+ python -m lidar_slam --no-model /working/3ccff880-fefc-452c-b418-efcd68683228 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/3ccff880-fefc-452c-b418-efcd68683228 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 0.002791605 Adjusted end_distance from 9.223372036854776e+18 to 42.492791605 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002791605 meters Centerline goodness [0,1] 0.9927860696517413 Centerline is valid? [0, True] SLAMing on 0.032791605 meters Centerline goodness [0,1] 0.9919086621990568 Centerline is valid? [True, True] Translation: X:0.03, Y:0.00, Z:-0.00 [[ 9.99998986e-01 -1.90223887e-04 1.41108703e-03 3.10028572e-02] [ 1.90181645e-04 9.99999981e-01 3.00696403e-05 4.53707397e-04] [-1.41109273e-03 -2.98012469e-05 9.99999004e-01 -1.13207389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.062791605 meters Centerline goodness [0,1] 0.9908161239078633 Centerline is valid? [True, True] Translation: X:0.06, Y:0.00, Z:-0.00 [[ 9.99999028e-01 -4.57533508e-04 1.31691508e-03 6.23067724e-02] [ 4.57495346e-04 9.99999895e-01 2.92792211e-05 1.05219668e-03] [-1.31692834e-03 -2.86767101e-05 9.99999132e-01 -1.34673540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09279160500000001 meters Centerline goodness [0,1] 0.9904937288473024 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.00, Z:-0.00 [[ 9.99980743e-01 -6.49697468e-04 6.17180418e-03 9.37303157e-02] [ 6.48920992e-04 9.99999781e-01 1.27811962e-04 -3.43482194e-04] [-6.17188587e-03 -1.23804487e-04 9.99980946e-01 -4.20702818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12279160500000001 meters Centerline goodness [0,1] 0.9902185846890907 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.00, Z:-0.01 [[ 9.99948761e-01 -5.78438679e-04 1.01064842e-02 1.25756855e-01] [ 5.76357987e-04 9.99999812e-01 2.08788218e-04 -5.39484351e-04] [-1.01066031e-02 -2.02952567e-04 9.99948906e-01 -6.70642909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15279160500000002 meters Centerline goodness [0,1] 0.9911601658093193 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.00, Z:-0.01 [[ 9.99720267e-01 6.66216270e-04 2.36419945e-02 1.57566725e-01] [-6.77724610e-04 9.99999656e-01 4.78766166e-04 -1.99799826e-03] [-2.36416674e-02 -4.94655001e-04 9.99720374e-01 -1.17604198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18279160500000002 meters Centerline goodness [0,1] 0.9928071928071928 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.00, Z:-0.02 [[ 9.99514256e-01 1.34288038e-03 3.11359692e-02 1.89930036e-01] [-1.36303039e-03 9.99998875e-01 6.25945869e-04 -2.30107629e-03] [-3.11350936e-02 -6.68081092e-04 9.99514962e-01 -1.59807603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21279160500000002 meters Centerline goodness [0,1] 0.9963123863406749 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.00, Z:-0.02 [[ 9.99071280e-01 1.78237519e-03 4.30511369e-02 2.22516962e-01] [-1.82013854e-03 9.99997992e-01 8.37992563e-04 -2.84311713e-03] [-4.30495568e-02 -9.15573336e-04 9.99072519e-01 -2.14802151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24279160500000002 meters Centerline goodness [0,1] 0.9973039093314694 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.00, Z:-0.03 [[ 0.99857676 0.00124323 0.05331894 0.25439022] [-0.00129867 0.99999865 0.0010052 -0.00354162] [-0.05331762 -0.00107301 0.99857703 -0.02668759] [ 0. 0. 0. 1. ]] SLAMing on 0.272791605 meters Centerline goodness [0,1] 0.9974244675581971 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.00, Z:-0.03 [[ 0.99846732 0.00179293 0.05531538 0.28649913] [-0.00185197 0.99999777 0.00101597 -0.00309583] [-0.05531344 -0.00111686 0.99846842 -0.02930304] [ 0. 0. 0. 1. ]] SLAMing on 0.302791605 meters Centerline goodness [0,1] 0.997922232116355 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.01, Z:-0.03 [[ 9.98517799e-01 2.14249981e-03 5.43839523e-02 3.18566475e-01] [-2.19870064e-03 9.99997109e-01 9.73598023e-04 -5.60864843e-03] [-5.43817092e-02 -1.09172899e-03 9.98519623e-01 -3.06462314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.332791605 meters Centerline goodness [0,1] 0.9981734708989485 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.01, Z:-0.03 [[ 9.98568386e-01 3.00613347e-03 5.34054462e-02 3.51331659e-01] [-3.06017546e-03 9.99994885e-01 9.30174356e-04 -6.29555213e-03] [-5.34023768e-02 -1.09227274e-03 9.98572478e-01 -3.14965058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.362791605 meters Centerline goodness [0,1] 0.9977756907715881 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.01, Z:-0.03 [[ 9.98658573e-01 3.23484770e-03 5.16777629e-02 3.83479772e-01] [-3.28463018e-03 9.99994220e-01 8.78425911e-04 -6.05506765e-03] [-5.16746226e-02 -1.04698991e-03 9.98663425e-01 -3.16592834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.392791605 meters Centerline goodness [0,1] 0.9968867365091916 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.01, Z:-0.03 [[ 9.98754875e-01 4.07233445e-03 4.97203849e-02 4.15471853e-01] [-4.11883629e-03 9.99991171e-01 8.32843940e-04 -5.70998757e-03] [-4.97165543e-02 -1.03659707e-03 9.98762830e-01 -3.06701230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.422791605 meters Centerline goodness [0,1] 0.9980686376467093 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.01, Z:-0.03 [[ 9.98883801e-01 5.89293506e-03 4.68660272e-02 4.48986817e-01] [-5.93521392e-03 9.99982095e-01 7.63015122e-04 -5.72918342e-03] [-4.68606917e-02 -1.04032334e-03 9.98900893e-01 -2.96768812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.452791605 meters Centerline goodness [0,1] 0.9973729863692689 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.01, Z:-0.03 [[ 9.98975663e-01 7.26148596e-03 4.46642491e-02 4.82392868e-01] [-7.30023218e-03 9.99973105e-01 7.04447755e-04 -5.21074445e-03] [-4.46579325e-02 -1.02978555e-03 9.99001806e-01 -3.00002131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.482791605 meters Centerline goodness [0,1] 0.9972297798664358 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.00, Z:-0.03 [[ 9.99081403e-01 9.56356303e-03 4.17718571e-02 5.15315546e-01] [-9.59858675e-03 9.99953729e-01 6.37965541e-04 -2.39375572e-03] [-4.17638231e-02 -1.03833030e-03 9.99126971e-01 -3.06323332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.512791605 meters Centerline goodness [0,1] 0.9974266343346365 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.00, Z:-0.03 [[ 9.99110049e-01 1.10062284e-02 4.07182258e-02 5.48536383e-01] [-1.10398428e-02 9.99938879e-01 6.00768557e-04 -2.48995826e-04] [-4.07091248e-02 -1.04975671e-03 9.99170489e-01 -3.14033079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.542791605 meters Centerline goodness [0,1] 0.9971408853396431 Centerline is valid? [True, True] Translation: X:0.58, Y:0.00, Z:-0.03 [[ 9.99104276e-01 1.07850807e-02 4.09185383e-02 5.81478892e-01] [-1.08179478e-02 9.99941315e-01 5.81891598e-04 5.20736440e-04] [-4.09098613e-02 -1.02402499e-03 9.99162316e-01 -3.12199869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.572791605 meters Centerline goodness [0,1] 0.9977229977229978 Centerline is valid? [True, True] Translation: X:0.61, Y:0.00, Z:-0.03 [[ 9.99178319e-01 1.11409992e-02 3.89687603e-02 6.14497973e-01] [-1.11702984e-02 9.99937468e-01 5.34209992e-04 2.25376950e-03] [-3.89603719e-02 -9.69063724e-04 9.99240287e-01 -3.18992619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6027916050000001 meters Centerline goodness [0,1] 0.9963979078259153 Centerline is valid? [True, True] Translation: X:0.65, Y:0.01, Z:-0.03 [[ 9.99409801e-01 1.10541376e-02 3.25246956e-02 6.47796745e-01] [-1.10740356e-02 9.99938588e-01 4.31702423e-04 6.55418256e-03] [-3.25179261e-02 -7.91627272e-04 9.99470839e-01 -3.14521609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.632791605 meters Centerline goodness [0,1] 0.9981064381104245 Centerline is valid? [True, True] Translation: X:0.68, Y:0.01, Z:-0.03 [[ 9.99470538e-01 1.04741222e-02 3.08047962e-02 6.81187890e-01] [-1.04912180e-02 9.99944888e-01 3.93392934e-04 9.68604776e-03] [-3.07989781e-02 -7.16364481e-04 9.99525342e-01 -3.23640993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.662791605 meters Centerline goodness [0,1] 0.9979235675087754 Centerline is valid? [True, True] Translation: X:0.71, Y:0.01, Z:-0.03 [[ 9.99527307e-01 1.03253428e-02 2.89577385e-02 7.14595549e-01] [-1.03399707e-02 9.99946478e-01 3.55443841e-04 1.06923793e-02] [-2.89525186e-02 -6.54697993e-04 9.99580574e-01 -3.34350870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.692791605 meters Centerline goodness [0,1] 0.9970652606446478 Centerline is valid? [True, True] Translation: X:0.75, Y:0.01, Z:-0.03 [[ 9.99536714e-01 1.00371167e-02 2.87334790e-02 7.47502955e-01] [-1.00509535e-02 9.99949431e-01 3.37165777e-04 1.09752300e-02] [-2.87286418e-02 -6.25808435e-04 9.99587051e-01 -3.24941627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7227916050000001 meters Centerline goodness [0,1] 0.9979663707157383 Centerline is valid? [True, True] Translation: X:0.78, Y:0.01, Z:-0.03 [[ 9.99470028e-01 1.19537114e-02 3.02782311e-02 7.80074887e-01] [-1.19694252e-02 9.99928307e-01 3.37778995e-04 1.16437654e-02] [-3.02720226e-02 -7.00013006e-04 9.99541452e-01 -3.42332586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7527916050000001 meters Centerline goodness [0,1] 0.9978164855342166 Centerline is valid? [True, True] Translation: X:0.81, Y:0.01, Z:-0.04 [[ 9.99354253e-01 1.57942705e-02 3.22740939e-02 8.12388294e-01] [-1.58135077e-02 9.99874901e-01 3.40879176e-04 1.44912412e-02] [-3.22646725e-02 -8.51025688e-04 9.99478998e-01 -3.68863433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.782791605 meters Centerline goodness [0,1] 0.9978164855342166 Centerline is valid? [True, True] Translation: X:0.84, Y:0.02, Z:-0.04 [[ 9.99345637e-01 1.63300772e-02 3.22742436e-02 8.44900022e-01] [-1.63491140e-02 9.99866291e-01 3.26019050e-04 1.51136480e-02] [-3.22646043e-02 -8.53461004e-04 9.99478998e-01 -3.80750349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.812791605 meters Centerline goodness [0,1] 0.9976186932579253 Centerline is valid? [True, True] Translation: X:0.88, Y:0.02, Z:-0.04 [[ 9.99205344e-01 1.81035299e-02 3.55097573e-02 8.77183621e-01] [-1.81269484e-02 9.99835636e-01 3.37635731e-04 1.71995762e-02] [-3.54978084e-02 -9.81050965e-04 9.99369273e-01 -4.02022713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.842791605 meters Centerline goodness [0,1] 0.997175281232965 Centerline is valid? [True, True] Translation: X:0.91, Y:0.02, Z:-0.04 [[ 9.99126999e-01 1.93454358e-02 3.70269461e-02 9.09722897e-01] [-1.93710818e-02 9.99812307e-01 3.33974308e-04 1.92144903e-02] [-3.70135355e-02 -1.05093475e-03 9.99314212e-01 -4.14384058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8727916050000001 meters Centerline goodness [0,1] 0.9972303279093921 Centerline is valid? [True, True] Translation: X:0.94, Y:0.02, Z:-0.04 [[ 9.98796557e-01 1.94403549e-02 4.50278865e-02 9.41474461e-01] [-1.94771455e-02 9.99810231e-01 3.78436359e-04 2.11657112e-02] [-4.50119846e-02 -1.25499563e-03 9.98985659e-01 -4.35423101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.902791605 meters Centerline goodness [0,1] 0.9972258000594472 Centerline is valid? [True, True] Translation: X:0.97, Y:0.02, Z:-0.04 [[ 9.98638317e-01 1.74584280e-02 4.91601062e-02 9.73602494e-01] [-1.74986844e-02 9.99846811e-01 3.88591747e-04 2.27837719e-02] [-4.91457912e-02 -1.24829979e-03 9.98790835e-01 -4.42738813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.932791605 meters Centerline goodness [0,1] 0.9971261520166484 Centerline is valid? [True, True] Translation: X:1.01, Y:0.02, Z:-0.05 [[ 9.98340693e-01 1.42128444e-02 5.58019390e-02 1.00616633e+00] [-1.42580119e-02 9.99898265e-01 4.11365515e-04 2.45091981e-02] [-5.57904153e-02 -1.20630764e-03 9.98441773e-01 -4.65020892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.962791605 meters Centerline goodness [0,1] 0.9973251436496929 Centerline is valid? [True, True] Translation: X:1.04, Y:0.03, Z:-0.05 [[ 9.97825552e-01 5.39645866e-03 6.56890062e-02 1.03774742e+00] [-5.43765285e-03 9.99985115e-01 4.48334199e-04 2.71296234e-02] [-6.56856090e-02 -8.04553331e-04 9.97840044e-01 -5.04139329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9927916050000001 meters Centerline goodness [0,1] 0.9992063492063492 Centerline is valid? [True, True] Translation: X:1.07, Y:0.03, Z:-0.05 [[ 9.97405709e-01 6.45041003e-04 7.19821870e-02 1.06924506e+00] [-6.79792095e-04 9.99999664e-01 4.58276306e-04 2.82858568e-02] [-7.19818672e-02 -5.06020326e-04 9.97405812e-01 -5.37994131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.022791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.10, Y:0.03, Z:-0.06 [[ 9.96895225e-01 -5.54781562e-03 7.85438264e-02 1.10058994e+00] [ 5.52720159e-03 9.99984610e-01 4.79851390e-04 3.05730025e-02] [-7.85452798e-02 -4.42339964e-05 9.96910546e-01 -5.79907091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0527916050000001 meters Centerline goodness [0,1] 0.9997042149371457 Centerline is valid? [True, True] Translation: X:1.13, Y:0.03, Z:-0.06 [[ 9.96706251e-01 -6.84435320e-03 8.08072040e-02 1.13258383e+00] [ 6.82864649e-03 9.99976574e-01 4.70728083e-04 3.19789296e-02] [-8.08085328e-02 8.26262072e-05 9.96729639e-01 -5.96913710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0827916050000002 meters Centerline goodness [0,1] 0.9997042003549595 Centerline is valid? [True, True] Translation: X:1.16, Y:0.03, Z:-0.06 [[ 9.96753453e-01 -8.03743237e-03 8.01121295e-02 1.16483271e+00] [ 8.02880565e-03 9.99967676e-01 