True, True] Translation: X:-2.35, Y:0.04, Z:0.06 [[ 9.99997887e-01 1.56214123e-03 -1.33637915e-03 -2.35173508e+00] [-1.56222639e-03 9.99998778e-01 -6.26792796e-05 4.45984180e-02] [ 1.33627961e-03 6.47668739e-05 9.99999105e-01 6.38031322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3995624600000003 meters Centerline goodness [0,1] 0.9977144504385784 Centerline is valid? [True, True] Translation: X:-2.38, Y:0.04, Z:0.07 [[ 9.99999705e-01 6.05088087e-04 -4.72943237e-04 -2.38051367e+00] [-6.05098446e-04 9.99999817e-01 -2.17608537e-05 4.25181345e-02] [ 4.72929983e-04 2.20470245e-05 9.99999888e-01 6.97761259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.42956246 meters Centerline goodness [0,1] 0.9959664142245637 Centerline is valid? [True, True] Translation: X:-2.41, Y:0.05, Z:0.07 [[ 9.99996661e-01 2.34317193e-03 -1.08989320e-03 -2.41115694e+00] [-2.34322906e-03 9.99997253e-01 -5.11510325e-05 5.05002492e-02] [ 1.08977035e-03 5.37047311e-05 9.99999405e-01 6.52197059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.45956246 meters Centerline goodness [0,1] 0.9943572381245511 Centerline is valid? [True, True] Translation: X:-2.44, Y:0.06, Z:0.06 [[ 9.99978491e-01 6.34795135e-03 -1.64985759e-03 -2.44213021e+00] [-6.34808808e-03 9.99979848e-01 -7.76517225e-05 5.65580859e-02] [ 1.64933142e-03 8.81234936e-05 9.99998636e-01 6.49587122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.48956246 meters Centerline goodness [0,1] 0.9945339529551457 Centerline is valid? [True, True] Translation: X:-2.47, Y:0.06, Z:0.07 [[ 9.99943351e-01 1.05865211e-02 -1.10430271e-03 -2.47164716e+00] [-1.05865848e-02 9.99943959e-01 -5.18568458e-05 5.89483014e-02] [ 1.10369184e-03 6.35447025e-05 9.99999389e-01 6.68956261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.51956246 meters Centerline goodness [0,1] 0.9935624524382468 Centerline is valid? [True, True] Translation: X:-2.50, Y:0.07, Z:0.07 [[ 9.99825160e-01 1.85379222e-02 -2.44830082e-03 -2.50198006e+00] [-1.85382597e-02 9.99828145e-01 -1.15244456e-04 6.74203743e-02] [ 2.44574367e-03 1.60611543e-04 9.99996996e-01 6.54323851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.54956246 meters Centerline goodness [0,1] 0.9836119507330413 Centerline is valid? [True, True] Translation: X:-2.53, Y:0.08, Z:0.06 [[ 9.99720035e-01 2.36091184e-02 -1.56910779e-03 -2.53317977e+00] [-2.36092633e-02 9.99721260e-01 -7.38516988e-05 8.44373810e-02] [ 1.56692684e-03 1.10876502e-04 9.99998766e-01 6.44733496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.57956246 meters Centerline goodness [0,1] 0.9897256060046757 Centerline is valid? [True, True] Translation: X:-2.56, Y:0.08, Z:0.07 [[ 9.99563585e-01 2.94577632e-02 -2.20900487e-03 -2.56263367e+00] [-2.94580644e-02 9.99566012e-01 -1.03944539e-04 7.80892843e-02] [ 2.20498421e-03 1.68972184e-04 9.99997555e-01 6.57337526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6095624600000003 meters Centerline goodness [0,1] 0.9839214482970237 Centerline is valid? [True, True] Translation: X:-2.59, Y:0.09, Z:0.06 [[ 9.99477056e-01 3.22312176e-02 -2.60046183e-03 -2.59436977e+00] [-3.22316448e-02 9.99480418e-01 -1.22530593e-04 8.96678981e-02] [ 2.59516137e-03 2.06283679e-04 9.99996611e-01 6.27096866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.63956246 meters Centerline goodness [0,1] 0.9785371653478743 Centerline is valid? [True, True] Translation: X:-2.63, Y:0.10, Z:0.06 [[ 9.99484295e-01 3.20556143e-02 -1.89255945e-03 -2.62733043e+00] [-3.20558416e-02 9.99486075e-01 -8.98915607e-05 9.95388940e-02] [ 1.88870529e-03 1.50512789e-04 9.99998205e-01 6.39489274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.66956246 meters Centerline goodness [0,1] 0.9887582825609781 Centerline is valid? [True, True] Translation: X:-2.66, Y:0.09, Z:0.07 [[ 9.99540665e-01 3.02968732e-02 -7.47228008e-04 -2.65678358e+00] [-3.02969080e-02 9.99540943e-01 -3.52252868e-05 8.70732163e-02] [ 7.45817771e-04 5.78478048e-05 9.99999720e-01 6.79353885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.69956246 meters Centerline goodness [0,1] 0.9810709378396669 Centerline is valid? [True, True] Translation: X:-2.69, Y:0.10, Z:0.06 [[ 9.99684572e-01 2.50656824e-02 -1.57083166e-03 -2.68856192e+00] [-2.50658299e-02 9.99685800e-01 -7.42663056e-05 9.76848210e-02] [ 1.56847657e-03 1.13617079e-04 9.99998763e-01 6.46205932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.72956246 meters Centerline goodness [0,1] 0.9930395387149917 Centerline is valid? [True, True] Translation: X:-2.72, Y:0.08, Z:0.07 [[ 9.99773676e-01 2.12277692e-02 -1.40670932e-03 -2.71733971e+00] [-2.12278836e-02 9.99774661e-01 -6.64566626e-05 7.94249412e-02] [ 1.40498160e-03 9.63030835e-05 9.99999008e-01 6.75515420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.75956246 meters Centerline goodness [0,1] 0.9953434705567231 Centerline is valid? [True, True] Translation: X:-2.75, Y:0.07, Z:0.06 [[ 9.99878278e-01 1.52036444e-02 -3.50414288e-03 -2.74786845e+00] [-1.52043184e-02 9.99884394e-01 -1.65775063e-04 7.47571216e-02] [ 3.50121739e-03 2.19032989e-04 9.99993847e-01 6.20608373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.78956246 meters Centerline goodness [0,1] 0.996152271796971 Centerline is valid? [True, True] Translation: X:-2.78, Y:0.07, Z:0.06 [[ 9.99924597e-01 1.15173894e-02 -4.26023023e-03 -2.77918994e+00] [-1.15183520e-02 9.99933641e-01 -2.01484513e-04 7.41172815e-02] [ 4.25762695e-03 2.50540152e-04 9.99990905e-01 5.98865182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.81956246 meters Centerline goodness [0,1] 0.9948118257432266 Centerline is valid? [True, True] Translation: X:-2.81, Y:0.08, Z:0.06 [[ 9.99965794e-01 7.81227676e-03 -2.71664505e-03 -2.81008613e+00] [-7.81265389e-03 9.99969473e-01 -1.28237260e-04 7.74283227e-02] [ 2.71556029e-03 1.49457081e-04 9.99996302e-01 6.20767551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.84956246 meters Centerline goodness [0,1] 0.9975578722705631 Centerline is valid? [True, True] Translation: X:-2.84, Y:0.07, Z:0.07 [[ 9.99980813e-01 6.11242405e-03 1.00607141e-03 -2.83936669e+00] [-6.11247509e-03 9.99981318e-01 4.76641733e-05 7.02853613e-02] [-1.00576127e-03 -5.38128452e-05 9.99999493e-01 6.77290584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8795624600000003 meters Centerline goodness [0,1] 0.9956017757316672 Centerline is valid? [True, True] Translation: X:-2.87, Y:0.08, Z:0.07 [[ 9.99986851e-01 4.92874973e-03 -1.41589471e-03 -2.87224847e+00] [-4.92885039e-03 9.99987851e-01 -6.76136221e-05 7.54639933e-02] [ 1.41554426e-03 7.45914662e-05 9.99998995e-01 6.61537041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.90956246 meters Centerline goodness [0,1] 0.9956017757316672 Centerline is valid? [True, True] Translation: X:-2.90, Y:0.07, Z:0.07 [[ 9.99986851e-01 4.92874223e-03 -1.41592697e-03 -2.90225637e+00] [-4.92884193e-03 9.99987851e-01 -6.69310778e-05 7.40463660e-02] [ 1.41557988e-03 7.39090780e-05 9.99998995e-01 6.64828049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.93956246 meters Centerline goodness [0,1] 0.9954895850418238 Centerline is valid? [True, True] Translation: X:-2.93, Y:0.07, Z:0.06 [[ 9.99984685e-01 4.13434959e-03 -3.67917261e-03 -2.93330085e+00] [-4.13501737e-03 9.99991436e-01 -1.73915034e-04 7.49189979e-02] [ 3.67842207e-03 1.89125814e-04 9.99993217e-01 6.08628571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.96956246 meters Centerline goodness [0,1] 0.9967553136872369 Centerline is valid? [True, True] Translation: X:-2.96, Y:0.08, Z:0.06 [[ 9.99989592e-01 3.89252476e-03 -2.37978844e-03 -2.96093362e+00] [-3.89280104e-03 9.99992417e-01 -1.11473807e-04 7.64329728e-02] [ 2.37933648e-03 1.20736690e-04 9.99997162e-01 6.11547541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.99956246 meters Centerline goodness [0,1] 0.9936055391507993 Centerline is valid? [True, True] Translation: X:-2.99, Y:0.09, Z:0.06 [[ 9.99987498e-01 4.99959856e-03 -8.44326548e-05 -2.99104709e+00] [-4.99959889e-03 9.99987502e-01 -3.64669315e-06 8.73874811e-02] [ 8.44133675e-05 4.06877697e-06 9.99999996e-01 6.29911441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.02956246 meters Centerline goodness [0,1] 0.9961741777567518 Centerline is valid? [True, True] Translation: X:-3.02, Y:0.09, Z:0.06 [[ 9.99973032e-01 7.34211698e-03 1.70424572e-04 -3.02196532e+00] [-7.34211840e-03 9.99973046e-01 7.71230426e-06 8.67085874e-02] [-1.70363354e-04 -8.96337366e-06 9.99999985e-01 6.46146148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.05956246 meters Centerline goodness [0,1] 0.9956992770689549 Centerline is valid? [True, True] Translation: X:-3.05, Y:0.09, Z:0.06 [[ 9.99945186e-01 1.04565352e-02 -5.34651492e-04 -3.05215639e+00] [-1.04565502e-02 9.99945328e-01 -2.52319442e-05 9.01732305e-02] [ 5.34358423e-04 3.08211713e-05 9.99999857e-01 6.26920988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0895624600000002 meters Centerline goodness [0,1] 0.9962893107548485 Centerline is valid? [True, True] Translation: X:-3.08, Y:0.10, Z:0.06 [[ 9.99915309e-01 1.27604152e-02 -2.55855302e-03 -3.08197737e+00] [-1.27607652e-02 9.99918571e-01 -1.20531030e-04 9.62124112e-02] [ 2.55680665e-03 1.53169916e-04 9.99996720e-01 5.98863789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.11956246 meters Centerline goodness [0,1] 0.9929898857001891 Centerline is valid? [True, True] Translation: X:-3.11, Y:0.11, Z:0.06 [[ 9.99901052e-01 1.37400193e-02 -3.01642584e-03 -3.11455809e+00] [-1.37405129e-02 9.99905584e-01 -1.42978779e-04 1.09532373e-01] [ 3.01417651e-03 1.84411869e-04 9.99995440e-01 5.64995349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1495624600000003 meters Centerline goodness [0,1] 0.9913897872165118 Centerline is valid? [True, True] Translation: X:-3.15, Y:0.12, Z:0.06 [[ 9.99906067e-01 1.36692019e-02 -1.00530550e-03 -3.14694392e+00] [-1.36692572e-02 9.99906570e-01 -4.81970911e-05 1.16365032e-01] [ 1.00455275e-03 6.19343432e-05 9.99999494e-01 6.07387919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.17956246 meters Centerline goodness [0,1] 0.9942870060212491 Centerline is valid? [True, True] Translation: X:-3.18, Y:0.11, Z:0.06 [[ 9.99916709e-01 1.28337791e-02 -1.36702315e-03 -3.17790172e+00] [-1.28338801e-02 9.99917640e-01 -6.52064822e-05 1.13062040e-01] [ 1.36607372e-03 8.27452623e-05 9.99999063e-01 6.19028115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.20956246 meters Centerline goodness [0,1] 0.9967716065883901 Centerline is valid? [True, True] Translation: X:-3.21, Y:0.11, Z:0.06 [[ 9.99945597e-01 9.58786592e-03 -4.10792552e-03 -3.20833273e+00] [-9.58874632e-03 9.99954008e-01 -1.94673369e-04 1.09979539e-01] [ 4.10587009e-03 2.34052634e-04 9.99991543e-01 5.58476855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.23956246 meters Centerline goodness [0,1] 0.9983752545091829 Centerline is valid? [True, True] Translation: X:-3.24, Y:0.11, Z:0.06 [[ 9.99988779e-01 2.71231092e-03 -3.88403176e-03 -3.23825825e+00] [-2.71304477e-03 9.99996303e-01 -1.83684987e-04 1.08281630e-01] [ 3.88351919e-03 1.94220478e-04 9.99992440e-01 5.68902392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.26956246 meters Centerline goodness [0,1] 0.9977837970943118 Centerline is valid? [True, True] Translation: X:-3.27, Y:0.11, Z:0.06 [[ 9.99998949e-01 -8.60058096e-04 -1.16685423e-03 -3.26883072e+00] [ 8.59994459e-04 9.99999629e-01 -5.50379243e-05 1.11310866e-01] [ 1.16690113e-03 5.40343783e-05 9.99999318e-01 5.99253022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.29956246 meters Centerline goodness [0,1] 0.9986219095808136 Centerline is valid? [True, True] Translation: X:-3.30, Y:0.11, Z:0.06 [[ 9.99984132e-01 -5.25602503e-03 -2.02732889e-03 -3.29753418e+00] [ 5.25584214e-03 9.99986183e-01 -9.55297470e-05 1.07917395e-01] [ 2.02780299e-03 8.48729105e-05 9.99997940e-01 6.24684787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.32956246 meters Centerline goodness [0,1] 0.998281154082259 Centerline is valid? [True, True] Translation: X:-3.33, Y:0.11, Z:0.06 [[ 9.99972647e-01 -7.23586433e-03 -1.53240635e-03 -3.32765476e+00] [ 7.23576236e-03 9.99973819e-01 -7.20743226e-05 1.10001118e-01] [ 1.53288775e-03 6.09842229e-05 9.99998823e-01 6.03345468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3595624600000003 meters Centerline goodness [0,1] 0.9992202569048303 Centerline is valid? [True, True] Translation: X:-3.36, Y:0.11, Z:0.06 [[ 9.99957950e-01 -9.05946614e-03 -1.42268969e-03 -3.35619465e+00] [ 9.05938046e-03 9.99958961e-01 -6.66576327e-05 1.12528191e-01] [ 1.42323519e-03 5.37661426e-05 9.99998986e-01 5.89518470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.38956246 meters Centerline goodness [0,1] 0.9992614627141245 Centerline is valid? [True, True] Translation: X:-3.38, Y:0.11, Z:0.06 [[ 9.99978585e-01 -6.53684215e-03 3.16074193e-04 -3.38412772e+00] [ 6.53683749e-03 9.99978635e-01 1.57564522e-05 1.14286688e-01] [-3.16170437e-04 -1.36899891e-05 9.99999950e-01 6.33942586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.41956246 meters Centerline goodness [0,1] 0.998499054198536 Centerline is valid? [True, True] Translation: X:-3.41, Y:0.13, Z:0.06 [[ 9.99992400e-01 -2.46435013e-03 -3.02093631e-03 -3.41487688e+00] [ 2.46393143e-03 9.99996954e-01 -1.42314569e-04 1.27541303e-01] [ 3.02127782e-03 1.34870108e-04 9.99995427e-01 6.11228727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.44956246 meters Centerline goodness [0,1] 0.9974324213293896 Centerline is valid? [True, True] Translation: X:-3.45, Y:0.13, Z:0.06 [[ 9.99989347e-01 4.62148538e-04 -4.59258350e-03 -3.44506497e+00] [-4.63146281e-04 9.99999869e-01 -2.16189820e-04 1.34340734e-01] [ 4.59248299e-03 2.18314555e-04 9.99989431e-01 5.86741841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.47956246 meters Centerline goodness [0,1] 0.9979228791773779 Centerline is valid? [True, True] Translation: X:-3.47, Y:0.14, Z:0.07 [[ 9.99988716e-01 3.92055959e-03 -2.68278670e-03 -3.47379337e+00] [-3.92091097e-03 9.99992305e-01 -1.25729786e-04 1.36535596e-01] [ 2.68227313e-03 1.36247335e-04 9.99996393e-01 6.50239410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.50956246 meters Centerline goodness [0,1] 0.996453319119275 Centerline is valid? [True, True] Translation: X:-3.50, Y:0.15, Z:0.07 [[ 9.99960444e-01 8.88975271e-03 2.89092729e-04 -3.50447841e+00] [-8.88975702e-03 9.99960485e-01 1.36452696e-05 1.51055072e-01] [-2.88960003e-04 -1.62146940e-05 9.99999958e-01 6.82798331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.53956246 meters Centerline goodness [0,1] 0.9958947411634304 Centerline is valid? [True, True] Translation: X:-3.54, Y:0.16, Z:0.07 [[ 9.99939556e-01 1.08895955e-02 -1.51714915e-03 -3.53591607e+00] [-1.08897169e-02 9.99940703e-01 -7.17928554e-05 1.57674577e-01] [ 1.51627739e-03 8.83098407e-05 9.99998847e-01 6.59728447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.56956246 meters Centerline goodness [0,1] 0.9946259717350727 Centerline is valid? [True, True] Translation: X:-3.57, Y:0.17, Z:0.06 [[ 9.99898607e-01 1.37497223e-02 -3.70426212e-03 -3.56768176e+00] [-1.37504634e-02 9.99905443e-01 -1.74672091e-04 1.68188420e-01] [ 3.70151016e-03 2.25589701e-04 9.99993124e-01 6.16512005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.59956246 meters Centerline goodness [0,1] 0.9947684956335475 Centerline is valid? [True, True] Translation: X:-3.60, Y:0.17, Z:0.06 [[ 9.99907246e-01 1.32229928e-02 -3.26372929e-03 -3.59954202e+00] [-1.32235671e-02 9.99912553e-01 -1.54419964e-04 1.70878049e-01] [ 3.26140199e-03 1.97563784e-04 9.99994662e-01 6.33102460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.62956246 meters Centerline goodness [0,1] 0.9954668526419429 Centerline is valid? [True, True] Translation: X:-3.63, Y:0.18, Z:0.07 [[ 9.99924919e-01 1.22499096e-02 -3.08505077e-04 -3.63168841e+00] [-1.22499149e-02 9.99924967e-01 -1.50792094e-05 1.77009734e-01] [ 3.08297210e-04 1.88572382e-05 9.99999952e-01 6.67092217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.65956246 meters Centerline goodness [0,1] 0.9945444064725986 Centerline is valid? [True, True] Translation: X:-3.66, Y:0.18, Z:0.07 [[ 9.99940337e-01 1.09182292e-02 3.38590239e-04 -3.66386554e+00] [-1.09182351e-02 9.99940394e-01 1.53190336e-05 1.79748082e-01] [-3.38402801e-04 -1.90149275e-05 9.99999943e-01 6.67032119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.68956246 meters Centerline goodness [0,1] 0.9967967145790554 Centerline is valid? [True, True] Translation: X:-3.69, Y:0.17, Z:0.06 [[ 9.99961070e-01 7.95155240e-03 -3.82512012e-03 -3.69357939e+00] [-7.95230651e-03 9.99968363e-01 -1.81977264e-04 1.72907102e-01] [ 3.82355210e-03 2.12388707e-04 9.99992668e-01 6.22961271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.71956246 meters Centerline goodness [0,1] 0.9975072105480016 Centerline is valid? [True, True] Translation: X:-3.72, Y:0.18, Z:0.06 [[ 9.99975464e-01 4.90629128e-03 -5.00002768e-03 -3.72433466e+00] [-4.90753426e-03 9.99987930e-01 -2.36356356e-04 1.84520479e-01] [ 4.99880769e-03 2.60888364e-04 9.99987472e-01 5.71911380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.74956246 meters Centerline goodness [0,1] 0.9979607810826399 Centerline is valid? [True, True] Translation: X:-3.75, Y:0.18, Z:0.06 [[ 9.99987555e-01 3.79054692e-03 -3.24374114e-03 -3.75306236e+00] [-3.79106252e-03 9.99992802e-01 -1.52818892e-04 1.79856635e-01] [ 3.24313852e-03 1.65114216e-04 9.99994727e-01 6.28766232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.77956246 meters Centerline goodness [0,1] 0.9981284577257676 Centerline is valid? [True, True] Translation: X:-3.78, Y:0.18, Z:0.07 [[ 9.99988118e-01 4.42096730e-03 -2.05400606e-03 -3.78198773e+00] [-4.42117006e-03 9.99990222e-01 -9.41869616e-05 1.81868354e-01] [ 2.05356958e-03 1.03266953e-04 9.99997886e-01 6.77379978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.80956246 meters Centerline goodness [0,1] 0.9970564624029971 Centerline is valid? [True, True] Translation: X:-3.81, Y:0.19, Z:0.06 [[ 9.99973266e-01 6.14263308e-03 -3.96672453e-03 -3.81281601e+00] [-6.14342161e-03 9.99981112e-01 -1.86632288e-04 1.89020146e-01] [ 3.96550319e-03 2.10996560e-04 9.99992115e-01 6.45509137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8395624600000002 meters Centerline goodness [0,1] 0.9982454691821823 Centerline is valid? [True, True] Translation: X:-3.84, Y:0.19, Z:0.06 [[ 9.99964540e-01 7.15013593e-03 -4.44906788e-03 -3.84187923e+00] [-7.15113454e-03 9.99974409e-01 -2.08586490e-04 1.93389008e-01] [ 4.44746260e-03 2.40394977e-04 9.99990081e-01 6.06095861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.86956246 meters Centerline goodness [0,1] 0.9956608468546281 Centerline is valid? [True, True] Translation: X:-3.87, Y:0.20, Z:0.06 [[ 9.99950340e-01 8.97395522e-03 -4.33415868e-03 -3.87243296e+00] [-8.97492115e-03 9.99959704e-01 -2.03464972e-04 2.04118111e-01] [ 4.33215814e-03 2.42353600e-04 9.99990587e-01 6.05550213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.89956246 meters Centerline goodness [0,1] 0.9953228664441423 Centerline is valid? [True, True] Translation: X:-3.90, Y:0.21, Z:0.07 [[ 9.99942150e-01 1.04545288e-02 -2.52990829e-03 -3.90256352e+00] [-1.04548629e-02 9.99945339e-01 -1.18868476e-04 2.09555223e-01] [ 2.52852729e-03 1.45311444e-04 9.99996793e-01 6.60456138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.92956246 meters Centerline goodness [0,1] 0.9939879759519038 Centerline is valid? [True, True] Translation: X:-3.93, Y:0.21, Z:0.07 [[ 9.99926751e-01 1.20267454e-02 -1.36015402e-03 -3.93334762e+00] [-1.20268437e-02 9.99927673e-01 -6.40950350e-05 2.12692525e-01] [ 1.35928479e-03 8.04487000e-05 9.99999073e-01 6.83182148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.95956246 meters Centerline goodness [0,1] 0.9945336100778858 Centerline is valid? [True, True] Translation: X:-3.96, Y:0.21, Z:0.07 [[ 9.99917906e-01 1.25917796e-02 -2.37240536e-03 -3.96476073e+00] [-1.25920810e-02 9.99920710e-01 -1.12120118e-04 2.12779824e-01] [ 2.37080546e-03 1.41984434e-04 9.99997180e-01 6.60529453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.98956246 meters Centerline goodness [0,1] 0.9973106138369945 Centerline is valid? [True, True] Translation: X:-4.00, Y:0.21, Z:0.07 [[ 9.99928574e-01 1.14240273e-02 -3.51264784e-03 -3.99541080e+00] [-1.14246805e-02 9.99934722e-01 -1.65953867e-04 2.08618511e-01] [ 3.51052268e-03 2.06072893e-04 9.99993817e-01 6.76276694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0195624599999995 meters Centerline goodness [0,1] 0.9961927105842646 Centerline is valid? [True, True] Translation: X:-4.03, Y:0.21, Z:0.07 [[ 9.99941086e-01 1.04155510e-02 -3.05629633e-03 -4.02818785e+00] [-1.04160422e-02 9.99945741e-01 -1.44839689e-04 2.13892628e-01] [ 3.05462191e-03 1.76665667e-04 9.99995319e-01 6.83738860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.04956246 meters Centerline goodness [0,1] 0.9966212040051095 Centerline is valid? [True, True] Translation: X:-4.06, Y:0.21, Z:0.07 [[ 9.99943556e-01 9.73140324e-03 -4.26438161e-03 -4.06068025e+00] [-9.73235318e-03 9.99952619e-01 -2.02066593e-04 2.12841878e-01] [ 4.26221317e-03 2.43557655e-04 9.99990887e-01 6.81681570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.07956246 meters Centerline goodness [0,1] 0.9961481420449864 Centerline is valid? [True, True] Translation: X:-4.09, Y:0.21, Z:0.07 [[ 9.99936671e-01 1.02144159e-02 -4.72444906e-03 -4.09198395e+00] [-1.02155860e-02 9.99947795e-01 -2.23598854e-04 2.14208008e-01] [ 4.72191849e-03 2.71847709e-04 9.99988815e-01 6.55600522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.10956246 meters Centerline goodness [0,1] 0.9966507766910495 Centerline is valid? [True, True] Translation: X:-4.12, Y:0.21, Z:0.07 [[ 9.99931847e-01 1.09101039e-02 -4.15585329e-03 -4.12302660e+00] [-1.09110150e-02 9.99940454e-01 -1.96620617e-04 2.13028353e-01] [ 4.15346067e-03 2.41951795e-04 9.99991345e-01 6.54616582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.13956246 meters Centerline goodness [0,1] 0.9967253629904232 Centerline is valid? [True, True] Translation: X:-4.15, Y:0.22, Z:0.07 [[ 9.99906042e-01 1.28019013e-02 -4.90076912e-03 -4.15484764e+00] [-1.28031934e-02 9.99918009e-01 -2.32365426e-04 2.16788623e-01] [ 4.89739258e-03 2.95089088e-04 9.99987964e-01 6.82859226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.16956246 meters Centerline goodness [0,1] 0.9954576425164661 Centerline is valid? [True, True] Translation: X:-4.19, Y:0.22, Z:0.07 [[ 9.99903933e-01 1.32068353e-02 -4.20767325e-03 -4.18676341e+00] [-1.32077937e-02 9.99912753e-01 -2.00054475e-04 2.16568937e-01] [ 4.20466406e-03 2.55609337e-04 9.99991128e-01 6.88067798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.19956246 meters Centerline goodness [0,1] 0.9954700819503356 Centerline is valid? [True, True] Translation: X:-4.22, Y:0.21, Z:0.07 [[ 9.99913658e-01 1.27330032e-02 -3.24753923e-03 -4.21889272e+00] [-1.27335727e-02 9.99918913e-01 -1.54773165e-04 2.13437849e-01] [ 3.24530517e-03 1.96112579e-04 9.99994715e-01 6.88367576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.22956246 meters Centerline goodness [0,1] 0.9962891188718921 Centerline is valid? [True, True] Translation: X:-4.25, Y:0.21, Z:0.07 [[ 9.99912664e-01 1.28977765e-02 -2.88301010e-03 -4.24997073e+00] [-1.28982262e-02 9.99916805e-01 -1.37442325e-04 2.10644362e-01] [ 2.88099755e-03 1.74616038e-04 9.99995835e-01 7.19039898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.25956246 meters Centerline goodness [0,1] 0.9958936899013661 Centerline is valid? [True, True] Translation: X:-4.28, Y:0.21, Z:0.07 [[ 9.99905464e-01 1.27070512e-02 -5.25304690e-03 -4.28269322e+00] [-1.27085421e-02 9.99919212e-01 -2.50517111e-04 2.14290635e-01] [ 5.24943918e-03 3.17251996e-04 9.99986171e-01 6.93450746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.28956246 meters Centerline goodness [0,1] 0.9956218247903845 Centerline is valid? [True, True] Translation: X:-4.31, Y:0.21, Z:0.07 [[ 9.99912710e-01 1.22174674e-02 -5.03054588e-03 -4.31422707e+00] [-1.22188276e-02 9.99925319e-01 -2.39741737e-04 2.12991104e-01] [ 5.02724116e-03 3.01188183e-04 9.99987318e-01 6.94977281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.31956246 meters Centerline goodness [0,1] 0.9960663975615783 Centerline is valid? [True, True] Translation: X:-4.35, Y:0.21, Z:0.07 [[ 9.99907111e-01 1.30429118e-02 -3.95620677e-03 -4.34517668e+00] [-1.30437603e-02 9.99914909e-01 -1.88741570e-04 2.11596197e-01] [ 3.95340839e-03 2.40327850e-04 9.99992156e-01 7.39263281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3495624600000005 meters Centerline goodness [0,1] 0.995619266998478 Centerline is valid? [True, True] Translation: X:-4.38, Y:0.21, Z:0.07 [[ 9.99891242e-01 1.43808749e-02 -3.27019222e-03 -4.37729135e+00] [-1.43814634e-02 9.99896569e-01 -1.56493803e-04 2.14042553e-01] [ 3.26760347e-03 2.03506932e-04 9.99994641e-01 7.27239964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.37956246 meters Centerline goodness [0,1] 0.9944660113983645 Centerline is valid? [True, True] Translation: X:-4.41, Y:0.22, Z:0.07 [[ 9.99898334e-01 1.33811986e-02 -4.92591622e-03 -4.41010358e+00] [-1.33825222e-02 9.99910422e-01 -2.35852071e-04 2.17643868e-01] [ 4.92231899e-03 3.01749276e-04 9.99987840e-01 6.98463720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.40956246 meters Centerline goodness [0,1] 0.9957290527575464 Centerline is valid? [True, True] Translation: X:-4.44, Y:0.21, Z:0.07 [[ 9.99875799e-01 1.38605867e-02 -7.50137240e-03 -4.44050260e+00] [-1.38636663e-02 9.99903830e-01 -3.58691871e-04 2.11061042e-01] [ 7.49567932e-03 4.62643845e-04 9.99971800e-01 7.36096520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.43956246 meters Centerline goodness [0,1] 0.9926155115511551 Centerline is valid? [True, True] Translation: X:-4.47, Y:0.22, Z:0.07 [[ 9.99889992e-01 1.43326307e-02 -3.81820265e-03 -4.47149003e+00] [-1.43334313e-02 9.99897254e-01 -1.82394517e-04 2.21403227e-01] [ 3.81519615e-03 2.37102398e-04 9.99992694e-01 7.44774492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.46956246 meters Centerline goodness [0,1] 0.9924154987633965 Centerline is valid? [True, True] Translation: X:-4.50, Y:0.22, Z:0.08 [[ 9.99881537e-01 1.52972099e-02 -1.70510166e-03 -4.50237313e+00] [-1.52973720e-02 9.99882985e-01 -8.20374718e-05 2.23558498e-01] [ 1.70364720e-03 1.08111328e-04 9.99998543e-01 7.70292013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.49956246 meters Centerline goodness [0,1] 0.992831393552374 Centerline is valid? [True, True] Translation: X:-4.53, Y:0.23, Z:0.08 [[ 9.99844271e-01 1.70870203e-02 -4.41209558e-03 -4.53202704e+00] [-1.70881158e-02 9.99853965e-01 -2.10728632e-04 2.25086757e-01] [ 4.40785054e-03 2.86090216e-04 9.99990244e-01 7.70724513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.52956246 meters Centerline goodness [0,1] 0.9927186468646865 Centerline is valid? [True, True] Translation: X:-4.56, Y:0.23, Z:0.08 [[ 9.99817370e-01 1.75571891e-02 -7.54800747e-03 -4.56245798e+00] [-1.75604132e-02 9.99845739e-01 -3.61089690e-04 2.27897620e-01] [ 7.54050339e-03 4.93569874e-04 9.99971448e-01 7.53366613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.55956246 meters Centerline goodness [0,1] 0.9952363276416728 Centerline is valid? [True, True] Translation: X:-4.59, Y:0.22, Z:0.08 [[ 9.99821956e-01 1.73574733e-02 -7.40092501e-03 -4.59318498e+00] [-1.73605800e-02 9.99849230e-01 -3.55732083e-04 2.21400175e-01] [ 7.39363457e-03 4.84153098e-04 9.99972550e-01 7.67602087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.58956246 meters Centerline goodness [0,1] 0.9932549504950495 Centerline is valid? [True, True] Translation: X:-4.62, Y:0.23, Z:0.08 [[ 9.99850463e-01 1.65323454e-02 -5.07286722e-03 -4.62466015e+00] [-1.65337933e-02 9.99863278e-01 -2.43609227e-04 2.25039179e-01] [ 5.06814622e-03 3.27446537e-04 9.99987103e-01 8.05369969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.61956246 meters Centerline goodness [0,1] 0.9951922084889503 Centerline is valid? [True, True] Translation: X:-4.66, Y:0.23, Z:0.08 [[ 9.99841613e-01 1.70321102e-02 -5.16294301e-03 -4.65557975e+00] [-1.70336188e-02 9.99854887e-01 -2.48357217e-04 2.26124197e-01] [ 5.15796375e-03 3.36261483e-04 9.99986641e-01 8.20284588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.64956246 meters Centerline goodness [0,1] 0.9887656692067819 Centerline is valid? [True, True] Translation: X:-4.69, Y:0.24, Z:0.08 [[ 9.99844547e-01 1.65756282e-02 -6.01087001e-03 -4.68880886e+00] [-1.65776677e-02 9.99862539e-01 -2.89640897e-04 2.40957285e-01] [ 6.00524277e-03 3.89242077e-04 9.99981893e-01 7.82928966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.67956246 meters Centerline goodness [0,1] 0.9919206908633731 Centerline is valid? [True, True] Translation: X:-4.72, Y:0.23, Z:0.08 [[ 9.99848630e-01 1.62250057e-02 -6.28226268e-03 -4.71952361e+00] [-1.62272270e-02 9.99868284e-01 -3.02768266e-04 2.31920956e-01] [ 6.27652279e-03 4.04666139e-04 9.99980221e-01 7.89064332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.70956246 meters Centerline goodness [0,1] 0.9928319841809307 Centerline is valid? [True, True] Translation: X:-4.75, Y:0.23, Z:0.08 [[ 9.99881801e-01 1.36330186e-02 -7.10808849e-03 -4.74891350e+00] [-1.36357929e-02 9.99906970e-01 -3.41987611e-04 2.27874135e-01] [ 7.10276490e-03 4.38871611e-04 9.99974679e-01 8.16845431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.73956246 meters Centerline goodness [0,1] 0.9958029234808857 Centerline is valid? [True, True] Translation: X:-4.78, Y:0.22, Z:0.08 [[ 9.99901358e-01 1.18530287e-02 -7.53521070e-03 -4.77963561e+00] [-1.18560961e-02 9.99929648e-01 -3.62537511e-04 2.24980899e-01] [ 7.53038342e-03 4.51839932e-04 9.99971544e-01 8.02921239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.76956246 meters Centerline goodness [0,1] 0.9949476202260167 Centerline is valid? [True, True] Translation: X:-4.81, Y:0.23, Z:0.08 [[ 9.99924648e-01 9.79472059e-03 -7.40013640e-03 -4.80920664e+00] [-9.79761851e-03 9.99951939e-01 -3.55451200e-04 2.25452977e-01] [ 7.39629919e-03 4.27928129e-04 9.99972555e-01 7.86189548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.79956246 meters Centerline goodness [0,1] 0.9949476202260167 Centerline is valid? [True, True] Translation: X:-4.84, Y:0.22, Z:0.08 [[ 9.99922179e-01 1.00434205e-02 -7.40033846e-03 -4.83653299e+00] [-1.00462941e-02 9.99949473e-01 -3.51236751e-04 2.23965876e-01] [ 7.39643693e-03 4.25555394e-04 9.99972555e-01 7.89192432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.82956246 meters Centerline goodness [0,1] 0.9961839933993399 Centerline is valid? [True, True] Translation: X:-4.86, Y:0.22, Z:0.08 [[ 9.99927561e-01 9.51079431e-03 -7.37688355e-03 -4.86409551e+00] [-9.51364457e-03 9.99954683e-01 -3.51382122e-04 2.19523805e-01] [ 7.37320732e-03 4.21537717e-04 9.99972729e-01 8.10862434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.85956246 meters Centerline goodness [0,1] 0.995184557516637 Centerline is valid? [True, True] Translation: X:-4.89, Y:0.22, Z:0.08 [[ 9.99909322e-01 1.13956877e-02 -7.17535000e-03 -4.89313118e+00] [-1.13984304e-02 9.99934977e-01 -3.41469481e-04 2.23306473e-01] [ 7.17099216e-03 4.23226245e-04 9.99974199e-01 7.98118661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.88956246 meters Centerline goodness [0,1] 0.9949418102561993 Centerline is valid? [True, True] Translation: X:-4.92, Y:0.23, Z:0.08 [[ 9.99862281e-01 1.51887925e-02 -6.68724757e-03 -4.92215285e+00] [-1.51912594e-02 9.99884556e-01 -3.18246405e-04 2.26018685e-01] [ 6.68164178e-03 4.19790289e-04 9.99977589e-01 8.26810207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.91956246 meters Centerline goodness [0,1] 0.9921264698626757 Centerline is valid? [True, True] Translation: X:-4.95, Y:0.23, Z:0.08 [[ 9.99774935e-01 1.95969761e-02 -8.12632117e-03 -4.95290696e+00] [-1.96007678e-02 9.99807812e-01 -3.87209898e-04 2.33012691e-01] [ 8.11717125e-03 5.46404885e-04 9.99966906e-01 8.09902922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.94956246 meters Centerline goodness [0,1] 0.9915876067051115 Centerline is valid? [True, True] Translation: X:-4.98, Y:0.23, Z:0.08 [[ 9.99703259e-01 2.29078658e-02 -8.28397037e-03 -4.98252378e+00] [-2.29119179e-02 9.99737410e-01 -3.94559334e-04 2.31312411e-01] [ 8.27275657e-03 5.84243901e-04 9.99965609e-01 8.45571133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.97956246 meters Centerline goodness [0,1] 0.9896905099295586 Centerline is valid? [True, True] Translation: X:-5.01, Y:0.24, Z:0.08 [[ 9.99671083e-01 2.47163378e-02 -6.84318828e-03 -5.01468885e+00] [-2.47191516e-02 9.99694382e-01 -3.26901288e-04 2.35227519e-01] [ 6.83301708e-03 4.95951573e-04 9.99976532e-01 8.45472989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.00956246 meters Centerline goodness [0,1] 0.9829456405180236 Centerline is valid? [True, True] Translation: X:-5.05, Y:0.24, Z:0.09 [[ 9.99562549e-01 2.87174946e-02 -7.07222260e-03 -5.04541421e+00] [-2.87205955e-02 9.99587422e-01 -3.37273886e-04 2.42693450e-01] [ 7.05961909e-03 5.40244790e-04 9.99974935e-01 8.51321934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.03956246 meters Centerline goodness [0,1] 0.9756566303651506 Centerline is valid? [True, True] Translation: X:-5.08, Y:0.25, Z:0.08 [[ 9.99546398e-01 2.89803982e-02 -8.19355574e-03 -5.07780878e+00] [-2.89845792e-02 9.99579782e-01 -3.91969863e-04 2.50885772e-01] [ 8.17875322e-03 6.29278829e-04 9.99966355e-01 7.77807827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.06956246 meters Centerline goodness [0,1] 0.9836377946232551 Centerline is valid? [True, True] Translation: X:-5.11, Y:0.24, Z:0.08 [[ 9.99493506e-01 3.08335040e-02 -7.87563400e-03 -5.10840185e+00] [-3.08374234e-02 9.99524343e-01 -3.76691125e-04 2.41016341e-01] [ 7.86027319e-03 6.19364594e-04 9.99968916e-01 8.31210740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.09956246 meters Centerline goodness [0,1] 0.9874429459509697 Centerline is valid? [True, True] Translation: X:-5.14, Y:0.23, Z:0.09 [[ 9.99531427e-01 2.96758972e-02 -7.50117211e-03 -5.13903421e+00] [-2.96794247e-02 9.99559404e-01 -3.59360691e-04 2.33245706e-01] [ 7.48720277e-03 5.81822777e-04 9.99971801e-01 8.69011225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.12956246 meters Centerline goodness [0,1] 0.9860858794384806 Centerline is valid? [True, True] Translation: X:-5.17, Y:0.24, Z:0.08 [[ 9.99555033e-01 2.87920246e-02 -7.79452117e-03 -5.17129743e+00] [-2.87958121e-02 9.99585245e-01 -3.74098624e-04 2.38388187e-01] [ 7.78051730e-03 5.98381730e-04 9.99969552e-01 8.23829354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.15956246 meters Centerline goodness [0,1] 0.9836322407750979 Centerline is valid? [True, True] Translation: X:-5.20, Y:0.24, Z:0.08 [[ 9.99543425e-01 2.88807619e-02 -8.87931000e-03 -5.20411334e+00] [-2.88856847e-02 9.99582631e-01 -4.26630964e-04 2.43124603e-01] [ 8.86328262e-03 6.82921124e-04 9.99960487e-01 7.99475230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.18956246 meters Centerline goodness [0,1] 0.9764667024482887 Centerline is valid? [True, True] Translation: X:-5.24, Y:0.26, Z:0.08 [[ 9.99543308e-01 2.87202474e-02 -9.39798384e-03 -5.23720621e+00] [-2.87257601e-02 9.99587228e-01 -4.52097404e-04 2.55287516e-01] [ 9.38112026e-03 7.21855164e-04 9.99955736e-01 7.83066490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.21956246 meters Centerline goodness [0,1] 0.9833860269047177 Centerline is valid? [True, True] Translation: X:-5.27, Y:0.25, Z:0.08 [[ 9.99534066e-01 2.88536238e-02 -9.95586410e-03 -5.26795169e+00] [-2.88598360e-02 9.99583353e-01 -4.80841943e-04 2.47905585e-01] [ 9.93784198e-03 7.67942508e-04 9.99950324e-01 7.95221621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.24956246 meters Centerline goodness [0,1] 0.981797497155859 Centerline is valid? [True, True] Translation: X:-5.30, Y:0.25, Z:0.08 [[ 9.99508588e-01 3.00387467e-02 -8.95853536e-03 -5.29995561e+00] [-3.00438212e-02 9.99548489e-01 -4.32380064e-04 2.51977950e-01] [ 8.94150233e-03 7.01316223e-04 9.99959778e-01 8.41053870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.27956246 meters Centerline goodness [0,1] 0.9827161516010846 Centerline is valid? [True, True] Translation: X:-5.33, Y:0.25, Z:0.09 [[ 9.99520213e-01 2.98646342e-02 -8.21268889e-03 -5.33067418e+00] [-2.98688941e-02 9.99553746e-01 -3.96513745e-04 2.52658036e-01] [ 8.19718221e-03 6.41627438e-04 9.99966197e-01 8.62549357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3095624599999995 meters Centerline goodness [0,1] 0.9838425320971522 Centerline is valid? [True, True] Translation: X:-5.36, Y:0.26, Z:0.09 [[ 9.99457124e-01 3.12507881e-02 -1.04328646e-02 -5.36099841e+00] [-3.12577332e-02 9.99511231e-01 -5.03259928e-04 2.56854309e-01] [ 1.04120380e-02 8.29094418e-04 9.99945450e-01 8.57130824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.33956246 meters Centerline goodness [0,1] 0.9783812720047768 Centerline is valid? [True, True] Translation: X:-5.39, Y:0.26, Z:0.08 [[ 9.99479106e-01 3.05084619e-02 -1.05238343e-02 -5.39394107e+00] [-3.05155025e-02 9.99534164e-01 -5.09059502e-04 2.64189005e-01] [ 1.05034013e-02 8.29934428e-04 9.99944493e-01 8.32237714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.36956246 meters Centerline goodness [0,1] 0.9781236417823954 Centerline is valid? [True, True] Translation: X:-5.43, Y:0.27, Z:0.09 [[ 9.99500833e-01 3.01416286e-02 -9.46397213e-03 -5.42646819e+00] [-3.01473123e-02 9.99545361e-01 -4.58441982e-04 2.67992116e-01] [ 9.44585126e-03 7.43526466e-04 9.99955111e-01 8.60380580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.39956246 meters Centerline goodness [0,1] 0.9811632859830862 Centerline is valid? [True, True] Translation: X:-5.46, Y:0.27, Z:0.09 [[ 9.99516062e-01 2.93751179e-02 -1.02344932e-02 -5.45735276e+00] [-2.93817274e-02 9.99568141e-01 -4.96016060e-04 2.65348003e-01] [ 1.02155028e-02 7.96483107e-04 9.99947503e-01 8.59290331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.42956246 meters Centerline goodness [0,1] 0.9823729234848171 Centerline is valid? [True, True] Translation: X:-5.49, Y:0.26, Z:0.09 [[ 9.99558270e-01 2.77144609e-02 -1.07318903e-02 -5.48801431e+00] [-2.77216312e-02 9.99615547e-01 -5.19923562e-04 2.63580497e-01] [ 1.07133550e-02 8.17199401e-04 9.99942276e-01 8.60506437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.45956246 meters Centerline goodness [0,1] 0.9827856995246952 Centerline is valid? [True, True] Translation: X:-5.52, Y:0.26, Z:0.09 [[ 9.99611065e-01 2.57237310e-02 -1.07707642e-02 -5.51954251e+00] [-2.57308440e-02 9.99668771e-01 -5.22326516e-04 2.64177948e-01] [ 1.07537604e-02 7.99264217e-04 9.99941857e-01 8.59229215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.48956246 meters Centerline goodness [0,1] 0.9858015109179344 Centerline is valid? [True, True] Translation: X:-5.55, Y:0.26, Z:0.09 [[ 9.99676033e-01 2.28875769e-02 -1.11349718e-02 -5.54902056e+00] [-2.28950000e-02 9.99737729e-01 -5.39619543e-04 2.60104574e-01] [ 1.11197008e-02 7.94379904e-04 9.99937859e-01 8.56840736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.51956246 meters Centerline goodness [0,1] 0.9871977828793613 Centerline is valid? [True, True] Translation: X:-5.58, Y:0.26, Z:0.08 [[ 9.99670370e-01 2.30885258e-02 -1.12281634e-02 -5.58006778e+00] [-2.30960983e-02 9.99733101e-01 -5.45206021e-04 2.59732406e-01] [ 1.12125787e-02 8.04353071e-04 9.99936814e-01 8.40392302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.54956246 meters Centerline goodness [0,1] 0.986224923759932 Centerline is valid? [True, True] Translation: X:-5.61, Y:0.26, Z:0.09 [[ 9.99665963e-01 2.34463836e-02 -1.08733310e-02 -5.61197884e+00] [-2.34535159e-02 9.99724789e-01 -5.28879130e-04 2.59735536e-01] [ 1.08579383e-02 7.83720307e-04 9.99940744e-01 8.70272181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.57956246 meters Centerline goodness [0,1] 0.9823798579621923 Centerline is valid? [True, True] Translation: X:-5.64, Y:0.27, Z:0.08 [[ 9.99670718e-01 2.34492164e-02 -1.04206021e-02 -5.64499266e+00] [-2.34557746e-02 9.99724747e-01 -5.07567077e-04 2.66378195e-01] [ 1.04058318e-02 7.51823239e-04 9.99945575e-01 8.45601513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.60956246 meters Centerline goodness [0,1] 0.9859230626123985 Centerline is valid? [True, True] Translation: X:-5.68, Y:0.26, Z:0.09 [[ 9.99675621e-01 2.28178390e-02 -1.13136488e-02 -5.67547010e+00] [-2.28255328e-02 9.99739312e-01 -5.51370716e-04 2.58197750e-01] [ 1.12981183e-02 8.09431924e-04 9.99935847e-01 8.67448730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.63956246 meters Centerline goodness [0,1] 0.9837997969795529 Centerline is valid? [True, True] Translation: X:-5.71, Y:0.26, Z:0.09 [[ 9.99642220e-01 2.40510171e-02 -1.17039044e-02 -5.70735718e+00] [-2.40593415e-02 9.99710369e-01 -5.70948052e-04 2.61012983e-01] [ 1.16867827e-02 8.52332010e-04 9.99931344e-01 8.52971004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.66956246 meters Centerline goodness [0,1] 0.9825526304947885 Centerline is valid? [True, True] Translation: X:-5.74, Y:0.26, Z:0.09 [[ 9.99650264e-01 2.37350542e-02 -1.16617861e-02 -5.73959512e+00] [-2.37433079e-02 9.99717926e-01 -5.69800026e-04 2.63218080e-01] [ 1.16449724e-02 8.46490125e-04 9.99931837e-01 8.52658001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.69956246 meters Centerline goodness [0,1] 0.9846594565420463 Centerline is valid? [True, True] Translation: X:-5.77, Y:0.26, Z:0.09 [[ 9.99644958e-01 2.40647100e-02 -1.14388948e-02 -5.77093978e+00] [-2.40726772e-02 9.99710055e-01 -5.59307694e-04 2.60153360e-01] [ 1.14221186e-02 8.34473938e-04 9.99934417e-01 8.54265644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.72956246 meters Centerline goodness [0,1] 0.9821173548587395 Centerline is valid? [True, True] Translation: X:-5.80, Y:0.26, Z:0.09 [[ 9.99616862e-01 2.53317124e-02 -1.11549423e-02 -5.80229737e+00] [-2.53393696e-02 9.99678758e-01 -5.45623221e-04 2.64540941e-01] [ 1.11375372e-02 8.28073377e-04 9.99937633e-01 8.75800841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.75956246 meters Centerline goodness [0,1] 0.9837151074968444 Centerline is valid? [True, True] Translation: X:-5.83, Y:0.26, Z:0.09 [[ 9.99606337e-01 2.58189725e-02 -1.09795832e-02 -5.83362056e+00] [-2.58264278e-02 9.99666298e-01 -5.37743124e-04 2.61441404e-01] [ 1.09620353e-02 8.21094846e-04 9.99939578e-01 8.97468172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.78956246 meters Centerline goodness [0,1] 0.9851372581445345 Centerline is valid? [True, True] Translation: X:-5.87, Y:0.26, Z:0.09 [[ 9.99623798e-01 2.51185841e-02 -1.10144625e-02 -5.86586753e+00] [-2.51260543e-02 9.99684145e-01 -5.40336410e-04 2.61423020e-01] [ 1.09974110e-02 8.16883116e-04 9.99939193e-01 8.99735196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.81956246 meters Centerline goodness [0,1] 0.983093338858386 Centerline is valid? [True, True] Translation: X:-5.90, Y:0.26, Z:0.09 [[ 9.99605927e-01 2.45837026e-02 -1.35511030e-02 -5.89814840e+00] [-2.45949709e-02 9.99697276e-01 -6.65489244e-04 2.64190860e-01] [ 1.35306405e-02 9.98515975e-04 9.99907958e-01 8.77508404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.84956246 meters Centerline goodness [0,1] 0.9838659633881477 Centerline is valid? [True, True] Translation: X:-5.93, Y:0.26, Z:0.09 [[ 9.99635480e-01 2.32301617e-02 -1.37574109e-02 -5.92893895e+00] [-2.32416437e-02 9.99729648e-01 -6.75294078e-04 2.63231965e-01] [ 1.37380044e-02 9.94792763e-04 9.99905134e-01 8.84065816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.87956246 meters Centerline goodness [0,1] 0.985202249756138 Centerline is valid? [True, True] Translation: X:-5.96, Y:0.26, Z:0.09 [[ 9.99701014e-01 2.14547404e-02 -1.17292814e-02 -5.95836372e+00] [-2.14629586e-02 9.99769479e-01 -5.75213051e-04 2.61799597e-01] [ 1.17142365e-02 8.26786151e-04 9.99931044e-01 9.34961530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.90956246 meters Centerline goodness [0,1] 0.9815763384005287 Centerline is valid? [True, True] Translation: X:-5.99, Y:0.27, Z:0.09 [[ 9.99756347e-01 1.89690903e-02 -1.12880868e-02 -5.99034517e+00] [-1.89765542e-02 9.99819775e-01 -5.54465397e-04 2.72202428e-01] [ 1.12755347e-02 7.68539290e-04 9.99936134e-01 9.19814707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.93956246 meters Centerline goodness [0,1] 0.9883154018637756 Centerline is valid? [True, True] Translation: X:-6.02, Y:0.26, Z:0.09 [[ 9.99769415e-01 1.73939758e-02 -1.25922899e-02 -6.02038742e+00] [-1.74031396e-02 9.99848363e-01 -6.18509051e-04 2.63741816e-01] [ 1.25796221e-02 8.37511811e-04 9.99920523e-01 9.07614251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.96956246 meters Centerline goodness [0,1] 0.9896670255943013 Centerline is valid? [True, True] Translation: X:-6.05, Y:0.26, Z:0.09 [[ 9.99819693e-01 1.31351966e-02 -1.37130338e-02 -6.05080301e+00] [-1.31456621e-02 9.99913365e-01 -6.73311466e-04 2.60480811e-01] [ 1.37030017e-02 8.53456972e-04 9.99905745e-01 8.98053485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.99956246 meters Centerline goodness [0,1] 0.9869325571313556 Centerline is valid? [True, True] Translation: X:-6.08, Y:0.27, Z:0.09 [[ 9.99858763e-01 1.06765344e-02 -1.29794429e-02 -6.08083706e+00] [-1.06856990e-02 9.99942703e-01 -6.36938370e-04 2.65529985e-01] [ 1.29718989e-02 7.75542829e-04 9.99915561e-01 9.09236236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.02956246 meters Centerline goodness [0,1] 0.9923809523809524 Centerline is valid? [True, True] Translation: X:-6.11, Y:0.26, Z:0.10 [[ 9.99886452e-01 9.83074242e-03 -1.14210254e-02 -6.10909633e+00] [-9.83777275e-03 9.99951451e-01 -5.59541333e-04 2.62075388e-01] [ 1.14149702e-02 6.71835250e-04 9.99934621e-01 9.75009655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0595624599999995 meters Centerline goodness [0,1] 0.9894752108065552 Centerline is valid? [True, True] Translation: X:-6.14, Y:0.27, Z:0.10 [[ 9.99873070e-01 1.08938815e-02 -1.16261039e-02 -6.13778057e+00] [-1.09011855e-02 9.99940421e-01 -5.65048325e-04 2.66509920e-01] [ 1.16192556e-02 6.91714919e-04 9.99932255e-01 9.61145254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.08956246 meters Centerline goodness [0,1] 0.9914127481280206 Centerline is valid? [True, True] Translation: X:-6.16, Y:0.26, Z:0.10 [[ 9.99851494e-01 9.74985771e-03 -1.42101888e-02 -6.16493876e+00] [-9.76064988e-03 9.99952125e-01 -6.90309648e-04 2.64274449e-01] [ 1.42027781e-02 8.28907812e-04 9.99898792e-01 9.61339699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.11956246 meters Centerline goodness [0,1] 0.9898835260773321 Centerline is valid? [True, True] Translation: X:-6.19, Y:0.27, Z:0.10 [[ 9.99861142e-01 9.71900611e-03 -1.35364949e-02 -6.19368295e+00] [-9.72874097e-03 9.99952461e-01 -6.53491121e-04 2.70118776e-01] [ 1.35295001e-02 7.85093431e-04 9.99908164e-01 9.65876236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.14956246 meters Centerline goodness [0,1] 0.992194293759576 Centerline is valid? [True, True] Translation: X:-6.22, Y:0.27, Z:0.10 [[ 9.99876736e-01 1.01672220e-02 -1.19641059e-02 -6.22094333e+00] [-1.01748624e-02 9.99948068e-01 -5.77910483e-04 2.67838709e-01] [ 1.19576088e-02 6.99572379e-04 9.99928261e-01 9.83785530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.17956246 meters Centerline goodness [0,1] 0.9918583560062659 Centerline is valid? [True, True] Translation: X:-6.25, Y:0.27, Z:0.10 [[ 9.99861315e-01 1.08689859e-02 -1.26180885e-02 -6.24954259e+00] [-1.08774849e-02 9.99940655e-01 -6.05117807e-04 2.69436593e-01] [ 1.26107627e-02 7.42286953e-04 9.99920206e-01 9.99576895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.20956246 meters Centerline goodness [0,1] 0.9896392382767981 Centerline is valid? [True, True] Translation: X:-6.28, Y:0.28, Z:0.10 [[ 9.99833183e-01 1.13968838e-02 -1.42729635e-02 -6.27913476e+00] [-1.14077759e-02 9.99934697e-01 -6.81942831e-04 2.75776721e-01] [ 1.42642594e-02 8.44651839e-04 9.99897904e-01 9.57261497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.23956246 meters Centerline goodness [0,1] 0.9902548259346037 Centerline is valid? [True, True] Translation: X:-6.31, Y:0.28, Z:0.10 [[ 9.99850295e-01 1.12527957e-02 -1.31439321e-02 -6.30824901e+00] [-1.12619778e-02 9.99936387e-01 -6.24774785e-04 2.76951401e-01] [ 1.31360655e-02 7.72707925e-04 9.99913420e-01 9.76523707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.26956246 meters Centerline goodness [0,1] 0.9911383494140544 Centerline is valid? [True, True] Translation: X:-6.34, Y:0.27, Z:0.10 [[ 9.99872495e-01 1.14348757e-02 -1.11461675e-02 -6.33597875e+00] [-1.14414817e-02 9.99934404e-01 -5.29083246e-04 2.73788644e-01] [ 1.11393864e-02 6.56544457e-04 9.99937740e-01 1.01640374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.29956246 meters Centerline goodness [0,1] 0.9879777796202637 Centerline is valid? [True, True] Translation: X:-6.37, Y:0.28, Z:0.10 [[ 9.99854384e-01 1.28256446e-02 -1.12567267e-02 -6.36538176e+00] [-1.28324332e-02 9.99917520e-01 -5.31046532e-04 2.76137709e-01] [ 1.12489873e-02 6.75420397e-04 9.99936500e-01 1.01928315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.32956246 meters Centerline goodness [0,1] 0.989441430996646 Centerline is valid? [True, True] Translation: X:-6.39, Y:0.28, Z:0.10 [[ 9.99819714e-01 1.30059757e-02 -1.38341610e-02 -6.39337448e+00] [-1.30162577e-02 9.99915071e-01 -6.53454968e-04 2.76253000e-01] [ 1.38244873e-02 8.33406165e-04 9.99904090e-01 9.55561942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.35956246 meters Centerline goodness [0,1] 0.9875856342121653 Centerline is valid? [True, True] Translation: X:-6.42, Y:0.28, Z:0.09 [[ 9.99823505e-01 1.21486478e-02 -1.43306846e-02 -6.42179580e+00] [-1.21595770e-02 9.99925841e-01 -6.75756447e-04 2.79634140e-01] [ 1.43214123e-02 8.49892242e-04 9.99897082e-01 9.24966289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.38956246 meters Centerline goodness [0,1] 0.990747831846501 Centerline is valid? [True, True] Translation: X:-6.45, Y:0.27, Z:0.10 [[ 9.99869106e-01 8.95041286e-03 -1.34781624e-02 -6.45070802e+00] [-8.95979171e-03 9.99959658e-01 -6.35631297e-04 2.70874810e-01] [ 1.34719295e-02 7.56309624e-04 9.99908963e-01 9.50449901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.41956246 meters Centerline goodness [0,1] 0.9901053767009625 Centerline is valid? [True, True] Translation: X:-6.48, Y:0.27, Z:0.10 [[ 9.99885253e-01 8.64228978e-03 -1.24414904e-02 -6.47953833e+00] [-8.65019677e-03 9.99962417e-01 -5.81860528e-04 2.71165536e-01] [ 1.24359942e-02 6.89415102e-04 9.99922432e-01 9.62284791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.44956246 meters Centerline goodness [0,1] 0.9865116857284932 Centerline is valid? [True, True] Translation: X:-6.51, Y:0.28, Z:0.10 [[ 9.99900954e-01 8.52690146e-03 -1.11971013e-02 -6.50836700e+00] [-8.53326897e-03 9.99963455e-01 -5.21022046e-04 2.78293565e-01] [ 1.11922494e-02 6.16518318e-04 9.99937175e-01 9.50402501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.47956246 meters Centerline goodness [0,1] 0.991595420953485 Centerline is valid? [True, True] Translation: X:-6.54, Y:0.27, Z:0.10 [[ 9.99885717e-01 9.27361666e-03 -1.19395583e-02 -6.53524798e+00] [-9.28090741e-03 9.99956777e-01 -5.55374657e-04 2.68072245e-01] [ 1.19338919e-02 6.66121122e-04 9.99928567e-01 9.99382285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.50956246 meters Centerline goodness [0,1] 0.9900095344691788 Centerline is valid? [True, True] Translation: X:-6.56, Y:0.27, Z:0.10 [[ 9.99854171e-01 9.44919593e-03 -1.42249338e-02 -6.56437299e+00] [-9.45950352e-03 9.99955042e-01 -6.57503193e-04 2.70152478e-01] [ 1.42180814e-02 7.91968121e-04 9.99898604e-01 9.87733314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.53956246 meters Centerline goodness [0,1] 0.9863255678630063 Centerline is valid? [True, True] Translation: X:-6.60, Y:0.28, Z:0.10 [[ 9.99799893e-01 1.29845071e-02 -1.52176290e-02 -6.59531131e+00] [-1.29967510e-02 9.99915289e-01 -7.05967815e-04 2.79187283e-01] [ 1.52071733e-02 9.03606282e-04 9.99883956e-01 9.53462652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.56956246 meters Centerline goodness [0,1] 0.9862911575895631 Centerline is valid? [True, True] Translation: X:-6.62, Y:0.28, Z:0.10 [[ 9.99765773e-01 1.68257290e-02 -1.36122830e-02 -6.62443151e+00] [-1.68358703e-02 9.99858068e-01 -6.30754670e-04 2.82223912e-01] [ 1.35997381e-02 8.59781561e-04 9.99907150e-01 9.75255725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.59956246 meters Centerline goodness [0,1] 0.9845030577859134 Centerline is valid? [True, True] Translation: X:-6.65, Y:0.28, Z:0.10 [[ 9.99687813e-01 2.13161948e-02 -1.30344163e-02 -6.65399945e+00] [-2.13258718e-02 9.99772395e-01 -6.03857350e-04 2.83253533e-01] [ 1.30185777e-02 8.81639125e-04 9.99914866e-01 1.00499247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.62956246 meters Centerline goodness [0,1] 0.984786618857131 Centerline is valid? [True, True] Translation: X:-6.68, Y:0.28, Z:0.10 [[ 9.99667358e-01 2.21963453e-02 -1.31337667e-02 -6.68452452e+00] [-2.22062590e-02 9.99753225e-01 -6.09456253e-04 2.78121704e-01] [ 1.31169979e-02 9.00905347e-04 9.99913563e-01 1.04709835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.65956246 meters Centerline goodness [0,1] 0.9798090662469714 Centerline is valid? [True, True] Translation: X:-6.72, Y:0.28, Z:0.10 [[ 9.99681301e-01 2.19604029e-02 -1.24513721e-02 -6.71608955e+00] [-2.19693003e-02 9.99758479e-01 -5.78224901e-04 2.83750502e-01] [ 1.24356668e-02 8.51588554e-04 9.99922311e-01 1.01190143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.68956246 meters Centerline goodness [0,1] 0.9835252619566345 Centerline is valid? [True, True] Translation: X:-6.75, Y:0.28, Z:0.10 [[ 9.99684746e-01 2.11745207e-02 -1.34925201e-02 -6.74682638e+00] [-2.11849077e-02 9.99775378e-01 -6.27355438e-04 2.76937197e-01] [ 1.34762054e-02 9.12995454e-04 9.99908775e-01 1.00474521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.71956246 meters Centerline goodness [0,1] 0.9835252619566345 Centerline is valid? [True, True] Translation: X:-6.78, Y:0.28, Z:0.10 [[ 9.99685427e-01 2.11423433e-02 -1.34925079e-02 -6.77773430e+00] [-2.11527309e-02 9.99776059e-01 -6.27617395e-04 2.75544088e-01] [ 1.34762171e-02 9.12823353e-04 9.99908775e-01 1.00813331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.74956246 meters Centerline goodness [0,1] 0.9843743515252127 Centerline is valid? [True, True] Translation: X:-6.81, Y:0.27, Z:0.10 [[ 9.99756977e-01 1.84188401e-02 -1.21133151e-02 -6.80764706e+00] [-1.84270083e-02 9.99830050e-01 -5.63038275e-04 2.72982363e-01] [ 1.21008860e-02 7.86113602e-04 9.99926473e-01 1.02662373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.77956246 meters Centerline goodness [0,1] 0.9862687925222822 Centerline is valid? [True, True] Translation: X:-6.84, Y:0.27, Z:0.10 [[ 9.99785381e-01 1.73416646e-02 -1.13340004e-02 -6.83700218e+00] [-1.73487431e-02 9.99849361e-01 -5.26505773e-04 2.67391102e-01] [ 1.13231625e-02 7.23023435e-04 9.99935630e-01 1.02191379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8095624599999995 meters Centerline goodness [0,1] 0.9874733420295256 Centerline is