4.29807779e-04 3.40259139e-02] [-8.01129945e-02 2.14792330e-04 9.96785765e-01 -6.18499212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1127916050000002 meters Centerline goodness [0,1] 0.9999506294742039 Centerline is valid? [True, True] Translation: X:1.20, Y:0.04, Z:-0.06 [[ 9.96875817e-01 -8.68034576e-03 7.85064188e-02 1.19696582e+00] [ 8.67686261e-03 9.99962281e-01 3.85495190e-04 3.57336252e-02] [-7.85068038e-02 2.96898578e-04 9.96913534e-01 -6.42888049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1427916050000002 meters Centerline goodness [0,1] 0.9998024691358025 Centerline is valid? [True, True] Translation: X:1.23, Y:0.04, Z:-0.07 [[ 9.96900267e-01 -9.04280602e-03 7.81542423e-02 1.23041350e+00] [ 9.04345768e-03 9.99959047e-01 3.45602684e-04 3.63123118e-02] [-7.81541669e-02 3.62253174e-04 9.96941219e-01 -6.54751131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1727916050000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.26, Y:0.04, Z:-0.07 [[ 9.96746200e-01 -1.08108025e-02 7.98757735e-02 1.26247622e+00] [ 1.08202945e-02 9.99941410e-01 3.14008450e-04 3.68588605e-02] [-7.98744882e-02 5.51292665e-04 9.96804776e-01 -6.83993518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2027916050000003 meters Centerline goodness [0,1] 0.9995558187740599 Centerline is valid? [True, True] Translation: X:1.29, Y:0.04, Z:-0.07 [[ 9.96632474e-01 -1.13116723e-02 8.12142750e-02 1.29476927e+00] [ 1.13261749e-02 9.99935817e-01 2.82125204e-04 3.82512043e-02] [-8.12122538e-02 6.38671940e-04 9.96696625e-01 -6.96419708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2327916050000003 meters Centerline goodness [0,1] 0.9994535790571755 Centerline is valid? [True, True] Translation: X:1.33, Y:0.04, Z:-0.07 [[ 9.96725118e-01 -1.17347109e-02 8.00083435e-02 1.32658495e+00] [ 1.17530232e-02 9.99930902e-01 2.42057661e-04 3.96561781e-02] [-8.00056556e-02 6.99074965e-04 9.96794164e-01 -7.01540028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.262791605 meters Centerline goodness [0,1] 0.9994088378737869 Centerline is valid? [True, True] Translation: X:1.36, Y:0.04, Z:-0.07 [[ 9.96747332e-01 -1.28571652e-02 7.95578430e-02 1.35918938e+00] [ 1.28819219e-02 9.99917004e-01 2.02076787e-04 3.99191817e-02] [-7.95538382e-02 8.23438421e-04 9.96830231e-01 -7.19927722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2927916050000001 meters Centerline goodness [0,1] 0.9995550281815485 Centerline is valid? [True, True] Translation: X:1.39, Y:0.04, Z:-0.07 [[ 9.96715520e-01 -1.32013818e-02 7.98992845e-02 1.39149236e+00] [ 1.32305341e-02 9.99912459e-01 1.64550989e-04 3.95374480e-02] [-7.98944623e-02 8.93099683e-04 9.96802928e-01 -7.29987570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3227916050000001 meters Centerline goodness [0,1] 0.9993593534397792 Centerline is valid? [True, True] Translation: X:1.42, Y:0.04, Z:-0.08 [[ 9.96780558e-01 -1.26289702e-02 7.91771938e-02 1.42374676e+00] [ 1.26586111e-02 9.99919868e-01 1.27571776e-04 3.93190889e-02] [-7.91724603e-02 8.75112239e-04 9.96860550e-01 -7.52798702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3527916050000002 meters Centerline goodness [0,1] 0.9992599536237604 Centerline is valid? [True, True] Translation: X:1.46, Y:0.04, Z:-0.08 [[ 9.96926540e-01 -1.31870236e-02 7.72241900e-02 1.45598404e+00] [ 1.32195404e-02 9.99912614e-01 9.01344231e-05 3.90179837e-02] [-7.72186303e-02 9.31010904e-04 9.97013749e-01 -7.80178457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3827916050000002 meters Centerline goodness [0,1] 0.9998027224304596 Centerline is valid? [True, True] Translation: X:1.49, Y:0.04, Z:-0.08 [[ 9.97152220e-01 -1.42409467e-02 7.40583904e-02 1.48869696e+00] [ 1.42753531e-02 9.99898100e-01 6.47536367e-05 3.73735065e-02] [-7.40517660e-02 9.92640441e-04 9.97253905e-01 -7.96408410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4127916050000002 meters Centerline goodness [0,1] 0.9997533543804262 Centerline is valid? [True, True] Translation: X:1.52, Y:0.04, Z:-0.08 [[ 9.97149176e-01 -1.41476972e-02 7.41172338e-02 1.52143450e+00] [ 1.41837699e-02 9.99899404e-01 3.96605857e-05 3.68052914e-02] [-7.41103391e-02 1.01171427e-03 9.97249535e-01 -8.13565855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4427916050000003 meters Centerline goodness [0,1] 0.9996544404403416 Centerline is valid? [True, True] Translation: X:1.55, Y:0.04, Z:-0.08 [[ 9.97090361e-01 -1.40688330e-02 7.49191611e-02 1.55329393e+00] [ 1.41081781e-02 9.99900475e-01 4.06382627e-06 3.59693572e-02] [-7.49117620e-02 1.05292086e-03 9.97189610e-01 -8.24462662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4727916050000003 meters Centerline goodness [0,1] 0.999604801659833 Centerline is valid? [True, True] Translation: X:1.59, Y:0.03, Z:-0.08 [[ 9.97097409e-01 -1.47292439e-02 7.46981062e-02 1.58596034e+00] [ 1.47720675e-02 9.99890887e-01 -2.07974722e-05 3.31938345e-02] [-7.46896493e-02 1.12418257e-03 9.97206194e-01 -8.39506484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5027916050000003 meters Centerline goodness [0,1] 0.9993087785128864 Centerline is valid? [True, True] Translation: X:1.62, Y:0.03, Z:-0.09 [[ 9.97231620e-01 -1.43223101e-02 7.29655165e-02 1.61813815e+00] [ 1.43638860e-02 9.99896833e-01 -4.50725373e-05 3.23384611e-02] [-7.29573433e-02 1.09301612e-03 9.97334463e-01 -8.73797487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5327916050000001 meters Centerline goodness [0,1] 0.9991602864904915 Centerline is valid? [True, True] Translation: X:1.65, Y:0.03, Z:-0.09 [[ 9.97327085e-01 -1.43471367e-02 7.16438798e-02 1.65079727e+00] [ 1.43890613e-02 9.99896470e-01 -6.90819553e-05 3.09617979e-02] [-7.16354713e-02 1.09978549e-03 9.97430273e-01 -8.94367571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5627916050000001 meters Centerline goodness [0,1] 0.9996048602193026 Centerline is valid? [True, True] Translation: X:1.68, Y:0.03, Z:-0.09 [[ 9.97425392e-01 -1.19641878e-02 7.07067567e-02 1.68260470e+00] [ 1.20007207e-02 9.99927985e-01 -9.18907717e-05 2.87587451e-02] [-7.07005653e-02 9.40186226e-04 9.97497141e-01 -9.37025017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5927916050000002 meters Centerline goodness [0,1] 0.9996539279181292 Centerline is valid? [True, True] Translation: X:1.71, Y:0.03, Z:-0.09 [[ 9.97443515e-01 -1.00451663e-02 7.07497614e-02 1.71432370e+00] [ 1.00791440e-02 9.99949197e-01 -1.23262680e-04 2.80411562e-02] [-7.07449289e-02 8.36044594e-04 9.97494088e-01 -9.48214453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6227916050000002 meters Centerline goodness [0,1] 0.9999009606813906 Centerline is valid? [True, True] Translation: X:1.75, Y:0.03, Z:-0.10 [[ 9.97443012e-01 -7.65399236e-03 7.10552876e-02 1.74643251e+00] [ 7.68397289e-03 9.99970467e-01 -1.48599016e-04 2.68708871e-02] [-7.10520517e-02 6.94205954e-04 9.97472368e-01 -9.51341615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6527916050000002 meters Centerline goodness [0,1] 0.999604743083004 Centerline is valid? [True, True] Translation: X:1.78, Y:0.03, Z:-0.09 [[ 9.97672566e-01 -4.61413887e-03 6.80305932e-02 1.77886011e+00] [ 4.63612458e-03 9.99989239e-01 -1.65294539e-04 2.60046124e-02] [-6.80290984e-02 4.80308132e-04 9.97683222e-01 -9.46958175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6827916050000002 meters Centerline goodness [0,1] 0.9993593218668375 Centerline is valid? [True, True] Translation: X:1.81, Y:0.03, Z:-0.10 [[ 9.97728775e-01 -2.67672833e-03 6.73062222e-02 1.81057843e+00] [ 2.69591263e-03 9.99996347e-01 -1.94202685e-04 2.53596048e-02] [-6.73054565e-02 3.75213301e-04 9.97732346e-01 -9.64246213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7127916050000003 meters Centerline goodness [0,1] 0.9996536368134586 Centerline is valid? [True, True] Translation: X:1.84, Y:0.02, Z:-0.10 [[ 9.98119576e-01 -1.62632390e-04 6.12966946e-02 1.84172430e+00] [ 1.74840258e-04 9.99999966e-01 -1.93796754e-04 2.48303362e-02] [-6.12966610e-02 2.04149464e-04 9.98119571e-01 -9.54937034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7427916050000003 meters Centerline goodness [0,1] 0.9997531229941243 Centerline is valid? [True, True] Translation: X:1.87, Y:0.03, Z:-0.10 [[ 9.98187282e-01 7.53777393e-04 6.01795868e-02 1.87397911e+00] [-7.42867549e-04 9.99999703e-01 -2.03660919e-04 2.53982391e-02] [-6.01797225e-02 1.58586277e-04 9.98187545e-01 -9.58292450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7727916050000003 meters Centerline goodness [0,1] 0.9997530376370641 Centerline is valid? [True, True] Translation: X:1.91, Y:0.03, Z:-0.10 [[ 9.98368412e-01 1.46155268e-03 5.70821952e-02 1.90653467e+00] [-1.45141971e-03 9.99998923e-01 -2.18973858e-04 2.53625013e-02] [-5.70824538e-02 1.35766360e-04 9.98369458e-01 -9.58207213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8027916050000001 meters Centerline goodness [0,1] 0.9996534481905045 Centerline is valid? [True, True] Translation: X:1.94, Y:0.02, Z:-0.10 [[ 9.98437328e-01 1.96225207e-03 5.58484719e-02 1.93825626e+00] [-1.95188671e-03 9.99998066e-01 -2.40144982e-04 2.43020634e-02] [-5.58488352e-02 1.30759824e-04 9.98439227e-01 -9.75504532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8327916050000002 meters Centerline goodness [0,1] 0.9994566022822704 Centerline is valid? [True, True] Translation: X:1.97, Y:0.02, Z:-0.10 [[ 9.98557880e-01 2.65122254e-03 5.36202576e-02 1.96999963e+00] [-2.64134228e-03 9.99996479e-01 -2.55128515e-04 2.38080981e-02] [-5.36207452e-02 1.13131136e-04 9.98561367e-01 -9.81091449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8627916050000002 meters Centerline goodness [0,1] 0.9995055624227441 Centerline is valid? [True, True] Translation: X:2.00, Y:0.02, Z:-0.10 [[ 9.98707913e-01 2.46807205e-03 5.07583807e-02 2.00229974e+00] [-2.45782036e-03 9.99996945e-01 -2.64387175e-04 2.39428762e-02] [-5.07588782e-02 1.39290583e-04 9.98710928e-01 -9.77478644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8927916050000002 meters Centerline goodness [0,1] 0.9997528911732727 Centerline is valid? [True, True] Translation: X:2.03, Y:0.02, Z:-0.10 [[ 9.98904701e-01 1.76946258e-03 4.67575359e-02 2.03492116e+00] [-1.75904235e-03 9.99998418e-01 -2.64002494e-04 2.45877288e-02] [-4.67579291e-02 1.81464846e-04 9.98906233e-01 -9.85118175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9227916050000002 meters Centerline goodness [0,1] 0.9997036890710652 Centerline is valid? [True, True] Translation: X:2.07, Y:0.02, Z:-0.10 [[ 9.99032844e-01 2.05739719e-03 4.39220286e-02 2.06720871e+00] [-2.04761825e-03 9.99997868e-01 -2.67631581e-04 2.44130875e-02] [-4.39224856e-02 1.77437192e-04 9.99034926e-01 -9.77271332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9527916050000003 meters Centerline goodness [0,1] 0.9998019409784116 Centerline is valid? [True, True] Translation: X:2.10, Y:0.02, Z:-0.10 [[ 9.99089832e-01 1.55109189e-03 4.26274851e-02 2.09999469e+00] [-1.54056478e-03 9.99998774e-01 -2.79804996e-04 2.47537948e-02] [-4.26278668e-02 2.13879924e-04 9.99090996e-01 -9.81494665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9827916050000003 meters Centerline goodness [0,1] 0.9999504238758614 Centerline is valid? [True, True] Translation: X:2.13, Y:0.02, Z:-0.10 [[ 9.99155808e-01 1.60354858e-03 4.10499711e-02 2.13278963e+00] [-1.59294912e-03 9.99998689e-01 -2.90916515e-04 2.44279686e-02] [-4.10503837e-02 2.25280410e-04 9.99157052e-01 -9.78941786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0127916050000003 meters Centerline goodness [0,1] 0.9995548300934857 Centerline is valid? [True, True] Translation: X:2.17, Y:0.03, Z:-0.10 [[ 9.99206958e-01 -2.25311675e-04 3.98171451e-02 2.16544704e+00] [ 2.37570092e-04 9.99999926e-01 -3.03136516e-04 2.56346946e-02] [-3.98170739e-02 3.12355478e-04 9.99206937e-01 -9.88995749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.042791605 meters Centerline goodness [0,1] 0.9991572476700377 Centerline is valid? [True, True] Translation: X:2.20, Y:0.03, Z:-0.10 [[ 9.99245289e-01 -1.56610585e-03 3.88123571e-02 2.19833358e+00] [ 1.57955562e-03 9.99998703e-01 -3.15871047e-04 2.57416576e-02] [-3.88118121e-02 3.76938933e-04 9.99246467e-01 -1.00809979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0727916050000004 meters Centerline goodness [0,1] 0.9989613215946187 Centerline is valid? [True, True] Translation: X:2.23, Y:0.03, Z:-0.10 [[ 9.99141441e-01 -3.62258033e-03 4.12705332e-02 2.23085406e+00] [ 3.64049311e-03 9.99993309e-01 -3.58886735e-04 2.54703175e-02] [-4.12689570e-02 5.08823702e-04 9.99147944e-01 -1.03728397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.102791605 meters Centerline goodness [0,1] 0.9989549119140042 Centerline is valid? [True, True] Translation: X:2.26, Y:0.03, Z:-0.10 [[ 9.99003974e-01 -5.17663831e-03 4.43200036e-02 2.26272245e+00] [ 5.19979623e-03 9.99986398e-01 -4.07247217e-04 2.64623750e-02] [-4.43172926e-02 6.37296576e-04 9.99017303e-01 -1.04272506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1327916050000004 meters Centerline goodness [0,1] 0.9987091008390845 Centerline is valid? [True, True] Translation: X:2.30, Y:0.03, Z:-0.10 [[ 9.98818537e-01 -5.22817356e-03 4.83135214e-02 2.29511260e+00] [ 5.25691628e-03 9.99986073e-01 -4.67874765e-04 2.71019155e-02] [-4.83104024e-02 7.21302125e-04 9.98832110e-01 -1.04885834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1627916050000002 meters Centerline goodness [0,1] 0.9983669833729216 Centerline is valid? [True, True] Translation: X:2.33, Y:0.03, Z:-0.11 [[ 9.98609616e-01 -4.48207714e-03 5.25237573e-02 2.32749266e+00] [ 4.51638213e-03 9.99989658e-01 -5.34459735e-04 