valid? [True, True] Translation: X:-6.87, Y:0.26, Z:0.10 [[ 9.99782014e-01 1.66982481e-02 -1.25337028e-02 -6.86759808e+00] [-1.67068613e-02 9.99860261e-01 -5.82808456e-04 2.63044333e-01] [ 1.25222195e-02 7.92080246e-04 9.99921280e-01 9.99405364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.83956246 meters Centerline goodness [0,1] 0.9873107515939441 Centerline is valid? [True, True] Translation: X:-6.90, Y:0.26, Z:0.10 [[ 9.99779426e-01 1.71614703e-02 -1.21071332e-02 -6.89661226e+00] [-1.71694755e-02 9.99852438e-01 -5.57563159e-04 2.61407050e-01] [ 1.20957781e-02 7.65313303e-04 9.99926551e-01 1.03910531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.86956246 meters Centerline goodness [0,1] 0.9853464690785662 Centerline is valid? [True, True] Translation: X:-6.93, Y:0.27, Z:0.11 [[ 9.99759768e-01 1.96754121e-02 -9.65840693e-03 -6.92697334e+00] [-1.96806392e-02 9.99806218e-01 -4.46442465e-04 2.68009996e-01] [ 9.64775137e-03 6.36418837e-04 9.99953257e-01 1.05691795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.89956246 meters Centerline goodness [0,1] 0.9797528103844482 Centerline is valid? [True, True] Translation: X:-6.96, Y:0.28, Z:0.10 [[ 9.99688475e-01 2.17622111e-02 -1.22212196e-02 -6.95845656e+00] [-2.17707430e-02 9.99762829e-01 -5.65504600e-04 2.77514110e-01] [ 1.22060145e-02 8.31393463e-04 9.99925158e-01 1.01175125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.92956246 meters Centerline goodness [0,1] 0.9796845818634572 Centerline is valid? [True, True] Translation: X:-6.99, Y:0.27, Z:0.10 [[ 9.99535469e-01 2.54795974e-02 -1.67223523e-02 -6.98742324e+00] [-2.54960780e-02 9.99674623e-01 -7.73061147e-04 2.71577401e-01] [ 1.66972140e-02 1.19905643e-03 9.99859873e-01 9.97072130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.95956246 meters Centerline goodness [0,1] 0.9722822922731431 Centerline is valid? [True, True] Translation: X:-7.02, Y:0.28, Z:0.10 [[ 9.99197335e-01 3.43773585e-02 -2.05641253e-02 -7.01853811e+00] [-3.44041641e-02 9.99407549e-01 -9.51046287e-04 2.77280133e-01] [ 2.05192476e-02 1.65777446e-03 9.99788084e-01 9.65520376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.98956246 meters Centerline goodness [0,1] 0.9660692354128937 Centerline is valid? [True, True] Translation: X:-7.05, Y:0.28, Z:0.10 [[ 9.98898926e-01 4.23620374e-02 -2.01592114e-02 -7.04815827e+00] [-4.23893982e-02 9.99100731e-01 -9.31675223e-04 2.82469924e-01] [ 2.01016152e-02 1.78518622e-03 9.99796348e-01 9.80830801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0195624599999995 meters Centerline goodness [0,1] 0.9430465508974546 Centerline is valid? [True, False] Translation: X:-7.04, Y:0.28, Z:0.10 [[ 9.98519803e-01 5.22924365e-02 -1.49567744e-02 -7.03621540e+00] [-5.22778335e-02 9.98631645e-01 1.36593150e-03 2.77611461e-01] [ 1.50077361e-02 -5.82001891e-04 9.99887208e-01 1.00116928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.04956246 meters Centerline goodness [0,1] 0.9449241588814216 Centerline is valid? [False, False] Translation: X:-7.03, Y:0.27, Z:0.10 [[ 9.98192816e-01 5.78281084e-02 -1.63404905e-02 -7.02508171e+00] [-5.78072200e-02 9.98326234e-01 1.74816896e-03 2.70699678e-01] [ 1.64142336e-02 -8.00411367e-04 9.99864957e-01 1.03071181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.07956246 meters Centerline goodness [0,1] 0.9097310208744418 Centerline is valid? [False, False] Translation: X:-7.02, Y:0.27, Z:0.10 [[ 9.97993845e-01 6.12909142e-02 -1.58653418e-02 -7.01889401e+00] [-6.12213567e-02 9.98112508e-01 4.83386602e-03 2.67811767e-01] [ 1.61316681e-02 -3.85287079e-03 9.99862453e-01 9.67136114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.10956246 meters Centerline goodness [0,1] 0.9279513167732824 Centerline is valid? [False, False] Translation: X:-7.02, Y:0.26, Z:0.10 [[ 9.98157709e-01 5.85774253e-02 -1.58073766e-02 -7.01876297e+00] [-5.85325504e-02 9.98280089e-01 3.28713464e-03 2.57479823e-01] [ 1.59727412e-02 -2.35583272e-03 9.99869652e-01 9.60153558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.13956246 meters Centerline goodness [0,1] 0.9344112580169783 Centerline is valid? [False, False] Translation: X:-7.02, Y:0.24, Z:0.10 [[ 9.98345760e-01 5.53497032e-02 -1.55613164e-02 -7.02230240e+00] [-5.53204892e-02 9.98465996e-01 2.30190658e-03 2.43639437e-01] [ 1.56648551e-02 -1.43723903e-03 9.99876266e-01 9.89231701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.16956246 meters Centerline goodness [0,1] 0.9511321028318107 Centerline is valid? [False, True] Translation: X:-7.03, Y:0.23, Z:0.10 [[ 9.98950009e-01 4.28498402e-02 -1.62101792e-02 -7.02874366e+00] [-4.27547744e-02 9.99066566e-01 6.16652218e-03 2.31585070e-01] [ 1.64592826e-02 -5.46698483e-03 9.99849591e-01 9.96539777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.19956246 meters Centerline goodness [0,1] 0.9610554331101593 Centerline is valid? [True, True] Translation: X:-7.06, Y:0.21, Z:0.10 [[ 9.99095597e-01 3.83839556e-02 -1.82937403e-02 -7.05730754e+00] [-3.84097352e-02 9.99261512e-01 -1.05980478e-03 2.05778991e-01] [ 1.82395511e-02 1.76150401e-03 9.99832094e-01 1.00832119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2295624599999995 meters Centerline goodness [0,1] 0.9571810328755205 Centerline is valid? [True, True] Translation: X:-7.09, Y:0.20, Z:0.10 [[ 9.99155450e-01 3.57972369e-02 -2.01728732e-02 -7.08741131e+00] [-3.58280605e-02 9.99357286e-01 -1.16852000e-03 1.95253453e-01] [ 2.01180780e-02 1.89028805e-03 9.99795824e-01 9.60358769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.25956246 meters Centerline goodness [0,1] 0.9497796262958594 Centerline is valid? [True, False] Translation: X:-7.09, Y:0.18, Z:0.10 [[ 9.99201880e-01 3.52603282e-02 -1.87699842e-02 -7.09165797e+00] [-3.52600535e-02 9.99378111e-01 3.45683466e-04 1.80757397e-01] [ 1.87705003e-02 3.16423078e-04 9.99823769e-01 9.74236029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.28956246 meters Centerline goodness [0,1] 0.951571248527923 Centerline is valid? [False, True] Translation: X:-7.09, Y:0.17, Z:0.10 [[ 9.99247687e-01 3.43685307e-02 -1.79684059e-02 -7.09343387e+00] [-3.43647280e-02 9.99409223e-01 5.20447047e-04 1.71935131e-01] [ 1.79756776e-02 9.74238718e-05 9.99838420e-01 9.73178061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.31956246 meters Centerline goodness [0,1] 0.9541926269379645 Centerline is valid? [True, True] Translation: X:-7.12, Y:0.15, Z:0.10 [[ 9.99104947e-01 3.81125193e-02 -1.83505151e-02 -7.12173756e+00] [-3.81395955e-02 9.99271785e-01 -1.12766750e-03 1.48180298e-01] [ 1.82941737e-02 1.82653940e-03 9.99830979e-01 9.70133134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.34956246 meters Centerline goodness [0,1] 0.9291540192859651 Centerline is valid? [True, False] Translation: X:-7.12, Y:0.14, Z:0.10 [[ 9.99127447e-01 3.80350263e-02 -1.72534584e-02 -7.12400157e+00] [-3.80396981e-02 9.99276227e-01 5.74475782e-05 1.37322577e-01] [ 1.72431558e-02 5.98918895e-04 9.99851146e-01 9.68836907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.37956246 meters Centerline goodness [0,1] 0.9474861260664292 Centerline is valid? [False, False] Translation: X:-7.13, Y:0.12, Z:0.10 [[ 9.99207011e-01 3.63198589e-02 -1.63161655e-02 -7.12937055e+00] [-3.63115724e-02 9.99340194e-01 8.03931555e-04 1.17620158e-01] [ 1.63345987e-02 -2.10828420e-04 9.99866559e-01 9.77408663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.40956246 meters Centerline goodness [0,1] 0.942043079724389 Centerline is valid? [False, False] Translation: X:-7.15, Y:0.10, Z:0.10 [[ 9.99356282e-01 3.18514938e-02 -1.65076641e-02 -7.14907711e+00] [-3.17682821e-02 9.99481321e-01 5.27881211e-03 9.82323392e-02] [ 1.66672400e-02 -4.75099392e-03 9.99849804e-01 9.83456908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.43956246 meters Centerline goodness [0,1] 0.9585002271131849 Centerline is valid? [False, True] Translation: X:-7.17, Y:0.09, Z:0.10 [[ 9.99583539e-01 2.53877751e-02 -1.37189646e-02 -7.17147146e+00] [-2.52970366e-02 9.99657206e-01 6.74765945e-03 8.61978842e-02] [ 1.38855698e-02 -6.39780017e-03 9.99883123e-01 9.89486396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.46956246 meters Centerline goodness [0,1] 0.963732597413296 Centerline is valid? [True, True] Translation: X:-7.20, Y:0.05, Z:0.10 [[ 9.99647653e-01 2.23321110e-02 -1.43473462e-02 -7.19849975e+00] [-2.23492265e-02 9.99749690e-01 -1.03369285e-03 5.01461945e-02] [ 1.43206704e-02 1.35398072e-03 9.99896537e-01 1.02106603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.49956246 meters Centerline goodness [0,1] 0.958501274985605 Centerline is valid? [True, True] Translation: X:-7.23, Y:0.04, Z:0.10 [[ 9.99626654e-01 2.22604053e-02 -1.58438341e-02 -7.22587590e+00] [-2.22811695e-02 9.99751099e-01 -1.13521879e-03 3.69430368e-02] [ 1.58146201e-02 1.48781412e-03 9.99873834e-01 9.88836418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.52956246 meters Centerline goodness [0,1] 0.9503210753443043 Centerline is valid? [True, True] Translation: X:-7.25, Y:0.02, Z:0.10 [[ 9.99582684e-01 2.41421352e-02 -1.58623846e-02 -7.25487800e+00] [-2.41632062e-02 9.99707379e-01 -1.13802569e-03 2.08926327e-02] [ 1.58302686e-02 1.52083684e-03 9.99873537e-01 1.03200443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5595624599999995 meters Centerline goodness [0,1] 0.9361206701147767 Centerline is valid? [True, False] Translation: X:-7.32, Y:0.00, Z:0.11 [[ 9.99585479e-01 2.29947641e-02 -1.73237206e-02 -7.32060612e+00] [-2.29944384e-02 9.99735569e-01 2.18012506e-04 4.73857234e-03] [ 1.73241529e-02 1.80427093e-04 9.99849909e-01 1.05510302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.58956246 meters Centerline goodness [0,1] 0.9537199644635441 Centerline is valid? [False, True] Translation: X:-7.37, Y:-0.01, Z:0.10 [[ 9.99549396e-01 2.34754618e-02 -1.87058444e-02 -7.36821439e+00] [-2.34242909e-02 9.99721261e-01 2.95001533e-03 -5.55381536e-03] [ 1.87698834e-02 -2.51051490e-03 9.99820678e-01 1.04386083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.61956246 meters Centerline goodness [0,1] 0.9062758051197357 Centerline is valid? [True, False] Translation: X:-7.43, Y:-0.02, Z:0.11 [[ 9.99507226e-01 2.24099793e-02 -2.19794838e-02 -7.42922696e+00] [-2.23259331e-02 9.99742494e-01 4.06183749e-03 -2.18996285e-02] [ 2.20648497e-02 -3.56912343e-03 9.99750171e-01 1.05680973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.64956246 meters Centerline goodness [0,1] 0.911468315301391 Centerline is valid? [False, False] Translation: X:-7.49, Y:-0.03, Z:0.11 [[ 9.99481786e-01 2.21875781e-02 -2.33210212e-02 -7.48546415e+00] [-2.20337937e-02 9.99733891e-01 6.83067651e-03 -3.47608065e-02] [ 2.34663715e-02 -6.31328619e-03 9.99704692e-01 1.06672635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.67956246 meters Centerline goodness [0,1] 0.9222155898153676 Centerline is valid? [False, False] Translation: X:-7.51, Y:-0.04, Z:0.11 [[ 0.99952789 0.01803052 -0.02487773 -7.51143541] [-0.01781374 0.99980164 0.0089082 -0.04203511] [ 0.02503341 -0.00846083 0.99965081 0.10856758] [ 0. 0. 0. 1. ]] SLAMing on 7.70956246 meters Centerline goodness [0,1] 0.9218898287600578 Centerline is valid? [False, False] Translation: X:-7.55, Y:-0.06, Z:0.11 [[ 0.99949 0.01791172 -0.02643678 -7.54650966] [-0.01767614 0.99980219 0.00911779 -0.0606624 ] [ 0.02659487 -0.00864584 0.9996089 0.10948669] [ 0. 0. 0. 1. ]] SLAMing on 7.73956246 meters Centerline goodness [0,1] 0.9215018473796107 Centerline is valid? [False, False] Translation: X:-7.55, Y:-0.07, Z:0.11 [[ 9.99570930e-01 1.44951959e-02 -2.54527926e-02 -7.55413623e+00] [-1.43171510e-02 9.99871844e-01 7.16347290e-03 -7.32942993e-02] [ 2.55533666e-02 -6.79598780e-03 9.99650359e-01 1.13771012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7695624599999995 meters Centerline goodness [0,1] 0.9236479539378984 Centerline is valid? [False, False] Translation: X:-7.56, Y:-0.09, Z:0.12 [[ 9.99610664e-01 1.26423757e-02 -2.48735077e-02 -7.55895667e+00] [-1.24645765e-02 9.99895738e-01 7.29024630e-03 -8.78642866e-02] [ 2.49630804e-02 -6.97737020e-03 9.99664024e-01 1.16314906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.79956246 meters Centerline goodness [0,1] 0.9237520344465275 Centerline is valid? [False, False] Translation: X:-7.56, Y:-0.10, Z:0.12 [[ 9.99667339e-01 8.66824513e-03 -2.42914087e-02 -7.56101166e+00] [-8.55229588e-03 9.99951554e-01 4.87309422e-03 -9.94501061e-02] [ 2.43324731e-02 -4.66372582e-03 9.99693043e-01 1.16908185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.82956246 meters Centerline goodness [0,1] 0.9221865877225444 Centerline is valid? [False, False] Translation: X:-7.57, Y:-0.12, Z:0.12 [[ 9.99725953e-01 7.48168186e-03 -2.21820597e-02 -7.56613244e+00] [-7.34155113e-03 9.99952621e-01 6.39202068e-03 -1.17031448e-01] [ 2.22288318e-02 -6.22741823e-03 9.99733514e-01 1.18710954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.85956246 meters Centerline goodness [0,1] 0.9465955431066442 Centerline is valid? [False, False] Translation: X:-7.57, Y:-0.13, Z:0.12 [[ 9.99765395e-01 4.90738097e-03 -2.10967430e-02 -7.57115435e+00] [-4.79355336e-03 9.99973699e-01 5.44269453e-03 -1.29248789e-01] [ 2.11228975e-02 -5.34028929e-03 9.99762624e-01 1.21629644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.88956246 meters Centerline goodness [0,1] 0.95133117485719 Centerline is valid? [False, True] Translation: X:-7.59, Y:-0.13, Z:0.12 [[ 9.99741917e-01 -1.65240656e-03 -2.26576271e-02 -7.58628750e+00] [ 1.83256954e-03 9.99966853e-01 7.93308114e-03 -1.34375183e-01] [ 2.26437674e-02 -7.97255543e-03 9.99711808e-01 1.18977961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.91956246 meters Centerline goodness [0,1] 0.9407526350461133 Centerline is valid? [True, False] Translation: X:-7.61, Y:-0.15, Z:0.12 [[ 0.99961079 -0.00884348 -0.02645869 -7.60649392] [ 0.00911969 0.99990498 0.01033698 -0.14714447] [ 0.02636476 -0.01057425 0.99959646 0.12006619] [ 0. 0. 0. 1. ]] SLAMing on 7.94956246 meters Centerline goodness [0,1] 0.9723518408123831 Centerline is valid? [False, True] Translation: X:-7.62, Y:-0.16, Z:0.13 [[ 9.99557317e-01 -1.38915660e-02 -2.63095985e-02 -7.61608025e+00] [ 1.40880119e-02 9.99874139e-01 7.29610919e-03 -1.60122560e-01] [ 2.62049328e-02 -7.66352926e-03 9.99627216e-01 1.25723325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9795624599999995 meters Centerline goodness [0,1] 0.9720651949659583 Centerline is valid? [True, True] Translation: X:-7.64, Y:-0.18, Z:0.13 [[ 9.99471115e-01 -2.09232446e-02 -2.48939542e-02 -7.64428375e+00] [ 2.08735263e-02 9.99779580e-01 -2.25540862e-03 -1.80691622e-01] [ 2.49356576e-02 1.73459116e-03 9.99687553e-01 1.31835568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.00956246 meters Centerline goodness [0,1] 0.9812938425565082 Centerline is valid? [True, True] Translation: X:-7.67, Y:-0.20, Z:0.13 [[ 9.99362643e-01 -2.52222876e-02 -2.52615083e-02 -7.67268914e+00] [ 2.51724679e-02 9.99680504e-01 -2.28826854e-03 -1.95265599e-01] [ 2.53111527e-02 1.65091559e-03 9.99678258e-01 1.31657287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.039562459999999 meters Centerline goodness [0,1] 0.9833720428339465 Centerline is valid? [True, True] Translation: X:-7.70, Y:-0.21, Z:0.13 [[ 9.99274745e-01 -2.79180025e-02 -2.58953316e-02 -7.70254774e+00] [ 2.78665526e-02 9.99608900e-01 -2.34565638e-03 -2.05537673e-01] [ 2.59506900e-02 1.62234156e-03 9.99661908e-01 1.28459211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.069562459999998 meters Centerline goodness [0,1] 0.9775727757277572 Centerline is valid? [True, True] Translation: X:-7.73, Y:-0.20, Z:0.13 [[ 9.99281792e-01 -2.75870992e-02 -2.59779271e-02 -7.73040524e+00] [ 2.75353680e-02 9.99618075e-01 -2.34703390e-03 -2.04663616e-01] [ 2.60327533e-02 1.63003646e-03 9.99659761e-01 1.28237138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.09956246 meters Centerline goodness [0,1] 0.9848656206946187 Centerline is valid? [True, True] Translation: X:-7.76, Y:-0.22, Z:0.14 [[ 9.99372546e-01 -2.56218868e-02 -2.44547025e-02 -7.75783653e+00] [ 2.55755042e-02 9.99670456e-01 -2.20761114e-03 -2.15026110e-01] [ 2.45032068e-02 1.58078462e-03 9.99698502e-01 1.37853851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.129562459999999 meters Centerline goodness [0,1] 0.9801526089549784 Centerline is valid? [True, True] Translation: X:-7.79, Y:-0.21, Z:0.13 [[ 9.99395555e-01 -2.32860901e-02 -2.58124415e-02 -7.78840959e+00] [ 2.32336496e-02 9.99727348e-01 -2.32969236e-03 -2.10516115e-01] [ 2.58596531e-02 1.72856697e-03 9.99664089e-01 1.33074378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.159562459999998 meters Centerline goodness [0,1] 0.9801586483980632 Centerline is valid? [True, True] Translation: X:-7.82, Y:-0.21, Z:0.13 [[ 9.99397541e-01 -2.12739084e-02 -2.74221773e-02 -7.81747682e+00] [ 2.12139900e-02 9.99771897e-01 -2.47414125e-03 -2.10451958e-01] [ 2.74685569e-02 1.89091688e-03 9.99620880e-01 1.30008763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.18956246 meters Centerline goodness [0,1] 0.9793163061598305 Centerline is valid? [True, True] Translation: X:-7.85, Y:-0.21, Z:0.13 [[ 9.99450573e-01 -1.80700540e-02 -2.77853393e-02 -7.84748022e+00] [ 1.80073127e-02 9.99834713e-01 -2.50665183e-03 -2.11945407e-01] [ 2.78260420e-02 2.00493532e-03 9.99610770e-01 1.29670362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.219562459999999 meters Centerline goodness [0,1] 0.9654627863573905 Centerline is valid? [True, True] Translation: X:-7.88, Y:-0.20, Z:0.13 [[ 9.99510906e-01 -1.85180643e-02 -2.51997907e-02 -7.87751946e+00] [ 1.84666427e-02 9.99826896e-01 -2.27176620e-03 -2.04449162e-01] [ 2.52374973e-02 1.80529956e-03 9.99679854e-01 1.31399647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.249562459999998 meters Centerline goodness [0,1] 0.9595183297714943 Centerline is valid? [True, True] Translation: X:-7.91, Y:-0.20, Z:0.13 [[ 9.99562351e-01 -1.76472386e-02 -2.37419745e-02 -7.90643397e+00] [ 1.76014640e-02 9.99842801e-01 -2.13561922e-03 -2.01937221e-01] [ 2.37759301e-02 1.71679105e-03 9.99715839e-01 1.34501725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.27956246 meters Centerline goodness [0,1] 0.9677253571795662 Centerline is valid? [True, True] Translation: X:-7.93, Y:-0.21, Z:0.13 [[ 9.99529839e-01 -1.81579121e-02 -2.47060780e-02 -7.93397810e+00] [ 1.81085489e-02 9.99833562e-01 -2.22030103e-03 -2.07418110e-01] [ 2.47422820e-02 1.77186591e-03 9.99692293e-01 1.31612710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.309562459999999 meters Centerline goodness [0,1] 0.968277108186354 Centerline is valid? [True, True] Translation: X:-7.96, Y:-0.21, Z:0.13 [[ 9.99442101e-01 -1.97177252e-02 -2.69573236e-02 -7.96300070e+00] [ 1.96596659e-02 9.99803808e-01 -2.41711631e-03 -2.07503223e-01] [ 2.69996948e-02 1.88579583e-03 9.99633663e-01 1.25647755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.33956246 meters Centerline goodness [0,1] 0.9746661187589891 Centerline is valid? [True, True] Translation: X:-7.99, Y:-0.22, Z:0.12 [[ 9.99379074e-01 -2.23643560e-02 -2.72268522e-02 -7.99160106e+00] [ 2.23061360e-02 9.99748209e-01 -2.44021282e-03 -2.16086097e-01] [ 2.72745705e-02 1.83137176e-03 9.99626302e-01 1.24830728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.36956246 meters Centerline goodness [0,1] 0.9847109903903533 Centerline is valid? [True, True] Translation: X:-8.02, Y:-0.22, Z:0.13 [[ 9.99293968e-01 -2.70674384e-02 -2.60560754e-02 -8.02037704e+00] [ 2.70157181e-02 9.99632282e-01 -2.33500215e-03 -2.24495066e-01] [ 2.61096966e-02 1.62942997e-03 9.99657756e-01 1.32886023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.399562459999999 meters Centerline goodness [0,1] 0.9770131441343531 Centerline is valid? [True, True] Translation: X:-8.05, Y:-0.21, Z:0.13 [[ 9.99280022e-01 -2.93285092e-02 -2.40681756e-02 -8.05195490e+00] [ 2.92850353e-02 9.99568774e-01 -2.15684497e-03 -2.13427594e-01] [ 2.41210538e-02 1.45045472e-03 9.99707993e-01 1.32382257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.42956246 meters Centerline goodness [0,1] 0.9856781282795234 Centerline is valid? [True, True] Translation: X:-8.08, Y:-0.22, Z:0.14 [[ 9.99228175e-01 -3.11320170e-02 -2.39551996e-02 -8.07971689e+00] [ 3.10894930e-02 9.99514302e-01 -2.14562349e-03 -2.22591271e-01] [ 2.40103622e-02 1.39921243e-03 9.99710731e-01 1.36519602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.459562459999999 meters Centerline goodness [0,1] 0.9852179276315789 Centerline is valid? [True, True] Translation: X:-8.11, Y:-0.21, Z:0.13 [[ 9.99215220e-01 -3.00402008e-02 -2.58172608e-02 -8.11029852e+00] [ 2.99904662e-02 9.99547512e-01 -2.31154172e-03 -2.13006280e-01] [ 2.58750180e-02 1.53545598e-03 9.99664006e-01 1.32778464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.489562459999998 meters Centerline goodness [0,1] 0.9828431875551542 Centerline is valid? [True, True] Translation: X:-8.14, Y:-0.21, Z:0.13 [[ 9.99188569e-01 -2.94983061e-02 -2.74235801e-02 -8.14024053e+00] [ 2.94420320e-02 9.99563478e-01 -2.45363976e-03 -2.05127638e-01] [ 2.74839873e-02 1.64424288e-03 9.99620892e-01 1.28158110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.51956246 meters Centerline goodness [0,1] 0.9802171191692832 Centerline is valid? [True, True] Translation: X:-8.17, Y:-0.20, Z:0.13 [[ 9.99288542e-01 -2.54727359e-02 -2.78127686e-02 -8.17152914e+00] [ 2.54133090e-02 9.99673933e-01 -2.48812521e-03 -1.97308399e-01] [ 2.78670791e-02 1.77954054e-03 9.99610054e-01 1.30570123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.549562459999999 meters Centerline goodness [0,1] 0.9744780535919777 Centerline is valid? [True, True] Translation: X:-8.20, Y:-0.19, Z:0.13 [[ 9.99413092e-01 -2.34054778e-02 -2.50131157e-02 -8.20157244e+00] [ 2.33569023e-02 9.99724698e-01 -2.23243876e-03 -1.86221739e-01] [ 2.50584809e-02 1.64689963e-03 9.99684630e-01 1.34917066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.579562459999998 meters Centerline goodness [0,1] 0.9711712452706037 Centerline is valid? [True, True] Translation: X:-8.23, Y:-0.17, Z:0.14 [[ 9.99558449e-01 -1.82922076e-02 -2.34158639e-02 -8.23158329e+00] [ 1.82482697e-02 9.99831305e-01 -2.08874212e-03 -1.71570973e-01] [ 2.34501214e-02 1.66052084e-03 9.99723629e-01 1.36383324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.60956246 meters Centerline goodness [0,1] 0.9711712452706037 Centerline is valid? [True, True] Translation: X:-8.26, Y:-0.17, Z:0.14 [[ 9.99562927e-01 -1.80451786e-02 -2.34163533e-02 -8.25891010e+00] [ 1.80013012e-02 9.99835793e-01 -2.08324810e-03 -1.74177215e-01] [ 2.34501007e-02 1.66081274e-03 9.99723629e-01 1.36344807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.639562459999999 meters Centerline goodness [0,1] 0.9734282129856241 Centerline is valid? [True, True] Translation: X:-8.29, Y:-0.17, Z:0.14 [[ 9.99607989e-01 -1.69439379e-02 -2.22883856e-02 -8.28760490e+00] [ 1.69039747e-02 9.99855157e-01 -1.98020318e-03 -1.70715543e-01] [ 2.23187097e-02 1.60266461e-03 9.99749622e-01 1.40305893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.66956246 meters Centerline goodness [0,1] 0.9760307203171129 Centerline is valid? [True, True] Translation: X:-8.32, Y:-0.16, Z:0.14 [[ 9.99564428e-01 -1.75172504e-02 -2.37508115e-02 -8.31665136e+00] [ 1.74721503e-02 9.99845134e-01 -2.10509354e-03 -1.63351316e-01] [ 2.37840087e-02 1.68919888e-03 9.99715693e-01 1.37846623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.69956246 meters Centerline goodness [0,1] 0.9687120978517834 Centerline is valid? [True, True] Translation: X:-8.35, Y:-0.14, Z:0.13 [[ 9.99512213e-01 -2.08051025e-02 -2.32912973e-02 -8.34870322e+00] [ 2.07626301e-02 9.99782303e-01 -2.06390464e-03 -1.44354234e-01] [ 2.33291666e-02 1.57930930e-03 9.99726591e-01 1.34792191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.729562459999999 meters Centerline goodness [0,1] 0.9814971256670719 Centerline is valid? [True, True] Translation: X:-8.38, Y:-0.15, Z:0.14 [[ 9.99449810e-01 -2.34098554e-02 -2.34958525e-02 -8.37739508e+00] [ 2.33673585e-02 9.99724779e-01 -2.08166647e-03 -1.54252559e-01] [ 2.35381174e-02 1.53148515e-03 9.99721767e-01 1.41855770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.75956246 meters Centerline goodness [0,1] 0.9818376288129667 Centerline is valid? [True, True] Translation: X:-8.41, Y:-0.15, Z:0.14 [[ 9.99298701e-01 -2.80807000e-02 -2.47705374e-02 -8.40803233e+00] [ 2.80348982e-02 9.99604536e-01 -2.19445187e-03 -1.48291661e-01] [ 2.48223633e-02 1.49847341e-03 9.99690755e-01 1.38733822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.789562459999999 meters Centerline goodness [0,1] 0.9832363020768818 Centerline is valid? [True, True] Translation: X:-8.44, Y:-0.14, Z:0.13 [[ 9.99138851e-01 -3.13577926e-02 -2.71706523e-02 -8.43856961e+00] [ 3.13039120e-02 9.99507016e-01 -2.40623797e-03 -1.41623633e-01] [ 2.72327119e-02 1.55361814e-03 9.99627914e-01 1.33454826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.819562459999998 meters Centerline goodness [0,1] 0.9861320035442726 Centerline is valid? [True, True] Translation: X:-8.47, Y:-0.14, Z:0.13 [[ 9.99095166e-01 -3.22451732e-02 -2.77326258e-02 -8.46731103e+00] [ 3.21894705e-02 9.99478775e-01 -2.45277117e-03 -1.35378747e-01] [ 2.77972609e-02 1.55785328e-03 9.99612368e-01 1.34799949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.84956246 meters Centerline goodness [0,1] 0.9840319361277445 Centerline is valid? [True, True] Translation: X:-8.50, Y:-0.13, Z:0.14 [[ 9.99199041e-01 -3.02181145e-02 -2.62324554e-02 -8.49641628e+00] [ 3.01677315e-02 9.99542171e-01 -2.31436192e-03 -1.29170401e-01] [ 2.62903810e-02 1.52113455e-03 9.99653191e-01 1.40257596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.879562459999999 meters Centerline goodness [0,1] 0.9756852708058125 Centerline is valid? [True, True] Translation: X:-8.53, Y:-0.10, Z:0.14 [[ 9.99467741e-01 -2.03713022e-02 -2.54802636e-02 -8.52904007e+00] [ 2.03206039e-02 9.99790990e-01 -2.24708217e-03 -1.04676410e-01] [ 2.55207140e-02 1.72811180e-03 9.99672800e-01 1.37180695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.909562459999998 meters Centerline goodness [0,1] 0.9652720357201918 Centerline is valid? [True, True] Translation: X:-8.56, Y:-0.09, Z:0.13 [[ 9.99498498e-01 -1.59073738e-02 -2.73807937e-02 -8.56023082e+00] [ 1.58471824e-02 9.99871512e-01 -2.41391363e-03 -8.99341649e-02] [ 2.74156747e-02 1.97879461e-03 9.99622161e-01 1.33424976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.93956246 meters Centerline goodness [0,1] 0.9578903996703749 Centerline is valid? [True, True] Translation: X:-8.59, Y:-0.08, Z:0.14 [[ 9.99626006e-01 -9.15322329e-03 -2.57694892e-02 -8.59187553e+00] [ 9.09768755e-03 9.99956035e-01 -2.27151578e-03 -7.70667874e-02] [ 2.57891479e-02 2.03622348e-03 9.99665331e-01 1.36798651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.969562459999999 meters Centerline goodness [0,1] 0.9651771004942339 Centerline is valid? [True, True] Translation: X:-8.62, Y:-0.08, Z:0.14 [[ 9.99683585e-01 -3.76499107e-03 -2.48707771e-02 -8.62077158e+00] [ 3.71162060e-03 9.99990710e-01 -2.19172506e-03 -7.86255718e-02] [ 2.48787979e-02 2.09872068e-03 9.99688272e-01 1.42677055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.999562459999998 meters Centerline goodness [0,1] 0.9583076226911843 Centerline is valid? [True, True] Translation: X:-8.65, Y:-0.07, Z:0.14 [[ 9.99682159e-01 -6.05662609e-04 -2.52034414e-02 -8.65244670e+00] [ 5.49863264e-04 9.99997383e-01 -2.22082879e-03 -6.86949068e-02] [ 2.52047205e-02 2.20626447e-03 9.99679876e-01 1.38216267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.02956246 meters Centerline goodness [0,1] 0.9485744957575507 Centerline is valid? [True, False] Translation: X:-8.66, Y:-0.07, Z:0.14 [[ 9.99667906e-01 -2.22952110e-03 -2.56730676e-02 -8.65601764e+00] [ 2.12670055e-03 9.99989612e-01 -4.03160435e-03 -6.64745908e-02] [ 2.56817894e-02 3.97566655e-03 9.99662263e-01 1.40746505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.059562459999999 meters Centerline goodness [0,1] 0.9631866313699536 Centerline is valid? [False, True] Translation: X:-8.67, Y:-0.06, Z:0.14 [[ 9.99737708e-01 -4.87362835e-03 -2.23777552e-02 -8.67357724e+00] [ 4.84704429e-03 9.99987482e-01 -1.24205433e-03 -6.01220619e-02] [ 2.23835284e-02 1.13326258e-03 9.99748815e-01 1.40094070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.08956246 meters Centerline goodness [0,1] 0.9592431761786601 Centerline is valid? [True, True] Translation: X:-8.70, Y:-0.06, Z:0.14 [[ 9.99748140e-01 -6.57835017e-03 -2.14565013e-02 -8.70461391e+00] [ 6.53749714e-03 9.99976683e-01 -1.97358266e-03 -5.67892123e-02] [ 2.14689839e-02 1.83281378e-03 9.99767835e-01 1.40750861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.11956246 meters Centerline goodness [0,1] 0.9592871123931184 Centerline is valid? [True, True] Translation: X:-8.73, Y:-0.06, Z:0.14 [[ 9.99693359e-01 -8.40657516e-03 -2.32920058e-02 -8.73401056e+00] [ 8.35894295e-03 9.99962770e-01 -2.14161144e-03 -6.01101277e-02] [ 2.33091423e-02 1.94625818e-03 9.99726411e-01 1.36361327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.149562459999999 meters Centerline goodness [0,1] 0.9635004851462664 Centerline is valid? [True, True] Translation: X:-8.76, Y:-0.06, Z:0.14 [[ 9.99688422e-01 -1.21301941e-02 -2.18155264e-02 -8.76383533e+00] [ 1.20892940e-02 9.99924910e-01 -2.00572458e-03 -6.26563984e-02] [ 2.18382181e-02 1.74136532e-03 9.99760001e-01 1.36378547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.17956246 meters Centerline goodness [0,1] 0.9645462953447744 Centerline is valid? [True, True] Translation: X:-8.79, Y:-0.06, Z:0.14 [[ 9.99688408e-01 -1.26809502e-02 -2.15007149e-02 -8.79246853e+00] [ 1.26413886e-02 9.99918144e-01 -1.97493694e-03 -6.14482053e-02] [ 2.15239990e-02 1.70252267e-03 9.99766882e-01 1.36964887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.209562459999999 meters Centerline goodness [0,1] 0.968014197569079 Centerline is valid? [True, True] Translation: X:-8.82, Y:-0.06, Z:0.14 [[ 9.99703119e-01 -1.02764275e-02 -2.20922631e-02 -8.82144643e+00] [ 1.02340885e-02 9.99945572e-01 -2.02867403e-03 -6.12208921e-02] [ 2.21119082e-02 1.80197758e-03 9.99753878e-01 1.37095464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.239562459999998 meters Centerline goodness [0,1] 0.9492508358443059 Centerline is valid? [True, False] Translation: X:-8.85, Y:-0.07, Z:0.14 [[ 9.99756819e-01 -4.62814187e-03 -2.15611430e-02 -8.84838156e+00] [ 4.51111091e-03 9.99974846e-01 -5.47334435e-03 -6.52158726e-02] [ 2.15859321e-02 5.37474863e-03 9.99752549e-01 1.42226584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.26956246 meters Centerline goodness [0,1] 0.9414121388596328 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.07, Z:0.15 [[ 9.99747497e-01 -1.06206284e-03 -2.24458038e-02 -8.89316898e+00] [ 9.20036198e-04 9.99979498e-01 -6.33691647e-03 -6.61399468e-02] [ 2.24520738e-02 6.31466543e-03 9.99727978e-01 1.45313500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.299562459999999 meters Centerline goodness [0,1] 0.9498559913802035 Centerline is valid? [False, False] Translation: X:-8.93, Y:-0.07, Z:0.15 [[ 9.99590191e-01 2.01184654e-03 -2.85552689e-02 -8.93204884e+00] [-2.20364781e-03 9.99975214e-01 -6.68696421e-03 -7.01179901e-02] [ 2.85411080e-02 6.74714958e-03 9.99569848e-01 1.46214617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.329562459999998 meters Centerline goodness [0,1] 0.9378032915522333 Centerline is valid? [False, False] Translation: X:-8.97, Y:-0.07, Z:0.15 [[ 9.99554205e-01 5.93223770e-03 -2.92609058e-02 -8.97006858e+00] [-6.09807779e-03 9.99965829e-01 -5.58165584e-03 -7.11793686e-02] [ 2.92267942e-02 5.75760284e-03 9.99556224e-01 1.45774280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.35956246 meters Centerline goodness [0,1] 0.9547955974842768 Centerline is valid? [False, True] Translation: X:-8.99, Y:-0.07, Z:0.15 [[ 9.99668204e-01 3.11240826e-03 -2.55694151e-02 -8.99110227e+00] [-3.19316045e-03 9.99990041e-01 -3.11793263e-03 -6.61402926e-02] [ 2.55594562e-02 3.19854535e-03 9.99668187e-01 1.46286891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.389562459999999 meters Centerline goodness [0,1] 0.9530560026412447 Centerline is valid? [True, True] Translation: X:-9.02, Y:-0.07, Z:0.15 [[ 9.99767942e-01 1.06024166e-04 -2.15418298e-02 -9.02070119e+00] [-1.51823001e-04 9.99997732e-01 -2.12441768e-03 -7.36044666e-02] [ 2.15415557e-02 2.12719524e-03 9.99765691e-01 1.47067183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.419562459999998 meters Centerline goodness [0,1] 0.958832273515567 Centerline is valid? [True, True] Translation: X:-9.05, Y:-0.09, Z:0.15 [[ 9.99731630e-01 -4.37549233e-03 -2.27491319e-02 -9.05001753e+00] [ 4.32557169e-03 9.99988129e-01 -2.24314282e-03 -8.58694384e-02] [ 2.27586767e-02 2.14413782e-03 9.99738689e-01 1.46223963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.44956246 meters Centerline goodness [0,1] 0.9640255009107468 Centerline is valid? [True, True] Translation: X:-9.08, Y:-0.10, Z:0.13 [[ 9.99485305e-01 -1.26993704e-02 -2.94593119e-02 -9.07890422e+00] [ 1.26192410e-02 9.99916156e-01 -2.90433566e-03 -9.96160699e-02] [ 2.94937252e-02 2.53108666e-03 9.99561761e-01 1.29926961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.479562459999999 meters Centerline goodness [0,1] 0.9727385634444214 Centerline is valid? [True, True] Translation: X:-9.11, Y:-0.12, Z:0.14 [[ 9.99408082e-01 -1.88122733e-02 -2.88024975e-02 -9.10809869e+00] [ 1.87382092e-02 9.99820393e-01 -2.83922511e-03 -1.16695878e-01] [ 2.88507367e-02 2.29783730e-03 9.99581090e-01 1.35236485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.50956246 meters Centerline goodness [0,1] 0.9693495265541375 Centerline is valid? [True, True] Translation: X:-9.14, Y:-0.12, Z:0.14 [[ 9.99497896e-01 -1.90611281e-02 -2.53106573e-02 -9.13718857e+00] [ 1.90040382e-02 9.99816296e-01 -2.49421889e-03 -1.24285540e-01] [ 2.53535502e-02 2.01196183e-03 9.99676522e-01 1.42743781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.539562459999999 meters Centerline goodness [0,1] 0.9648782501031778 Centerline is valid? [True, True] Translation: X:-9.17, Y:-0.12, Z:0.14 [[ 9.99620465e-01 -1.74763167e-02 -2.12956490e-02 -9.16578849e+00] [ 1.74356459e-02 9.99845795e-01 -2.09400937e-03 -1.21825926e-01] [ 2.13289606e-02 1.72191122e-03 9.99771029e-01 1.44707186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.569562459999998 meters Centerline goodness [0,1] 0.9655079771844259 Centerline is valid? [True, True] Translation: X:-9.19, Y:-0.13, Z:0.14 [[ 9.99711364e-01 -1.06084140e-02 -2.15557262e-02 -9.19480095e+00] [ 1.05651713e-02 9.99941942e-01 -2.11898360e-03 -1.26735407e-01] [ 2.15769538e-02 1.89063204e-03 9.99765403e-01 1.43909682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.59956246 meters Centerline goodness [0,1] 0.9425192462487875 Centerline is valid? [True, False] Translation: X:-9.21, Y:-0.14, Z:0.15 [[ 9.99692840e-01 -4.02142006e-03 -2.44551260e-02 -9.21427830e+00] [ 3.91413780e-03 9.99982513e-01 -4.43318904e-03 -1.36007980e-01] [ 2.44725261e-02 4.33610661e-03 9.99691099e-01 1.45330484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.629562459999999 meters Centerline goodness [0,1] 0.9348819967873471 Centerline is valid? [False, False] Translation: X:-9.25, Y:-0.14, Z:0.15 [[ 9.99558755e-01 1.15369696e-03 -2.96810571e-02 -9.24749628e+00] [-1.27271952e-03 9.99991224e-01 -3.99147178e-03 -1.44610938e-01] [ 2.96761916e-02 4.02748623e-03 9.99551451e-01 1.46124622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.659562459999998 meters Centerline goodness [0,1] 0.9339837600463998 Centerline is valid? [False, False] Translation: X:-9.27, Y:-0.14, Z:0.15 [[ 9.99606908e-01 -1.47302108e-03 -2.79974798e-02 -9.26861255e+00] [ 1.46354086e-03 9.99998865e-01 -3.59098333e-04 -1.44009702e-01] [ 2.79979770e-02 3.17981719e-04 9.99607929e-01 1.46418046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.68956246 meters Centerline goodness [0,1] 0.9418050541516245 Centerline is valid? [False, False] Translation: X:-9.30, Y:-0.15, Z:0.15 [[ 9.99656326e-01 -4.26068859e-03 -2.58665302e-02 -9.30179811e+00] [ 4.34482935e-03 9.99985449e-01 3.19755090e-03 -1.51208195e-01] [ 2.58525301e-02 -3.30883764e-03 9.99660291e-01 1.51646920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.719562459999999 meters Centerline goodness [0,1] 0.9374523892857878 Centerline is valid? [False, False] Translation: X:-9.34, Y:-0.16, Z:0.15 [[ 9.99582912e-01 -1.29656951e-02 -2.58049076e-02 -9.33893000e+00] [ 1.31735395e-02 9.99882011e-01 7.90081090e-03 -1.56355143e-01] [ 2.56994234e-02 -8.23745753e-03 9.99635776e-01 1.50459984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.749562459999998 meters Centerline goodness [0,1] 0.9627001908555307 Centerline is valid? [False, True] Translation: X:-9.36, Y:-0.17, Z:0.15 [[ 9.99483296e-01 -1.52123578e-02 -2.83147450e-02 -9.36413260e+00] [ 1.53117487e-02 9.99877334e-01 3.29670218e-03 -1.69792719e-01] [ 2.82611211e-02 -3.72854702e-03 9.99593621e-01 1.49144534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.77956246 meters Centerline goodness [0,1] 0.9575921416484379 Centerline is valid? [True, True] Translation: X:-9.39, Y:-0.19, Z:0.15 [[ 9.99349699e-01 -2.05405028e-02 -2.96355806e-02 -9.39282560e+00] [ 2.04557960e-02 9.99785769e-01 -3.15866062e-03 -1.85935134e-01] [ 2.96941123e-02 2.55038715e-03 9.99555779e-01 1.45783801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.809562459999999 meters Centerline goodness [0,1] 0.9657767240490671 Centerline is valid? [True, True] Translation: X:-9.42, Y:-0.20, Z:0.15 [[ 9.99195662e-01 -2.64657933e-02 -3.01262343e-02 -9.42163252e+00] [ 2.63809437e-02 9.99646807e-01 -3.21053080e-03 -2.01835584e-01] [ 3.02005631e-02 2.41318996e-03 9.99540946e-01 1.48252592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.83956246 meters Centerline goodness [0,1] 0.9620612366597437 Centerline is valid? [True, True] Translation: X:-9.45, Y:-0.21, Z:0.15 [[ 9.99304294e-01 -2.73607488e-02 -2.53439766e-02 -9.45137968e+00] [ 2.73010023e-02 9.99623610e-01 -2.70051073e-03 -2.05873851e-01] [ 2.54083254e-02 2.00671601e-03 9.99675142e-01 1.54297849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.86956246 meters Centerline goodness [0,1] 0.9688488883409362 Centerline is valid? [True, True] Translation: X:-9.48, Y:-0.22, Z:0.16 [[ 9.99401188e-01 -2.39270789e-02 -2.49951966e-02 -9.47917294e+00] [ 2.38679066e-02 9.99711574e-01 -2.66305087e-03 -2.18033016e-01] [ 2.50517063e-02 2.06487319e-03 9.99684024e-01 1.56520432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.899562459999999 meters Centerline goodness [0,1] 0.9651232587502329 Centerline is valid? [True, True] Translation: X:-9.51, Y:-0.22, Z:0.15 [[ 9.99428475e-01 -1.69837566e-02 -2.92279939e-02 -9.50812017e+00] [ 1.68999042e-02 9.99852339e-01 -3.11356643e-03 -2.19527038e-01] [ 2.92765581e-02 2.61783665e-03 9.99567922e-01 1.47152927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.92956246 meters Centerline goodness [0,1] 0.9499886712393664 Centerline is valid? [True, False] Translation: X:-9.53, Y:-0.23, Z:0.15 [[ 9.99544701e-01 -9.91709062e-03 -2.84963443e-02 -9.52823389e+00] [ 9.76217913e-03 9.99936834e-01 -5.57018041e-03 -2.25817448e-01] [ 2.85497843e-02 5.28945789e-03 9.99578377e-01 1.48265208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.959562459999999 meters Centerline goodness [0,1] 0.9312586416823163 Centerline is valid? [False, False] Translation: X:-9.55, Y:-0.23, Z:0.15 [[ 9.99645528e-01 -2.95759202e-03 -2.64588691e-02 -9.54697504e+00] [ 2.75987860e-03 9.99968022e-01 -7.50588172e-03 -2.34826704e-01] [ 2.64802224e-02 7.43019782e-03 9.99621723e-01 1.48764138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.989562459999998 meters Centerline goodness [0,1] 0.9352310231023102 Centerline is valid? [False, False] Translation: X:-9.55, Y:-0.24, Z:0.15 [[ 9.99587056e-01 -1.19199460e-03 -2.87105678e-02 -9.55376859e+00] [ 1.05709105e-03 9.99988333e-01 -4.71346170e-03 -2.40098959e-01] [ 2.87158512e-02 4.68116562e-03 9.99576654e-01 1.52060539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.01956246 meters Centerline goodness [0,1] 0.9372755417956656 Centerline is valid? [False, False] Translation: X:-9.57, Y:-0.24, Z:0.15 [[ 9.99658159e-01 -6.45007025e-03 -2.53369744e-02 -9.57002652e+00] [ 6.38859095e-03 9.99976451e-01 -2.50666432e-03 -2.42489402e-01] [ 2.53525459e-02 2.34393987e-03 9.99675825e-01 1.49161697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.049562459999999 meters Centerline goodness [0,1] 0.9583170616405977 Centerline is valid? [False, True] Translation: X:-9.60, Y:-0.25, Z:0.15 [[ 9.99688976e-01 -1.20081492e-02 -2.18576182e-02 -9.59666203e+00] [ 1.20359266e-02 9.99926916e-01 1.13971839e-03 -2.50794022e-01] [ 2.18423348e-02 -1.40244059e-03 9.99760444e-01 1.51733617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.079562459999998 meters Centerline goodness [0,1] 0.9603007828594973 Centerline is valid? [True, True] Translation: X:-9.62, Y:-0.27, Z:0.15 [[ 9.99514467e-01 -2.05707762e-02 -2.34024418e-02 -9.62467926e+00] [ 2.05187109e-02 9.99786436e-01 -2.46276207e-03 -2.70222430e-01] [ 2.34481048e-02 1.98137838e-03 9.99723092e-01 1.51098975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.10956246 meters Centerline goodness [0,1] 0.970096782198693 Centerline is valid? [True, True] Translation: X:-9.65, Y:-0.28, Z:0.14 [[ 9.99338353e-01 -2.58577719e-02 -2.55779651e-02 -9.65304621e+00] [ 2.57973019e-02 9.99663571e-01 -2.69135399e-03 -2.82227202e-01] [ 2.56389523e-02 2.02973077e-03 9.99669207e-01 1.44655227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.139562459999999 meters Centerline goodness [0,1] 0.977846927420352 Centerline is valid? [True, True] Translation: X:-9.68, Y:-0.30, Z:0.14 [[ 9.99189190e-01 -3.14903911e-02 -2.50861888e-02 -9.68136478e+00] [ 3.14339960e-02 9.99502345e-01 -2.63933016e-03 -2.97634264e-01] [ 2.51568181e-02 1.84863101e-03 9.99681808e-01 1.42192292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.169562459999998 meters Centerline goodness [0,1] 0.9787779372565102 Centerline is valid? [True, True] Translation: X:-9.71, Y:-0.31, Z:0.14 [[ 9.99075082e-01 -3.45869077e-02 -2.55485141e-02 -9.71094338e+00] [ 3.45294320e-02 9.99400068e-01 -2.68754332e-03 -3.06697161e-01] [ 2.56261405e-02 1.80288188e-03 9.99669971e-01 1.38394765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.19956246 meters Centerline goodness [0,1] 0.9772300711560277 Centerline is valid? [True, True] Translation: X:-9.74, Y:-0.31, Z:0.14 [[ 9.99069851e-01 -3.36340586e-02 -2.69848557e-02 -9.73816902e+00] [ 3.35696427e-02 9.99432355e-01 -2.83671922e-03 -3.13902947e-01] [ 2.70649482e-02 1.92820869e-03 9.99631818e-01 1.40655545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.229562459999999 meters Centerline goodness [0,1] 0.9780520979309207 Centerline is valid? [True, True] Translation: X:-9.77, Y:-0.32, Z:0.15 [[ 9.99329585e-01 -2.97645872e-02 -2.13178310e-02 -9.76633530e+00] [ 2.97235324e-02 9.99555648e-01 -2.24018949e-03 -3.19313799e-01] [ 2.13750367e-02 1.60504639e-03 9.99770239e-01 1.48841566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.25956246 meters Centerline goodness [0,1] 0.9704944342708998 Centerline is valid? [True, True] Translation: X:-9.80, Y:-0.31, Z:0.14 [[ 9.99479005e-01 -2.40378328e-02 -2.15383561e-02 -9.79772435e+00] [ 2.39946078e-02 9.99709526e-01 -2.26311074e-03 -3.11773212e-01] [ 2.15865000e-02 1.74512726e-03 9.99765461e-01 1.43593092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.289562459999999 meters Centerline goodness [0,1] 0.9692826448999733 Centerline is valid? [True, True] Translation: X:-9.83, Y:-0.31, Z:0.14 [[ 9.99540776e-01 -1.89595529e-02 -2.36383500e-02 -9.82720481e+00] [ 1.89060870e-02 9.99818180e-01 -2.48328460e-03 -3.14502911e-01] [ 2.36811340e-02 2.03523552e-03 9.99717491e-01 1.41417912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.319562459999998 meters Centerline goodness [0,1] 0.9475955483058371 Centerline is valid? [True, False] Translation: X:-9.87, Y:-0.32, Z:0.14 [[ 9.99541223e-01 -9.22680941e-03 -2.88480541e-02 -9.87172995e+00] [ 8.96073979e-03 9.99916242e-01 -9.33885479e-03 -3.22309194e-01] [ 2.89318057e-02 9.07607043e-03 9.99540182e-01 1.42819510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.34956246 meters Centerline goodness [0,1] 0.9355475172640579 Centerline is valid? [False, False] Translation: X:-9.91, Y:-0.33, Z:0.15 [[ 9.99604663e-01 -2.34115297e-03 -2.80185121e-02 -9.90920461e+00] [ 2.06299967e-03 9.99948347e-01 -9.95227540e-03 -3.27591669e-01] [ 2.80403647e-02 9.89053872e-03 9.99557860e-01 1.50837269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.379562459999999 meters Centerline goodness [0,1] 0.9545529392392558 Centerline is valid? [False, True] Translation: X:-9.93, Y:-0.33, Z:0.15 [[ 9.99684977e-01 -4.44852138e-03 -2.47013535e-02 -9.93464106e+00] [ 4.31442112e-03 9.99975680e-01 -5.47950599e-03 -3.27342884e-01] [ 2.47251285e-02 5.37120778e-03 9.99679858e-01 1.53126084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.409562459999998 meters Centerline goodness [0,1] 0.9572531373844122 Centerline is valid? [True, True] Translation: X:-9.96, Y:-0.33, Z:0.15 [[ 9.99609060e-01 -6.61238018e-03 -2.71662068e-02 -9.96473921e+00] [ 6.53706727e-03 9.99974543e-01 -2.86017739e-03 -3.29668821e-01] [ 2.71844278e-02 2.68147191e-03 9.99626839e-01 1.47488806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.43956246 meters Centerline goodness [0,1] 0.9470898381183837 Centerline is valid? [True, False] Translation: X:-9.99, Y:-0.33, Z:0.15 [[ 9.99381756e-01 -1.20097976e-02 -3.30434768e-02 -9.98991973e+00] [ 1.19882139e-02 9.99927776e-01 -8.51238847e-04 -3.28380422e-01] [ 3.30513135e-02 4.54580303e-04 9.99453553e-01 1.49295940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.469562459999999 meters Centerline goodness [0,1] 0.9656394929403277 Centerline is valid? [False, True] Translation: X:-10.03, Y:-0.34, Z:0.15 [[ 9.99361003e-01 -1.71285212e-02 -3.13719472e-02 -1.00340666e+01] [ 1.69632777e-02 9.99840843e-01 -5.52585502e-03 -3.36830676e-01] [ 3.14616039e-02 4.99015296e-03 9.99492504e-01 1.52154748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.499562459999998 meters Centerline goodness [0,1] 0.966295831705361 Centerline is valid? [True, True] Translation: X:-10.06, Y:-0.34, Z:0.15 [[ 9.99275480e-01 -2.20005427e-02 -3.10562446e-02 -1.00646567e+01] [ 2.19102108e-02 9.99754673e-01 -3.24601038e-03 -3.36187544e-01] [ 3.11200396e-02 2.56320971e-03 9.99512368e-01 1.49936149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.52956246 meters Centerline goodness [0,1] 0.966295831705361 Centerline is valid? [True, True] Translation: X:-10.09, Y:-0.34, Z:0.15 [[ 9.99280738e-01 -2.17597458e-02 -3.10567359e-02 -1.00919591e+01] [ 2.16694437e-02 9.99759936e-01 -3.24130441e-03 -3.39201502e-01] [ 3.11198102e-02 2.56599087e-03 9.99512368e-01 1.49599196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.559562459999999 meters Centerline goodness [0,1] 0.974984043319813 Centerline is valid? [True, True] Translation: X:-10.12, Y:-0.35, Z:0.14 [[ 9.98943243e-01 -2.87966711e-02 -3.58210567e-02 -1.01205114e+01] [ 2.86811448e-02 9.99581634e-01 -3.73488998e-03 -3.49725554e-01] [ 3.59136228e-02 2.70355420e-03 9.99351241e-01 1.41165394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.589562459999998 meters Centerline goodness [0,1] 0.9777864540522768 Centerline is valid? [True, True] Translation: X:-10.15, Y:-0.36, Z:0.14 [[ 9.98921274e-01 -3.16315362e-02 -3.39960954e-02 -1.01504670e+01] [ 3.15291301e-02 9.99496549e-01 -3.54430234e-03 -3.58561935e-01] [ 3.40910918e-02 2.46861169e-03 9.99415681e-01 1.43166270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.61956246 meters Centerline goodness [0,1] 0.9757505773672055 Centerline is valid? [True, True] Translation: X:-10.18, Y:-0.36, Z:0.15 [[ 9.98971666e-01 -3.41217790e-02 -2.98548904e-02 -1.01806780e+01] [ 3.40439254e-02 9.99415492e-01 -3.11230856e-03 -3.58546973e-01] [ 2.99436375e-02 2.09273041e-03 9.99549398e-01 1.48810763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.649562459999999 meters Centerline goodness [0,1] 0.9816440049443758 Centerline is valid? [True, True] Translation: X:-10.21, Y:-0.36, Z:0.15 [[ 9.98931886e-01 -3.38963538e-02 -3.14026197e-02 -1.02076623e+01] [ 3.38101780e-02 9.99422919e-01 -3.27131857e-03 -3.64475649e-01] [ 3.14953836e-02 2.20609627e-03 9.99501463e-01 1.45965593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.67956246 meters Centerline goodness [0,1] 0.9803921568627451 Centerline is valid? [True, True] Translation: X:-10.24, Y:-0.36, Z:0.14 [[ 9.98899746e-01 -3.02257330e-02 -3.58566984e-02 -1.02378739e+01] [ 3.01110773e-02 9.99539586e-01 -3.73345173e-03 -3.63754757e-01] [ 3.59530358e-02 2.64966017e-03 9.99349968e-01 1.38435956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.709562459999999 meters Centerline goodness [0,1] 0.9758735269229976 Centerline is valid? [True, True] Translation: X:-10.27, Y:-0.36, Z:0.14 [[ 9.99072735e-01 -2.59841324e-02 -3.43292182e-02 -1.02681345e+01] [ 2.58765725e-02 9.99658757e-01 -3.57384854e-03 -3.63271869e-01] [ 3.44103669e-02 2.68221213e-03 9.99404189e-01 1.44354671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.739562459999998 meters Centerline goodness [0,1] 0.9669928917276193 Centerline is valid? [True, True] Translation: X:-10.30, Y:-0.35, Z:0.15 [[ 9.99318698e-01 -2.05078281e-02 -3.06849809e-02 -1.02995366e+01] [ 2.04193406e-02 9.99786400e-01 -3.19435606e-03 -3.53602948e-01] [ 3.07439359e-02 2.56561266e-03 9.99524001e-01 1.51583240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.76956246 meters Centerline goodness [0,1] 0.9661044973544973 Centerline is valid? [True, True] Translation: X:-10.33, Y:-0.35, Z:0.14 [[ 9.99348211e-01 -1.42682164e-02 -3.31597865e-02 -1.03284612e+01] [ 1.41614860e-02 9.99893765e-01 -3.45131746e-03 -3.54115270e-01] [ 3.32055080e-02 2.97947607e-03 9.99444104e-01 1.44796127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.799562459999999 meters Centerline goodness [0,1] 0.9522346195887558 Centerline is valid? [True, True] Translation: X:-10.36, Y:-0.35, Z:0.15 [[ 9.99474272e-01 -8.77191547e-03 -3.12126930e-02 -1.03599331e+01] [ 8.67471816e-03 9.99957099e-01 -3.24808617e-03 -3.48806132e-01] [ 3.12398458e-02 2.97561724e-03 9.99507488e-01 1.48606895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.829562459999998 meters Centerline goodness [0,1] 0.9668710136850579 Centerline is valid? [True, True] Translation: X:-10.39, Y:-0.35, Z:0.15 [[ 9.99543908e-01 -7.68278569e-03 -2.92053284e-02 -1.03871063e+01] [ 7.59727539e-03 9.99966526e-01 -3.03773962e-03 -3.54582311e-01] [ 2.92276891e-02 2.81447320e-03 9.99568818e-01 1.50754181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.85956246 meters Centerline goodness [0,1] 0.9596960210890518 Centerline is valid? [True, True] Translation: X:-10.42, Y:-0.35, Z:0.14 [[ 9.99496624e-01 -9.53898281e-03 -3.02573464e-02 -1.04177434e+01] [ 9.44807139e-03 9.99950417e-01 -3.14615743e-03 -3.54898249e-01] [ 3.02858573e-02 2.85870016e-03 9.99537190e-01 1.43359213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.889562459999999 meters Centerline goodness [0,1] 0.9654937430306034 Centerline is valid? [True, True] Translation: X:-10.45, Y:-0.36, Z:0.14 [[ 9.99278469e-01 -1.36907873e-02 -3.54274518e-02 -1.04472574e+01] [ 1.35687216e-02 9.99901155e-01 -3.68366009e-03 -3.60538843e-01] [ 3.54743822e-02 3.20029698e-03 9.99365462e-01 1.36484337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.919562459999998 meters Centerline goodness [0,1] 0.9626890339641352 Centerline is valid? [True, True] Translation: X:-10.48, Y:-0.36, Z:0.13 [[ 9.99220834e-01 -1.62993255e-02 -3.59451983e-02 -1.04786493e+01] [ 1.61753363e-02 9.99862185e-01 -3.73752668e-03 -3.55043737e-01] [ 3.60011637e-02 3.15318885e-03 9.99346773e-01 1.34012272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.94956246 meters Centerline goodness [0,1] 0.9765878678827739 Centerline is valid? [True, True] Translation: X:-10.51, Y:-0.36, Z:0.14 [[ 9.99279972e-01 -2.19821410e-02 -3.09244781e-02 -1.05078029e+01] [ 2.18930937e-02 9.99755147e-01 -3.21520459e-03 -3.62329708e-01] [ 3.09875832e-02 2.53585706e-03 9.99516553e-01 1.40982291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.979562459999999 meters Centerline goodness [0,1] 0.9759907434191496 Centerline is valid? [True, True] Translation: X:-10.54, Y:-0.37, Z:0.14 [[ 9.99190871e-01 -2.56374260e-02 -3.09891328e-02 -1.05380018e+01] [ 2.55497658e-02 9.99668361e-01 -3.22148252e-03 -3.66550774e-01] [ 3.10614461e-02 2.42711084e-03 9.99514530e-01 1.38435840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.00956246 meters Centerline goodness [0,1] 0.981523199338638 Centerline is valid? [True, True] Translation: X:-10.57, Y:-0.37, Z:0.13 [[ 9.98889120e-01 -3.00791632e-02 -3.62735323e-02 -1.05669951e+01] [ 2.99619651e-02 9.99543929e-01 -3.77035179e-03 -3.68539156e-01] [ 3.63703980e-02 2.67933707e-03 9.99334786e-01 1.28118322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.039562459999999 meters Centerline goodness [0,1] 0.9830627359560993 Centerline is valid? [True, True] Translation: X:-10.60, Y:-0.37, Z:0.13 [[ 9.98887568e-01 -3.04722207e-02 -3.59870926e-02 -1.05960624e+01] [ 3.03573174e-02 9.99532132e-01 -3.73513750e-03 -3.69954790e-01] [ 3.60840733e-02 2.63851082e-03 9.99345275e-01 1.27629597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.069562459999998 meters Centerline goodness [0,1] 0.9842893076574162 Centerline is valid? [True, True] Translation: X:-10.62, Y:-0.37, Z:0.13 [[ 9.99001526e-01 -3.00102098e-02 -3.30959072e-02 -1.06248069e+01] [ 2.99130218e-02 9.99546628e-01 -3.42790662e-03 -3.72190375e-01] [ 3.31837747e-02 2.43448535e-03 9.99446302e-01 1.34248414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.09956246 meters Centerline goodness [0,1] 0.979922493403694 Centerline is valid? [True, True] Translation: X:-10.66, Y:-0.36, Z:0.13 [[ 9.99023813e-01 -2.63390934e-02 -3.54636756e-02 -1.06557693e+01] [ 2.62253268e-02 9.99649322e-01 -3.66941508e-03 -3.62685532e-01] [ 3.55478884e-02 2.73578657e-03 9.99364229e-01 1.30889946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.129562459999999 meters Centerline goodness [0,1] 0.9725542639646126 Centerline is valid? [True, True] Translation: X:-10.69, Y:-0.35, Z:0.13 [[ 9.99096697e-01 -2.23393336e-02 -3.61489250e-02 -1.06870547e+01] [ 2.22185481e-02 9.99746143e-01 -3.73965849e-03 -3.54717623e-01] [ 3.62232898e-02 2.93310381e-03 9.99339417e-01 1.26853720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.159562459999998 meters Centerline goodness [0,1] 0.970754716981132 Centerline is valid? [True, True] Translation: X:-10.72, Y:-0.35, Z:0.13 [[ 9.99323601e-01 -1.61845852e-02 -3.30212082e-02 -1.07164815e+01] [ 1.60805028e-02 9.99864868e-01 -3.41514556e-03 -3.50526995e-01] [ 3.30720187e-02 2.88183792e-03 9.99448816e-01 1.31318494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.18956246 meters Centerline goodness [0,1] 0.9682637561406754 Centerline is valid? [True, True] Translation: X:-10.75, Y:-0.35, Z:0.13 [[ 9.99416021e-01 -1.15890103e-02 -3.21451563e-02 -1.07469940e+01] [ 