2.71495753e-02] [-5.25208186e-02 7.70933989e-04 9.98619532e-01 -1.05539982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1927916050000005 meters Centerline goodness [0,1] 0.9989596234827842 Centerline is valid? [True, True] Translation: X:2.36, Y:0.03, Z:-0.11 [[ 9.98231039e-01 -3.23410375e-03 5.93660923e-02 2.35944923e+00] [ 3.27749884e-03 9.99994428e-01 -6.33616651e-04 2.71113604e-02] [-5.93637123e-02 8.27068106e-04 9.98236077e-01 -1.08269014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2227916050000003 meters Centerline goodness [0,1] 0.9988595795319317 Centerline is valid? [True, True] Translation: X:2.39, Y:0.03, Z:-0.11 [[ 9.97946645e-01 1.25196279e-04 6.40505888e-02 2.39119079e+00] [-7.96088094e-05 9.99999742e-01 -7.14293232e-04 2.59777257e-02] [-6.40506617e-02 7.07727543e-04 9.97946397e-01 -1.11348141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.252791605 meters Centerline goodness [0,1] 0.9993558297408454 Centerline is valid? [True, True] Translation: X:2.42, Y:0.03, Z:-0.11 [[ 9.97680478e-01 2.98422975e-03 6.80055733e-02 2.42308628e+00] [-2.93726692e-03 9.99995374e-01 -7.90553935e-04 2.50350293e-02] [-6.80076178e-02 5.88969707e-04 9.97684628e-01 -1.13912667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2827916050000003 meters Centerline goodness [0,1] 0.9993071022024251 Centerline is valid? [True, True] Translation: X:2.46, Y:0.02, Z:-0.12 [[ 9.97588770e-01 5.81409960e-03 6.91580902e-02 2.45617399e+00] [-5.76994360e-03 9.99983002e-01 -8.38221999e-04 2.41686520e-02] [-6.91617881e-02 4.37162574e-04 9.97605361e-01 -1.15365259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.312791605 meters Centerline goodness [0,1] 0.9992086259768523 Centerline is valid? [True, True] Translation: X:2.49, Y:0.02, Z:-0.12 [[ 9.97537282e-01 8.23813313e-03 6.96527461e-02 2.48873851e+00] [-8.19666475e-03 9.99966019e-01 -8.81149925e-04 2.42993585e-02] [-6.96576383e-02 3.08059692e-04 9.97570909e-01 -1.16179515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3427916050000004 meters Centerline goodness [0,1] 0.9995556433297127 Centerline is valid? [True, True] Translation: X:2.52, Y:0.02, Z:-0.12 [[ 9.97504423e-01 1.05948073e-02 6.98045530e-02 2.52138972e+00] [-1.05563378e-02 9.99943857e-01 -9.19979735e-04 2.41089053e-02] [-6.98103810e-02 1.80803412e-04 9.97560263e-01 -1.18007552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.372791605 meters Centerline goodness [0,1] 0.9994566828015411 Centerline is valid? [True, True] Translation: X:2.55, Y:0.02, Z:-0.12 [[ 9.97562096e-01 1.25418835e-02 6.86481253e-02 2.55346556e+00] [-1.25076180e-02 9.99921345e-01 -9.28961247e-04 2.35463109e-02] [-6.86543768e-02 6.80720014e-05 9.97640502e-01 -1.18065581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4027916050000004 meters Centerline goodness [0,1] 0.9990621915103652 Centerline is valid? [True, True] Translation: X:2.59, Y:0.02, Z:-0.12 [[ 9.97454853e-01 1.34025650e-02 7.00299069e-02 2.58507892e+00] [-1.33675663e-02 9.99910181e-01 -9.68405500e-04 2.36299756e-02] [-7.00365960e-02 2.98113415e-05 9.97544422e-01 -1.19995250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4327916050000002 meters Centerline goodness [0,1] 0.9996049577798627 Centerline is valid? [True, True] Translation: X:2.62, Y:0.02, Z:-0.12 [[ 9.97415594e-01 1.46513088e-02 7.03382666e-02 2.61768773e+00] [-1.46167039e-02 9.99892664e-01 -1.00667410e-03 2.38318116e-02] [-7.03454658e-02 -2.40411723e-05 9.97522689e-01 -1.21547723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4627916050000005 meters Centerline goodness [0,1] 0.9994064988377269 Centerline is valid? [True, True] Translation: X:2.65, Y:0.02, Z:-0.12 [[ 9.97466921e-01 1.45042636e-02 6.96374057e-02 2.64983454e+00] [-1.44675610e-02 9.99894807e-01 -1.03140413e-03 2.41003276e-02] [-6.96450401e-02 2.13080825e-05 9.97571836e-01 -1.24113400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4927916050000003 meters Centerline goodness [0,1] 0.9994072024897496 Centerline is valid? [True, True] Translation: X:2.68, Y:0.02, Z:-0.13 [[ 9.97448952e-01 1.57354449e-02 6.96274659e-02 2.68235444e+00] [-1.56993274e-02 9.99876190e-01 -1.06594428e-03 2.33134722e-02] [-6.96356184e-02 -2.98793853e-05 9.97572493e-01 -1.25614586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.522791605 meters Centerline goodness [0,1] 0.999457085040225 Centerline is valid? [True, True] Translation: X:2.71, Y:0.02, Z:-0.13 [[ 9.97482802e-01 1.71008661e-02 6.88158417e-02 2.71473153e+00] [-1.70664580e-02 9.99853766e-01 -1.08793355e-03 2.35917231e-02] [-6.88243831e-02 -8.92476624e-05 9.97628787e-01 -1.25837146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5527916050000004 meters Centerline goodness [0,1] 0.9993586264739257 Centerline is valid? [True, True] Translation: X:2.75, Y:0.02, Z:-0.13 [[ 9.97507392e-01 1.80777158e-02 6.82070321e-02 2.74651738e+00] [-1.80440097e-02 9.99836577e-01 -1.11027259e-03 2.49642353e-02] [-6.82159567e-02 -1.23223236e-04 9.97670571e-01 -1.26670655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.582791605 meters Centerline goodness [0,1] 0.9991107158737217 Centerline is valid? [True, True] Translation: X:2.78, Y:0.03, Z:-0.13 [[ 9.97600715e-01 2.01566729e-02 6.62308167e-02 2.77898829e+00] [-2.01274404e-02 9.99796808e-01 -1.10867330e-03 2.59981231e-02] [-6.62397063e-02 -2.27043538e-04 9.97803713e-01 -1.27637129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6127916050000004 meters Centerline goodness [0,1] 0.9997037037037036 Centerline is valid? [True, True] Translation: X:2.81, Y:0.03, Z:-0.13 [[ 9.97627728e-01 2.40127446e-02 6.45159276e-02 2.81078883e+00] [-2.39911412e-02 9.99711555e-01 -1.10965694e-03 2.60967622e-02] [-6.45239642e-02 -4.40786198e-04 9.97916060e-01 -1.29530624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.642791605 meters Centerline goodness [0,1] 0.9992565055762082 Centerline is valid? [True, True] Translation: X:2.84, Y:0.03, Z:-0.13 [[ 9.97604505e-01 2.69976621e-02 6.36897032e-02 2.84363039e+00] [-2.69811948e-02 9.99635315e-01 -1.11878374e-03 2.72412471e-02] [-6.36966810e-02 -6.02320588e-04 9.97969123e-01 -1.29208305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6727916050000005 meters Centerline goodness [0,1] 0.9992565055762082 Centerline is valid? [True, True] Translation: X:2.88, Y:0.03, Z:-0.13 [[ 9.97589497e-01 2.75476002e-02 6.36892799e-02 2.87615036e+00] [-2.75307410e-02 9.99620304e-01 -1.14245945e-03 2.69726950e-02] [-6.36965694e-02 -6.13707521e-04 9.97969123e-01 -1.30397205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7027916050000003 meters Centerline goodness [0,1] 0.9995555775023456 Centerline is valid? [True, True] Translation: X:2.91, Y:0.03, Z:-0.13 [[ 9.97515660e-01 2.91799841e-02 6.41173636e-02 2.90920982e+00] [-2.91639891e-02 9.99573937e-01 -1.18557162e-03 2.86518853e-02] [-6.41246405e-02 -6.87291837e-04 9.97941661e-01 -1.31770224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7327916050000005 meters Centerline goodness [0,1] 0.9996053085993389 Centerline is valid? [True, True] Translation: X:2.94, Y:0.03, Z:-0.13 [[ 9.97510495e-01 2.96511348e-02 6.39814241e-02 2.94200559e+00] [-2.96339280e-02 9.99560076e-01 -1.21810884e-03 3.08787692e-02] [-6.39893955e-02 -6.80944564e-04 9.97950346e-01 -1.34125947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7627916050000003 meters Centerline goodness [0,1] 0.9995551161641127 Centerline is valid? [True, True] Translation: X:2.98, Y:0.03, Z:-0.14 [[ 9.97521264e-01 3.03807722e-02 6.34691746e-02 2.97528991e+00] [-3.03631510e-02 9.99538161e-01 -1.24237459e-03 3.26055124e-02] [-6.34776064e-02 -6.87829058e-04 9.97983026e-01 -1.36004840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.792791605 meters Centerline goodness [0,1] 0.9999011808883839 Centerline is valid? [True, True] Translation: X:3.01, Y:0.04, Z:-0.14 [[ 9.97732704e-01 2.82900571e-02 6.10665548e-02 3.00789698e+00] [-2.82680024e-02 9.99599629e-01 -1.22522368e-03 3.61461124e-02] [-6.10767672e-02 -5.03783784e-04 9.98132944e-01 -1.38217587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8227916050000004 meters Centerline goodness [0,1] 0.9996544063194273 Centerline is valid? [True, True] Translation: X:3.04, Y:0.04, Z:-0.14 [[ 9.97914933e-01 2.46087855e-02 5.96673614e-02 3.03966178e+00] [-2.45795226e-02 9.99697128e-01 -1.22444731e-03 4.00929544e-02] [-5.96794220e-02 -2.44701001e-04 9.98217565e-01 -1.41332883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.852791605 meters Centerline goodness [0,1] 0.9995551161641127 Centerline is valid? [True, True] Translation: X:3.07, Y:0.04, Z:-0.14 [[ 9.97945881e-01 2.20969224e-02 6.01310580e-02 3.07289191e+00] [-2.20608407e-02 9.99755831e-01 -1.26393852e-03 4.12905314e-02] [-6.01443050e-02 -6.51994473e-05 9.98189691e-01 -1.43552899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8827916050000004 meters Centerline goodness [0,1] 0.9990595456120378 Centerline is valid? [True, True] Translation: X:3.10, Y:0.04, Z:-0.14 [[ 9.98077837e-01 1.91073170e-02 5.89537255e-02 3.10478969e+00] [-1.90656629e-02 9.99817428e-01 -1.26901189e-03 4.29349291e-02] [-5.89672096e-02 1.42580782e-04 9.98259910e-01 -1.44728972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9127916050000002 meters Centerline goodness [0,1] 0.9994570046401422 Centerline is valid? [True, True] Translation: X:3.14, Y:0.04, Z:-0.15 [[ 9.98129784e-01 1.62393101e-02 5.89340257e-02 3.13754839e+00] [-1.61909721e-02 9.99868076e-01 -1.29765924e-03 4.44983460e-02] [-5.89473240e-02 3.41033177e-04 9.98261036e-01 -1.47110462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9427916050000005 meters Centerline goodness [0,1] 0.9988148733395882 Centerline is valid? [True, True] Translation: X:3.17, Y:0.05, Z:-0.15 [[ 9.98398698e-01 1.08488135e-02 5.55188545e-02 3.16968601e+00] [-1.07960862e-02 9.99940940e-01 -1.24956252e-03 4.82285489e-02] [-5.55291318e-02 6.48175253e-04 9.98456857e-01 -1.48538848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9727916050000003 meters Centerline goodness [0,1] 0.9980677764565993 Centerline is valid? [True, True] Translation: X:3.20, Y:0.05, Z:-0.15 [[ 9.98556851e-01 9.60354974e-03 5.28392606e-02 3.20152475e+00] [-9.55282178e-03 9.99953636e-01 -1.21252337e-03 4.86213223e-02] [-5.28484553e-02 7.06009479e-04 9.98602294e-01 -1.49341357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0027916050000005 meters Centerline goodness [0,1] 0.9978769625752938 Centerline is valid? [True, True] Translation: X:3.23, Y:0.05, Z:-0.15 [[ 9.98702346e-01 5.77237206e-03 5.05994485e-02 3.23331413e+00] [-5.71983990e-03 9.99982942e-01 -1.18293927e-03 4.87354814e-02] [-5.06054137e-02 8.91983481e-04 9.98718327e-01 -1.48861570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0327916050000003 meters Centerline goodness [0,1] 0.9977282828781668 Centerline is valid? [True, True] Translation: X:3.27, Y:0.05, Z:-0.15 [[ 9.98761742e-01 4.33801470e-03 4.95597046e-02 3.26624380e+00] [-4.28477064e-03 9.99990123e-01 -1.18053300e-03 4.85438669e-02] [-4.95643363e-02 9.66719233e-04 9.98770465e-01 -1.49777631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.062791605 meters Centerline goodness [0,1] 0.9972844870149107 Centerline is valid? [True, True] Translation: X:3.30, Y:0.05, Z:-0.15 [[ 9.98839550e-01 3.48546562e-03 4.80354580e-02 3.29914079e+00] [-3.43329439e-03 9.99993423e-01 -1.16856333e-03 4.87672945e-02] [-4.80392150e-02 1.00228740e-03 9.98844948e-01 -1.49943303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0927916050000004 meters Centerline goodness [0,1] 0.9976299807435935 Centerline is valid? [True, True] Translation: X:3.33, Y:0.05, Z:-0.15 [[ 9.98954583e-01 4.79225834e-03 4.54617916e-02 3.33129302e+00] [-4.74588638e-03 9.99988102e-01 -1.12790022e-03 4.90947837e-02] [-4.54666559e-02 9.10964601e-04 9.98965442e-01 -1.50242032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.122791605 meters Centerline goodness [0,1] 0.9972811310494835 Centerline is valid? [True, True] Translation: X:3.36, Y:0.05, Z:-0.15 [[ 9.99025348e-01 5.92723423e-03 4.37403969e-02 3.36344094e+00] [-5.88455789e-03 9.99982076e-01 -1.10436796e-03 4.83483448e-02] [-4.37461588e-02 8.45898684e-04 9.99042320e-01 -1.50095693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1527916050000004 meters Centerline goodness [0,1] 0.997034547521376 Centerline is valid? [True, True] Translation: X:3.40, Y:0.05, Z:-0.15 [[ 9.99045193e-01 8.56103608e-03 4.28416878e-02 3.39589879e+00] [-8.52170258e-03 9.99963084e-01 -1.10065765e-03 4.64163575e-02] [-4.28495290e-02 7.34522613e-04 9.99081267e-01 -1.50310444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1827916050000002 meters Centerline goodness [0,1] 0.9969382716049383 Centerline is valid? [True, True] Translation: X:3.43, Y:0.05, Z:-0.15 [[ 9.99116389e-01 1.02980276e-02 4.07479006e-02 3.42845858e+00] [-1.02631720e-02 9.99946766e-01 -1.06449568e-03 4.55585878e-02] [-4.07566936e-02 6.45352369e-04 9.99168892e-01 -1.50750227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2127916050000005 meters Centerline goodness [0,1] 0.9971856021330173 Centerline is valid? [True, True] Translation: X:3.46, Y:0.05, Z:-0.15 [[ 9.99120861e-01 1.20960553e-02 4.01396425e-02 3.46081932e+00] [-1.20629591e-02 9.99926671e-01 -1.06663355e-03 4.55403763e-02] [-4.01496012e-02 5.81492967e-04 9.99193510e-01 -1.52119381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2427916050000003 meters Centerline goodness [0,1] 0.9972345679012345 Centerline is valid? [True, True] Translation: X:3.49, Y:0.05, Z:-0.15 [[ 9.99236419e-01 1.44832429e-02 3.62879528e-02 3.49287864e+00] [-1.44572223e-02 9.99895009e-01 -9.79367622e-04 