1.14880438e-02 9.99928486e-01 -3.32387522e-03 -3.48381926e-01] [ 3.21813779e-02 2.95264918e-03 9.99477684e-01 1.31680752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.219562459999999 meters Centerline goodness [0,1] 0.9599218187429277 Centerline is valid? [True, True] Translation: X:-10.78, Y:-0.34, Z:0.13 [[ 9.99395636e-01 -8.77592085e-03 -3.36354922e-02 -1.07778623e+01] [ 8.66379738e-03 9.99956421e-01 -3.47778778e-03 -3.44918820e-01] [ 3.36645472e-02 3.18427484e-03 9.99428116e-01 1.27887979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.249562459999998 meters Centerline goodness [0,1] 0.9505359122828632 Centerline is valid? [True, True] Translation: X:-10.81, Y:-0.34, Z:0.12 [[ 9.99340811e-01 -8.15385408e-03 -3.53759632e-02 -1.08073706e+01] [ 8.02960214e-03 9.99961090e-01 -3.65298044e-03 -3.41274234e-01] [ 3.54043726e-02 3.36651753e-03 9.99367398e-01 1.22852762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.27956246 meters Centerline goodness [0,1] 0.9536392470239321 Centerline is valid? [True, True] Translation: X:-10.83, Y:-0.34, Z:0.12 [[ 9.99296864e-01 -8.13815897e-03 -3.65998411e-02 -1.08346719e+01] [ 8.00546032e-03 9.99960846e-01 -3.77075256e-03 -3.43398510e-01] [ 3.66290950e-02 3.47510263e-03 9.99322887e-01 1.22139044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.309562459999999 meters Centerline goodness [0,1] 0.9589747822856907 Centerline is valid? [True, True] Translation: X:-10.86, Y:-0.35, Z:0.13 [[ 9.99351953e-01 -9.91137373e-03 -3.46040176e-02 -1.08640975e+01] [ 9.79392293e-03 9.99945694e-01 -3.56199886e-03 -3.47477663e-01] [ 3.46374427e-02 3.22078143e-03 9.99394754e-01 1.25696516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.339562459999998 meters Centerline goodness [0,1] 0.9496225289531607 Centerline is valid? [True, False] Translation: X:-10.87, Y:-0.35, Z:0.13 [[ 9.99309733e-01 -1.23187247e-02 -3.50472178e-02 -1.08726190e+01] [ 1.21408057e-02 9.99912332e-01 -5.28485211e-03 -3.47730774e-01] [ 3.51092479e-02 4.85570269e-03 9.99371684e-01 1.30496971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.36956246 meters Centerline goodness [0,1] 0.968775036463362 Centerline is valid? [False, True] Translation: X:-10.90, Y:-0.34, Z:0.13 [[ 9.99030841e-01 -1.72273055e-02 -4.05042995e-02 -1.09013722e+01] [ 1.71331058e-02 9.99849648e-01 -2.67167356e-03 -3.43424174e-01] [ 4.05442354e-02 1.97511984e-03 9.99175792e-01 1.32124265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.399562459999999 meters Centerline goodness [0,1] 0.965664175878466 Centerline is valid? [True, True] Translation: X:-10.93, Y:-0.34, Z:0.13 [[ 9.99029362e-01 -1.90155152e-02 -3.97334097e-02 -1.09319464e+01] [ 1.88634581e-02 9.99813254e-01 -4.19837131e-03 -3.43313927e-01] [ 3.98058238e-02 3.44478670e-03 9.99201496e-01 1.34654821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.42956246 meters Centerline goodness [0,1] 0.9726782701724067 Centerline is valid? [True, True] Translation: X:-10.96, Y:-0.35, Z:0.14 [[ 9.99111550e-01 -2.25721097e-02 -3.55894847e-02 -1.09614048e+01] [ 2.24523929e-02 9.99740843e-01 -3.75995515e-03 -3.48645271e-01] [ 3.56651315e-02 2.95754552e-03 9.99359420e-01 1.36379043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.459562459999999 meters Centerline goodness [0,1] 0.978610505532475 Centerline is valid? [True, True] Translation: X:-10.99, Y:-0.36, Z:0.13 [[ 9.98949328e-01 -2.60250262e-02 -3.77218447e-02 -1.09897959e+01] [ 2.58930001e-02 9.99656780e-01 -3.98439783e-03 -3.55308107e-01] [ 3.78125919e-02 3.00347981e-03 9.99280335e-01 1.32316731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.489562459999998 meters Centerline goodness [0,1] 0.9799209129837934 Centerline is valid? [True, True] Translation: X:-11.02, Y:-0.36, Z:0.13 [[ 9.98811051e-01 -2.86509623e-02 -3.94411792e-02 -1.10200974e+01] [ 2.85086830e-02 9.99584867e-01 -4.16520990e-03 -3.56423334e-01] [ 3.95441431e-02 3.03584161e-03 9.99213213e-01 1.29365407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.51956246 meters Centerline goodness [0,1] 0.9758996504215505 Centerline is valid? [True, True] Translation: X:-11.05, Y:-0.35, Z:0.12 [[ 9.98746136e-01 -2.78530265e-02 -4.15976549e-02 -1.10506394e+01] [ 2.76940907e-02 9.99606795e-01 -4.39227999e-03 -3.51436360e-01] [ 4.17036368e-02 3.23476344e-03 9.99124788e-01 1.22274407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.549562459999999 meters Centerline goodness [0,1] 0.9744659854854958 Centerline is valid? [True, True] Translation: X:-11.08, Y:-0.35, Z:0.12 [[ 9.98847529e-01 -2.64198571e-02 -4.00699890e-02 -1.10798818e+01] [ 2.62713138e-02 9.99645903e-01 -4.22922541e-03 -3.51514662e-01] [ 4.01675359e-02 3.17166009e-03 9.99187925e-01 1.21035243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.579562459999998 meters Centerline goodness [0,1] 0.9766328250236344 Centerline is valid? [True, True] Translation: X:-11.11, Y:-0.36, Z:0.12 [[ 9.98878120e-01 -2.48092482e-02 -4.03361148e-02 -1.11080355e+01] [ 2.46575063e-02 9.99686901e-01 -4.25516724e-03 -3.57405768e-01] [ 4.04290531e-02 3.25580545e-03 9.99177107e-01 1.22785116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60956246 meters Centerline goodness [0,1] 0.9605238809959495 Centerline is valid? [True, True] Translation: X:-11.14, Y:-0.35, Z:0.12 [[ 9.98879041e-01 -2.53288404e-02 -3.99888843e-02 -1.11377104e+01] [ 2.51803598e-02 9.99674049e-01 -4.21244183e-03 -3.47721213e-01] [ 4.00825461e-02 3.20078536e-03 9.99191245e-01 1.20457289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.639562459999999 meters Centerline goodness [0,1] 0.9758457082999569 Centerline is valid? [True, True] Translation: X:-11.16, Y:-0.36, Z:0.13 [[ 9.99016840e-01 -2.40590795e-02 -3.72359180e-02 -1.11645282e+01] [ 2.39296600e-02 9.99705969e-01 -3.91751140e-03 -3.58935646e-01] [ 3.73192212e-02 3.02261700e-03 9.99298824e-01 1.30279326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.669562459999998 meters Centerline goodness [0,1] 0.9652458073002301 Centerline is valid? [True, True] Translation: X:-11.19, Y:-0.35, Z:0.13 [[ 9.99145562e-01 -2.35051196e-02 -3.39949341e-02 -1.11936207e+01] [ 2.33971179e-02 9.99719871e-01 -3.57137384e-03 -3.53796429e-01] [ 3.40693567e-02 2.77293885e-03 9.99415624e-01 1.28158165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.69956246 meters Centerline goodness [0,1] 0.9794394836155162 Centerline is valid? [True, True] Translation: X:-11.22, Y:-0.37, Z:0.12 [[ 9.98795761e-01 -2.55571164e-02 -4.18791230e-02 -1.12190389e+01] [ 2.53953269e-02 9.99667844e-01 -4.39079577e-03 -3.67509438e-01] [ 4.19774287e-02 3.32197418e-03 9.99113037e-01 1.15853860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.729562459999999 meters Centerline goodness [0,1] 0.9687725445738431 Centerline is valid? [True, True] Translation: X:-11.25, Y:-0.36, Z:0.11 [[ 9.98692041e-01 -2.81814943e-02 -4.26615853e-02 -1.12498354e+01] [ 2.80161203e-02 9.99597479e-01 -4.46946086e-03 -3.62515886e-01] [ 4.27703693e-02 3.26840288e-03 9.99079583e-01 1.11574791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.75956246 meters Centerline goodness [0,1] 0.9829282288806 Centerline is valid? [True, True] Translation: X:-11.28, Y:-0.37, Z:0.12 [[ 9.98838421e-01 -3.10155688e-02 -3.68760550e-02 -1.12787494e+01] [ 3.08939785e-02 9.99515203e-01 -3.86266625e-03 -3.72497649e-01] [ 3.69779804e-02 2.71893141e-03 9.99312382e-01 1.22152285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.789562459999999 meters Centerline goodness [0,1] 0.9865270075990963 Centerline is valid? [True, True] Translation: X:-11.31, Y:-0.38, Z:0.13 [[ 9.98936286e-01 -3.23795747e-02 -3.28307793e-02 -1.13076875e+01] [ 3.22839692e-02 9.99472823e-01 -3.43813462e-03 -3.76094482e-01] [ 3.29247970e-02 2.37456956e-03 9.99455011e-01 1.26980071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.819562459999998 meters Centerline goodness [0,1] 0.9837971552257266 Centerline is valid? [True, True] Translation: X:-11.34, Y:-0.37, Z:0.11 [[ 9.98635111e-01 -3.24425628e-02 -4.09316011e-02 -1.13378284e+01] [ 3.22940279e-02 9.99469226e-01 -4.28502850e-03 -3.70569253e-01] [ 4.10488930e-02 2.95733364e-03 9.99152762e-01 1.10853784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.84956246 meters Centerline goodness [0,1] 0.9685531985415976 Centerline is valid? [True, True] Translation: X:-11.37, Y:-0.36, Z:0.10 [[ 9.98505758e-01 -3.13269116e-02 -4.47758298e-02 -1.13685750e+01] [ 3.11480908e-02 9.99503796e-01 -4.68598913e-03 -3.59378095e-01] [ 4.49004094e-02 3.28430552e-03 9.98986069e-01 9.77481708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.879562459999999 meters Centerline goodness [0,1] 0.981958232071508 Centerline is valid? [True, True] Translation: X:-11.40, Y:-0.37, Z:0.11 [[ 9.98870467e-01 -2.82578669e-02 -3.82005705e-02 -1.13960563e+01] [ 2.81257140e-02 9.99596420e-01 -3.99254476e-03 -3.68033526e-01] [ 3.82979743e-02 2.91361673e-03 9.99262116e-01 1.13232157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.909562459999998 meters Centerline goodness [0,1] 0.9797858955054557 Centerline is valid? [True, True] Translation: X:-11.43, Y:-0.36, Z:0.12 [[ 9.99001920e-01 -2.54168774e-02 -3.67307164e-02 -1.14261275e+01] [ 2.52929428e-02 9.99672727e-01 -3.83495585e-03 -3.64017251e-01] [ 3.68161680e-02 2.90210035e-03 9.99317841e-01 1.16867439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.93956246 meters Centerline goodness [0,1] 0.9788324925357768 Centerline is valid? [True, True] Translation: X:-11.46, Y:-0.36, Z:0.11 [[ 9.99034789e-01 -2.16452220e-02 -3.82226930e-02 -1.14564925e+01] [ 2.15083075e-02 9.99760709e-01 -3.98964665e-03 -3.59643350e-01] [ 3.82999035e-02 3.16369036e-03 9.99261281e-01 1.08084694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.969562459999999 meters Centerline goodness [0,1] 0.9659366895813609 Centerline is valid? [True, True] Translation: X:-11.49, Y:-0.35, Z:0.10 [[ 9.99098203e-01 -1.52895886e-02 -3.96107147e-02 -1.14880273e+01] [ 1.51376069e-02 9.99876874e-01 -4.13398898e-03 -3.48883741e-01] [ 3.96690446e-02 3.53064953e-03 9.99206636e-01 1.03343177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.999562459999998 meters Centerline goodness [0,1] 0.9605013606003133 Centerline is valid? [True, True] Translation: X:-11.52, Y:-0.35, Z:0.11 [[ 9.99254506e-01 -1.09530203e-02 -3.70197841e-02 -1.15184125e+01] [ 1.08173554e-02 9.99934029e-01 -3.86297830e-03 -3.47630690e-01] [ 3.70596531e-02 3.45964231e-03 9.99307066e-01 1.07432296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.02956246 meters Centerline goodness [0,1] 0.9637477819502331 Centerline is valid? [True, True] Translation: X:-11.55, Y:-0.35, Z:0.11 [[ 9.99322320e-01 -8.92282461e-03 -3.57111124e-02 -1.15474269e+01] [ 8.79533941e-03 9.99954381e-01 -3.72541092e-03 -3.49436560e-01] [ 3.57427245e-02 3.40879493e-03 9.99355211e-01 1.08202162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.059562459999999 meters Centerline goodness [0,1] 0.9481476892578367 Centerline is valid? [True, False] Translation: X:-11.59, Y:-0.35, Z:0.11 [[ 9.99063784e-01 -9.78395014e-03 -4.21405894e-02 -1.15864350e+01] [ 9.53681848e-03 9.99936152e-01 -6.06150709e-03 -3.52312601e-01] [ 4.21972043e-02 5.65394506e-03 9.99093303e-01 1.07585132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.089562459999998 meters Centerline goodness [0,1] 0.9572698949800895 Centerline is valid? [False, True] Translation: X:-11.60, Y:-0.35, Z:0.11 [[ 9.98863080e-01 -1.28822507e-02 -4.58976491e-02 -1.16049464e+01] [ 1.27967480e-02 9.99915793e-01 -2.15625085e-03 -3.47558917e-01] [ 4.59215616e-02 1.56645872e-03 9.98943820e-01 1.07401788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.11956246 meters Centerline goodness [0,1] 0.9681028965460289 Centerline is valid? [True, True] Translation: X:-11.63, Y:-0.36, Z:0.12 [[ 9.99070076e-01 -1.73774205e-02 -3.94589519e-02 -1.16345875e+01] [ 1.72261950e-02 9.99842925e-01 -4.16926845e-03 -3.55215970e-01] [ 3.95252051e-02 3.48566374e-03 9.99212494e-01 1.19914680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.149562459999999 meters Centerline goodness [0,1] 0.969745386017739 Centerline is valid? [True, True] Translation: X:-11.67, Y:-0.36, Z:0.12 [[ 9.99071088e-01 -2.14582983e-02 -3.73698045e-02 -1.16650116e+01] [ 2.13255147e-02 9.99764789e-01 -3.94826482e-03 -3.59232188e-01] [ 3.74457377e-02 3.14766692e-03 9.99293705e-01 1.17706616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.17956246 meters Centerline goodness [0,1] 0.9718628519714515 Centerline is valid? [True, True] Translation: X:-11.69, Y:-0.37, Z:0.11 [[ 9.98847325e-01 -2.57027253e-02 -4.05387502e-02 -1.16946274e+01] [ 2.55499249e-02 9.99664373e-01 -4.28293025e-03 -3.67022478e-01] [ 4.06352273e-02 3.24223140e-03 9.99168788e-01 1.11004612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.209562459999999 meters Centerline goodness [0,1] 0.982630323959875 Centerline is valid? [True, True] Translation: X:-11.72, Y:-0.38, Z:0.11 [[ 9.98662573e-01 -3.22886994e-02 -4.03795020e-02 -1.17221813e+01] [ 3.21424670e-02 9.99474195e-01 -4.26560713e-03 -3.81566748e-01] [ 4.04960011e-02 2.96200538e-03 9.99175310e-01 1.09198809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.239562459999998 meters Centerline goodness [0,1] 0.9837383293142893 Centerline is valid? [True, True] Translation: X:-11.75, Y:-0.39, Z:0.11 [[ 9.98692302e-01 -3.49128120e-02 -3.73467738e-02 -1.17521451e+01] [ 3.47895770e-02 9.99386874e-01 -3.94473820e-03 -3.85083315e-01] [ 3.74615974e-02 2.64030121e-03 9.99294580e-01 1.14946144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.26956246 meters Centerline goodness [0,1] 0.993199241612398 Centerline is valid? [True, True] Translation: X:-11.78, Y:-0.40, Z:0.11 [[ 9.98495312e-01 -3.93736403e-02 -3.81684229e-02 -1.17801137e+01] [ 3.92481885e-02 9.99221363e-01 -4.03082590e-03 -3.98707505e-01] [ 3.82974118e-02 2.52671930e-03 9.99263191e-01 1.11565572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.299562459999999 meters Centerline goodness [0,1] 0.9942175044401306 Centerline is valid? [True, True] Translation: X:-11.81, Y:-0.40, Z:0.11 [[ 9.98291969e-01 -4.11026226e-02 -4.15177053e-02 -1.18087985e+01] [ 4.09559031e-02 9.99151361e-01 -4.37866747e-03 -4.00639339e-01] [ 4.16624464e-02 2.67079346e-03 9.99128174e-01 1.07212208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.329562459999998 meters Centerline goodness [0,1] 0.9953394374329786 Centerline is valid? [True, True] Translation: X:-11.84, Y:-0.41, Z:0.11 [[ 9.98358729e-01 -4.27069794e-02 -3.81570591e-02 -1.18373323e+01] [ 4.25843963e-02 9.99084786e-01 -4.01995162e-03 -4.06663744e-01] [ 3.82938172e-02 2.38845846e-03 9.99263668e-01 1.07640449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.35956246 meters Centerline goodness [0,1] 0.9894838457904575 Centerline is valid? [True, True] Translation: X:-11.87, Y:-0.40, Z:0.10 [[ 9.98340404e-01 -4.31264086e-02 -3.81647834e-02 -1.18668432e+01] [ 4.30042814e-02 9.99066818e-01 -4.01553790e-03 -3.95597437e-01] [ 3.83023444e-02 2.36762465e-03 9.99263391e-01 1.01937348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.389562459999999 meters Centerline goodness [0,1] 0.9937731438383086 Centerline is valid? [True, True] Translation: X:-11.89, Y:-0.40, Z:0.09 [[ 9.98055559e-01 -4.43567478e-02 -4.37901901e-02 -1.18933536e+01] [ 4.41974019e-02 9.99012223e-01 -4.60081572e-03 -4.04042398e-01] [ 4.39510124e-02 2.65645707e-03 9.99030156e-01 9.33565633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.419562459999998 meters Centerline goodness [0,1] 0.9937731438383086 Centerline is valid? [True, True] Translation: X:-11.92, Y:-0.41, Z:0.09 [[ 9.98066628e-01 -4.41061446e-02 -4.37910253e-02 -1.19205778e+01] [ 4.39469064e-02 9.99023311e-01 -4.59285604e-03 -4.07075090e-01] [ 4.39508282e-02 2.65949625e-03 9.99030156e-01 9.28736261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.44956246 meters Centerline goodness [0,1] 0.9954046201083933 Centerline is valid? [True, True] Translation: X:-11.95, Y:-0.42, Z:0.10 [[ 9.98131443e-01 -4.56923671e-02 -4.05688268e-02 -1.19504759e+01] [ 4.55571894e-02 9.98952688e-01 -4.25079628e-03 -4.17383085e-01] [ 4.07205675e-02 2.39465171e-03 9.99167704e-01 1.03938970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.479562459999999 meters Centerline goodness [0,1] 0.9962330952429962 Centerline is valid? [True, True] Translation: X:-11.98, Y:-0.42, Z:0.10 [[ 9.98205449e-01 -4.65934222e-02 -3.76156250e-02 -1.19801486e+01] [ 4.64778936e-02 9.98911547e-01 -3.94040527e-03 -4.16157976e-01] [ 3.77582791e-02 2.18503900e-03 9.99284513e-01 1.03959847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.50956246 meters Centerline goodness [0,1] 0.9955824370910141 Centerline is valid? [True, True] Translation: X:-12.01, Y:-0.41, Z:0.09 [[ 9.98099323e-01 -4.46646648e-02 -4.24595084e-02 -1.20097178e+01] [ 4.45157907e-02 9.98998789e-01 -4.44577642e-03 -4.06599516e-01] [ 4.26155666e-02 2.54720784e-03 9.99088297e-01 9.23669798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.539562459999999 meters Centerline goodness [0,1] 0.991986616823974 Centerline is valid? [True, True] Translation: X:-12.04, Y:-0.40, Z:0.09 [[ 9.98127338e-01 -4.39674166e-02 -4.25286265e-02 -1.20395721e+01] [ 4.38176998e-02 9.99029648e-01 -4.44662044e-03 -3.96073800e-01] [ 4.26828651e-02 2.57478684e-03 9.99085353e-01 8.73699167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.569562459999998 meters Centerline goodness [0,1] 0.99682434940405 Centerline is valid? [True, True] Translation: X:-12.07, Y:-0.41, Z:0.10 [[ 9.98454544e-01 -4.20621700e-02 -3.63221433e-02 -1.20661864e+01] [ 4.19519082e-02 9.99112432e-01 -3.79282712e-03 -4.07733101e-01] [ 3.64494394e-02 2.26318225e-03 9.99332936e-01 1.01116299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.59956246 meters Centerline goodness [0,1] 0.9948652382818138 Centerline is valid? [True, True] Translation: X:-12.10, Y:-0.39, Z:0.09 [[ 9.98581869e-01 -3.79127862e-02 -3.73747402e-02 -1.20979507e+01] [ 3.77932131e-02 9.99277967e-01 -3.90088613e-03 -3.93503695e-01] [ 3.74956478e-02 2.48284264e-03 9.99293707e-01 9.41434614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.629562459999999 meters Centerline goodness [0,1] 0.991395636064224 Centerline is valid? [True, True] Translation: X:-12.13, Y:-0.38, Z:0.09 [[ 9.98517314e-01 -3.61461440e-02 -4.07017296e-02 -1.21285600e+01] [ 3.60029048e-02 9.99342661e-01 -4.24699306e-03 -3.84166206e-01] [ 4.08284872e-02 2.77531561e-03 9.99162315e-01 8.69860427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.659562459999998 meters Centerline goodness [0,1] 0.9884158762165387 Centerline is valid? [True, True] Translation: X:-12.16, Y:-0.38, Z:0.08 [[ 9.98532460e-01 -3.65584384e-02 -3.99550617e-02 -1.21581775e+01] [ 3.64209590e-02 9.99327863e-01 -4.16358602e-03 -3.79715889e-01] [ 4.00804207e-02 2.70227412e-03 9.99192803e-01 8.41300361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.68956246 meters Centerline goodness [0,1] 0.9906098463055807 Centerline is valid? [True, True] Translation: X:-12.19, Y:-0.38, Z:0.09 [[ 9.98543587e-01 -3.86304367e-02 -3.76615755e-02 -1.21871697e+01] [ 3.85099139e-02 9.99250527e-01 -3.92062032e-03 -3.80226181e-01] [ 3.77848044e-02 2.46456625e-03 9.99282860e-01 9.00418037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.719562459999999 meters Centerline goodness [0,1] 0.9961276428319977 Centerline is valid? [True, True] Translation: X:-12.22, Y:-0.38, Z:0.08 [[ 9.98498976e-01 -4.04678713e-02 -3.69072754e-02 -1.22161710e+01] [ 4.03534418e-02 9.99178088e-01 -3.84043389e-03 -3.78587536e-01] [ 3.70323551e-02 2.34533372e-03 9.99311315e-01 8.31353847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.749562459999998 meters Centerline goodness [0,1] 0.9954966070326958 Centerline is valid? [True, True] Translation: X:-12.25, Y:-0.37, Z:0.08 [[ 9.98375644e-01 -4.26421028e-02 -3.77852386e-02 -1.22462389e+01] [ 4.25237846e-02 9.99087726e-01 -3.92986019e-03 -3.73527739e-01] [ 3.79183456e-02 2.31670535e-03 9.99278155e-01 8.02807843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.77956246 meters Centerline goodness [0,1] 0.9977298992900776 Centerline is valid? [True, True] Translation: X:-12.28, Y:-0.37, Z:0.07 [[ 9.98166912e-01 -4.63213630e-02 -3.89505679e-02 -1.22769375e+01] [ 4.61984554e-02 9.98924071e-01 -4.05013185e-03 -3.71461810e-01] [ 3.90962675e-02 2.24325153e-03 9.99232931e-01 7.24297294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.809562459999999 meters Centerline goodness [0,1] 0.9962808380511592 Centerline is valid? [True, True] Translation: X:-12.31, Y:-0.37, Z:0.07 [[ 9.98142691e-01 -4.68337197e-02 -3.89585906e-02 -1.23064229e+01] [ 4.67113433e-02 9.98900235e-01 -4.04603269e-03 -3.67426892e-01] [ 3.91052360e-02 2.21870986e-03 9.99232634e-01 7.26188172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.839562459999998 meters Centerline goodness [0,1] 0.9976525338220456 Centerline is valid? [True, True] Translation: X:-12.33, Y:-0.37, Z:0.07 [[ 9.97935280e-01 -5.12760855e-02 -3.86773826e-02 -1.23348584e+01] [ 5.11589335e-02 9.98682461e-01 -4.01326402e-03 -3.70629080e-01] [ 3.88322081e-02 2.02628411e-03 9.99243691e-01 6.78384343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.86956246 meters Centerline goodness [0,1] 0.9980990164476403 Centerline is valid? [True, True] Translation: X:-12.36, Y:-0.37, Z:0.07 [[ 9.97765743e-01 -5.34357562e-02 -4.01016349e-02 -1.23634363e+01] [ 5.33115870e-02 9.98569260e-01 -4.16013952e-03 -3.70661453e-01] [ 4.02665601e-02 2.01296291e-03 9.99186946e-01 6.61481151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.899562459999999 meters Centerline goodness [0,1] 0.9982315443142094 Centerline is valid? [True, True] Translation: X:-12.39, Y:-0.37, Z:0.06 [[ 9.97870550e-01 -5.31112942e-02 -3.78623310e-02 -1.23924326e+01] [ 5.30005845e-02 9.98586778e-01 -3.92246581e-03 -3.67167917e-01] [ 3.80171504e-02 1.90738743e-03 9.99275266e-01 6.39609928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.92956246 meters Centerline goodness [0,1] 0.9983838216402139 Centerline is valid? [True, True] Translation: X:-12.42, Y:-0.35, Z:0.06 [[ 9.97958922e-01 -4.94900812e-02 -4.03574273e-02 -1.24242307e+01] [ 4.93615294e-02 9.98772246e-01 -4.17620478e-03 -3.53962348e-01] [ 4.05145590e-02 2.17557649e-03 9.99176580e-01 5.65776951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.959562459999999 meters Centerline goodness [0,1] 0.9971478764079776 Centerline is valid? [True, True] Translation: X:-12.45, Y:-0.35, Z:0.06 [[ 9.98175451e-01 -4.49511966e-02 -4.03132591e-02 -1.24548297e+01] [ 4.48192701e-02 9.98986405e-01 -4.17081431e-03 -3.45748990e-01] [ 4.04598808e-02 2.35639361e-03 9.99178385e-01 5.58539077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.989562459999998 meters Centerline goodness [0,1] 0.9971610336324264 Centerline is valid? [True, True] Translation: X:-12.48, Y:-0.34, Z:0.06 [[ 9.98491740e-01 -3.90674629e-02 -3.85743313e-02 -1.24846345e+01] [ 3.89423502e-02 9.99233494e-01 -3.98976242e-03 -3.40640153e-01] [ 3.87006337e-02 2.48156970e-03 9.99247768e-01 5.85574234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.01956246 meters Centerline goodness [0,1] 0.9898138754891203 Centerline is valid? [True, True] Translation: X:-12.52, Y:-0.33, Z:0.05 [[ 9.98588690e-01 -3.54209420e-02 -3.95725171e-02 -1.25158766e+01] [ 3.52864591e-02 9.99368862e-01 -4.09191680e-03 -3.25367305e-01] [ 3.96924809e-02 2.68976783e-03 9.99208323e-01 5.29829341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.049562459999999 meters Centerline goodness [0,1] 0.9930467893135774 Centerline is valid? [True, True] Translation: X:-12.55, Y:-0.32, Z:0.05 [[ 9.98742118e-01 -3.11348392e-02 -3.93039802e-02 -1.25455206e+01] [ 3.09989183e-02 9.99511160e-01 -4.06304689e-03 -3.20641574e-01] [ 3.94112692e-02 2.83955518e-03 9.99219039e-01 4.84383775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.079562459999998 meters Centerline goodness [0,1] 0.9910051163558343 Centerline is valid? [True, True] Translation: X:-12.57, Y:-0.32, Z:0.05 [[ 9.98823464e-01 -2.84863706e-02 -3.92455646e-02 -1.25747442e+01] [ 2.83488743e-02 9.99589862e-01 -4.05565662e-03 -3.18353766e-01] [ 3.93449995e-02 2.93831742e-03 9.99221366e-01 4.78695734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.10956246 meters Centerline goodness [0,1] 0.980761655990215 Centerline is valid? [True, True] Translation: X:-12.61, Y:-0.31, Z:0.05 [[ 9.98823099e-01 -2.84295020e-02 -3.92960612e-02 -1.26050578e+01] [ 2.82918241e-02 9.99591480e-01 -4.05538331e-03 -3.07640919e-01] [ 3.93953005e-02 2.93885328e-03 9.99219382e-01 4.60479904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.139562459999999 meters Centerline goodness [0,1] 0.9906801424902659 Centerline is valid? [True, True] Translation: X:-12.63, Y:-0.31, Z:0.05 [[ 9.98860991e-01 -2.88780440e-02 -3.79839425e-02 -1.26320459e+01] [ 2.87499430e-02 9.99578970e-01 -3.91452002e-03 -3.14506729e-01] [ 3.80809938e-02 2.81802516e-03 9.99270682e-01 5.00030326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.169562459999998 meters Centerline goodness [0,1] 0.9894603359387992 Centerline is valid? [True, True] Translation: X:-12.66, Y:-0.31, Z:0.04 [[ 9.98847858e-01 -3.02059808e-02 -3.72901379e-02 -1.26619226e+01] [ 3.00835418e-02 9.99540011e-01 -3.84029292e-03 -3.05740547e-01] [ 3.73889846e-02 2.71404893e-03 9.99297102e-01 4.45939858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.19956246 meters Centerline goodness [0,1] 0.9923400202885949 Centerline is valid? [True, True] Translation: X:-12.69, Y:-0.31, Z:0.04 [[ 9.98796532e-01 -3.18694045e-02 -3.72804127e-02 -1.26913980e+01] [ 3.17482500e-02 9.99488530e-01 -3.83746458e-03 -3.08706143e-01] [ 3.73836426e-02 2.64925845e-03 9.99297476e-01 4.13450817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.229562459999999 meters Centerline goodness [0,1] 0.9951475437032121 Centerline is valid? [True, True] Translation: X:-12.72, Y:-0.31, Z:0.04 [[ 9.98750499e-01 -3.45214728e-02 -3.61346001e-02 -1.27202594e+01] [ 3.44094224e-02 9.99400903e-01 -3.71841076e-03 -3.11185632e-01] [ 3.62413169e-02 2.47039388e-03 9.99340014e-01 4.40620056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.259562459999998 meters Centerline goodness [0,1] 0.9919161923616266 Centerline is valid? [True, True] Translation: X:-12.75, Y:-0.30, Z:0.04 [[ 9.98709697e-01 -3.50562006e-02 -3.67424067e-02 -1.27500985e+01] [ 3.49408843e-02 9.99382247e-01 -3.77614384e-03 -3.00630469e-01] [ 3.68520862e-02 2.48745929e-03 9.99317635e-01 3.51897966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.289562459999999 meters Centerline goodness [0,1] 0.9920952716861345 Centerline is valid? [True, True] Translation: X:-12.78, Y:-0.30, Z:0.02 [[ 9.98519899e-01 -3.42055096e-02 -4.22846785e-02 -1.27784899e+01] [ 3.40522132e-02 9.99410630e-01 -4.34051913e-03 -3.03711064e-01] [ 4.24082268e-02 2.89420784e-03 9.99096174e-01 2.46301323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.319562459999998 meters Centerline goodness [0,1] 0.9914845125867606 Centerline is valid? [True, True] Translation: X:-12.81, Y:-0.30, Z:0.02 [[ 9.98566586e-01 -3.25846997e-02 -4.24618705e-02 -1.28089849e+01] [ 3.24286965e-02 9.99464551e-01 -4.35778199e-03 -2.99760373e-01] [ 4.25811313e-02 2.97455237e-03 9.99088584e-01 2.36386278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.34956246 meters Centerline goodness [0,1] 0.9931729991077172 Centerline is valid? [True, True] Translation: X:-12.84, Y:-0.30, Z:0.03 [[ 9.98880810e-01 -2.97889033e-02 -3.67389296e-02 -1.28371627e+01] [ 2.96703514e-02 9.99552636e-01 -3.76799676e-03 -2.99870341e-01] [ 3.68347385e-02 2.67372270e-03 9.99317794e-01 3.25313037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.379562459999999 meters Centerline goodness [0,1] 0.9894588896697118 Centerline is valid? [True, True] Translation: X:-12.87, Y:-0.29, Z:0.03 [[ 9.99185613e-01 -2.35825284e-02 -3.27410317e-02 -1.28669824e+01] [ 2.34851461e-02 9.99718554e-01 -3.35576014e-03 -2.94767287e-01] [ 3.28109542e-02 2.58409933e-03 9.99458235e-01 3.24269625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.409562459999998 meters Centerline goodness [0,1] 0.9804609634551495 Centerline is valid? [True, True] Translation: X:-12.90, Y:-0.29, Z:0.03 [[ 9.99164185e-01 -2.07203793e-02 -3.52363141e-02 -1.28971158e+01] [ 2.06058415e-02 9.99781157e-01 -3.61064952e-03 -2.90603256e-01] [ 3.53034169e-02 2.88155778e-03 9.99372486e-01 2.54448447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.43956246 meters Centerline goodness [0,1] 0.9674677061519004 Centerline is valid? [True, True] Translation: X:-12.93, Y:-0.29, Z:0.02 [[ 9.99155795e-01 -1.91459024e-02 -3.63473743e-02 -1.29273971e+01] [ 1.90230126e-02 9.99812111e-01 -3.72383951e-03 -2.87962403e-01] [ 3.64118413e-02 3.02925927e-03 9.99332278e-01 1.90742150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.469562459999999 meters Centerline goodness [0,1] 0.987459967558125 Centerline is valid? [True, True] Translation: X:-12.95, Y:-0.30, Z:0.02 [[ 9.99167200e-01 -1.95871180e-02 -3.57945584e-02 -1.29541627e+01] [ 1.94682841e-02 9.99803756e-01 -3.66545266e-03 -2.99376498e-01] [ 3.58593296e-02 2.96554144e-03 9.99352447e-01 2.10138873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.499562459999998 meters Centerline goodness [0,1] 0.990625 Centerline is valid? [True, True] Translation: X:-12.98, Y:-0.31, Z:0.02 [[ 9.99109086e-01 -2.00091594e-02 -3.71573316e-02 -1.29817386e+01] [ 1.98815032e-02 9.99795115e-01 -3.80192294e-03 -3.06438383e-01] [ 3.72257919e-02 3.05979215e-03 9.99302196e-01 1.87245558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.52956246 meters Centerline goodness [0,1] 0.9897861541021801 Centerline is valid? [True, True] Translation: X:-13.01, Y:-0.31, Z:0.01 [[ 9.98952957e-01 -2.25181191e-02 -3.98236571e-02 -1.30110716e+01] [ 2.23735554e-02 9.99741388e-01 -4.07211051e-03 -3.05152429e-01] [ 3.99050544e-02 3.17685004e-03 9.99198426e-01 1.36113755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.559562459999999 meters Centerline goodness [0,1] 0.9937752425365366 Centerline is valid? [True, True] Translation: X:-13.04, Y:-0.31, Z:0.01 [[ 9.98950151e-01 -2.49729911e-02 -3.84050150e-02 -1.30399707e+01] [ 2.48404088e-02 9.99683722e-01 -3.92559616e-03 -3.10888120e-01] [ 3.84909023e-02 2.96747860e-03 9.99254544e-01 1.30807080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.589562459999998 meters Centerline goodness [0,1] 0.9945348378114415 Centerline is valid? [True, True] Translation: X:-13.07, Y:-0.31, Z:0.02 [[ 9.99032783e-01 -2.48599078e-02 -3.62695933e-02 -1.30681279e+01] [ 2.47416682e-02 9.99687011e-01 -3.70528846e-03 -3.14591266e-01] [ 3.63503545e-02 2.80433440e-03 9.99335173e-01 1.51520110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.61956246 meters Centerline goodness [0,1] 0.9888217083255417 Centerline is valid? [True, True] Translation: X:-13.10, Y:-0.31, Z:0.01 [[ 9.99121518e-01 -2.12004067e-02 -3.61487838e-02 -1.30984569e+01] [ 2.10806387e-02 9.99770965e-01 -3.69116893e-03 -3.10411403e-01] [ 3.62187587e-02 2.92588685e-03 9.99339602e-01 1.34962378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.649562459999999 meters Centerline goodness [0,1] 0.9828724464374688 Centerline is valid? [True, True] Translation: X:-13.13, Y:-0.31, Z:0.01 [[ 9.99145635e-01 -1.73651400e-02 -3.75026797e-02 -1.31284516e+01] [ 1.72335762e-02 9.99844161e-01 -3.82856279e-03 -3.07952433e-01] [ 3.75633188e-02 3.17898652e-03 9.99289193e-01 9.46607512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.67956246 meters Centerline goodness [0,1] 0.9391883454734652 Centerline is valid? [True, False] Translation: X:-13.16, Y:-0.31, Z:0.01 [[ 9.99120849e-01 -1.08242577e-02 -4.05014228e-02 -1.31563158e+01] [ 1.05739436e-02 9.99923680e-01 -6.38950581e-03 -3.13397355e-01] [ 4.05674934e-02 5.95562871e-03 9.99159051e-01 1.44982636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.709562459999999 meters Centerline goodness [0,1] 0.9616681935537603 Centerline is valid? [False, True] Translation: X:-13.18, Y:-0.32, Z:0.02 [[ 9.99189657e-01 -4.86049825e-03 -3.99550284e-02 -1.31762752e+01] [ 4.44181812e-03 9.99934367e-01 -1.05608863e-02 -3.20921035e-01] [ 4.00037372e-02 1.03748554e-02 9.99145667e-01 1.70018810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.739562459999998 meters Centerline goodness [0,1] 0.9285907774374362 Centerline is valid? [True, False] Translation: X:-13.20, Y:-0.32, Z:0.02 [[ 9.99203415e-01 -6.04288701e-03 -3.94464161e-02 -1.31988554e+01] [ 5.73522385e-03 9.99952284e-01 -7.90802915e-03 -3.20506643e-01] [ 3.94923212e-02 7.67549570e-03 9.99190394e-01 1.74050293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.76956246 meters Centerline goodness [0,1] 0.9256203486805282 Centerline is valid? [False, False] Translation: X:-13.22, Y:-0.32, Z:0.02 [[ 9.99275129e-01 -6.90197817e-03 -3.74376790e-02 -1.32160613e+01] [ 6.78992991e-03 9.99972083e-01 -3.11924809e-03 -3.18749342e-01] [ 3.74581628e-02 2.86278782e-03 9.99294096e-01 1.54883472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.799562459999999 meters Centerline goodness [0,1] 0.890726275552601 Centerline is valid? [False, False] Translation: X:-13.25, Y:-0.33, Z:0.02 [[ 9.99375157e-01 -5.73353864e-03 -3.48772309e-02 -1.32539649e+01] [ 5.52124763e-03 9.99965661e-01 -6.18007871e-03 -3.29792221e-01] [ 3.49114669e-02 5.98365131e-03 9.99372496e-01 1.85724861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.829562459999998 meters Centerline goodness [0,1] 0.936476478564723 Centerline is valid? [False, False] Translation: X:-13.28, Y:-0.33, Z:0.02 [[ 9.99380170e-01 -9.74976382e-03 -3.38263044e-02 -1.32763844e+01] [ 9.64107516e-03 9.99947829e-01 -3.37476500e-03 -3.31322196e-01] [ 3.38574428e-02 3.04655127e-03 9.99422029e-01 1.93258938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.85956246 meters Centerline goodness [0,1] 0.9330933904757942 Centerline is valid? [False, False] Translation: X:-13.31, Y:-0.34, Z:0.02 [[ 9.99139639e-01 -1.70748013e-02 -3.77946240e-02 -1.33130522e+01] [ 1.71454282e-02 9.99851812e-01 1.54535073e-03 -3.36374628e-01] [ 3.77626368e-02 -2.19202618e-03 9.99284333e-01 1.74437043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.889562459999999 meters Centerline goodness [0,1] 0.9640560832953085 Centerline is valid? [False, True] Translation: X:-13.34, Y:-0.35, Z:0.02 [[ 9.99048095e-01 -1.68323443e-02 -4.02439589e-02 -1.33407301e+01] [ 1.68057992e-02 9.99858275e-01 -9.97839823e-04 -3.46812754e-01] [ 4.02550513e-02 3.20558079e-04 9.99189385e-01 1.65332643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.919562459999998 meters Centerline goodness [0,1] 0.9391159646385856 Centerline is valid? [True, False] Translation: X:-13.38, Y:-0.36, Z:0.02 [[ 9.99069360e-01 -1.83135908e-02 -3.90515890e-02 -1.33801305e+01] [ 1.81430811e-02 9.99824277e-01 -4.71623179e-03 -3.62036063e-01] [ 3.91310979e-02 4.00332654e-03 9.99226066e-01 2.02961645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.94956246 meters Centerline goodness [0,1] 0.9530309610969784 Centerline is valid? [False, True] Translation: X:-13.40, Y:-0.36, Z:0.02 [[ 9.99121042e-01 -2.10567534e-02 -3.62457764e-02 -1.34012152e+01] [ 2.10541549e-02 9.99778234e-01 -4.53420290e-04 -3.64099621e-01] [ 3.62472859e-02 -3.10102436e-04 9.99342803e-01 2.00011591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.979562459999999 meters Centerline goodness [0,1] 0.9812154925484661 Centerline is valid? [True, True] Translation: X:-13.43, Y:-0.38, Z:0.02 [[ 9.99072790e-01 -2.14653350e-02 -3.73202237e-02 -1.34268081e+01] [ 2.13239090e-02 9.99763867e-01 -4.18349627e-03 -3.83871835e-01] [ 3.74012113e-02 3.38380423e-03 9.99294601e-01 2.06677348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.009562459999998 meters Centerline goodness [0,1] 0.9578637108993918 Centerline is valid? [True, True] Translation: X:-13.46, Y:-0.38, Z:0.01 [[ 9.99040646e-01 -1.96725680e-02 -3.91251433e-02 -1.34571050e+01] [ 1.95158619e-02 9.99799939e-01 -4.38319071e-03 -3.79229840e-01] [ 3.92035445e-02 3.61542479e-03 9.99224705e-01 1.42703161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.039562459999999 meters Centerline goodness [0,1] 0.978580209613902 Centerline is valid? [True, True] Translation: X:-13.48, Y:-0.40, Z:0.02 [[ 9.99111242e-01 -1.62515156e-02 -3.88923487e-02 -1.34846669e+01] [ 1.60941320e-02 9.99860991e-01 -4.35634002e-03 -3.97307700e-01] [ 3.89577395e-02 3.72652969e-03 9.99233910e-01 1.79210571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.069562459999998 meters Centerline goodness [0,1] 0.9607312401099358 Centerline is valid? [True, True] Translation: X:-13.51, Y:-0.40, Z:0.02 [[ 9.99233754e-01 -1.28579444e-02 -3.69672632e-02 -1.35148998e+01] [ 1.27134925e-02 9.99910610e-01 -4.13999281e-03 -3.99779998e-01] [ 3.70171905e-02 3.66683753e-03 9.99307901e-01 1.69909580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.09956246 meters Centerline goodness [0,1] 0.9584545076859161 Centerline is valid? [True, True] Translation: X:-13.54, Y:-0.41, Z:0.02 [[ 9.99354919e-01 -8.52651396e-03 -3.48861568e-02 -1.35430426e+01] [ 8.39529144e-03 9.99957129e-01 -3.90620914e-03 -4.11137776e-01] [ 3.49179676e-02 3.61080987e-03 9.99383659e-01 1.99241477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.129562459999999 meters Centerline goodness [0,1] 0.9562086333929983 Centerline is valid? [True, True] Translation: X:-13.57, Y:-0.42, Z:0.02 [[ 9.99334706e-01 -7.47465061e-03 -3.56969765e-02 -1.35709346e+01] [ 7.33674297e-03 9.99965115e-01 -3.99271843e-03 -4.16436895e-01] [ 3.57255754e-02 3.72816256e-03 9.99354684e-01 1.80799936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.159562459999998 meters Centerline goodness [0,1] 0.9146520829449174 Centerline is valid? [True, False] Translation: X:-13.61, Y:-0.42, Z:0.02 [[ 9.99115712e-01 -5.10043683e-03 -4.17346292e-02 -1.36072290e+01] [ 4.97519904e-03 9.99982806e-01 -3.10412732e-03 -4.22121479e-01] [ 4.17497440e-02 2.89374429e-03 9.99123909e-01 1.51292810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.18956246 meters Centerline goodness [0,1] 0.9544251568133036 Centerline is valid? [False, True] Translation: X:-13.63, Y:-0.43, Z:0.02 [[ 9.99184745e-01 -1.76405553e-03 -4.03327810e-02 -1.36295730e+01] [ 1.42846511e-03 9.99964136e-01 -8.34784288e-03 -4.34804344e-01] [ 4.03460605e-02 8.28342329e-03 9.99151430e-01 1.88321500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.219562459999999 meters Centerline goodness [0,1] 0.9381940689597804 Centerline is valid? [True, False] Translation: X:-13.66, Y:-0.44, Z:0.02 [[ 9.99291276e-01 -4.75394477e-03 -3.73409515e-02 -1.36566632e+01] [ 4.61146413e-03 9.99981759e-01 -3.90086928e-03 -4.43497664e-01] [ 3.73588149e-02 3.72590818e-03 9.99294970e-01 2.10633756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.249562459999998 meters Centerline goodness [0,1] 0.9504365904365905 Centerline is valid? [False, True] Translation: X:-13.67, Y:-0.45, Z:0.02 [[ 9.99166885e-01 -9.07538585e-03 -3.97891109e-02 -1.36746419e+01] [ 9.07066895e-03 9.99958816e-01 -2.99078083e-04 -4.49190235e-01] [ 3.97901865e-02 -6.20849364e-05 9.99208055e-01 2.06688720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.27956246 meters Centerline goodness [0,1] 0.9602931684260937 Centerline is valid? [True, True] Translation: X:-13.70, Y:-0.47, Z:0.02 [[ 9.99072971e-01 -1.22046948e-02 -4.12824957e-02 -1.37026552e+01] [ 1.20198452e-02 9.99916605e-01 -4.72293552e-03 -4.66108307e-01] [ 4.13366949e-02 4.22234801e-03 9.99136352e-01 2.07352442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.309562459999999 meters Centerline goodness [0,1] 0.949106142934174 Centerline is valid? [True, False] Translation: X:-13.71, Y:-0.47, Z:0.02 [[ 9.99084852e-01 -1.37562367e-02 -4.04996770e-02 -1.37093259e+01] [ 1.35605765e-02 9.99895035e-01 -5.10192286e-03 -4.71757262e-01] [ 4.05656092e-02 4.54805487e-03 9.99166526e-01 2.44116596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.339562459999998 meters Centerline goodness [0,1] 0.949106142934174 Centerline is valid? [False, False] Translation: X:-13.71, Y:-0.47, Z:0.02 [[ 9.99084852e-01 -1.37562367e-02 -4.04996770e-02 -1.37093259e+01] [ 1.35605765e-02 9.99895035e-01 -5.10192286e-03 -4.71757262e-01] [ 4.05656092e-02 4.54805487e-03 9.99166526e-01 2.44116596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.36956246 meters Centerline goodness [0,1] 0.9727674954820216 Centerline is valid? [False, True] Translation: X:-13.72, Y:-0.48, Z:0.03 [[ 9.99030468e-01 -1.66574960e-02 -4.07511068e-02 -1.37177342e+01] [ 1.64200822e-02 9.99846244e-01 -6.15375780e-03 -4.84222870e-01] [ 4.08473473e-02 5.47865501e-03 9.99150378e-01 2.93633041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.399562459999999 meters Centerline goodness [0,1] 0.967841784905582 Centerline is valid? [True, True] Translation: X:-13.75, Y:-0.49, Z:0.03 [[ 9.98956041e-01 -1.79123476e-02 -4.20235132e-02 -1.37463930e+01] [ 1.77195744e-02 9.99830716e-01 -4.95530898e-03 -4.90039298e-01] [ 4.21051605e-02 4.20549707e-03 9.99104334e-01 2.55933923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.429562459999998 meters Centerline goodness [0,1] 0.9425538103548575 Centerline is valid? [True, False] Translation: X:-13.75, Y:-0.50, Z:0.03 [[ 9.98955679e-01 -1.91974729e-02 -4.14609206e-02 -1.37494104e+01] [ 1.90290052e-02 9.99809010e-01 -4.45415974e-03 -5.01551482e-01] [ 4.15385106e-02 3.66054810e-03 9.99130198e-01 2.67935963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.459562459999999 meters Centerline goodness [0,1] 0.9844307896703479 Centerline is valid? [False, True] Translation: X:-13.75, Y:-0.51, Z:0.03 [[ 9.98978707e-01 -1.86725842e-02 -4.11445964e-02 -1.37495850e+01] [ 1.85589771e-02 9.99822832e-01 -3.14143634e-03 -5.06684039e-01] [ 4.11959656e-02 2.37462639e-03 9.99148264e-01 2.62741650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.489562459999998 meters Centerline goodness [0,1] 0.9631222471536608 Centerline is valid? [True, True] Translation: X:-13.78, Y:-0.51, Z:0.02 [[ 9.98903816e-01 -1.69726301e-02 -4.36244927e-02 -1.37792421e+01] [ 1.67644913e-02 9.99846292e-01 -5.13259619e-03 -5.13812895e-01] [ 4.37049010e-02 4.39562749e-03 9.99034814e-01 1.95062072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.51956246 meters Centerline goodness [0,1] 0.9444248887048349 Centerline is valid? [True, False] Translation: X:-13.78, Y:-0.53, Z:0.02 [[ 9.99013874e-01 -1.39663095e-02 -4.21452485e-02 -1.37809074e+01] [ 1.39771861e-02 9.99902314e-01 -3.65964845e-05 -5.26193609e-01] [ 4.21416427e-02 -5.52511586e-04 9.99111494e-01 1.99634336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.549562459999999 meters Centerline goodness [0,1] 0.9784272646186397 Centerline is valid? [False, True] Translation: X:-13.78, Y:-0.53, Z:0.02 [[ 9.99116694e-01 -1.17604635e-02 -4.03425777e-02 -1.37841294e+01] [ 1.18973866e-02 9.99924244e-01 3.15559902e-03 -5.33558424e-01] [ 4.03024102e-02 -3.63278290e-03 9.99180924e-01 2.05789146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.579562459999998 meters Centerline goodness [0,1] 0.9556429902671361 Centerline is valid? [True, True] Translation: X:-13.81, Y:-0.55, Z:0.02 [[ 9.98950300e-01 -1.28482687e-02 -4.39683927e-02 -1.38108086e+01] [ 1.26462757e-02 9.99908177e-01 -4.86913485e-03 -5.51178947e-01] [ 4.40269154e-02 4.30798731e-03 9.99021057e-01 1.56512687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.60956246 meters Centerline goodness [0,1] 0.9829001083062567 Centerline is valid? [True, True] Translation: X:-13.84, Y:-0.57, Z:0.02 [[ 9.98843316e-01 -1.50135818e-02 -4.56795692e-02 -1.38379065e+01] [ 1.47980324e-02 9.99877734e-01 -5.05325290e-03 -5.71562049e-01] [ 4.57498515e-02 4.37144013e-03 9.98943363e-01 1.68568756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.639562459999999 meters Centerline goodness [0,1] 0.9758935993349959 Centerline is valid? [True, True] Translation: X:-13.87, Y:-0.57, Z:0.02 [[ 9.99042782e-01 -1.56607173e-02 -4.08443521e-02 -1.38681958e+01] [ 1.54889781e-02 9.99869832e-01 -4.51781040e-03 -5.73010506e-01] [ 4.09097876e-02 3.88084860e-03 9.99155307e-01 2.24002229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.669562459999998 meters Centerline goodness [0,1] 0.9700770396827045 Centerline is valid? [True, True] Translation: X:-13.90, Y:-0.58, Z:0.02 [[ 9.99064911e-01 -1.52461333e-02 -4.04581030e-02 -1.38954981e+01] [ 1.50774707e-02 9.99876334e-01 -4.47069793e-03 -5.83310151e-01] [ 4.05212605e-02 3.85651158e-03 9.99171234e-01 2.25616844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.69956246 meters Centerline goodness [0,1] 0.9824609024283298 Centerline is valid? [True, True] Translation: X:-13.92, Y:-0.61, Z:0.02 [[ 9.98798672e-01 -1.69711827e-02 -4.59694593e-02 -1.39212572e+01] [ 1.67555803e-02 9.99846754e-01 -5.07142184e-03 -6.05046259e-01] [ 4.60484827e-02 4.29508443e-03 9.98929972e-01 1.53621862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.729562459999999 meters Centerline goodness [0,1] 0.9820234027130579 Centerline is valid? [True, True] Translation: X:-13.95, Y:-0.61, Z:0.01 [[ 9.98673608e-01 -1.53685813e-02 -4.91409332e-02 -1.39504359e+01] [ 1.51203988e-02 9.99871000e-01 -5.41820381e-03 -6.11300350e-01] [ 4.92178642e-02 4.66798664e-03 9.98777158e-01 1.11337639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.759562459999998 meters Centerline goodness [0,1] 0.9878530720911851 Centerline is valid? [True, True] Translation: X:-13.98, Y:-0.63, Z:0.02 [[ 9.98797232e-01 -1.65070944e-02 -4.61692997e-02 -1.39778281e+01] [ 1.62892826e-02 9.99854365e-01 -5.08996231e-03 -6.26749912e-01] [ 4.62465963e-02 4.33177550e-03 9.98920662e-01 1.62526146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.789562459999999 meters Centerline goodness [0,1] 0.9844559585492227 Centerline is valid? [True, True] Translation: X:-14.01, Y:-0.63, Z:0.02 [[ 9.98792177e-01 -1.73625691e-02 -4.59644257e-02 -1.40067683e+01] [ 1.71476539e-02 9.99840135e-01 -5.06589293e-03 -6.31581633e-01] [ 4.60450345e-02 4.27159216e-03 9.98930232e-01 1.87458101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.819562459999998 meters Centerline goodness [0,1] 0.9871669543875704 Centerline is valid? [True, True] Translation: X:-14.03, Y:-0.64, Z:0.01 [[ 9.98756591e-01 -1.59435172e-02 -4.72342682e-02 -1.40343275e+01] [ 1.57150869e-02 9.99862970e-01 -5.20355012e-03 -6.41378225e-01] [ 4.73107586e-02 4.45478935e-03 9.98870285e-01 1.38662213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.84956246 meters Centerline goodness [0,1] 0.9815149438178911 Centerline is valid? [True, True] Translation: X:-14.06, Y:-0.65, Z:0.01 [[ 9.98831769e-01 -1.09040276e-02 -4.70765370e-02 -1.40634967e+01] [ 1.06716515e-02 9.99929615e-01 -5.18465359e-03 -6.50598992e-01] [ 4.71297571e-02 4.67621232e-03 9.98877830e-01 1.34963645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.879562459999999 meters Centerline goodness [0,1] 0.9527725417900864 Centerline is valid? [True, True] Translation: X:-14.09, Y:-0.65, Z:0.02 [[ 9.98986645e-01 -7.23698754e-03 -4.44219511e-02 -1.40942459e+01] [ 7.02655685e-03 9.99963350e-01 -4.89140732e-03 -6.47851322e-01] [ 4.44557221e-02 4.57431722e-03 9.99000883e-01 1.60333670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.909562459999998 meters Centerline goodness [0,1] 0.9780617014646307 Centerline is valid? [True, True] Translation: X:-14.12, Y:-0.67, Z:0.02 [[ 9.99070716e-01 -4.72719179e-03 -4.28410790e-02 -1.41211642e+01] [ 4.52924753e-03 9.99978621e-01 -4.71631801e-03 -6.67775869e-01] [ 4.28624581e-02 4.51789736e-03 9.99070767e-01 2.06040619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.93956246 meters Centerline goodness [0,1] 0.9558921576798066 Centerline is valid? [True, True] Translation: X:-14.15, Y:-0.67, Z:0.02 [[ 9.98889833e-01 -2.14591205e-03 -4.70584335e-02 -1.41516699e+01] [ 1.90424521e-03 9.99984772e-01 -5.17969208e-03 -6.67553965e-01] [ 4.70688320e-02 5.08433096e-03 9.98878709e-01 1.51473499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.969562459999999 meters Centerline goodness [0,1] 0.9682169897662035 Centerline is valid? [True, True] Translation: X:-14.18, Y:-0.68, Z:0.01 [[ 9.98929186e-01 1.14204953e-04 -4.62651931e-02 -1.41801312e+01] [-3.50137092e-04 9.99986977e-01 -5.09148842e-03 -6.77912116e-01] [ 4.62640091e-02 5.10223554e-03 9.98916217e-01 1.42455830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.999562459999998 meters Centerline goodness [0,1] 0.8548978197403565 Centerline is valid? [True, False] Translation: X:-14.21, Y:-0.69, Z:0.02 [[ 9.98986011e-01 -7.38336058e-04 -4.50156056e-02 -1.42136841e+01] [ 7.23095813e-04 9.99999676e-01 -3.54837325e-04 -6.87428661e-01] [ 4.50158530e-02 3.21926928e-04 9.98986221e-01 1.82989328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.02956246 meters Centerline goodness [0,1] 0.8558495100374982 Centerline is valid? [False, False] Translation: X:-14.25, Y:-0.70, Z:0.02 [[ 9.98881884e-01 -4.20621716e-05 -4.72755673e-02 -1.42498242e+01] [ 1.39537130e-05 9.99999823e-01 -5.94896152e-04 -6.95063937e-01] [ 4.72755839e-02 5.93571319e-04 9.98881708e-01 1.73027564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.059562459999999 meters Centerline goodness [0,1] 0.8779265944894115 Centerline is valid? [False, False] Translation: X:-14.31, Y:-0.70, Z:0.02 [[ 9.98801589e-01 -3.09858725e-03 -4.88444907e-02 -1.43066839e+01] [ 3.10834812e-03 9.99995161e-01 1.23878629e-04 -7.02104582e-01] [ 4.88438705e-02 -2.75555852e-04 9.98806388e-01 1.68151434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.089562459999998 meters Centerline goodness [0,1] 0.8907308784217833 Centerline is valid? [False, False] Translation: X:-14.34, Y:-0.70, Z:0.02 [[ 9.98693892e-01 -7.17699572e-03 -5.05865683e-02 -1.43376422e+01] [ 7.28576160e-03 9.99971526e-01 1.96602101e-03 -7.03470558e-01] [ 5.05710177e-02 -2.33201485e-03 9.98717745e-01 2.04060513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.11956246 meters Centerline goodness [0,1] 0.919015399941887 Centerline is valid? [False, False] Translation: X:-14.40, Y:-0.71, Z:0.02 [[ 9.98510807e-01 -1.16003737e-02 -5.33066651e-02 -1.43982828e+01] [ 1.16177894e-02 9.99932511e-01 1.68343962e-05 -7.08161733e-01] [ 5.33028722e-02 -6.36114933e-04 9.98578189e-01 1.75888792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.149562459999999 meters Centerline goodness [0,1] 0.9284928264435355 Centerline is valid? [False, False] Translation: X:-14.44, Y:-0.72, Z:0.02 [[ 9.98383153e-01 -1.26414859e-02 -5.54190659e-02 -1.44375620e+01] [ 1.24790024e-02 9.99916764e-01 -3.27699293e-03 -7.18943985e-01] [ 5.54558791e-02 2.58011988e-03 9.98457805e-01 1.94685625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.179562459999998 meters Centerline goodness [0,1] 0.9322781794452155 Centerline is valid? [False, False] Translation: X:-14.50, Y:-0.73, Z:0.02 [[ 9.98312901e-01 -1.38623540e-02 -5.63842811e-02 -1.44970708e+01] [ 1.38309875e-02 9.99903899e-01 -9.46515092e-04 -7.30623176e-01] [ 5.63919835e-02 1.65067941e-04 9.98408692e-01 2.17606000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.209562459999999 meters Centerline goodness [0,1] 0.946534448920566 Centerline is valid? [False, False] Translation: X:-14.53, Y:-0.74, Z:0.03 [[ 9.98347217e-01 -1.29567919e-02 -5.59906686e-02 -1.45289621e+01] [ 1.25451540e-02 9.99891681e-01 -7.69715605e-03 -7.38583623e-01] [ 5.60843342e-02 6.98202276e-03 9.98401622e-01 2.67815718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.239562459999998 meters Centerline goodness [0,1] 0.940910786060581 Centerline is valid? [False, False] Translation: X:-14.58, Y:-0.74, Z:0.03 [[ 9.98175959e-01 -1.10327047e-02 -5.93551557e-02 -1.45779262e+01] [ 1.05812318e-02 9.99912689e-01 -7.91523784e-03 -7.38586099e-01] [ 5.94372998e-02 7.27274946e-03 9.98205547e-01 2.73719268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.26956246 meters Centerline goodness [0,1] 0.9127020212458149 Centerline is valid? [False, False] Translation: X:-14.61, Y:-0.74, Z:0.03 [[ 9.97936493e-01 -6.53700176e-03 -6.38750574e-02 -1.46053080e+01] [ 5.81115919e-03 9.99916495e-01 -1.15426598e-02 -7.43948754e-01] [ 6.39451780e-02 1.11476533e-02 9.97891148e-01 3.06679520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.299562459999999 meters Centerline goodness [0,1] 0.8964832436905255 Centerline is valid? [False, False] Translation: X:-14.65, Y:-0.75, Z:0.03 [[ 9.97828200e-01 -3.29113117e-03 -6.57879249e-02 -1.46481691e+01] [ 2.53345388e-03 9.99929542e-01 -1.15970758e-02 -7.47901029e-01] [ 6.58214571e-02 1.14052186e-02 9.97766234e-01 3.10906062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.329562459999998 meters Centerline goodness [0,1] 0.6405000516582291 Centerline is valid? [False, False] Translation: X:-14.67, Y:-0.75, Z:0.03 [[ 9.98056717e-01 -4.93374899e-03 -6.21164105e-02 -1.46719598e+01] [ 4.47758551e-03 9.99961994e-01 -7.48074755e-03 -7.45508365e-01] [ 6.21509579e-02 7.18807880e-03 9.98040876e-01 3.15926941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.35956246 meters Centerline goodness [0,1] 0.9162006544882151 Centerline is valid? [False, False] Translation: X:-14.71, Y:-0.75, Z:0.03 [[ 9.98214690e-01 -2.63396732e-03 -5.96698842e-02 -1.47110698e+01] [ 2.16596588e-03 9.99966397e-01 -7.90649842e-03 -7.52352785e-01] [ 5.96887046e-02 7.76313993e-03 9.98186852e-01 3.05008367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.389562459999999 meters Centerline goodness [0,1] 0.6254096502256941 Centerline is valid? [False, False] Translation: X:-14.73, Y:-0.75, Z:0.03 [[ 9.97923385e-01 -5.64149526e-03 -6.41645646e-02 -1.47302379e+01] [ 5.34386978e-03 9.99974157e-01 -4.80914743e-03 -7.49442392e-01] [ 6.41900372e-02 4.45627360e-03 9.97927743e-01 2.96875934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.419562459999998 meters Centerline goodness [0,1] 0.6233884297520661 Centerline is valid? [False, False] Translation: X:-14.76, Y:-0.75, Z:0.03 [[ 9.97529939e-01 -1.03226869e-02 -6.94799444e-02 -1.47550600e+01] [ 1.01270699e-02 9.99943704e-01 -3.16710617e-03 -7.50502810e-01] [ 6.95087260e-02 2.45565497e-03 9.97578321e-01 3.15894506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.44956246 meters Centerline goodness [0,1] 0.660271137327952 Centerline is valid? [False, False] Translation: X:-14.76, Y:-0.76, Z:0.04 [[ 9.97560626e-01 -1.19852501e-02 -6.87688265e-02 -1.47614890e+01] [ 1.17566464e-02 9.99923939e-01 -3.72801103e-03 -7.56520732e-01] [ 6.88082770e-02 2.91042624e-03 9.97625656e-01 3.54836923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.479562459999999 meters Centerline goodness [0,1] 0.9176065485886307 Centerline is valid? [False, False] Translation: X:-14.78, Y:-0.76, Z:0.03 [[ 9.97571690e-01 -1.94103981e-02 -6.68876664e-02 -1.47822995e+01] [ 1.92860495e-02 9.99810870e-01 -2.50434803e-03 -7.59887738e-01] [ 6.69236264e-02 1.20826785e-03 9.97757369e-01 3.40256832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.509562459999998 meters Centerline goodness [0,1] 0.7409674560481461 Centerline is valid? [False, False] Translation: X:-14.79, Y:-0.77, Z:0.04 [[ 9.97386738e-01 -2.60429755e-02 -6.73903362e-02 -1.47894196e+01] [ 2.56055613e-02 9.99645129e-01 -7.34654690e-03 -7.68847499e-01] [ 6.75577472e-02 5.60178107e-03 9.97699640e-01 3.87700013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.539562459999999 meters Centerline goodness [0,1] 0.7765188391987903 Centerline is valid? [False, False] Translation: X:-14.79, Y:-0.77, Z:0.04 [[ 9.97323276e-01 -2.90771825e-02 -6.70880067e-02 -1.47936900e+01] [ 2.85088529e-02 9.99549214e-01 -9.41349209e-03 -7.73456944e-01] [ 6.73314822e-02 7.47569266e-03 9.97702654e-01 4.12522188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.569562459999998 meters Centerline goodness [0,1] 0.792237584475169 Centerline is valid? [False, False] Translation: X:-14.80, Y:-0.77, Z:0.04 [[ 9.97225479e-01 -3.18340036e-02 -6.72899762e-02 -1.47995904e+01] [ 3.11294180e-02 9.99449273e-01 -1.14938816e-02 -7.74758255e-01] [ 6.76188141e-02 9.36729375e-03 9.97667254e-01 4.45735662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.59956246 meters Centerline goodness [0,1] 0.803873094355171 Centerline is valid? [False, False] Translation: X:-14.80, Y:-0.78, Z:0.05 [[ 9.97204563e-01 -3.23393392e-02 -6.73589449e-02 -1.48033079e+01] [ 3.16298476e-02 9.99432645e-01 -1.15732667e-02 -7.76297318e-01] [ 6.76950003e-02 9.41036118e-03 9.97661682e-01 4.69401922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.629562459999999 meters Centerline goodness [0,1] 0.8239413275876357 Centerline is valid? [False, False] Translation: X:-14.81, Y:-0.78, Z:0.05 [[ 9.97254328e-01 -3.17621928e-02 -6.68952089e-02 -1.48103319e+01] [ 3.11278908e-02 9.99460221e-01 -1.05033606e-02 -7.80364543e-01] [ 6.71927100e-02 8.39221502e-03 9.97704721e-01 5.18214215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.659562459999998 meters Centerline goodness [0,1] 0.8006276841757516 Centerline is valid? [False, False] Translation: X:-14.83, Y:-0.79, Z:0.05 [[ 9.97551534e-01 -2.69515851e-02 -6.45333198e-02 -1.48328572e+01] [ 2.60522191e-02 9.99551939e-01 -1.47377827e-02 -7.85237578e-01] [ 6.49016115e-02 1.30204616e-02 9.97806719e-01 5.33020585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.68956246 meters Centerline goodness [0,1] 0.7874865824457105 Centerline is valid? [False, False] Translation: X:-14.85, Y:-0.79, Z:0.05 [[ 0.9976564 -0.02107509 -0.06509644 -14.85027632] [ 0.01990195 0.99962857 -0.01861788 -0.7894062 ] [ 0.06546463 0.0172787 0.99770528 0.05216038] [ 0. 