4.52495515e-02] [-3.62983273e-02 4.53996795e-04 9.99340895e-01 -1.51400931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2727916050000005 meters Centerline goodness [0,1] 0.9974332395478552 Centerline is valid? [True, True] Translation: X:3.53, Y:0.04, Z:-0.15 [[ 9.99249543e-01 1.61240036e-02 3.52188568e-02 3.52596880e+00] [-1.60999609e-02 9.99869920e-01 -9.66176581e-04 4.34875582e-02] [-3.52298541e-02 3.98429289e-04 9.99379157e-01 -1.51733803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3027916050000004 meters Centerline goodness [0,1] 0.9974808594714745 Centerline is valid? [True, True] Translation: X:3.56, Y:0.04, Z:-0.15 [[ 9.99286844e-01 1.86629866e-02 3.28252535e-02 3.55930129e+00] [-1.86429443e-02 9.99825785e-01 -9.16558601e-04 4.19663234e-02] [-3.28366405e-02 3.03945579e-04 9.99460686e-01 -1.52131719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.332791605 meters Centerline goodness [0,1] 0.9975161450571287 Centerline is valid? [True, True] Translation: X:3.59, Y:0.04, Z:-0.15 [[ 9.99300264e-01 2.05608378e-02 3.12447454e-02 3.59282379e+00] [-2.05431158e-02 9.99788573e-01 -8.88134952e-04 4.17016049e-02] [-3.12564002e-02 2.45649068e-04 9.99511369e-01 -1.52271237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3627916050000004 meters Centerline goodness [0,1] 0.9988091103061579 Centerline is valid? [True, True] Translation: X:3.62, Y:0.04, Z:-0.15 [[ 9.99220539e-01 2.40233944e-02 3.13239684e-02 3.62480729e+00] [-2.40067491e-02 9.99711385e-01 -9.07420751e-04 4.12117415e-02] [-3.13367272e-02 1.54726800e-04 9.99508872e-01 -1.53497195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.392791605 meters Centerline goodness [0,1] 0.9995035249726939 Centerline is valid? [True, True] Translation: X:3.66, Y:0.04, Z:-0.16 [[ 9.98925215e-01 3.18042692e-02 3.37179939e-02 3.65680063e+00] [-3.17888350e-02 9.99494113e-01 -9.93863425e-04 4.02547447e-02] [-3.37325455e-02 -7.90605061e-05 9.99430893e-01 -1.56268533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4227916050000005 meters Centerline goodness [0,1] 0.9988602576808722 Centerline is valid? [True, True] Translation: X:3.69, Y:0.04, Z:-0.16 [[ 9.98722326e-01 3.59788309e-02 3.54857727e-02 3.69023707e+00] [-3.59637436e-02 9.99352529e-01 -1.06358418e-03 3.94114654e-02] [-3.55010632e-02 -2.13975964e-04 9.99369616e-01 -1.58103588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4527916050000003 meters Centerline goodness [0,1] 0.9995545436547218 Centerline is valid? [True, True] Translation: X:3.72, Y:0.04, Z:-0.16 [[ 9.98220436e-01 4.22477123e-02 4.20843450e-02 3.72218862e+00] [-4.22309566e-02 9.99107046e-01 -1.28748868e-03 4.06746044e-02] [-4.21011591e-02 -4.92064638e-04 9.99113232e-01 -1.60005323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4827916050000005 meters Centerline goodness [0,1] 0.9993074792243767 Centerline is valid? [True, True] Translation: X:3.75, Y:0.04, Z:-0.16 [[ 9.97933093e-01 4.51132806e-02 4.57638983e-02 3.75417371e+00] [-4.50954200e-02 9.98981670e-01 -1.42314089e-03 3.98999500e-02] [-4.57814981e-02 -6.43542823e-04 9.98951270e-01 -1.61429852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5127916050000003 meters Centerline goodness [0,1] 0.998908621887092 Centerline is valid? [True, True] Translation: X:3.79, Y:0.04, Z:-0.16 [[ 9.97744460e-01 4.65835375e-02 4.83318483e-02 3.78596058e+00] [-4.65641899e-02 9.98914133e-01 -1.52676833e-03 3.92679496e-02] [-4.83504886e-02 -7.27208722e-04 9.98830166e-01 -1.62440065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5427916050000006 meters Centerline goodness [0,1] 0.9988613861386139 Centerline is valid? [True, True] Translation: X:3.82, Y:0.04, Z:-0.16 [[ 9.97534137e-01 4.70357650e-02 5.20891674e-02 3.81772777e+00] [-4.70125597e-02 9.98892900e-01 -1.67133681e-03 3.84012359e-02] [-5.21101121e-02 -7.81629572e-04 9.98641039e-01 -1.63663917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5727916050000004 meters Centerline goodness [0,1] 0.9990091652216992 Centerline is valid? [True, True] Translation: X:3.85, Y:0.04, Z:-0.17 [[ 9.97423797e-01 4.65463982e-02 5.45820687e-02 3.85019069e+00] [-4.65187326e-02 9.98915836e-01 -1.77793567e-03 3.91430731e-02] [-5.46056492e-02 -7.65733310e-04 9.98507705e-01 -1.65550903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.602791605 meters Centerline goodness [0,1] 0.9992069785884219 Centerline is valid? [True, True] Translation: X:3.88, Y:0.04, Z:-0.17 [[ 9.97075249e-01 4.53644374e-02 6.15062224e-02 3.88196571e+00] [-4.53251964e-02 9.98970215e-01 -2.03378359e-03 4.10455529e-02] [-6.15351456e-02 -7.59946328e-04 9.98104628e-01 -1.70025785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6327916050000004 meters Centerline goodness [0,1] 0.9994551218545671 Centerline is valid? [True, True] Translation: X:3.91, Y:0.04, Z:-0.17 [[ 9.96979062e-01 4.59675793e-02 6.26077627e-02 3.91419736e+00] [-4.59263220e-02 9.98942625e-01 -2.09866850e-03 4.06604622e-02] [-6.26380335e-02 -7.83015718e-04 9.98036003e-01 -1.71882310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6627916050000002 meters Centerline goodness [0,1] 0.9994033709541092 Centerline is valid? [True, True] Translation: X:3.95, Y:0.04, Z:-0.17 [[ 9.96844971e-01 4.71627294e-02 6.38418419e-02 3.94662683e+00] [-4.71203537e-02 9.98886862e-01 -2.17009920e-03 4.00749658e-02] [-6.38731249e-02 -8.44997694e-04 9.97957669e-01 -1.73542390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6927916050000005 meters Centerline goodness [0,1] 0.9992067033566364 Centerline is valid? [True, True] Translation: X:3.98, Y:0.04, Z:-0.17 [[ 9.96818070e-01 4.80507825e-02 6.35991952e-02 3.97976233e+00] [-4.80085311e-02 9.98844518e-01 -2.19325529e-03 4.05154165e-02] [-6.36310951e-02 -8.67027434e-04 9.97973112e-01 -1.74436179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7227916050000003 meters Centerline goodness [0,1] 0.9992592226776631 Centerline is valid? [True, True] Translation: X:4.01, Y:0.04, Z:-0.18 [[ 9.96767325e-01 4.96813944e-02 6.31399891e-02 4.01300518e+00] [-4.96408913e-02 9.98764684e-01 -2.21101921e-03 4.09943998e-02] [-6.31718378e-02 -9.30453631e-04 9.98002231e-01 -1.75457987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7527916050000005 meters Centerline goodness [0,1] 0.9988652622230993 Centerline is valid? [True, True] Translation: X:4.04, Y:0.04, Z:-0.18 [[ 9.96551992e-01 5.18660621e-02 6.47614041e-02 4.04463247e+00] [-5.18259639e-02 9.98653483e-01 -2.30007426e-03 4.05546318e-02] [-6.47934976e-02 -1.06417861e-03 9.97898126e-01 -1.78026967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7827916050000003 meters Centerline goodness [0,1] 0.9988608786092814 Centerline is valid? [True, True] Translation: X:4.08, Y:0.04, Z:-0.18 [[ 9.96514771e-01 5.33850913e-02 6.40963512e-02 4.07779411e+00] [-5.33469921e-02 9.98573371e-01 -2.30691603e-03 3.97650661e-02] [-6.41280644e-02 -1.12047164e-03 9.97941048e-01 -1.78111577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8127916050000006 meters Centerline goodness [0,1] 0.9991090873094437 Centerline is valid? [True, True] Translation: X:4.11, Y:0.04, Z:-0.18 [[ 9.96260322e-01 5.59922408e-02 6.58045573e-02 4.11004627e+00] [-5.59555379e-02 9.98430372e-01 -2.40213646e-03 4.18715782e-02] [-6.58357696e-02 -1.28897616e-03 9.97829640e-01 -1.79205775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8427916050000004 meters Centerline goodness [0,1] 0.9988153413297793 Centerline is valid? [True, True] Translation: X:4.14, Y:0.04, Z:-0.18 [[ 9.96171985e-01 5.73601475e-02 6.59635446e-02 4.14352305e+00] [-5.73240859e-02 9.98352639e-01 -2.44083645e-03 4.26964092e-02] [-6.59948856e-02 -1.34980700e-03 9.97819048e-01 -1.81048991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.872791605 meters Centerline goodness [0,1] 0.9990133201776024 Centerline is valid? [True, True] Translation: X:4.18, Y:0.04, Z:-0.18 [[ 9.96087048e-01 5.96815630e-02 6.51820816e-02 4.17623762e+00] [-5.96490464e-02 9.98216412e-01 -2.44657981e-03 4.30931910e-02] [-6.52118393e-02 -1.45104255e-03 9.97870388e-01 -1.83063372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9027916050000004 meters Centerline goodness [0,1] 0.998915240865835 Centerline is valid? [True, True] Translation: X:4.21, Y:0.04, Z:-0.18 [[ 9.96138703e-01 6.19406112e-02 6.22177256e-02 4.20833008e+00] [-6.19134732e-02 9.98078717e-01 -2.36586689e-03 4.44851736e-02] [-6.22447309e-02 -1.49538391e-03 9.98059796e-01 -1.84853597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9327916050000002 meters Centerline goodness [0,1] 0.9983638256730626 Centerline is valid? [True, True] Translation: X:4.24, Y:0.05, Z:-0.19 [[ 9.96098797e-01 6.25376910e-02 6.22593349e-02 4.24177401e+00] [-6.25097629e-02 9.98041471e-01 -2.39818724e-03 4.54817865e-02] [-6.22873753e-02 -1.50298484e-03 9.98057125e-01 -1.86063991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9627916050000005 meters Centerline goodness [0,1] 0.9976291613158155 Centerline is valid? [True, True] Translation: X:4.27, Y:0.05, Z:-0.19 [[ 9.96127449e-01 6.27791721e-02 6.15538907e-02 4.27366178e+00] [-6.27504202e-02 9.98026360e-01 -2.40200263e-03 4.61664745e-02] [-6.15832012e-02 -1.46983176e-03 9.98100871e-01 -1.87351143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9927916050000003 meters Centerline goodness [0,1] 0.9980245938071016 Centerline is valid? [True, True] Translation: X:4.31, Y:0.05, Z:-0.19 [[ 9.96220198e-01 6.10383496e-02 6.18032119e-02 4.30567260e+00] [-6.10042221e-02 9.98134524e-01 -2.44074400e-03 4.94705184e-02] [-6.18368985e-02 -1.33873840e-03 9.98085370e-01 -1.88726047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.022791605 meters Centerline goodness [0,1] 0.9982685267636292 Centerline is valid? [True, True] Translation: X:4.34, Y:0.05, Z:-0.19 [[ 9.96245561e-01 5.96664098e-02 6.27272058e-02 4.33869927e+00] [-5.96265737e-02 9.98217601e-01 -2.50849844e-03 5.06588588e-02] [-6.27650740e-02 -1.24112793e-03 9.98027557e-01 -1.90449864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.052791605 meters Centerline goodness [0,1] 0.9988139948606444 Centerline is valid? [True, True] Translation: X:4.37, Y:0.05, Z:-0.19 [[ 9.96430564e-01 5.63197682e-02 6.28825523e-02 4.37129821e+00] [-5.62710592e-02 9.98412281e-01 -2.54673220e-03 5.26676280e-02] [-6.29261439e-02 -1.00082602e-03 9.98017685e-01 -1.92863119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.082791605 meters Centerline goodness [0,1] 0.9980766385559994 Centerline is valid? [True, True] Translation: X:4.40, Y:0.05, Z:-0.20 [[ 9.96465800e-01 5.52763478e-02 6.32489923e-02 4.40390287e+00] [-5.52229599e-02 9.98470680e-01 -2.59326955e-03 5.29631225e-02] [-6.32956109e-02 -9.08692147e-04 9.97994409e-01 -1.95272334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.112791605 meters Centerline goodness [0,1] 0.9985196881476365 Centerline is valid? [True, True] Translation: X:4.44, Y:0.05, Z:-0.20 [[ 9.96576973e-01 5.41039085e-02 6.25068388e-02 4.43595290e+00] [-5.40474951e-02 9.98534996e-01 -2.59422849e-03 5.37720866e-02] [-6.25556240e-02 -7.92989697e-04 9.98041164e-01 -1.96586079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142791605 meters Centerline goodness [0,1] 0.998518884226117 Centerline is valid? [True, True] Translation: X:4.47, Y:0.06, Z:-0.20 [[ 9.96775151e-01 5.14724048e-02 6.15620745e-02 4.46878197e+00] [-5.14113831e-02 9.98674238e-01 -2.57586413e-03 5.61141492e-02] [-6.16130438e-02 -5.97434034e-04 9.98099933e-01 -1.97529405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.172791605 meters Centerline goodness [0,1] 0.9988644218425989 Centerline is valid? [True, True] Translation: X:4.50, Y:0.06, Z:-0.20 [[ 9.96909731e-01 5.00188012e-02 6.05731586e-02 4.50084791e+00] [-4.99560003e-02 9.98748160e-01 -2.55167231e-03 5.76991193e-02] [-6.06249623e-02 -4.82205772e-04 9.98160499e-01 -1.98448442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.202791605 meters Centerline goodness [0,1] 0.9986673247778874 Centerline is valid? [True, True] Translation: X:4.53, Y:0.06, Z:-0.20 [[ 9.97048332e-01 4.81847105e-02 5.97733847e-02 4.53338083e+00] [-4.81186127e-02 9.98838385e-01 -2.54554487e-03 5.94104504e-02] [-5.98266074e-02 -3.38181082e-04 9.98208727e-01 -2.00328233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.232791605 meters Centerline goodness [0,1] 0.9988630746416214 Centerline is valid? [True, True] Translation: X:4.57, Y:0.06, Z:-0.20 [[ 9.97150096e-01 4.69555690e-02 5.90496483e-02 4.56570845e+00] [-4.68872863e-02 9.98896952e-01 -2.54214361e-03 5.88143874e-02] [-5.91038815e-02 -2.33779024e-04 9.98251810e-01 -2.02168858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.262791605 meters Centerline goodness [0,1] 0.9990117600553414 Centerline is valid? [True, True] Translation: X:4.60, Y:0.06, Z:-0.21 [[ 9.97322231e-01 4.53060514e-02 5.74084396e-02 4.59785213e+00] [-4.52372480e-02 9.98973148e-01 -2.49816467e-03 5.82574681e-02] [-5.74626716e-02 -1.05524659e-04 9.98347650e-01 -2.05311279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.292791605 meters Centerline goodness [0,1] 0.9990623303558209 Centerline is valid? [True, True] Translation: X:4.63, Y:0.06, Z:-0.21 [[ 9.97538415e-01 4.17203281e-02 5.63606661e-02 4.63007588e+00] [-4.16468177e-02 9.99129320e-01 -2.47872393e-03 5.91440199e-02] [-5.64150072e-02 1.25379948e-04 9.98407397e-01 -2.08311871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322791605 meters Centerline goodness [0,1] 0.9995558406948626 Centerline is valid? [True, True] Translation: X:4.66, Y:0.06, Z:-0.21 [[ 9.97694741e-01 4.06532294e-02 5.43370832e-02 4.66203996e+00] [-4.05820137e-02 9.99173295e-01 -2.41381227e-03 5.89345000e-02] [-5.43902918e-02 2.03139547e-04 9.98519732e-01 -2.09583878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.352791605 meters Centerline goodness [0,1] 0.9986665349664164 Centerline is valid? [True, True] Translation: X:4.69, Y:0.06, Z:-0.21 [[ 9.97871190e-01 3.90867965e-02 5.22045131e-02 4.69403365e+00] [-3.90177186e-02 9.99235774e-01 -2.34209829e-03 5.73491818e-02] [-5.22561622e-02 3.00211402e-04 9.98633668e-01 -2.11035851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.382791605 meters Centerline goodness [0,1] 0.9988145806579077 Centerline is valid? [True, True] Translation: X:4.73, Y:0.06, Z:-0.21 [[ 9.97969533e-01 3.93118407e-02 5.01137817e-02 4.72662837e+00] [-3.92475594e-02 9.99226947e-01 -2.26648411e-03 5.50068829e-02] [-5.01641408e-02 2.95038465e-04 9.98740943e-01 -2.12050665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.412791605 meters Centerline goodness [0,1] 0.9984172519537046 Centerline is valid? [True, True] Translation: X:4.76, Y:0.05, Z:-0.21 [[ 9.98102365e-01 3.98600134e-02 4.69345039e-02 4.75925212e+00] [-3.98038963e-02 9.99205241e-01 -2.13001558e-03 5.28499267e-02] [-4.69821047e-02 2.57797462e-04 9.98895698e-01 -2.11974168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442791605 meters Centerline goodness [0,1] 0.9984683794466404 Centerline is valid? [True, True] Translation: X:4.79, Y:0.05, Z:-0.21 [[ 9.98118847e-01 4.11234902e-02 4.54711640e-02 4.79107996e+00] [-4.10716787e-02 9.99154051e-01 -2.07351908e-03 5.05674146e-02] [-4.55179681e-02 2.02041437e-04 9.98963500e-01 -2.12474520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.472791605 meters Centerline goodness [0,1] 0.9985678305101486 Centerline is valid? [True, True] Translation: X:4.82, Y:0.05, Z:-0.21 [[ 9.98137195e-01 4.20889498e-02 4.41662755e-02 4.82401269e+00] [-4.20401150e-02 9.99113852e-01 -2.03436337e-03 4.74553167e-02] [-4.42127619e-02 1.73818446e-04 9.99022123e-01 -2.12578016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.502791605 meters Centerline goodness [0,1] 0.9985657764589515 Centerline is valid? [True, True] Translation: X:4.86, Y:0.04, Z:-0.21 [[ 9.98181769e-01 4.36225363e-02 4.15960428e-02 4.85585989e+00] [-4.35796924e-02 9.99048077e-01 -1.93663866e-03 4.07323102e-02] [-4.16409276e-02 1.20374655e-04 9.99132633e-01 -2.12293206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.532791605 meters Centerline goodness [0,1] 0.9987655540193561 Centerline is valid? [True, True] Translation: X:4.89, Y:0.04, Z:-0.21 [[ 9.98241692e-01 4.36010638e-02 4.01556026e-02 4.88925548e+00] [-4.35603812e-02 9.99049012e-01 -1.88793219e-03 3.84546943e-02] [-4.01997309e-02 1.35419269e-04 9.99191655e-01 -2.12599204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.562791605 meters Centerline goodness [0,1] 0.9981217872676947 Centerline is valid? [True, True] Translation: X:4.92, Y:0.04, Z:-0.21 [[ 9.98259055e-01 4.56861498e-02 3.73046202e-02 4.92193302e+00] [-4.56517978e-02 9.98955841e-01 -1.77258621e-03 3.72015273e-02] [-3.73466508e-02 6.64772545e-05 9.99302368e-01 -2.12815924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.592791605 meters Centerline goodness [0,1] 0.9981217872676947 Centerline is valid? [True, True] Translation: X:4.95, Y:0.04, Z:-0.21 [[ 9.98234433e-01 4.62217992e-02 3.73036586e-02 4.95444960e+00] [-4.61870732e-02 9.98931199e-01 -1.79259816e-03 3.59704769e-02] [-3.73466456e-02 6.64863954e-05 9.99302368e-01 -2.14004154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.622791605 meters Centerline goodness [0,1] 0.9973801285219971 Centerline is valid? [True, True] Translation: X:4.99, Y:0.03, Z:-0.21 [[ 9.98176523e-01 4.84276368e-02 3.60332318e-02 4.98794792e+00] [-4.83959983e-02 9.98826694e-01 -1.75024757e-03 3.37276165e-02] [-3.60757141e-02 3.19180494e-06 9.99349060e-01 -2.13336007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.652791605 meters Centerline goodness [0,1] 0.9983159146069642 Centerline is valid? [True, True] Translation: X:5.02, Y:0.03, Z:-0.21 [[ 9.98130192e-01 5.18799239e-02 3.23201571e-02 5.02074190e+00] [-5.18557829e-02 9.98653326e-01 -1.58526554e-03 2.92605435e-02] [-3.23588758e-02 -9.36856554e-05 9.99476310e-01 -2.11360487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682791605 meters Centerline goodness [0,1] 0.9974298141557928 Centerline is valid? [True, True] Translation: X:5.05, Y:0.03, Z:-0.21 [[ 9.98122595e-01 5.32052755e-02 3.03394648e-02 5.05353769e+00] [-5.31841560e-02 9.98583590e-01 -1.50322864e-03 2.76179094e-02] [-3.03764714e-02 -1.13172360e-04 9.99538522e-01 -2.11210941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.712791605 meters Centerline goodness [0,1] 0.9976767177459219 Centerline is valid? [True, True] Translation: X:5.09, Y:0.03, Z:-0.21 [[ 9.98137956e-01 5.44811418e-02 2.74303875e-02 5.08685990e+00] [-5.44640064e-02 9.98514792e-01 -1.37198114e-03 2.72482211e-02] [-2.74643948e-02 -1.24542347e-04 9.99622775e-01 -2.11388769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.742791605 meters Centerline goodness [0,1] 0.9965866930497156 Centerline is valid? [True, True] Translation: X:5.12, Y:0.03, Z:-0.21 [[ 9.98176686e-01 5.48165848e-02 2.52674749e-02 5.11880352e+00] [-5.48017407e-02 9.98496435e-01 -1.28008927e-03 2.70404310e-02] [-2.52996538e-02 -1.06946341e-04 9.99679907e-01 -2.11915932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.772791605 meters Centerline goodness [0,1] 0.9978223212076218 Centerline is valid? [True, True] Translation: X:5.15, Y:0.03, Z:-0.21 [[ 9.98234857e-01 5.48909843e-02 2.26748794e-02 5.15050915e+00] [-5.48790735e-02 9.98492349e-01 -1.14768981e-03 2.58133730e-02] [-2.27036914e-02 -9.87124035e-05 9.99742233e-01 -2.13475642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.802791605 meters Centerline goodness [0,1] 0.9971284285572829 Centerline is valid? [True, True] Translation: X:5.18, Y:0.02, Z:-0.21 [[ 9.98337109e-01 5.24374087e-02 2.39444194e-02 5.18287370e+00] [-5.24231239e-02 9.98624212e-01 -1.22433453e-03 2.40634255e-02] [-2.39756779e-02 -3.29426724e-05 9.99712542e-01 -2.13882632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.832791605 meters Centerline goodness [0,1] 0.9983124038318361 Centerline is valid? [True, True] Translation: X:5.21, Y:0.02, Z:-0.22 [[ 9.98357971e-01 5.06267437e-02 2.68010191e-02 5.21479435e+00] [-5.06077085e-02 9.98717644e-01 -1.38849084e-03 2.22373713e-02] [-2.68369454e-02 2.98727332e-05 9.99639824e-01 -2.15707706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.862791605 meters Centerline goodness [0,1] 0.9976659879823211 Centerline is valid? [True, True] Translation: X:5.25, Y:0.02, Z:-0.22 [[ 9.98356472e-01 4.88070029e-02 3.00371612e-02 5.24736964e+00] [-4.87821933e-02 9.98808224e-01 -1.55865287e-03 2.03894017e-02] [-3.00774368e-02 9.08125778e-05 9.99547567e-01 -2.16548630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.892791605 meters Centerline goodness [0,1] 0.9974058368670491 Centerline is valid? [True, True] Translation: X:5.28, Y:0.02, Z:-0.22 [[ 9.98200199e-01 4.83793054e-02 3.54373529e-02 5.28041800e+00] [-4.83437997e-02 9.98829026e-01 -1.85860373e-03 1.86937505e-02] [-3.54857746e-02 1.42082320e-04 9.99370171e-01 -2.18042364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9227916050000005 meters Centerline goodness [0,1] 0.9978162687974589 Centerline is valid? [True, True] Translation: X:5.31, Y:0.02, Z:-0.22 [[ 9.97865661e-01 4.92023169e-02 4.29331426e-02 5.31350149e+00] [-4.91497771e-02 9.98788819e-01 -2.27910601e-03 1.80143029e-02] [-4.29932801e-02 1.64087238e-04 9.99075348e-01 -2.20100722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.952791605 meters Centerline goodness [0,1] 0.9976183387913069 Centerline is valid? [True, True] Translation: X:5.35, Y:0.02, Z:-0.22 [[ 9.97489034e-01 5.10578506e-02 4.90787389e-02 5.34541192e+00] [-5.09900343e-02 9.98695690e-01 -2.63363007e-03 1.71621256e-02] [-4.91491924e-02 1.24490541e-04 9.98791440e-01 -2.22969018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.982791605 meters Centerline goodness [0,1] 0.998110016910375 Centerline is valid? [True, True] Translation: X:5.38, Y:0.02, Z:-0.23 [[ 9.96647355e-01 5.45233868e-02 6.10020535e-02 5.37765588e+00] [-5.44235692e-02 9.98512493e-01 -3.29786687e-03 1.55742052e-02] [-6.10911234e-02 -3.31391892e-05 9.98132192e-01 -2.27034137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.012791605 meters Centerline goodness [0,1] 0.9986098009036294 Centerline is valid? [True, True] Translation: X:5.41, Y:0.01, Z:-0.23 [[ 9.96273588e-01 5.62729652e-02 6.53627660e-02 5.40978076e+00] [-5.61608980e-02 9.98415413e-01 -3.55212077e-03 1.36852537e-02] [-6.54590813e-02 -1.31947521e-04 9.97855246e-01 -2.28771315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.042791605 meters Centerline goodness [0,1] 0.9990094105993066 Centerline is valid? [True, True] Translation: X:5.44, Y:0.01, Z:-0.23 [[ 9.96124002e-01 5.67626300e-02 6.71935791e-02 5.44202959e+00] [-5.66431741e-02 9.98387693e-01 -3.68317855e-03 1.21274709e-02] [-6.72943093e-02 -1.37155051e-04 9.97733159e-01 -2.30209087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.072791605 meters Centerline goodness [0,1] 0.9989143308330043 Centerline is valid? [True, True] Translation: X:5.47, Y:0.01, Z:-0.23 [[ 9.96135636e-01 5.65949076e-02 6.71625761e-02 5.47471018e+00] [-5.64729519e-02 9.98397219e-01 -3.71454695e-03 9.42489194e-03] [-6.72651537e-02 -9.26763450e-05 9.97735130e-01 -2.30439978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.102791605 meters Centerline goodness [0,1] 0.998766650222003 Centerline is valid? [True, True] Translation: X:5.51, Y:0.01, Z:-0.23 [[ 9.96145675e-01 5.63446095e-02 6.72241027e-02 5.50804193e+00] [-5.62194630e-02 9.98411380e-01 -3.75348105e-03 7.28378952e-03] [-6.73287975e-02 -4.02890408e-05 9.97730841e-01 -2.31704650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.132791605 meters Centerline goodness [0,1] 0.9986692296318201 Centerline is valid? [True, True] Translation: X:5.54, Y:0.00, Z:-0.23 [[ 9.96179302e-01 5.66599040e-02 6.64564022e-02 5.54012194e+00] [-5.65361041e-02 9.98393537e-01 -3.74358589e-03 4.07322097e-03] [-6.65617536e-02 -2.79032954e-05 9.97782307e-01 -2.32697652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.162791605 meters Centerline goodness [0,1] 0.9989596234827842 Centerline is valid? [True, True] Translation: X:5.57, Y:0.00, Z:-0.23 [[ 9.96174868e-01 5.63603349e-02 6.67768315e-02 5.57312166e+00] [-5.62324521e-02 9.98410493e-01 -3.79464145e-03 2.97734006e-03] [-6.68845565e-02 2.51014668e-05 9.97760721e-01 -2.34500467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.192791605 meters Centerline goodness [0,1] 0.9989151873767258 Centerline is valid? [True, True] Translation: X:5.60, Y:0.00, Z:-0.24 [[ 9.96216538e-01 5.69642417e-02 6.56329588e-02 5.60491290e+00] [-5.68398736e-02 9.98376219e-01 -3.76216736e-03 1.51408654e-03] [-6.57406943e-02 1.73642606e-05 9.97836741e-01 -2.35417371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.222791605 meters Centerline goodness [0,1] 0.9989151873767258 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.00, Z:-0.24 [[ 9.96187149e-01 5.70780277e-02 6.59792551e-02 5.63771288e+00] [-5.69504228e-02 9.98369720e-01 -3.81476225e-03 -8.39813873e-04] [-6.60894295e-02 4.26706663e-05 9.97813703e-01 -2.36965423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.252791605 meters Centerline goodness [0,1] 0.9988153413297793 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.00, Z:-0.24 [[ 9.96152774e-01 5.76220135e-02 6.60254101e-02 5.67076818e+00] [-5.74930904e-02 9.98338471e-01 -3.85262817e-03 -3.17751545e-03] [-6.61377031e-02 4.18013720e-05 9.97810504e-01 -2.38111871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282791605 meters Centerline goodness [0,1] 0.9987654320987654 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.00, Z:-0.24 [[ 9.96156889e-01 5.73758393e-02 6.61775311e-02 5.70410244e+00] [-5.72434436e-02 9.98352645e-01 -3.89664320e-03 -4.55980924e-03] [-6.62920864e-02 9.34382008e-05 9.97800256e-01 -2.40108673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.312791605 meters Centerline goodness [0,1] 0.9990098029507872 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.01, Z:-0.24 [[ 9.96321329e-01 5.74954738e-02 6.35458836e-02 5.73653647e+00] [-5.73716775e-02 9.98345761e-01 -3.77265237e-03 -6.03776577e-03] [-6.36576739e-02 1.13040088e-04 9.97971787e-01 -2.39901443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.342791605 meters Centerline goodness [0,1] 0.9979784034317835 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.01, Z:-0.24 [[ 9.96207680e-01 5.72975217e-02 6.54771070e-02 5.76882975e+00] [-5.71636269e-02 9.98357135e-01 -3.91809398e-03 -7.22766029e-03] [-6.55940340e-02 1.60326401e-04 9.97846379e-01 -2.41114206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.372791605 meters Centerline goodness [0,1] 0.9987178854973124 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.01, Z:-0.24 [[ 9.96121288e-01 5.71499873e-02 6.69048523e-02 5.80122668e+00] [-5.70077448e-02 9.98365583e-01 -4.03486699e-03 -8.14690847e-03] [-6.70260945e-02 2.05122148e-04 9.97751202e-01 -2.43333106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.402791605 meters Centerline goodness [0,1] 0.9989137948059642 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.01, Z:-0.24 [[ 9.96186857e-01 5.69751740e-02 6.60724983e-02 5.83317220e+00] [-5.68344680e-02 9.98375567e-01 -4.00880172e-03 -9.04558008e-03] [-6.61935702e-02 2.38320292e-04 9.97806772e-01 -2.43452456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.432791605 meters Centerline goodness [0,1] 0.9990587069606143 