0. 0. 1. ]] SLAMing on 15.719562459999999 meters Centerline goodness [0,1] 0.7291104288157597 Centerline is valid? [False, False] Translation: X:-14.87, Y:-0.79, Z:0.05 [[ 9.97461532e-01 -1.30266841e-02 -7.00056912e-02 -1.48724270e+01] [ 1.17021664e-02 9.99745309e-01 -1.92970812e-02 -7.89285087e-01] [ 7.02392383e-02 1.84288779e-02 9.97359928e-01 5.27313794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.749562459999998 meters Centerline goodness [0,1] 0.6956575249738467 Centerline is valid? [False, False] Translation: X:-14.90, Y:-0.78, Z:0.05 [[ 9.97591866e-01 -1.09252321e-02 -6.84916672e-02 -1.48980103e+01] [ 1.00377046e-02 9.99861314e-01 -1.32889801e-02 -7.82796040e-01] [ 6.86273536e-02 1.25694793e-02 9.97563178e-01 5.40435253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.77956246 meters Centerline goodness [0,1] 0.7096594427244582 Centerline is valid? [False, False] Translation: X:-14.92, Y:-0.79, Z:0.06 [[ 9.97702068e-01 -6.93844738e-03 -6.73976416e-02 -1.49225753e+01] [ 5.76851861e-03 9.99829562e-01 -1.75377333e-02 -7.91002686e-01] [ 6.75078391e-02 1.71086482e-02 9.97572045e-01 5.72160509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.809562459999999 meters Centerline goodness [0,1] 0.7021469859620149 Centerline is valid? [False, False] Translation: X:-14.95, Y:-0.79, Z:0.06 [[ 9.97495848e-01 -8.77349117e-03 -7.01787676e-02 -1.49478041e+01] [ 7.80726717e-03 9.99871087e-01 -1.40305053e-02 -7.87309375e-01] [ 7.02928172e-02 1.34474664e-02 9.97435755e-01 5.77684070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.839562459999998 meters Centerline goodness [0,1] 0.7271636356112801 Centerline is valid? [False, False] Translation: X:-15.00, Y:-0.79, Z:0.06 [[ 9.97478034e-01 -8.92486762e-03 -7.04124874e-02 -1.49961439e+01] [ 7.76744791e-03 9.99830467e-01 -1.66944236e-02 -7.86390108e-01] [ 7.05495457e-02 1.61053955e-02 9.97378252e-01 5.73088115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.86956246 meters Centerline goodness [0,1] 0.7308095659147458 Centerline is valid? [False, False] Translation: X:-15.05, Y:-0.79, Z:0.05 [[ 9.97290147e-01 -8.47528265e-03 -7.30789453e-02 -1.50522050e+01] [ 7.67203120e-03 9.99907112e-01 -1.12652732e-02 -7.89833235e-01] [ 7.31676336e-02 1.06740820e-02 9.97262534e-01 5.32181390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.899562459999999 meters Centerline goodness [0,1] 0.7322054879306787 Centerline is valid? [False, False] Translation: X:-15.08, Y:-0.79, Z:0.05 [[ 9.96681804e-01 -1.10881056e-02 -8.06376808e-02 -1.50843266e+01] [ 1.04601327e-02 9.99911621e-01 -8.20586235e-03 -7.91421510e-01] [ 8.07215416e-02 7.33515285e-03 9.96709701e-01 5.35109797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.929562459999998 meters Centerline goodness [0,1] 0.7790459648905155 Centerline is valid? [False, False] Translation: X:-15.14, Y:-0.79, Z:0.05 [[ 9.96456894e-01 -1.62892943e-02 -8.25125307e-02 -1.51383524e+01] [ 1.54180961e-02 9.99818577e-01 -1.11846149e-02 -7.93960642e-01] [ 8.26797505e-02 9.87280049e-03 9.96527263e-01 5.15891287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.959562459999999 meters Centerline goodness [0,1] 0.7944568452380952 Centerline is valid? [False, False] Translation: X:-15.16, Y:-0.79, Z:0.05 [[ 9.96651583e-01 -1.92497767e-02 -7.94674048e-02 -1.51635293e+01] [ 1.86732529e-02 9.99793700e-01 -7.99168483e-03 -7.90264451e-01] [ 7.96048488e-02 6.48101039e-03 9.96805430e-01 5.28172553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.989562459999998 meters Centerline goodness [0,1] 0.7978043214572069 Centerline is valid? [False, False] Translation: X:-15.21, Y:-0.80, Z:0.05 [[ 9.96679749e-01 -1.86635843e-02 -7.92536990e-02 -1.52069658e+01] [ 1.79618159e-02 9.99792983e-01 -9.55844908e-03 -7.96208184e-01] [ 7.94156871e-02 8.10317228e-03 9.96808651e-01 5.37043758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.01956246 meters Centerline goodness [0,1] 0.7948283696146061 Centerline is valid? [False, False] Translation: X:-15.23, Y:-0.80, Z:0.05 [[ 9.96549915e-01 -1.51236444e-02 -8.16060188e-02 -1.52272012e+01] [ 1.39631467e-02 9.99793377e-01 -1.47727689e-02 -8.02712477e-01] [ 8.18125752e-02 1.35823248e-02 9.96555178e-01 5.42350778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.04956246 meters Centerline goodness [0,1] 0.7833222674080836 Centerline is valid? [False, False] Translation: X:-15.25, Y:-0.81, Z:0.05 [[ 9.96315818e-01 -8.60695248e-03 -8.53270874e-02 -1.52479348e+01] [ 7.16815128e-03 9.99827160e-01 -1.71542519e-02 -8.05981472e-01] [ 8.54599853e-02 1.64794150e-02 9.96205310e-01 5.46774210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.079562460000002 meters Centerline goodness [0,1] 0.7692498347653668 Centerline is valid? [False, False] Translation: X:-15.25, Y:-0.81, Z:0.06 [[ 9.96432664e-01 -5.67173992e-03 -8.42008150e-02 -1.52540465e+01] [ 4.47438254e-03 9.99886272e-01 -1.44021643e-02 -8.05650472e-01] [ 8.42729244e-02 1.39740402e-02 9.96344720e-01 5.74667525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.10956246 meters Centerline goodness [0,1] 0.7911315174453476 Centerline is valid? [False, False] Translation: X:-15.27, Y:-0.80, Z:0.06 [[ 9.96757313e-01 -2.66054702e-03 -8.04225074e-02 -1.52657840e+01] [ 1.69316072e-03 9.99925424e-01 -1.20946027e-02 -8.04385511e-01] [ 8.04486881e-02 1.19192155e-02 9.96687484e-01 6.20154410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.13956246 meters Centerline goodness [0,1] 0.7690277892306423 Centerline is valid? [False, False] Translation: X:-15.28, Y:-0.80, Z:0.06 [[ 9.96915901e-01 -4.87386978e-03 -7.83258037e-02 -1.52752735e+01] [ 4.02864227e-03 9.99931980e-01 -1.09455720e-02 -7.99720790e-01] [ 7.83738233e-02 1.05962682e-02 9.96867726e-01 5.85799301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.16956246 meters Centerline goodness [0,1] 0.7600670446550511 Centerline is valid? [False, False] Translation: X:-15.30, Y:-0.80, Z:0.05 [[ 9.96264831e-01 -3.86146556e-03 -8.62639848e-02 -1.53048573e+01] [ 2.73774802e-03 9.99909905e-01 -1.31410065e-02 -8.00621659e-01] [ 8.63069564e-02 1.28557536e-02 9.96185645e-01 5.38146794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.19956246 meters Centerline goodness [0,1] 0.748202479338843 Centerline is valid? [False, False] Translation: X:-15.33, Y:-0.80, Z:0.06 [[ 9.96497490e-01 -7.09977335e-03 -8.33207420e-02 -1.53323598e+01] [ 6.32967837e-03 9.99934811e-01 -9.50305888e-03 -8.03183113e-01] [ 8.33827800e-02 8.94238083e-03 9.96477469e-01 5.59839026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.22956246 meters Centerline goodness [0,1] 0.748202479338843 Centerline is valid? [False, False] Translation: X:-15.33, Y:-0.80, Z:0.06 [[ 9.96497490e-01 -7.09977335e-03 -8.33207420e-02 -1.53323598e+01] [ 6.32967837e-03 9.99934811e-01 -9.50305888e-03 -8.03183113e-01] [ 8.33827800e-02 8.94238083e-03 9.96477469e-01 5.59839026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.25956246 meters Centerline goodness [0,1] 0.787933734443254 Centerline is valid? [False, False] Translation: X:-15.36, Y:-0.80, Z:0.06 [[ 9.96731547e-01 -1.13596728e-02 -7.99823755e-02 -1.53555741e+01] [ 1.08753871e-02 9.99919813e-01 -6.48793506e-03 -8.04858390e-01] [ 8.00496628e-02 5.59689026e-03 9.96775163e-01 5.60740668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.28956246 meters Centerline goodness [0,1] 0.7789055878279205 Centerline is valid? [False, False] Translation: X:-15.39, Y:-0.81, Z:0.05 [[ 9.96987011e-01 -1.30285381e-02 -7.64667087e-02 -1.53877374e+01] [ 1.22881060e-02 9.99873026e-01 -1.01456139e-02 -8.09046828e-01] [ 7.65891820e-02 9.17541426e-03 9.97020516e-01 5.14265769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.31956246 meters Centerline goodness [0,1] 0.7914689979490792 Centerline is valid? [False, False] Translation: X:-15.43, Y:-0.81, Z:0.05 [[ 9.96593974e-01 -1.90763598e-02 -8.02280655e-02 -1.54253735e+01] [ 1.87101702e-02 9.99810829e-01 -5.31370405e-03 -8.07094454e-01] [ 8.03142548e-02 3.79452467e-03 9.96762370e-01 4.92177512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.34956246 meters Centerline goodness [0,1] 0.8636815714226513 Centerline is valid? [False, False] Translation: X:-15.45, Y:-0.82, Z:0.05 [[ 9.96435015e-01 -2.00978371e-02 -8.19349554e-02 -1.54525590e+01] [ 1.91048063e-02 9.99734445e-01 -1.28858560e-02 -8.22738720e-01] [ 8.21721750e-02 1.12745666e-02 9.96554373e-01 5.38455426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.37956246 meters Centerline goodness [0,1] 0.8607490171735982 Centerline is valid? [False, False] Translation: X:-15.48, Y:-0.82, Z:0.05 [[ 9.95874248e-01 -2.40438978e-02 -8.75007059e-02 -1.54778310e+01] [ 2.33310570e-02 9.99685825e-01 -9.16043902e-03 -8.22262184e-01] [ 8.76934680e-02 7.08116135e-03 9.96122338e-01 5.43901397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.40956246 meters Centerline goodness [0,1] 0.867724318375314 Centerline is valid? [False, False] Translation: X:-15.53, Y:-0.83, Z:0.05 [[ 9.95983792e-01 -2.59956457e-02 -8.56767851e-02 -1.55256370e+01] [ 2.50432881e-02 9.99612263e-01 -1.21719921e-02 -8.27064761e-01] [ 8.59599838e-02 9.97747844e-03 9.96248629e-01 5.41897450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.43956246 meters Centerline goodness [0,1] 0.8040724075725216 Centerline is valid? [False, False] Translation: X:-15.57, Y:-0.83, Z:0.06 [[ 9.95879757e-01 -2.48692224e-02 -8.72068354e-02 -1.55729190e+01] [ 2.38189244e-02 9.99630929e-01 -1.30638756e-02 -8.32652524e-01] [ 8.74995383e-02 1.09328762e-02 9.96104564e-01 5.50027401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.46956246 meters Centerline goodness [0,1] 0.8432582408481033 Centerline is valid? [False, False] Translation: X:-15.61, Y:-0.84, Z:0.05 [[ 9.95647102e-01 -2.28752867e-02 -9.03524712e-02 -1.56083927e+01] [ 2.16838254e-02 9.99664786e-01 -1.41466041e-02 -8.36450578e-01] [ 9.06457914e-02 1.21258382e-02 9.95809372e-01 5.28105165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.49956246 meters Centerline goodness [0,1] 0.7906880496637352 Centerline is valid? [False, False] Translation: X:-15.66, Y:-0.84, Z:0.05 [[ 9.95295934e-01 -2.05880285e-02 -9.46685642e-02 -1.56575308e+01] [ 1.93122091e-02 9.99710182e-01 -1.43732874e-02 -8.38296950e-01] [ 9.49370452e-02 1.24774154e-02 9.95405079e-01 5.22170072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.52956246 meters Centerline goodness [0,1] 0.8218080149114632 Centerline is valid? [False, False] Translation: X:-15.69, Y:-0.84, Z:0.05 [[ 9.95291423e-01 -1.53696809e-02 -9.57013941e-02 -1.56852486e+01] [ 1.37245458e-02 9.99746923e-01 -1.78249067e-02 -8.42142685e-01] [ 9.59511374e-02 1.64275186e-02 9.95250479e-01 5.49943452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.559562460000002 meters Centerline goodness [0,1] 0.7373831775700934 Centerline is valid? [False, False] Translation: X:-15.73, Y:-0.85, Z:0.06 [[ 9.95389982e-01 -1.09874446e-02 -9.52788498e-02 -1.57290190e+01] [ 9.39409613e-03 9.99808702e-01 -1.71554708e-02 -8.46037113e-01] [ 9.54491180e-02 1.61813251e-02 9.95302783e-01 5.53385457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.58956246 meters Centerline goodness [0,1] 0.6815260211486627 Centerline is valid? [False, False] Translation: X:-15.75, Y:-0.84, Z:0.05 [[ 9.95554832e-01 -1.20474626e-02 -9.34100400e-02 -1.57492321e+01] [ 1.09408249e-02 9.99863876e-01 -1.23501884e-02 -8.42469322e-01] [ 9.35461132e-02 1.12733068e-02 9.95551122e-01 5.28364430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.61956246 meters Centerline goodness [0,1] 0.6636290372574546 Centerline is valid? [False, False] Translation: X:-15.78, Y:-0.84, Z:0.05 [[ 9.95377984e-01 -9.87180155e-03 -9.55259965e-02 -1.57815450e+01] [ 8.58950694e-03 9.99867530e-01 -1.38254275e-02 -8.40256363e-01] [ 9.56498240e-02 1.29410049e-02 9.95330921e-01 4.68622496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.649562460000002 meters Centerline goodness [0,1] 0.7638886004444352 Centerline is valid? [False, False] Translation: X:-15.80, Y:-0.84, Z:0.05 [[ 9.95376689e-01 -1.28635632e-02 -9.51828519e-02 -1.58042956e+01] [ 1.19295840e-02 9.99875014e-01 -1.03750364e-02 -8.40789946e-01] [ 9.53044154e-02 9.19157755e-03 9.95405738e-01 4.80020108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.67956246 meters Centerline goodness [0,1] 0.7606275619550968 Centerline is valid? [False, False] Translation: X:-15.81, Y:-0.85, Z:0.05 [[ 9.95487796e-01 -1.35098154e-02 -9.39230190e-02 -1.58115937e+01] [ 1.26066205e-02 9.99868477e-01 -1.02030549e-02 -8.46053839e-01] [ 9.40485074e-02 8.97296480e-03 9.95527179e-01 5.17912992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.70956246 meters Centerline goodness [0,1] 0.6708457464415756 Centerline is valid? [False, False] Translation: X:-15.82, Y:-0.84, Z:0.05 [[ 9.95569342e-01 -1.40681909e-02 -9.29718843e-02 -1.58151019e+01] [ 1.30924661e-02 9.99852717e-01 -1.10964843e-02 -8.43054796e-01] [ 9.31142986e-02 9.83008832e-03 9.95606899e-01 5.21072983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.739562460000002 meters Centerline goodness [0,1] 0.7347772612620125 Centerline is valid? [False, False] Translation: X:-15.83, Y:-0.85, Z:0.05 [[ 9.95549397e-01 -1.32318491e-02 -9.33076476e-02 -1.58336582e+01] [ 1.14961673e-02 9.99751201e-01 -1.91147739e-02 -8.49870931e-01] [ 9.35373565e-02 1.79570213e-02 9.95453820e-01 5.20514475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.76956246 meters Centerline goodness [0,1] 0.6849808461025984 Centerline is valid? [False, False] Translation: X:-15.85, Y:-0.85, Z:0.05 [[ 9.95616095e-01 -1.48771073e-02 -9.23431849e-02 -1.58493203e+01] [ 1.37519359e-02 9.99823390e-01 -1.28090788e-02 -8.52936049e-01] [ 9.25174383e-02 1.14830274e-02 9.95644848e-01 4.89110753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.79956246 meters Centerline goodness [0,1] 0.7060004553639807 Centerline is valid? [False, False] Translation: X:-15.87, Y:-0.85, Z:0.05 [[ 9.95941269e-01 -1.85599082e-02 -8.80710995e-02 -1.58698336e+01] [ 1.78245293e-02 9.99799454e-01 -9.12900759e-03 -8.54768479e-01] [ 8.82228707e-02 7.52212951e-03 9.96072358e-01 4.68041326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.829562460000002 meters Centerline goodness [0,1] 0.7315860354294001 Centerline is valid? [False, False] Translation: X:-15.88, Y:-0.85, Z:0.05 [[ 9.95884770e-01 -2.13792348e-02 -8.80707241e-02 -1.58762701e+01] [ 2.04141429e-02 9.99721448e-01 -1.18444080e-02 -8.54742110e-01] [ 8.82994162e-02 9.99777723e-03 9.96043803e-01 4.97736178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.85956246 meters Centerline goodness [0,1] 0.729706157200706 Centerline is valid? [False, False] Translation: X:-15.91, Y:-0.86, Z:0.05 [[ 9.95415580e-01 -2.24312011e-02 -9.29766822e-02 -1.59083427e+01] [ 2.11605330e-02 9.99669042e-01 -1.46300452e-02 -8.59812685e-01] [ 9.32740803e-02 1.25955387e-02 9.95560796e-01 4.67663139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.88956246 meters Centerline goodness [0,1] 0.727903125646864 Centerline is valid? [False, False] Translation: X:-15.93, Y:-0.86, Z:0.04 [[ 9.95367049e-01 -2.50337795e-02 -9.28318231e-02 -1.59272801e+01] [ 2.41750293e-02 9.99654020e-01 -1.03638037e-02 -8.57231187e-01] [ 9.30591503e-02 8.07157665e-03 9.95627864e-01 4.42590360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.91956246 meters Centerline goodness [0,1] 0.7273067253952754 Centerline is valid? [False, False] Translation: X:-15.96, Y:-0.87, Z:0.05 [[ 9.95535621e-01 -2.19901173e-02 -9.17892316e-02 -1.59571617e+01] [ 2.06746404e-02 9.99669823e-01 -1.52579520e-02 -8.66854948e-01] [ 9.20944490e-02 1.32921254e-02 9.95661555e-01 4.93427388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.94956246 meters Centerline goodness [0,1] 0.7106674984404242 Centerline is valid? [False, False] Translation: X:-16.00, Y:-0.87, Z:0.05 [[ 9.95849698e-01 -1.92939548e-02 -8.89444945e-02 -1.59969787e+01] [ 1.80312185e-02 9.99725220e-01 -1.49786645e-02 -8.73688129e-01] [ 8.92090519e-02 1.33127209e-02 9.95923951e-01 4.79904458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.97956246 meters Centerline goodness [0,1] 0.717763471132548 Centerline is valid? [False, False] Translation: X:-16.02, Y:-0.87, Z:0.05 [[ 9.95659369e-01 -2.16810099e-02 -9.05116279e-02 -1.60177502e+01] [ 2.06449071e-02 9.99710370e-01 -1.23678614e-02 -8.68318370e-01] [ 9.07535607e-02 1.04455729e-02 9.95818599e-01 4.57361486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.00956246 meters Centerline goodness [0,1] 0.7081641110650643 Centerline is valid? [False, False] Translation: X:-16.06, Y:-0.87, Z:0.05 [[ 9.95556682e-01 -2.11069801e-02 -9.17681232e-02 -1.60566261e+01] [ 1.97969216e-02 9.99689038e-01 -1.51627704e-02 -8.74645322e-01] [ 9.20596271e-02 1.32786710e-02 9.95664955e-01 4.56740582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.03956246 meters Centerline goodness [0,1] 0.7476425871308104 Centerline is valid? [False, False] Translation: X:-16.08, Y:-0.88, Z:0.05 [[ 9.95679750e-01 -1.77855378e-02 -9.11345755e-02 -1.60791846e+01] [ 1.60336000e-02 9.99673007e-01 -1.99198963e-02 -8.84755852e-01] [ 9.14590612e-02 1.83726221e-02 9.95639336e-01 4.76918847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.06956246 meters Centerline goodness [0,1] 0.6960997535160214 Centerline is valid? [False, False] Translation: X:-16.11, Y:-0.88, Z:0.05 [[ 9.95575027e-01 -1.95313006e-02 -9.19178681e-02 -1.61055714e+01] [ 1.80475232e-02 9.99693511e-01 -1.69461187e-02 -8.82129724e-01] [ 9.22206760e-02 1.52122427e-02 9.95622386e-01 4.74953530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.09956246 meters Centerline goodness [0,1] 0.7045298914735116 Centerline is valid? [False, False] Translation: X:-16.12, Y:-0.88, Z:0.05 [[ 9.95654202e-01 -2.23326169e-02 -9.04099749e-02 -1.61248099e+01] [ 2.12020288e-02 9.99684785e-01 -1.34463955e-02 -8.78635423e-01] [ 9.06817695e-02 1.14710853e-02 9.95813854e-01 4.54820475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.12956246 meters Centerline goodness [0,1] 0.684556930487501 Centerline is valid? [False, False] Translation: X:-16.16, Y:-0.88, Z:0.04 [[ 9.95384377e-01 -2.01711881e-02 -9.38246515e-02 -1.61607876e+01] [ 1.87949934e-02 9.99702764e-01 -1.55284321e-02 -8.81554574e-01] [ 9.41099903e-02 1.36933250e-02 9.95467630e-01 4.28933830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.15956246 meters Centerline goodness [0,1] 0.6816672890991328 Centerline is valid? [False, False] Translation: X:-16.18, Y:-0.89, Z:0.04 [[ 9.95567885e-01 -1.61588049e-02 -9.26470668e-02 -1.61841713e+01] [ 1.43496762e-02 9.99693780e-01 -2.01601638e-02 -8.88275473e-01] [ 9.29444606e-02 1.87413563e-02 9.95494896e-01 4.49584765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.18956246 meters Centerline goodness [0,1] 0.6698738463444346 Centerline is valid? [False, False] Translation: X:-16.22, Y:-0.89, Z:0.04 [[ 9.96103947e-01 -1.25972544e-02 -8.72825044e-02 -1.62247117e+01] [ 1.09364717e-02 9.99750434e-01 -1.94798243e-02 -8.91460445e-01] [ 8.75061140e-02 1.84493672e-02 9.95993123e-01 4.34330126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.21956246 meters Centerline goodness [0,1] 0.7057312171066263 Centerline is valid? [False, False] Translation: X:-16.26, Y:-0.89, Z:0.04 [[ 9.95858531e-01 -1.01801839e-02 -9.03446177e-02 -1.62626094e+01] [ 8.39856234e-03 9.99763129e-01 -2.00785900e-02 -8.93650873e-01] [ 9.05276215e-02 1.92366703e-02 9.95708140e-01 4.06811552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.24956246 meters Centerline goodness [0,1] 0.6861220002903781 Centerline is valid? [False, False] Translation: X:-16.28, Y:-0.89, Z:0.04 [[ 9.95466866e-01 -1.24694578e-02 -9.42880249e-02 -1.62835083e+01] [ 1.09757707e-02 9.99806187e-01 -1.63438039e-02 -8.91453331e-01] [ 9.44735491e-02 1.52348315e-02 9.95410794e-01 4.06408068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.27956246 meters Centerline goodness [0,1] 0.6768333194917366 Centerline is valid? [False, False] Translation: X:-16.33, Y:-0.89, Z:0.04 [[ 9.95433412e-01 -1.24745083e-02 -9.46398858e-02 -1.63257193e+01] [ 1.06746938e-02 9.99752870e-01 -1.95000082e-02 -8.92843609e-01] [ 9.48597505e-02 1.84007079e-02 9.95320572e-01 3.97441647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.309562460000002 meters Centerline goodness [0,1] 0.6975191234236097 Centerline is valid? [False, False] Translation: X:-16.35, Y:-0.89, Z:0.04 [[ 9.95484694e-01 -1.56252471e-02 -9.36273276e-02 -1.63488250e+01] [ 1.40488611e-02 9.99748641e-01 -1.74723918e-02 -8.85619744e-01] [ 9.38768039e-02 1.60781413e-02 9.95453986e-01 3.90493267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.33956246 meters Centerline goodness [0,1] 0.7181895461425225 Centerline is valid? [False, False] Translation: X:-16.39, Y:-0.89, Z:0.04 [[ 9.96070028e-01 -1.42499057e-02 -8.74153293e-02 -1.63874872e+01] [ 1.27270914e-02 9.99757823e-01 -1.79531493e-02 -8.91805722e-01] [ 8.76499900e-02 1.67700510e-02 9.96010163e-01 3.80822859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.36956246 meters Centerline goodness [0,1] 0.7303855486654085 Centerline is valid? [False, False] Translation: X:-16.41, Y:-0.89, Z:0.04 [[ 9.95857600e-01 -1.61681538e-02 -8.94775447e-02 -1.64070829e+01] [ 1.49741760e-02 9.99789877e-01 -1.39991492e-02 -8.88576145e-01] [ 8.96850838e-02 1.26013067e-02 9.95890452e-01 3.66114947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.399562460000002 meters Centerline goodness [0,1] 0.6559634939156527 Centerline is valid? [False, False] Translation: X:-16.44, Y:-0.89, Z:0.03 [[ 9.95384031e-01 -1.67744920e-02 -9.44946961e-02 -1.64412700e+01] [ 1.52450821e-02 9.99741227e-01 -1.68839103e-02 -8.90313673e-01] [ 9.47534625e-02 1.53653952e-02 9.95382181e-01 3.26287912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.42956246 meters Centerline goodness [0,1] 0.6575654623798475 Centerline is valid? [False, False] Translation: X:-16.46, Y:-0.89, Z:0.03 [[ 9.95529698e-01 -1.99656228e-02 -9.23146532e-02 -1.64613154e+01] [ 1.87920888e-02 9.99731398e-01 -1.35642337e-02 -8.87920468e-01] [ 9.25606758e-02 1.17688123e-02 9.95637492e-01 3.13535026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.45956246 meters Centerline goodness [0,1] 0.6922949048291913 Centerline is valid? [False, False] Translation: X:-16.48, Y:-0.89, Z:0.03 [[ 9.95631360e-01 -2.86372729e-02 -8.88712638e-02 -1.64840344e+01] [ 2.75223235e-02 9.99526672e-01 -1.37460594e-02 -8.92624002e-01] [ 8.92228482e-02 1.12400641e-02 9.95948264e-01 3.17690860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.489562460000002 meters Centerline goodness [0,1] 0.6982350498338871 Centerline is valid? [False, False] Translation: X:-16.50, Y:-0.89, Z:0.03 [[ 9.95378766e-01 -4.01112562e-02 -8.72479236e-02 -1.64981160e+01] [ 3.88297769e-02 9.99112292e-01 -1.63363625e-02 -8.94955233e-01] [ 8.78257449e-02 1.28730509e-02 9.96052671e-01 2.67918696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.51956246 meters Centerline goodness [0,1] 0.7924622592399791 Centerline is valid? [False, False] Translation: X:-16.51, Y:-0.90, Z:0.02 [[ 9.94826885e-01 -4.80831583e-02 -8.94845125e-02 -1.65086368e+01] [ 4.69059594e-02 9.98783453e-01 -1.52132851e-02 -8.97547526e-01] [ 9.01071533e-02 1.09372281e-02 9.95872019e-01 2.23188131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.54956246 meters Centerline goodness [0,1] 0.884280839021142 Centerline is valid? [False, False] Translation: X:-16.53, Y:-0.90, Z:0.02 [[ 9.94182062e-01 -5.95951608e-02 -8.97242670e-02 -1.65253084e+01] [ 5.83163849e-02 9.98156625e-01 -1.68092846e-02 -9.03546975e-01] [ 9.05606235e-02 1.14790943e-02 9.95824786e-01 2.12680806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.579562460000002 meters Centerline goodness [0,1] 0.8750180818747287 Centerline is valid? [False, False] Translation: X:-16.53, Y:-0.91, Z:0.03 [[ 9.94208109e-01 -6.29283331e-02 -8.71221061e-02 -1.65331807e+01] [ 6.15155119e-02 9.97928865e-01 -1.88101438e-02 -9.06646637e-01] [ 8.81253555e-02 1.33418366e-02 9.96020039e-01 2.51784871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.60956246 meters Centerline goodness [0,1] 0.9250321616798771 Centerline is valid? [False, False] Translation: X:-16.55, Y:-0.91, Z:0.02 [[ 9.93691939e-01 -7.11052838e-02 -8.67200584e-02 -1.65518563e+01] [ 6.98116705e-02 9.97400232e-01 -1.78635987e-02 -9.10531752e-01] [ 8.77648026e-02 1.16968419e-02 9.96072549e-01 2.46628979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.63956246 meters Centerline goodness [0,1] 0.9450728646327871 Centerline is valid? [False, False] Translation: X:-16.56, Y:-0.90, Z:0.02 [[ 9.92831872e-01 -7.69912680e-02 -9.14178266e-02 -1.65630633e+01] [ 7.57488065e-02 9.96982193e-01 -1.69889616e-02 -9.02541902e-01] [ 9.24499470e-02 9.94239127e-03 9.95667694e-01 1.94003697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.66956246 meters Centerline goodness [0,1] 0.9634810442301297 Centerline is valid? [False, True] Translation: X:-16.59, Y:-0.90, Z:0.02 [[ 0.99284713 -0.08001345 -0.08861385 -16.58620808] [ 0.07778877 0.99656852 -0.02828596 -0.90465126] [ 0.09057303 0.02119047 0.99566435 0.02202637] [ 0. 0. 0. 