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.01, Z:-0.25 [[ 9.96241034e-01 5.73446700e-02 6.49260467e-02 5.86505550e+00] [-5.72081282e-02 9.98354413e-01 -3.96173282e-03 -9.09537877e-03] [-6.50463896e-02 2.32543192e-04 9.97882214e-01 -2.47209313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4627916050000005 meters Centerline goodness [0,1] 0.9987176325524044 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.01, Z:-0.25 [[ 9.96300557e-01 5.76048585e-02 6.37720979e-02 5.89725901e+00] [-5.74717837e-02 9.98339432e-01 -3.92070595e-03 -1.10022055e-02] [-6.38920518e-02 2.41105304e-04 9.97956786e-01 -2.49082324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.492791605 meters Centerline goodness [0,1] 0.9987168097917284 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.01, Z:-0.25 [[ 9.96370662e-01 5.83474618e-02 6.19764309e-02 5.92905344e+00] [-5.82214849e-02 9.98296312e-01 -3.83817661e-03 -1.26084214e-02] [-6.20947903e-02 2.15886725e-04 9.98070233e-01 -2.49068293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.522791605 meters Centerline goodness [0,1] 0.9983215678530878 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.01, Z:-0.25 [[ 9.96372013e-01 5.92103898e-02 6.11305288e-02 5.96125082e+00] [-5.90877550e-02 9.98245508e-01 -3.81348280e-03 -1.40920552e-02] [-6.12490736e-02 1.87581825e-04 9.98122495e-01 -2.50408242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.552791605 meters Centerline goodness [0,1] 0.998371335504886 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.02, Z:-0.25 [[ 9.96293548e-01 5.97537571e-02 6.18761252e-02 5.99435177e+00] [-5.96272755e-02 9.98213130e-01 -3.89027330e-03 -1.59823556e-02] [-6.19980191e-02 1.86349421e-04 9.98076255e-01 -2.51732096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.582791605 meters Centerline goodness [0,1] 0.9992092517544726 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.02, Z:-0.25 [[ 9.96268706e-01 6.14123672e-02 6.06398058e-02 6.02626966e+00] [-6.12921426e-02 9.98112473e-01 -3.84246000e-03 -1.63928079e-02] [-6.07613211e-02 1.11379028e-04 9.98152318e-01 -2.53771016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.612791605 meters Centerline goodness [0,1] 0.998963423663557 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.02, Z:-0.26 [[ 9.96242291e-01 6.21185951e-02 6.03537715e-02 6.05961399e+00] [-6.19990166e-02 9.98068771e-01 -3.85373578e-03 -1.57996146e-02] [-6.04766031e-02 9.73800802e-05 9.98169610e-01 -2.55392388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.642791605 meters Centerline goodness [0,1] 0.9994572189874666 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.01, Z:-0.26 [[ 9.96130372e-01 6.40236401e-02 6.02100982e-02 6.09257255e+00] [-6.39061833e-02 9.97948382e-01 -3.87639150e-03 -1.44786051e-02] [-6.03347508e-02 1.35937360e-05 9.98178199e-01 -2.59318554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6727916050000005 meters Centerline goodness [0,1] 0.9988160426224656 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.02, Z:-0.26 [[ 9.96160064e-01 6.50182289e-02 5.86323818e-02 6.12436083e+00] [-6.49068554e-02 9.97884076e-01 -3.80400783e-03 -1.54797737e-02] [-5.87556500e-02 -1.62428419e-05 9.98272394e-01 -2.60326574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702791605 meters Centerline goodness [0,1] 0.9989144379749334 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.02, Z:-0.26 [[ 9.96285733e-01 6.56749386e-02 5.56914794e-02 6.15691121e+00] [-6.55740885e-02 9.97841070e-01 -3.63829847e-03 -1.62385621e-02] [-5.58101905e-02 -2.71331351e-05 9.98441396e-01 -2.60365995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.732791605 meters Centerline goodness [0,1] 0.9989143308330043 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.01, Z:-0.26 [[ 9.96447506e-01 6.63023070e-02 5.19265944e-02 6.18905198e+00] [-6.62142887e-02 9.97799581e-01 -3.41542177e-03 -1.40215554e-02] [-5.20387844e-02 -3.49940062e-05 9.98645064e-01 -2.58298796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762791605 meters Centerline goodness [0,1] 0.9990609864584363 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.01, Z:-0.26 [[ 9.96527465e-01 6.62565860e-02 5.04289252e-02 6.22129587e+00] [-6.61723479e-02 9.97802618e-01 -3.34000650e-03 -1.34654193e-02] [-5.05394110e-02 -8.59216395e-06 9.98722067e-01 -2.58816174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.792791605 meters Centerline goodness [0,1] 0.999111856712883 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.01, Z:-0.26 [[ 9.96582241e-01 6.75609203e-02 4.75327156e-02 6.25388181e+00] [-6.74865520e-02 9.97715150e-01 -3.16948892e-03 -1.24034556e-02] [-4.76382440e-02 -4.91627160e-05 9.98864653e-01 -2.59140395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822791605 meters Centerline goodness [0,1] 0.9994081672913789 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.01, Z:-0.26 [[ 9.96624681e-01 6.83597922e-02 4.54553051e-02 6.28639079e+00] [-6.82916731e-02 9.97660731e-01 -3.05164334e-03 -1.32399855e-02] [-4.55575827e-02 -6.28757674e-05 9.98961712e-01 -2.59742073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.852791605 meters Centerline goodness [0,1] 0.9990633011240386 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.01, Z:-0.26 [[ 9.96634402e-01 6.87283564e-02 4.46797643e-02 6.31966030e+00] [-6.86619558e-02 9.97635409e-01 -3.02093509e-03 -1.42819997e-02] [-4.47817388e-02 -5.70321638e-05 9.98996793e-01 -2.60593145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882791605 meters Centerline goodness [0,1] 0.9989644459785986 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.01, Z:-0.26 [[ 9.96769481e-01 6.83165231e-02 4.22309708e-02 6.35243061e+00] [-6.82559164e-02 9.97663697e-01 -2.87704888e-03 -1.38570672e-02] [-4.23288564e-02 -1.47590968e-05 9.99103732e-01 -2.59680920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.912791605 meters Centerline goodness [0,1] 0.9989146521953626 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.01, Z:-0.26 [[ 9.96844584e-01 6.82264497e-02 4.05712567e-02 6.38567168e+00] [-6.81695798e-02 9.97669861e-01 -2.78512885e-03 -1.40471238e-02] [-4.06667395e-02 1.06150842e-05 9.99172766e-01 -2.59329659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.942791605 meters Centerline goodness [0,1] 0.9994084298742913 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.01, Z:-0.26 [[ 9.96935191e-01 6.74891994e-02 3.95655404e-02 6.41928099e+00] [-6.74337079e-02 9.97720003e-01 -2.73692205e-03 -1.45801311e-02] [-3.96600438e-02 6.04828138e-05 9.99213229e-01 -2.59640931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.972791605 meters Centerline goodness [0,1] 0.9993593850096092 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.02, Z:-0.26 [[ 9.97225774e-01 6.57022693e-02 3.49852383e-02 6.45292169e+00] [-6.56572002e-02 9.97839263e-01 -2.43678880e-03 -1.55508779e-02] [-3.50697469e-02 1.32995809e-04 9.99384858e-01 -2.58635871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0027916050000005 meters Centerline goodness [0,1] 0.999211317592547 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.02, Z:-0.26 [[ 9.97321441e-01 6.46266033e-02 3.42541202e-02 6.48568217e+00] [-6.45821469e-02 9.97909499e-01 -2.40384295e-03 -1.75619591e-02] [-3.43378642e-02 1.85199493e-04 9.99410264e-01 -2.59858059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.032791605 meters Centerline goodness [0,1] 0.9993586264739257 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.02, Z:-0.26 [[ 9.97488665e-01 6.35543607e-02 3.12603104e-02 6.51871277e+00] [-6.35163403e-02 9.97978354e-01 -2.20876783e-03 -1.88389999e-02] [-3.13374899e-02 2.17680362e-04 9.99508837e-01 -2.59783243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.062791605 meters Centerline goodness [0,1] 0.9992596614184888 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.02, Z:-0.26 [[ 9.97563419e-01 6.33122482e-02 2.93050363e-02 6.55140944e+00] [-6.32783126e-02 9.97993742e-01 -2.08488595e-03 -1.97635019e-02] [-2.93782416e-02 2.25432714e-04 9.99568341e-01 -2.59002639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.092791605 meters Centerline goodness [0,1] 0.9993580563922769 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.02, Z:-0.26 [[ 9.97566515e-01 6.36321530e-02 2.84955750e-02 6.58451384e+00] [-6.35997755e-02 9.97973396e-01 -2.04205033e-03 -2.11977956e-02] [-2.85677658e-02 2.24768861e-04 9.99591833e-01 -2.59211208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.122791605 meters Centerline goodness [0,1] 0.9993565949022519 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.02, Z:-0.26 [[ 9.97457641e-01 6.60324949e-02 2.67948611e-02 6.61789697e+00] [-6.60043810e-02 9.97817460e-01 -1.93328956e-03 -2.42618843e-02] [-2.68640402e-02 1.59796227e-04 9.99639084e-01 -2.58769158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.152791605 meters Centerline goodness [0,1] 0.9993067934244405 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.03, Z:-0.26 [[ 9.97280465e-01 6.80586649e-02 2.82788152e-02 6.64976806e+00] [-6.80276171e-02 9.97681312e-01 -2.05965127e-03 -2.72010877e-02] [-2.83534225e-02 1.30309567e-04 9.99597952e-01 -2.60505350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.182791605 meters Centerline goodness [0,1] 0.9999504165013884 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.03, Z:-0.26 [[ 9.96731617e-01 7.38116109e-02 3.28318378e-02 6.68198357e+00] [-7.37727454e-02 9.97272202e-01 -2.39523419e-03 -3.10922438e-02] [-3.29190752e-02 -3.46891553e-05 9.99458020e-01 -2.64449657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2127916050000005 meters Centerline goodness [0,1] 0.9999503500322725 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.03, Z:-0.27 [[ 9.96358540e-01 7.65357663e-02 3.75757463e-02 6.71436185e+00] [-7.64860272e-02 9.97066829e-01 -2.76155515e-03 -3.40581839e-02] [-3.76768880e-02 -1.22520493e-04 9.99289966e-01 -2.67849073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.242791605 meters Centerline goodness [0,1] 0.999950313027924 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.04, Z:-0.27 [[ 9.96091531e-01 7.76189935e-02 4.21539272e-02 6.74740369e+00] [-7.75562938e-02 9.96983082e-01 -3.12322140e-03 -3.64322673e-02] [-4.22691736e-02 -1.58287971e-04 9.99106247e-01 -2.69510695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.272791605 meters Centerline goodness [0,1] 0.999702631709372 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.04, Z:-0.27 [[ 9.95671193e-01 7.65685688e-02 5.26889964e-02 6.77974904e+00] [-7.64674054e-02 9.97064312e-01 -3.93620464e-03 -3.89008684e-02] [-5.28357075e-02 -1.09825275e-04 9.98603212e-01 -2.71526170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.302791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.04, Z:-0.27 [[ 9.95440463e-01 7.65044304e-02 5.69680321e-02 6.81174874e+00] [-7.63844344e-02 9.97069238e-01 -4.28411031e-03 -4.14823790e-02] [-5.71288257e-02 -8.68941603e-05 9.98366811e-01 -2.73731362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.332791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.04, Z:-0.28 [[ 9.95259780e-01 7.61132790e-02 6.05370819e-02 6.84411913e+00] [-7.59752526e-02 9.97099176e-01 -4.58189540e-03 -4.42694033e-02] [-6.07102176e-02 -3.91438856e-05 9.98155433e-01 -2.77303734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.05, Z:-0.28 [[ 9.94973371e-01 7.89368905e-02 6.16194567e-02 6.87597023e+00] [-7.87974948e-02 9.96879598e-01 -4.69278177e-03 -4.78772059e-02] [-6.17976128e-02 -1.86265915e-04 9.98088684e-01 -2.78354209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.392791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.05, Z:-0.28 [[ 9.94770660e-01 8.01566165e-02 6.32949540e-02 6.90807301e+00] [-8.00101078e-02 9.96782253e-01 -4.85007223e-03 -4.91374874e-02] [-6.34800522e-02 -2.39526537e-04 9.97983079e-01 -2.79870594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4227916050000005 meters Centerline goodness [0,1] 0.9999506489660959 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.05, Z:-0.28 [[ 9.94628348e-01 8.24801972e-02 6.25417128e-02 6.94102874e+00] [-8.23398349e-02 9.96592641e-01 -4.82275903e-03 -4.98324647e-02] [-6.27263929e-02 -3.52821460e-04 9.98030699e-01 -2.80928263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.452791605 meters Centerline goodness [0,1] 0.9999506489660959 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.05, Z:-0.28 [[ 9.94584615e-01 8.30078182e-02 6.25391576e-02 6.97351702e+00] [-8.28664256e-02 9.96548833e-01 -4.85571640e-03 -5.20145341e-02] [-6.27263870e-02 -3.52975623e-04 9.98030699e-01 -2.82116921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.482791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.05, Z:-0.28 [[ 9.94507061e-01 8.42489306e-02 6.21113852e-02 7.00616084e+00] [-8.41098286e-02 9.96444660e-01 -4.85544853e-03 -5.47110818e-02] [-6.22996245e-02 -3.95400115e-04 9.98057413e-01 -2.84279537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.512791605 meters Centerline goodness [0,1] 0.9998520053278082 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.06, Z:-0.29 [[ 9.94435499e-01 8.55037479e-02 6.15398022e-02 7.03912691e+00] [-8.53675860e-02 9.96337753e-01 -4.84327291e-03 -5.78766480e-02] [-6.17285463e-02 -4.37181847e-04 9.98092879e-01 -2.85023738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542791605000001 meters Centerline goodness [0,1] 0.9999506538366641 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.06, Z:-0.29 [[ 9.94226799e-01 8.78476266e-02 6.16106087e-02 7.07262060e+00] [-8.77136196e-02 9.96133772e-01 -4.88156909e-03 -5.95619663e-02] [-6.18012423e-02 -5.50702685e-04 