1. ]] SLAMing on 17.69956246 meters Centerline goodness [0,1] 0.9619801815995688 Centerline is valid? [True, True] Translation: X:-16.62, Y:-0.89, Z:0.02 [[ 9.92825839e-01 -8.15141657e-02 -8.74773962e-02 -1.66183049e+01] [ 8.05696754e-02 9.96646684e-01 -1.42798872e-02 -8.87819886e-01] [ 8.83480700e-02 7.12941556e-03 9.96064150e-01 1.60351156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.72956246 meters Centerline goodness [0,1] 0.9668100671280421 Centerline is valid? [True, True] Translation: X:-16.65, Y:-0.89, Z:0.02 [[ 9.92686635e-01 -8.11049487e-02 -8.94160594e-02 -1.66465877e+01] [ 8.01168063e-02 9.96678681e-01 -1.45912316e-02 -8.88310587e-01] [ 9.03025012e-02 7.32079150e-03 9.95887476e-01 1.65394851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.75956246 meters Centerline goodness [0,1] 0.9664331276795984 Centerline is valid? [True, True] Translation: X:-16.68, Y:-0.87, Z:0.01 [[ 9.92278400e-01 -8.17763835e-02 -9.32534194e-02 -1.66781770e+01] [ 8.07054164e-02 9.96622019e-01 -1.52048370e-02 -8.68663255e-01] [ 9.41818077e-02 7.56137526e-03 9.95526299e-01 5.78429290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.78956246 meters Centerline goodness [0,1] 0.958911508101371 Centerline is valid? [True, True] Translation: X:-16.71, Y:-0.86, Z:0.00 [[ 9.92556450e-01 -8.03617757e-02 -9.15078060e-02 -1.67089512e+01] [ 7.93266724e-02 9.96737326e-01 -1.48990691e-02 -8.57197863e-01] [ 9.24065615e-02 7.52915738e-03 9.95692894e-01 4.00132877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.81956246 meters Centerline goodness [0,1] 0.960212421690246 Centerline is valid? [True, True] Translation: X:-16.74, Y:-0.85, Z:0.01 [[ 9.92990900e-01 -7.82330303e-02 -8.85926958e-02 -1.67388405e+01] [ 7.72561096e-02 9.96907167e-01 -1.44081270e-02 -8.47576498e-01] [ 8.94458848e-02 7.46281201e-03 9.95963724e-01 8.25777412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84956246 meters Centerline goodness [0,1] 0.9488625720648531 Centerline is valid? [True, False] Translation: X:-16.78, Y:-0.84, Z:0.01 [[ 9.93100087e-01 -7.55995167e-02 -8.96489256e-02 -1.67769512e+01] [ 7.44787234e-02 9.97097636e-01 -1.57868330e-02 -8.42243107e-01] [ 9.05822088e-02 9.00096771e-03 9.95848305e-01 6.04421935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.87956246 meters Centerline goodness [0,1] 0.9409361455028101 Centerline is valid? [False, False] Translation: X:-16.82, Y:-0.84, Z:0.00 [[ 9.93183068e-01 -7.47568913e-02 -8.94360125e-02 -1.68164225e+01] [ 7.32935191e-02 9.97118963e-01 -1.95405822e-02 -8.36278549e-01] [ 9.06391372e-02 1.28522953e-02 9.95800866e-01 4.79607816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.90956246 meters Centerline goodness [0,1] 0.9484070574462747 Centerline is valid? [False, False] Translation: X:-16.88, Y:-0.84, Z:0.01 [[ 9.93343560e-01 -7.14585629e-02 -9.03451438e-02 -1.68821653e+01] [ 6.92532902e-02 9.97225032e-01 -2.73169940e-02 -8.35015080e-01] [ 9.20464720e-02 2.08784617e-02 9.95535804e-01 5.40865776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.93956246 meters Centerline goodness [0,1] 0.9192729551864619 Centerline is valid? [False, False] Translation: X:-16.93, Y:-0.83, Z:0.00 [[ 9.93373886e-01 -7.03053779e-02 -9.09146671e-02 -1.69310765e+01] [ 6.81048757e-02 9.97310372e-01 -2.70877917e-02 -8.33554419e-01] [ 9.25745578e-02 2.07165729e-02 9.95490218e-01 4.22294586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.96956246 meters Centerline goodness [0,1] 0.9566090631407171 Centerline is valid? [False, True] Translation: X:-16.98, Y:-0.83, Z:0.00 [[ 9.93643935e-01 -7.00112656e-02 -8.81484736e-02 -1.69810001e+01] [ 6.79314742e-02 9.97341152e-01 -2.63807060e-02 -8.33797577e-01] [ 8.97610468e-02 2.02249728e-02 9.95757955e-01 1.06582525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.99956246 meters Centerline goodness [0,1] 0.9527183796325328 Centerline is valid? [True, True] Translation: X:-17.01, Y:-0.80, Z:-0.01 [[ 9.93432300e-01 -7.30611121e-02 -8.80587283e-02 -1.70144297e+01] [ 7.21859329e-02 9.97305334e-01 -1.30867150e-02 -8.04957353e-01] [ 8.87775694e-02 6.64416390e-03 9.96029316e-01 -1.18348717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.02956246 meters Centerline goodness [0,1] 0.9501880291602764 Centerline is valid? [True, True] Translation: X:-17.04, Y:-0.80, Z:-0.02 [[ 9.92885703e-01 -7.49134193e-02 -9.25524747e-02 -1.70434330e+01] [ 7.39556604e-02 9.97166874e-01 -1.37399066e-02 -7.99581123e-01] [ 9.33195652e-02 6.79737743e-03 9.95613004e-01 -2.45903825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.05956246 meters Centerline goodness [0,1] 0.9594179091904642 Centerline is valid? [True, True] Translation: X:-17.07, Y:-0.80, Z:-0.04 [[ 9.92141545e-01 -7.94898181e-02 -9.66256915e-02 -1.70708365e+01] [ 7.84687100e-02 9.96813607e-01 -1.43281264e-02 -8.03632824e-01] [ 9.74567442e-02 6.63343609e-03 9.95217655e-01 -3.74611796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.08956246 meters Centerline goodness [0,1] 0.9653877619517107 Centerline is valid? [True, True] Translation: X:-17.10, Y:-0.81, Z:-0.04 [[ 9.91496544e-01 -8.63560387e-02 -9.73511028e-02 -1.70990075e+01] [ 8.53527905e-02 9.96246277e-01 -1.44311171e-02 -8.12217105e-01] [ 9.82318878e-02 5.99921449e-03 9.95145470e-01 -3.75574869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.11956246 meters Centerline goodness [0,1] 0.9672582169484406 Centerline is valid? [True, True] Translation: X:-17.13, Y:-0.81, Z:-0.03 [[ 9.91451865e-01 -8.93988513e-02 -9.50318124e-02 -1.71288659e+01] [ 8.84572742e-02 9.95980405e-01 -1.40834387e-02 -8.12397691e-01] [ 9.59088662e-02 5.55679650e-03 9.95374609e-01 -3.16617165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.149562460000002 meters Centerline goodness [0,1] 0.9672582169484406 Centerline is valid? [True, True] Translation: X:-17.16, Y:-0.82, Z:-0.03 [[ 9.91473585e-01 -8.91560070e-02 -9.50333485e-02 -1.71558336e+01] [ 8.82143116e-02 9.96002100e-01 -1.40730648e-02 -8.16573101e-01] [ 9.59081130e-02 5.56977061e-03 9.95374609e-01 -3.34684833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.17956246 meters Centerline goodness [0,1] 0.9687257959850119 Centerline is valid? [True, True] Translation: X:-17.18, Y:-0.83, Z:-0.03 [[ 9.91641063e-01 -9.15499226e-02 -9.09209254e-02 -1.71840391e+01] [ 9.06997918e-02 9.95787488e-01 -1.34471739e-02 -8.25501126e-01] [ 9.17690077e-02 5.08826082e-03 9.95767322e-01 -3.03982156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.20956246 meters Centerline goodness [0,1] 0.9697918198432872 Centerline is valid? [True, True] Translation: X:-17.21, Y:-0.83, Z:-0.03 [[ 9.91294847e-01 -9.49872078e-02 -9.11699293e-02 -1.72132887e+01] [ 9.41472617e-02 9.95467022e-01 -1.34796371e-02 -8.29355574e-01] [ 9.20370511e-02 4.77889565e-03 9.95744115e-01 -3.32563129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.239562460000002 meters Centerline goodness [0,1] 0.9695071010860484 Centerline is valid? [True, True] Translation: X:-17.24, Y:-0.83, Z:-0.04 [[ 9.91245776e-01 -9.59962944e-02 -9.06450347e-02 -1.72407319e+01] [ 9.51706528e-02 9.95370814e-01 -1.33973373e-02 -8.33970285e-01] [ 9.15115168e-02 4.65330686e-03 9.95793146e-01 -3.67706256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.26956246 meters Centerline goodness [0,1] 0.9708937096909289 Centerline is valid? [True, True] Translation: X:-17.27, Y:-0.83, Z:-0.04 [[ 9.91074112e-01 -9.73516107e-02 -9.10756147e-02 -1.72701820e+01] [ 9.65247992e-02 9.95239701e-01 -1.34499045e-02 -8.32464407e-01] [ 9.19514374e-02 4.53879679e-03 9.95753148e-01 -3.84242183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.29956246 meters Centerline goodness [0,1] 0.9710059792300431 Centerline is valid? [True, True] Translation: X:-17.30, Y:-0.84, Z:-0.04 [[ 9.91590172e-01 -9.29793067e-02 -9.00209953e-02 -1.72988753e+01] [ 9.21550929e-02 9.95656127e-01 -1.32783689e-02 -8.35443585e-01] [ 9.08645691e-02 4.87080689e-03 9.95851347e-01 -3.50977627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.329562460000002 meters Centerline goodness [0,1] 0.9645464243134138 Centerline is valid? [True, True] Translation: X:-17.33, Y:-0.82, Z:-0.04 [[ 9.92061352e-01 -8.75488650e-02 -9.02744145e-02 -1.73303396e+01] [ 8.66982734e-02 9.96145718e-01 -1.33085402e-02 -8.22531056e-01] [ 9.10916190e-02 5.37625250e-03 9.95828004e-01 -4.43438743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.35956246 meters Centerline goodness [0,1] 0.9634381551362683 Centerline is valid? [True, True] Translation: X:-17.36, Y:-0.82, Z:-0.05 [[ 9.92642947e-01 -8.01161254e-02 -9.07820833e-02 -1.73587446e+01] [ 7.92260502e-02 9.96766986e-01 -1.33719010e-02 -8.23406012e-01] [ 9.15598885e-02 6.08121733e-03 9.95781003e-01 -4.50830705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.38956246 meters Centerline goodness [0,1] 0.9476688069159428 Centerline is valid? [True, False] Translation: X:-17.38, Y:-0.82, Z:-0.04 [[ 9.93418980e-01 -6.68787341e-02 -9.29836856e-02 -1.73788824e+01] [ 6.60561236e-02 9.97744946e-01 -1.19000668e-02 -8.22159878e-01] [ 9.35698637e-02 5.67961044e-03 9.95596516e-01 -4.45025815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.41956246 meters Centerline goodness [0,1] 0.9099991586740703 Centerline is valid? [False, False] Translation: X:-17.40, Y:-0.82, Z:-0.04 [[ 9.94239458e-01 -5.37467664e-02 -9.27317875e-02 -1.73997776e+01] [ 5.30299710e-02 9.98541047e-01 -1.01784166e-02 -8.22873899e-01] [ 9.31435531e-02 5.20221937e-03 9.95639099e-01 -4.39929049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.44956246 meters Centerline goodness [0,1] 0.8566342973900954 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.83, Z:-0.05 [[ 9.94861794e-01 -3.74511173e-02 -9.40607551e-02 -1.74371299e+01] [ 3.61617705e-02 9.99227662e-01 -1.53754723e-02 -8.26295267e-01] [ 9.45639370e-02 1.18950665e-02 9.95447723e-01 -4.54225091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.47956246 meters Centerline goodness [0,1] 0.7555332202609042 Centerline is valid? [False, False] Translation: X:-17.46, Y:-0.83, Z:-0.04 [[ 9.94956394e-01 -2.75540416e-02 -9.64497190e-02 -1.74562629e+01] [ 2.61261023e-02 9.99530011e-01 -1.60369470e-02 -8.29532147e-01] [ 9.68462715e-02 1.34362078e-02 9.95208656e-01 -4.48725688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.50956246 meters Centerline goodness [0,1] 0.7298855429319593 Centerline is valid? [False, False] Translation: X:-17.47, Y:-0.84, Z:-0.05 [[ 9.95050822e-01 -1.89874973e-02 -9.75363382e-02 -1.74704442e+01] [ 1.72830376e-02 9.99683328e-01 -1.82904518e-02 -8.35664535e-01] [ 9.78527411e-02 1.65142049e-02 9.95063878e-01 -4.61550153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.53956246 meters Centerline goodness [0,1] 0.7041293989801889 Centerline is valid? [False, False] Translation: X:-17.47, Y:-0.83, Z:-0.05 [[ 9.95074259e-01 -1.28946863e-02 -9.82901126e-02 -1.74669738e+01] [ 1.15939555e-02 9.99837649e-01 -1.37933124e-02 -8.30965385e-01] [ 9.84520155e-02 1.25857989e-02 9.95062208e-01 -4.89388748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.56956246 meters Centerline goodness [0,1] 0.7297012598491552 Centerline is valid? [False, False] Translation: X:-17.47, Y:-0.83, Z:-0.05 [[ 9.95131836e-01 -1.25931839e-02 -9.77447747e-02 -1.74672101e+01] [ 1.12775224e-02 9.99838381e-01 -1.40010253e-02 -8.29371889e-01] [ 9.79052948e-02 1.28305472e-02 9.95113024e-01 -4.96339417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.59956246 meters Centerline goodness [0,1] 0.7311529817043712 Centerline is valid? [False, False] Translation: X:-17.47, Y:-0.83, Z:-0.05 [[ 9.95211850e-01 -1.23434544e-02 -9.69588224e-02 -1.74668451e+01] [ 1.10344259e-02 9.99840751e-01 -1.40255142e-02 -8.28676275e-01] [ 9.71165050e-02 1.28884730e-02 9.95189566e-01 -5.17916150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.62956246 meters Centerline goodness [0,1] 0.7082089865915682 Centerline is valid? [False, False] Translation: X:-17.47, Y:-0.83, Z:-0.05 [[ 9.95220555e-01 -1.22388516e-02 -9.68827012e-02 -1.74681173e+01] [ 1.09489690e-02 9.99844354e-01 -1.38343349e-02 -8.28966670e-01] [ 9.70369381e-02 1.27074488e-02 9.95199655e-01 -5.08908577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.65956246 meters Centerline goodness [0,1] 0.7447175688189241 Centerline is valid? [False, False] Translation: X:-17.47, Y:-0.83, Z:-0.05 [[ 9.95158329e-01 -1.31174834e-02 -9.74055071e-02 -1.74706543e+01] [ 1.17905612e-02 9.99829858e-01 -1.41858138e-02 -8.30089759e-01] [ 9.75750165e-02 1.29686652e-02 9.95143673e-01 -4.83685254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.68956246 meters Centerline goodness [0,1] 0.7279709479484076 Centerline is valid? [False, False] Translation: X:-17.49, Y:-0.83, Z:-0.05 [[ 9.95294784e-01 -1.97230055e-02 -9.48646188e-02 -1.74926576e+01] [ 1.84210345e-02 9.99723995e-01 -1.45808031e-02 -8.29765561e-01] [ 9.51260129e-02 1.27646929e-02 9.95383396e-01 -4.80265899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.71956246 meters Centerline goodness [0,1] 0.7368741983641371 Centerline is valid? [False, False] Translation: X:-17.52, Y:-0.84, Z:-0.05 [[ 9.95543306e-01 -1.96591012e-02 -9.22336508e-02 -1.75237605e+01] [ 1.81638324e-02 9.99690092e-01 -1.70233633e-02 -8.36183686e-01] [ 9.25397309e-02 1.52721788e-02 9.95591864e-01 -5.05594412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.74956246 meters Centerline goodness [0,1] 0.7304037755637127 Centerline is valid? [False, False] Translation: X:-17.55, Y:-0.83, Z:-0.05 [[ 9.95327215e-01 -2.30425016e-02 -9.37698163e-02 -1.75450245e+01] [ 2.18362327e-02 9.99665344e-01 -1.38700664e-02 -8.32760990e-01] [ 9.40580367e-02 1.17576750e-02 9.95497284e-01 -5.13379389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.77956246 meters Centerline goodness [0,1] 0.7234557508155319 Centerline is valid? [False, False] Translation: X:-17.58, Y:-0.84, Z:-0.05 [[ 9.95329928e-01 -2.33451975e-02 -9.36660897e-02 -1.75789797e+01] [ 2.18009627e-02 9.99609573e-01 -1.74762522e-02 -8.36087456e-01] [ 9.40375065e-02 1.53526259e-02 9.95450272e-01 -5.24194175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.80956246 meters Centerline goodness [0,1] 0.7633262707419917 Centerline is valid? [False, False] Translation: X:-17.59, Y:-0.83, Z:-0.06 [[ 9.95202251e-01 -2.85938029e-02 -9.35674824e-02 -1.75916144e+01] [ 2.71459389e-02 9.99491797e-01 -1.67106341e-02 -8.32468426e-01] [ 9.39977517e-02 1.40904835e-02 9.95472692e-01 -5.72502646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.83956246 meters Centerline goodness [0,1] 0.7653695844013951 Centerline is valid? [False, False] Translation: X:-17.59, Y:-0.83, Z:-0.05 [[ 9.95081326e-01 -3.06164146e-02 -9.42114053e-02 -1.75943351e+01] [ 2.90483612e-02 9.99416449e-01 -1.79709305e-02 -8.34157993e-01] [ 9.47066336e-02 1.51458504e-02 9.95390002e-01 -5.38343598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.86956246 meters Centerline goodness [0,1] 0.8172874800302699 Centerline is valid? [False, False] Translation: X:-17.60, Y:-0.83, Z:-0.05 [[ 9.95203760e-01 -2.71504687e-02 -9.39804628e-02 -1.75961901e+01] [ 2.58901762e-02 9.99558116e-01 -1.46037876e-02 -8.33641674e-01] [ 9.43354341e-02 1.21005736e-02 9.95466927e-01 -5.28596810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.899562460000002 meters Centerline goodness [0,1] 0.7745022251008086 Centerline is valid? [False, False] Translation: X:-17.60, Y:-0.83, Z:-0.05 [[ 9.95361989e-01 -2.44772796e-02 -9.30342584e-02 -1.76010152e+01] [ 2.34793296e-02 9.99654606e-01 -1.18063288e-02 -8.33526614e-01] [ 9.32911117e-02 9.56718893e-03 9.95592907e-01 -5.03999004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.92956246 meters Centerline goodness [0,1] 0.8162773646171573 Centerline is valid? [False, False] Translation: X:-17.61, Y:-0.84, Z:-0.05 [[ 9.95366435e-01 -2.71292768e-02 -9.22478302e-02 -1.76075751e+01] [ 2.59866398e-02 9.99570243e-01 -1.35655092e-02 -8.35918577e-01] [ 9.25762085e-02 1.11054414e-02 9.95643669e-01 -4.60937917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.95956246 meters Centerline goodness [0,1] 0.8794028849379403 Centerline is valid? [False, False] Translation: X:-17.61, Y:-0.84, Z:-0.04 [[ 9.95421217e-01 -2.96086580e-02 -9.08841518e-02 -1.76138138e+01] [ 2.83359745e-02 9.99481935e-01 -1.52621612e-02 -8.37803563e-01] [ 9.12889601e-02 1.26169881e-02 9.95744514e-01 -4.35268255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.989562460000002 meters Centerline goodness [0,1] 0.8469421972586662 Centerline is valid? [False, False] Translation: X:-17.65, Y:-0.83, Z:-0.05 [[ 9.95359068e-01 -2.60687410e-02 -9.26323159e-02 -1.76510980e+01] [ 2.46608958e-02 9.99562805e-01 -1.63106965e-02 -8.34796451e-01] [ 9.30170168e-02 1.39506038e-02 9.95566781e-01 -4.65955536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.01956246 meters Centerline goodness [0,1] 0.8086807299514482 Centerline is valid? [False, False] Translation: X:-17.70, Y:-0.83, Z:-0.05 [[ 9.95064816e-01 -2.09484718e-02 -9.69905852e-02 -1.76994850e+01] [ 1.94916954e-02 9.99682896e-01 -1.59430804e-02 -8.32097097e-01] [ 9.72938122e-02 1.39738874e-02 9.95157598e-01 -4.56827395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.04956246 meters Centerline goodness [0,1] 0.7651294718553097 Centerline is valid? [False, False] Translation: X:-17.72, Y:-0.84, Z:-0.04 [[ 9.95106424e-01 -1.29486548e-02 -9.79568177e-02 -1.77223319e+01] [ 1.12517001e-02 9.99777254e-01 -1.78561482e-02 -8.36526161e-01] [ 9.81662113e-02 1.66665870e-02 9.95030462e-01 -4.28799916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.079562460000002 meters Centerline goodness [0,1] 0.7653966323470821 Centerline is valid? [False, False] Translation: X:-17.75, Y:-0.84, Z:-0.04 [[ 9.95097706e-01 -8.20780599e-03 -9.85555049e-02 -1.77481584e+01] [ 5.97792943e-03 9.99719897e-01 -2.28996147e-02 -8.37271033e-01] [ 9.87158548e-02 2.21981962e-02 9.94868042e-01 -4.10451900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.10956246 meters Centerline goodness [0,1] 0.757217463964905 Centerline is valid? [False, False] Translation: X:-17.79, Y:-0.84, Z:-0.04 [[ 9.95112468e-01 -3.65604243e-03 -9.86803363e-02 -1.77863602e+01] [ 1.34853151e-03 9.99724330e-01 -2.34402733e-02 -8.37603291e-01] [ 9.87388317e-02 2.31926347e-02 9.94843075e-01 -4.23069884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.13956246 meters Centerline goodness [0,1] 0.6972908316370428 Centerline is valid? [False, False] Translation: X:-17.79, Y:-0.84, Z:-0.04 [[ 9.94955588e-01 -4.36814993e-03 -1.00221245e-01 -1.77862829e+01] [ 1.89809703e-03 9.99692411e-01 -2.47281311e-02 -8.36423911e-01] [ 1.00298434e-01 2.44131626e-02 9.94657841e-01 -4.21833257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16956246 meters Centerline goodness [0,1] 0.7525196437925615 Centerline is valid? [False, False] Translation: X:-17.79, Y:-0.83, Z:-0.04 [[ 9.95001436e-01 -4.91400649e-05 -9.98606018e-02 -1.77861105e+01] [-2.08045768e-03 9.99772635e-01 -2.12214550e-02 -8.34316373e-01] [ 9.98389398e-02 2.13231339e-02 9.94775105e-01 -4.33178721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.19956246 meters Centerline goodness [0,1] 0.7625852617483366 Centerline is valid? [False, False] Translation: X:-17.79, Y:-0.83, Z:-0.04 [[ 9.95015316e-01 1.99596546e-04 -9.97220232e-02 -1.77867261e+01] [-2.31852171e-03 9.99773987e-01 -2.11328763e-02 -8.33413694e-01] [ 9.96952667e-02 2.12587432e-02 9.94790892e-01 -4.32086131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.22956246 meters Centerline goodness [0,1] 0.7451033732317737 Centerline is valid? [False, False] Translation: X:-17.79, Y:-0.83, Z:-0.04 [[ 9.95017946e-01 -6.64795191e-04 -9.96937553e-02 -1.77886576e+01] [-1.52539615e-03 9.99759192e-01 -2.18913576e-02 -8.33346132e-01] [ 9.96843015e-02 2.19343662e-02 9.94777324e-01 -4.19361133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.25956246 meters Centerline goodness [0,1] 0.7664582721436664 Centerline is valid? [False, False] Translation: X:-17.80, Y:-0.83, Z:-0.04 [[ 9.95347236e-01 -5.48845876e-03 -9.61964491e-02 -1.78035402e+01] [ 3.43106012e-03 9.99762103e-01 -2.15398477e-02 -8.33436197e-01] [ 9.62917848e-02 2.11095720e-02 9.95129277e-01 -4.40300492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.28956246 meters Centerline goodness [0,1] 0.7474353326200516 Centerline is valid? [False, False] Translation: X:-17.82, Y:-0.83, Z:-0.04 [[ 9.95528716e-01 -1.09162557e-02 -9.38264921e-02 -1.78214232e+01] [ 8.98701401e-03 9.99739926e-01 -2.09598175e-02 -8.33711067e-01] [ 9.40308930e-02 2.00228802e-02 9.95367910e-01 -4.38732195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.31956246 meters Centerline goodness [0,1] 0.7506131432763861 Centerline is valid? [False, False] Translation: X:-17.84, Y:-0.83, Z:-0.04 [[ 9.95299295e-01 -1.75609362e-02 -9.52414125e-02 -1.78415864e+01] [ 1.57103956e-02 9.99673624e-01 -2.01452192e-02 -8.32840521e-01] [ 9.55640969e-02 1.85542422e-02 9.95250342e-01 -4.31580299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34956246 meters Centerline goodness [0,1] 0.8406555455553928 Centerline is valid? [False, False] Translation: X:-17.86, Y:-0.83, Z:-0.04 [[ 9.94991950e-01 -2.42539193e-02 -9.69678621e-02 -1.78635863e+01] [ 2.24198477e-02 9.99549385e-01 -1.99594179e-02 -8.29575443e-01] [ 9.74082610e-02 1.76854555e-02 9.95087361e-01 -4.30308383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.37956246 meters Centerline goodness [0,1] 0.7733879907138226 Centerline is valid? [False, False] Translation: X:-17.91, Y:-0.83, Z:-0.05 [[ 0.9950628 -0.02575889 -0.09584627 -17.91432641] [ 0.02378204 0.99948139 -0.02171087 -0.82948848] [ 0.09635581 0.01932426 0.99515935 -0.04637315] [ 0. 0. 0. 1. ]] SLAMing on 19.40956246 meters Centerline goodness [0,1] 0.8004986486203356 Centerline is valid? [False, False] Translation: X:-17.93, Y:-0.83, Z:-0.04 [[ 9.95073346e-01 -2.03057614e-02 -9.70397427e-02 -1.79347597e+01] [ 1.78334212e-02 9.99495605e-01 -2.62774519e-02 -8.34460928e-01] [ 9.75243800e-02 2.44174414e-02 9.94933558e-01 -4.38571347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.43956246 meters Centerline goodness [0,1] 0.848468282836778 Centerline is valid? [False, False] Translation: X:-17.94, Y:-0.83, Z:-0.04 [[ 9.95053154e-01 -1.92883428e-02 -9.74534820e-02 -1.79428494e+01] [ 1.68670659e-02 9.99529741e-01 -2.56085791e-02 -8.32928105e-01] [ 9.79016007e-02 2.38381431e-02 9.94910559e-01 -3.97579877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.46956246 meters Centerline goodness [0,1] 0.766789357450836 Centerline is valid? [False, False] Translation: X:-17.96, Y:-0.83, Z:-0.04 [[ 0.99531004 -0.0206797 -0.09450015 -17.96061693] [ 0.01860732 0.99956781 -0.0227588 -0.82717052] [ 0.09492996 0.02089366 0.99526467 -0.0435166 ] [ 0. 0. 0. 1. ]] SLAMing on 19.49956246 meters Centerline goodness [0,1] 0.7900006257430698 Centerline is valid? [False, False] Translation: X:-18.02, Y:-0.82, Z:-0.05 [[ 9.95613369e-01 -1.95614375e-02 -9.14951851e-02 -1.80201975e+01] [ 1.77291021e-02 9.99626518e-01 -2.07967297e-02 -8.24318531e-01] [ 9.18678272e-02 1.90833747e-02 9.95588332e-01 -4.70770036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52956246 meters Centerline goodness [0,1] 0.8378423548582531 Centerline is valid? [False, False] Translation: X:-18.04, Y:-0.82, Z:-0.05 [[ 9.95707169e-01 -2.17418897e-02 -8.99695756e-02 -1.80408784e+01] [ 2.02284103e-02 9.99638696e-01 -1.76999960e-02 -8.22044893e-01] [ 9.03219006e-02 1.58040715e-02 9.95787219e-01 -4.62528113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.55956246 meters Centerline goodness [0,1] 0.8459848056758963 Centerline is valid? [False, False] Translation: X:-18.06, Y:-0.82, Z:-0.05 [[ 9.95781592e-01 -2.45345526e-02 -8.84142319e-02 -1.80599383e+01] [ 2.32650413e-02 9.99611316e-01 -1.53608367e-02 -8.19091344e-01] [ 8.87567380e-02 1.32390776e-02 9.95965345e-01 -4.61339379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.58956246 meters Centerline goodness [0,1] 0.8613886270813698 Centerline is valid? [False, False] Translation: X:-18.10, Y:-0.82, Z:-0.04 [[ 9.95874552e-01 -2.42768024e-02 -8.74329133e-02 -1.80976034e+01] [ 2.26308507e-02 9.99548438e-01 -1.97677470e-02 -8.21779206e-01] [ 8.78733297e-02 1.77075150e-02 9.95974258e-01 -4.49396242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.61956246 meters Centerline goodness [0,1] 0.8523117514029651 Centerline is valid? [False, False] Translation: X:-18.12, Y:-0.82, Z:-0.05 [[ 9.96168376e-01 -2.54253707e-02 -8.36786539e-02 -1.81155296e+01] [ 2.40947403e-02 9.99567271e-01 -1.68734808e-02 -8.16767059e-01] [ 8.40714582e-02 1.47926126e-02 9.96349923e-01 -4.63127135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.649562460000002 meters Centerline goodness [0,1] 0.813622754491018 Centerline is valid? [False, False] Translation: X:-18.13, Y:-0.81, Z:-0.05 [[ 9.96357340e-01 -2.61673275e-02 -8.11623202e-02 -1.81297786e+01] [ 2.51522476e-02 9.99592417e-01 -1.35042417e-02 -8.12198390e-01] [ 8.14826097e-02 1.14136356e-02 9.96609409e-01 -4.89015329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.67956246 meters Centerline goodness [0,1] 0.8101530047800948 Centerline is valid? [False, False] Translation: X:-18.14, Y:-0.82, Z:-0.05 [[ 9.96559129e-01 -2.08489169e-02 -8.02198562e-02 -1.81443165e+01] [ 1.94573298e-02 9.99647020e-01 -1.80900102e-02 -8.19499839e-01] [ 8.05686973e-02 1.64669006e-02 9.96613027e-01 -4.88922902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.70956246 meters Centerline goodness [0,1] 0.8031632610421628 Centerline is valid? [False, False] Translation: X:-18.15, Y:-0.82, Z:-0.05 [[ 9.96472500e-01 -2.25025411e-02 -8.08467261e-02 -1.81485827e+01] [ 2.09975381e-02 9.99590942e-01 -1.94178172e-02 -8.19905408e-01] [ 8.12506054e-02 1.76517386e-02 9.96537383e-01 -4.52013268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.739562460000002 meters Centerline goodness [0,1] 0.8151083047587188 Centerline is valid? [False, False] Translation: X:-18.16, Y:-0.82, Z:-0.05 [[ 9.96117407e-01 -2.65898504e-02 -8.39231315e-02 -1.81601058e+01] [ 2.51989718e-02 9.99527701e-01 -1.75894012e-02 -8.15369396e-01] [ 8.43511943e-02 1.54063321e-02 9.96316978e-01 -4.86615656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.76956246 meters Centerline goodness [0,1] 0.834971266761056 Centerline is valid? [False, False] Translation: X:-18.16, Y:-0.81, Z:-0.05 [[ 9.96068085e-01 -2.70710933e-02 -8.43535782e-02 -1.81599692e+01] [ 2.56299601e-02 9.99507246e-01 -1.81209705e-02 -8.14328889e-01] [ 8.48025672e-02 1.58877416e-02 9.96271100e-01 -4.84209365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.79956246 meters Centerline goodness [0,1] 0.800957377871611 Centerline is valid? [False, False] Translation: X:-18.17, Y:-0.82, Z:-0.05 [[ 0.99636653 -0.02270951 -0.08208544 -18.17262347] [ 0.02082879 0.99950221 -0.02369607 -0.82117522] [ 0.08258271 0.02190023 0.99634355 -0.05080443] [ 0. 0. 0. 1. ]] SLAMing on 19.829562460000002 meters Centerline goodness [0,1] 0.8209546569398152 Centerline is valid? [False, False] Translation: X:-18.19, Y:-0.82, Z:-0.05 [[ 9.96630778e-01 -2.29263005e-02 -7.87494561e-02 -1.81887534e+01] [ 2.14192141e-02 9.99571924e-01 -1.99295127e-02 -8.17371730e-01] [ 7.91726554e-02 1.81756143e-02 9.96695208e-01 -5.19276778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.85956246 meters Centerline goodness [0,1] 0.8404337399645501 Centerline is valid? [False, False] Translation: X:-18.19, Y:-0.82, Z:-0.05 [[ 9.96639671e-01 -2.29821670e-02 -7.86205151e-02 -1.81912556e+01] [ 2.14874253e-02 9.99572922e-01 -1.98056627e-02 -8.17410631e-01] [ 7.90421150e-02 1.80497567e-02 9.96707856e-01 -5.00697154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.88956246 meters Centerline goodness [0,1] 0.8179267603274638 Centerline is valid? [False, False] Translation: X:-18.21, Y:-0.82, Z:-0.05 [[ 9.96715326e-01 -2.59251476e-02 -7.67231689e-02 -1.82096636e+01] [ 2.46742271e-02 9.99547435e-01 -1.72077681e-02 -8.16345772e-01] [ 7.71345606e-02 1.52581613e-02 9.96903931e-01 -4.95142212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 664.73 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%| | 0/663 [00:00