9.98088324e-01 -2.85926262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.572791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.06, Z:-0.29 [[ 9.94169701e-01 8.92722193e-02 6.04737635e-02 7.10500901e+00] [-8.91439078e-02 9.96007085e-01 -4.82177285e-03 -6.09108065e-02] [-6.06627473e-02 -5.97207132e-04 9.98158141e-01 -2.86456274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.602791605 meters Centerline goodness [0,1] 0.9999013806706114 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.06, Z:-0.29 [[ 9.93972484e-01 9.25213675e-02 5.88089893e-02 7.13783739e+00] [-9.24040287e-02 9.95710420e-01 -4.71743872e-03 -6.17187223e-02] [-5.89931873e-02 -7.45183249e-04 9.98258107e-01 -2.88416464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.632791605 meters Centerline goodness [0,1] 0.9999011808883839 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.06, Z:-0.29 [[ 9.93820746e-01 9.47659280e-02 5.77905230e-02 7.17128769e+00] [-9.46546454e-02 9.95499234e-01 -4.66613685e-03 -6.28984868e-02] [-5.79726122e-02 -8.32837867e-04 9.98317826e-01 -2.90181421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662791605 meters Centerline goodness [0,1] 0.9997038207128048 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.06, Z:-0.29 [[ 9.93494418e-01 9.85958564e-02 5.69885858e-02 7.20383521e+00] [-9.84922870e-02 9.95127043e-01 -4.63014987e-03 -6.29583540e-02] [-5.71673965e-02 -1.01290810e-03 9.98364093e-01 -2.91501847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.692791605 meters Centerline goodness [0,1] 0.9998026932373107 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.06, Z:-0.29 [[ 9.93359079e-01 9.99015014e-02 5.70738948e-02 7.23680184e+00] [-9.97981684e-02 9.94996765e-01 -4.66507477e-03 -6.47800016e-02] [-5.72543887e-02 -1.06177579e-03 9.98359057e-01 -2.92228952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722791605 meters Centerline goodness [0,1] 0.9996058919158579 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.07, Z:-0.29 [[ 9.93224191e-01 1.01594376e-01 5.64294999e-02 7.27018809e+00] [-1.01494399e-01 9.94825279e-01 -4.64226229e-03 -6.64669336e-02] [-5.66091207e-02 -1.11647099e-03 9.98395794e-01 -2.93077273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7527916050000005 meters Centerline goodness [0,1] 0.9997533665466384 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.06, Z:-0.29 [[ 9.93114482e-01 1.02967310e-01 5.58691141e-02 7.30402139e+00] [-1.02869811e-01 9.94684072e-01 -4.62587397e-03 -6.46991745e-02] [-5.60484318e-02 -1.15322280e-03 9.98427385e-01 -2.92735971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782791605 meters Centerline goodness [0,1] 0.9998519249753208 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.06, Z:-0.29 [[ 9.93094625e-01 1.03256708e-01 5.56876880e-02 7.33692998e+00] [-1.03158625e-01 9.94654092e-01 -4.64072174e-03 -6.36816801e-02] [-5.58691724e-02 -1.13598950e-03 9.98437452e-01 -2.94187595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.812791605 meters Centerline goodness [0,1] 0.9996548663839858 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.06, Z:-0.30 [[ 9.93356271e-01 1.01795192e-01 5.36754914e-02 7.36964908e+00] [-1.01700486e-01 9.94804886e-01 -4.49999571e-03 -6.02731814e-02] [-5.38547191e-02 -9.88724584e-04 9.98548292e-01 -2.95768277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842791605 meters Centerline goodness [0,1] 0.9998023520110683 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.06, Z:-0.30 [[ 9.93469155e-01 1.00500028e-01 5.40257483e-02 7.40226765e+00] [-1.00400789e-01 9.94936649e-01 -4.55475223e-03 -6.06829018e-02] [-5.42099497e-02 -8.99221931e-04 9.98529155e-01 -2.96856266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.872791605 meters Centerline goodness [0,1] 0.9999505831191935 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.06, Z:-0.30 [[ 9.93650069e-01 9.88297071e-02 5.37794442e-02 7.43431009e+00] [-9.87275752e-02 9.95104056e-01 -4.55899846e-03 -6.12158557e-02] [-5.39667075e-02 -7.79464991e-04 9.98542431e-01 -2.97921088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.902791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.06, Z:-0.30 [[ 9.93849525e-01 9.61524600e-02 5.49347435e-02 7.46717784e+00] [-9.60403675e-02 9.95366424e-01 -4.68294881e-03 -5.99591812e-02] [-5.51304762e-02 -6.21806498e-04 9.98478965e-01 -2.99704403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.932791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.06, Z:-0.30 [[ 9.94042926e-01 9.48338304e-02 5.37141072e-02 7.49972464e+00] [-9.47234000e-02 9.95492985e-01 -4.60376663e-03 -6.06197066e-02] [-5.39086098e-02 -5.11641212e-04 9.98545743e-01 -2.99891070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9627916050000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.06, Z:-0.30 [[ 9.94209402e-01 9.37223929e-02 5.25716555e-02 7.53184848e+00] [-9.36137576e-02 9.95598282e-01 -4.53049083e-03 -6.15705387e-02] [-5.27648583e-02 -4.17173632e-04 9.98606877e-01 -3.01692002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.992791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.06, Z:-0.31 [[ 9.94344810e-01 9.28348736e-02 5.15760178e-02 7.56387330e+00] [-9.27278607e-02 9.95681461e-01 -4.46904562e-03 -6.11348200e-02] [-5.17681680e-02 -3.38761470e-04 9.98659072e-01 -3.05134034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.022791605 meters Centerline goodness [0,1] 0.9999506465304511 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.06, Z:-0.31 [[ 9.94249978e-01 9.27702766e-02 5.34851175e-02 7.59614149e+00] [-9.26537030e-02 9.95687487e-01 -4.66038904e-03 -6.30121875e-02] [-5.36868078e-02 -3.22002495e-04 9.98557771e-01 -3.08149966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.052791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.07, Z:-0.31 [[ 9.94200367e-01 9.39260322e-02 5.23787245e-02 7.62872151e+00] [-9.38145255e-02 9.95579116e-01 -4.58889416e-03 -6.59302793e-02] [-5.25781809e-02 -3.51604927e-04 9.98616749e-01 -3.09240714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.07, Z:-0.31 [[ 9.94149116e-01 9.48256878e-02 5.17264324e-02 7.66167573e+00] [-9.47167444e-02 9.95493824e-01 -4.55896217e-03 -6.89280424e-02] [-5.19256507e-02 -3.67071063e-04 9.98650886e-01 -3.10643731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.112791605 meters Centerline goodness [0,1] 0.9999506514015002 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.07, Z:-0.31 [[ 9.94067515e-01 9.55963606e-02 5.18759264e-02 7.69429928e+00] [-9.54863983e-02 9.95420108e-01 -4.59968555e-03 -7.15053206e-02] [-5.20780535e-02 -3.81047390e-04 9.98642945e-01 -3.11444623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.142791605 meters Centerline goodness [0,1] 0.9996053085993389 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.07, Z:-0.31 [[ 9.93932699e-01 9.68920306e-02 5.20550185e-02 7.72715978e+00] [-9.67816375e-02 9.95294808e-01 -4.64318190e-03 -7.41943653e-02] [-5.22599770e-02 -4.22959619e-04 9.98633424e-01 -3.10553689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1727916050000005 meters Centerline goodness [0,1] 0.9997530498345434 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.08, Z:-0.31 [[ 9.93811509e-01 9.87205627e-02 5.09208797e-02 7.76009341e+00] [-9.86159660e-02 9.95115078e-01 -4.56862713e-03 -7.79378500e-02] [-5.11231526e-02 -4.81257519e-04 9.98692241e-01 -3.12497888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202791605 meters Centerline goodness [0,1] 0.9999014341333596 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.08, Z:-0.31 [[ 9.93789629e-01 9.97820445e-02 4.92515631e-02 7.79211616e+00] [-9.96844147e-02 9.95009195e-01 -4.44075651e-03 -8.15944911e-02] [-4.94488659e-02 -4.96435471e-04 9.98776533e-01 -3.14029027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.232791605 meters Centerline goodness [0,1] 0.9993098688750862 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.08, Z:-0.32 [[ 9.93715546e-01 1.01072003e-01 4.81026289e-02 7.82477207e+00] [-1.00979643e-01 9.94878971e-01 -4.35255398e-03 -8.47693413e-02] [-4.82962153e-02 -5.32185761e-04 9.98832915e-01 -3.15055917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262791605 meters Centerline goodness [0,1] 0.9997533787116504 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.09, Z:-0.31 [[ 9.93659458e-01 1.02579107e-01 4.60261780e-02 7.85785116e+00] [-1.02495060e-01 9.94724695e-01 -4.18860147e-03 -8.84604080e-02] [-4.62130389e-02 -5.55412402e-04 9.98931452e-01 -3.14636549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.292791605000001 meters Centerline goodness [0,1] 0.9990627466456196 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.09, Z:-0.31 [[ 9.93650284e-01 1.03667185e-01 4.37290199e-02 7.89041595e+00] [-1.03591395e-01 9.94611888e-01 -4.00180293e-03 -9.15058195e-02] [-4.39082587e-02 -5.53557575e-04 9.99035414e-01 -3.13813622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.322791605 meters Centerline goodness [0,1] 0.9993098688750862 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.09, Z:-0.31 [[ 9.93640359e-01 1.04343145e-01 4.23242776e-02 7.92340700e+00] [-1.04271825e-01 9.94541208e-01 -3.89525218e-03 -9.47528179e-02] [-4.24996810e-02 -5.42749907e-04 9.99096333e-01 -3.14716114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.352791605 meters Centerline goodness [0,1] 0.9993579295698128 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.10, Z:-0.31 [[ 9.93600340e-01 1.05231110e-01 4.10460376e-02 7.95694117e+00] [-1.05163904e-01 9.94447646e-01 -3.79912212e-03 -9.66590496e-02] [-4.12179213e-02 -5.41752527e-04 9.99150034e-01 -3.14631394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382791605 meters Centerline goodness [0,1] 0.9994541213835542 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.10, Z:-0.31 [[ 9.93643117e-01 1.05402474e-01 3.95433201e-02 7.99001197e+00] [-1.05339421e-01 9.94429515e-01 -3.68052993e-03 -9.85262531e-02] [-3.97109816e-02 -5.08337216e-04 9.99211079e-01 -3.14224006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.412791605 meters Centerline goodness [0,1] 0.9996055226824457 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.10, Z:-0.31 [[ 9.93795343e-01 1.04145288e-01 3.90458188e-02 8.02193831e+00] [-1.04082033e-01 9.94562000e-01 -3.65485107e-03 -1.00375176e-01] [-3.92141232e-02 -4.31794212e-04 9.99230737e-01 -3.14132340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442791605 meters Centerline goodness [0,1] 0.9996542356137318 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.10, Z:-0.32 [[ 9.94000827e-01 1.02335617e-01 3.85976289e-02 8.05432712e+00] [-1.02271745e-01 9.94749872e-01 -3.63086354e-03 -1.02730466e-01] [-3.87665531e-02 -3.38365508e-04 9.99248237e-01 -3.15635841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.472791605 meters Centerline goodness [0,1] 0.9995558406948626 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.10, Z:-0.32 [[ 9.94315472e-01 9.92160672e-02 3.86382573e-02 8.08689520e+00] [-9.91490187e-02 9.95065893e-01 -3.65236899e-03 -1.04939212e-01] [-3.88099857e-02 -1.99338302e-04 9.99246589e-01 -3.17643886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5027916050000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.11, Z:-0.32 [[ 9.94982211e-01 9.08081639e-02 4.20032909e-02 8.11958409e+00] [-9.07208721e-02 9.95868392e-01 -3.98364531e-03 -1.05054582e-01] [-4.21914973e-02 1.53081038e-04 9.99109531e-01 -3.21473169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.532791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.11, Z:-0.32 [[ 9.95102214e-01 8.80324442e-02 4.49652361e-02 8.15185994e+00] [-8.79284440e-02 9.96117558e-01 -4.28940473e-03 -1.06734670e-01] [-4.51682680e-02 3.14672895e-04 9.98979343e-01 -3.23624867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.562791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.11, Z:-0.32 [[ 9.95346375e-01 8.41069583e-02 4.70278015e-02 8.18442692e+00] [-8.39877432e-02 9.96456587e-01 -4.50875725e-03 -1.08492406e-01] [-4.72403805e-02 5.38016267e-04 9.98883405e-01 -3.24108358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.592791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.11, Z:-0.33 [[ 9.95349236e-01 8.29721555e-02 4.89440411e-02 8.21706009e+00] [-8.28405119e-02 9.96551661e-01 -4.71557232e-03 -1.10278398e-01] [-4.91665267e-02 6.39091887e-04 9.98790391e-01 -3.25306772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622791605000001 meters Centerline goodness [0,1] 0.9999506294742039 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.11, Z:-0.33 [[ 9.95347176e-01 8.25738693e-02 4.96543597e-02 8.24995222e+00] [-8.24366986e-02 9.96584707e-01 -4.80763607e-03 -1.11959644e-01] [-4.98817606e-02 6.91925496e-04 9.98754890e-01 -3.26513551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.652791605 meters Centerline goodness [0,1] 0.9999506026476981 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.11, Z:-0.33 [[ 9.94912976e-01 8.44135632e-02 5.49774561e-02 8.28243799e+00] [-8.42465684e-02 9.96430564e-01 -5.35219977e-03 -1.14098398e-01] [-5.52330159e-02 6.93310990e-04 9.98473251e-01 -3.29327955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.682791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.12, Z:-0.33 [[ 9.94522393e-01 8.65999403e-02 5.85291409e-02 8.31433319e+00] [-8.64128135e-02 9.96242965e-01 -5.72540894e-03 -1.18001370e-01] [-5.88050650e-02 6.36379661e-04 9.98269282e-01 -3.30548868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7127916050000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.12, Z:-0.33 [[ 9.94050919e-01 8.93999353e-02 6.22127199e-02 8.34591832e+00] [-8.91921438e-02 9.95995668e-01 -6.11475893e-03 -1.21866473e-01] [-6.25102586e-02 5.29495876e-04 9.98044181e-01 -3.32387669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742791605 meters Centerline goodness [0,1] 0.9999506124061636 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.12, Z:-0.33 [[ 9.93955347e-01 9.02897647e-02 6.24542006e-02 8.37946907e+00] [-9.00802259e-02 9.95915410e-01 -6.16845325e-03 -1.23695415e-01] [-6.27560490e-02 5.05278583e-04 9.98028769e-01 -3.33396736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.772791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.13, Z:-0.34 [[ 9.93779440e-01 9.16363855e-02 6.32866347e-02 8.41214443e+00] [-9.14218525e-02 9.95792429e-01 -6.28350071e-03 -1.25782843e-01] [-6.35961490e-02 4.58632429e-04 9.97975611e-01 -3.35201651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802791605 meters Centerline goodness [0,1] 0.9999506075274128 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.13, Z:-0.34 [[ 9.93857684e-01 9.16390210e-02 6.20418660e-02 8.44453174e+00] [-9.14309832e-02 9.95792177e-01 -6.18993301e-03 -1.29421522e-01] [-6.23480442e-02 4.79363683e-04 9.98054353e-01 -3.37170240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.832791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.13, Z:-0.34 [[ 9.93831303e-01 9.18683118e-02 6.21253121e-02 8.47692938e+00] [-9.16582932e-02 9.95771042e-01 -6.22811463e-03 -1.32905873e-01] [-6.24347531e-02 4.95395214e-04 9.98048925e-01 -3.38511917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.13, Z:-0.34 [[ 9.93641270e-01 9.20172164e-02 6.48834212e-02 8.50875510e+00] [-9.17862999e-02 9.95757270e-01 -6.53720965e-03 -1.34442758e-01] [-6.52096742e-02 5.40232141e-04 9.97871438e-01 -3.40366972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.892791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.14, Z:-0.34 [[ 9.93578881e-01 9.25511185e-02 6.50791702e-02 8.54174158e+00] [-9.23178894e-02 9.95707789e-01 -6.58835001e-03 -1.37230296e-01] [-6.54095959e-02 5.38073788e-04 9.97858354e-01 -3.40723260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9227916050000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.14, Z:-0.34 [[ 9.93617095e-01 9.31586845e-02 6.36123270e-02 8.57358758e+00] [-9.29351367e-02 9.95651140e-01 -6.47059812e-03 -1.40747548e-01] [-6.39384782e-02 5.17476604e-04 9.97953708e-01 -3.41447401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.952791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.14, Z:-0.34 [[ 9.93684989e-01 9.27709838e-02 6.31164530e-02 8.60633364e+00] [-9.25482073e-02 9.95687311e-01 -6.45041114e-03 -1.44823833e-01] [-6.34426624e-02 5.68362152e-04 9.97985323e-01 -3.44850528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.15, Z:-0.35 [[ 9.93806028e-01 9.25043897e-02 6.15834152e-02 8.63852054e+00] [-9.22899556e-02 9.95712095e-01 -6.32354547e-03 -1.47630032e-01] [-6.19043071e-02 6.00846950e-04 9.98081908e-01 -3.46800728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.012791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.15, Z:-0.35 [[ 9.93948758e-01 9.03691924e-02 6.24441776e-02 8.67054604e+00] [-9.01431951e-02 9.95908040e-01 -6.43275987e-03 -1.49148136e-01] [-6.27699818e-02 7.64915992e-04 9.98027727e-01 -3.47374685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.042791605000001 meters Centerline goodness [0,1] 0.9999506879037428 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.15, Z:-0.35 [[ 9.93995617e-01 8.99542969e-02 6.22971736e-02 8.70334689e+00] [-8.97273408e-02 9.95945566e-01 -6.43688423e-03 -1.51788070e-01] [-6.26236193e-02 8.08474986e-04 9.98036887e-01 -3.48226196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.072791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.16, Z:-0.35 [[ 9.94033920e-01 9.01476930e-02 6.14000000e-02 8.73504696e+00] [-8.99257582e-02 9.95928075e-01 -6.37401320e-03 -1.55101167e-01] [-6.17245863e-02 8.14543781e-04 9.98092887e-01 -3.48469811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.16, Z:-0.35 [[ 9.94333068e-01 8.87307465e-02 5.85542842e-02 8.76744324e+00] [-8.85249615e-02 9.96055254e-01 -6.10424475e-03 -1.58889985e-01] [-5.88649366e-02 8.86136662e-04 9.98265563e-01 -3.49696391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.132791605000001 meters Centerline goodness [0,1] 0.9999506270366347 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.16, Z:-0.35 [[ 9.94288268e-01 8.83020072e-02 5.99466006e-02 8.79916781e+00] [-8.80838587e-02 9.96093285e-01 -6.27707213e-03 -1.61337381e-01] [-6.02666844e-02 9.60891284e-04 9.98181849e-01 -3.53142828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.162791605 meters Centerline goodness [0,1] 0.9999506221607742 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.17, Z:-0.35 [[ 9.94276267e-01 8.78780856e-02 6.07630430e-02 8.83069680e+00] [-8.76517729e-02 9.96130712e-01 -6.38517270e-03 -1.65096224e-01] [-6.10890501e-02 1.02263722e-03 9.98131796e-01 -3.54132133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.192791605000002 meters Centerline goodness [0,1] 0.9999506489660959 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.17, Z:-0.36 [[ 9.94165749e-01 8.94131955e-02 6.03302833e-02 8.86260030e+00] [-8.91917579e-02 9.95994174e-01 -6.35884479e-03 -1.68671882e-01] [-6.06571754e-02 9.40781669e-04 9.98158215e-01 -3.55104457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222791605000001 meters Centerline goodness [0,1] 0.9999506976285559 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.17, Z:-0.36 [[ 9.94041486e-01 9.24883859e-02 5.76838080e-02 8.89459479e+00] [-9.22896912e-02 9.95713485e-01 -6.10485314e-03 -1.72855090e-01] [-5.80011735e-02 7.44856467e-04 9.98316237e-01 -3.55794817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.252791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.18, Z:-0.36 [[ 9.93961673e-01 9.37302479e-02 5.70511496e-02 8.92638878e+00] [-9.35364740e-02 9.95597391e-01 -6.06333137e-03 -1.75966778e-01] [-5.73682932e-02 6.90355623e-04 9.98352845e-01 -3.57229942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.18, Z:-0.36 [[ 9.93924518e-01 9.46645660e-02 5.61486641e-02 8.95886454e+00] [-9.44769494e-02 9.95509013e-01 -5.99252561e-03 -1.78882310e-01] [-5.64637810e-02 6.51363638e-04 9.98404436e-01 -3.58630846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.312791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.18, Z:-0.36 [[ 9.93728035e-01 9.58984664e-02 5.75158791e-02 8.99187411e+00] [-9.57020400e-02 9.95390926e-01 -6.16635152e-03 -1.82373213e-01] [-5.78421278e-02 6.23289418e-04 9.98325548e-01 -3.61746838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.19, Z:-0.36 [[ 9.93662801e-01 9.72939286e-02 5.62861302e-02 9.02392831e+00] [-9.71064971e-02 9.95255535e-01 -6.06200832e-03 -1.85830689e-01] [-5.66088792e-02 5.57843236e-04 9.98396276e-01 -3.62986309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.372791605000002 meters Centerline goodness [0,1] 0.9999507097791798 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.19, Z:-0.37 [[ 9.93729855e-01 9.77147094e-02 5.43397680e-02 9.05646289e+00] [-9.75396252e-02 9.95214324e-01 -5.87122104e-03 -1.88637393e-01] [-5.46534201e-02 5.34127031e-04 9.98505242e-01 -3.65117275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.402791605 meters Centerline goodness [0,1] 0.9999507097791798 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.19, Z:-0.37 [[ 9.93679255e-01 9.82288439e-02 5.43381252e-02 9.08888179e+00] [-9.80536985e-02 9.95163717e-01 -5.88638798e-03 -1.91818647e-01] [-5.46535437e-02 5.21127484e-04 9.98505242e-01 -3.66307449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.432791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.19, Z:-0.37 [[ 9.93760708e-01 9.76169538e-02 5.39498443e-02 9.12171496e+00] [-9.74418777e-02 9.95223892e-01 -5.87240477e-03 -1.94531642e-01] [-5.42654203e-02 5.78790990e-04 9.98526379e-01 -3.68065553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.20, Z:-0.37 [[ 9.93880554e-01 9.72699133e-02 5.23450911e-02 9.15417872e+00] [-9.71032698e-02 9.95257855e-01 -5.72343496e-03 -1.97714668e-01] [-5.26535811e-02 6.05531209e-04 9.98612655e-01 -3.68023569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.492791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.20, Z:-0.37 [[ 9.94312428e-01 9.48040937e-02 4.85281334e-02 9.18685256e+00] [-9.46568876e-02 9.95495700e-01 -5.32779341e-03 -2.00419912e-01] [-4.88146448e-02 7.03969128e-04 9.98807607e-01 -3.65341642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522791605000002 meters Centerline goodness [0,1] 0.9999506806076149 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.20, Z:-0.37 [[ 9.94488055e-01 9.39152785e-02 4.66200403e-02 9.21987069e+00] [-9.37773434e-02 9.95579917e-01 -5.14193666e-03 -2.04214749e-01] [-4.68968822e-02 7.41691062e-04 9.98899461e-01 -3.66221494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.552791605000001 meters Centerline goodness [0,1] 0.9999505977670191 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.21, Z:-0.36 [[ 9.95118098e-01 9.05461116e-02 3.92603226e-02 9.25293950e+00] [-9.04449959e-02 9.95891962e-01 -4.34770796e-03 -2.06406630e-01] [-3.94927077e-02 7.75583162e-04 9.99219558e-01 -3.64601938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.582791605 meters Centerline goodness [0,1] 0.9998519688147637 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.21, Z:-0.37 [[ 9.95206136e-01 8.98788949e-02 3.85555468e-02 9.28562525e+00] [-8.97801174e-02 9.95952375e-01 -4.28926819e-03 -2.08612888e-01] [-3.87850031e-02 8.07184511e-04 9.99247253e-01 -3.66171705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.612791605000002 meters Centerline goodness [0,1] 0.9997039522376276 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.21, Z:-0.37 [[ 9.95395828e-01 8.78564159e-02 3.83196584e-02 9.31786454e+00] [-8.77565871e-02 9.96132742e-01 -4.28270581e-03 -2.11236604e-01] [-3.85477296e-02 9.00185049e-04 9.99256355e-01 -3.66092151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642791605000001 meters Centerline goodness [0,1] 0.9995063191153238 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.22, Z:-0.37 [[ 9.95489168e-01 8.74352356e-02 3.68292919e-02 9.35099675e+00] [-8.73421452e-02 9.96169803e-01 -4.13209114e-03 -2.15382145e-01] [-3.70495188e-02 8.96702609e-04 9.99313029e-01 -3.65629450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.672791605 meters Centerline goodness [0,1] 0.9997532935313564 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.22, Z:-0.37 [[ 9.95517654e-01 8.74212752e-02 3.60849134e-02 9.38414373e+00] [-8.73312412e-02 9.96171027e-01 -4.06677301e-03 -2.19696944e-01] [-3.63022677e-02 8.97204053e-04 9.99340453e-01 -3.65569582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702791605000002 meters Centerline goodness [0,1] 0.9995061240616357 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.22, Z:-0.37 [[ 9.95614651e-01 8.69234181e-02 3.45801462e-02 9.41576171e+00] [-8.68398441e-02 9.96214595e-01 -3.91429071e-03 -2.23943892e-01] [-3.47894898e-02 8.94190674e-04 9.99394262e-01 -3.65833886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.732791605000001 meters Centerline goodness [0,1] 0.9991618183611084 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.23, Z:-0.37 [[ 9.95995917e-01 8.36551365e-02 3.15269888e-02 9.44801215e+00] [-8.35836400e-02 9.96494330e-01 -3.58121584e-03 -2.28858284e-01] [-3.17160527e-02 9.31735872e-04 9.99496485e-01 -3.67065692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762791605000002 meters Centerline goodness [0,1] 0.9994074951858983 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.24, Z:-0.37 [[ 9.96135042e-01 8.26210472e-02 2.98117425e-02 9.47953556e+00] [-8.25562265e-02 9.96580606e-01 -3.40077801e-03 -2.36753780e-01] [-2.99907803e-02 9.26489178e-04 9.99549746e-01 -3.67333654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.792791605000001 meters Centerline goodness [0,1] 0.9989630653762591 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.24, Z:-0.37 [[ 9.96116555e-01 8.34032052e-02 2.82084104e-02 9.51120657e+00] [-8.33453895e-02 9.96515514e-01 -3.22122517e-03 -2.42570751e-01] [-2.83787791e-02 8.57674771e-04 9.99596873e-01 -3.67211886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.822791605 meters Centerline goodness [0,1] 0.9989582299831332 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.25, Z:-0.37 [[ 9.96096217e-01 8.40134491e-02 2.70936593e-02 9.54382983e+00] [-8.39602670e-02 9.96464292e-01 -3.09658077e-03 -2.47847387e-01] [-2.72580185e-02 8.09701519e-04 9.99628103e-01 -3.67470539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852791605000002 meters Centerline goodness [0,1] 0.9993079926844941 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.25, Z:-0.37 [[ 9.96039007e-01 8.53068802e-02 2.50805425e-02 9.57551561e+00] [-8.52615929e-02 9.96354463e-01 -2.87149031e-03 -2.52062883e-01] [-2.52340683e-02 7.21709352e-04 9.99681310e-01 -3.67700791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882791605000001 meters Centerline goodness [0,1] 0.9998018919320489 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.26, Z:-0.37 [[ 9.95635632e-01 8.97493844e-02 2.55877990e-02 9.60707550e+00] [-8.97036247e-02 9.95964185e-01 -2.93293644e-03 -2.59294031e-01] [-2.57477606e-02 6.24817712e-04 9.99668276e-01 -3.69085379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.912791605 meters Centerline goodness [0,1] 0.9998506199273017 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.27, Z:-0.37 [[ 9.94839958e-01 9.50185795e-02 3.55658181e-02 9.63728491e+00] [-9.49332881e-02 9.95475263e-01 -4.08305315e-03 -2.69229359e-01] [-3.57928580e-02 6.85604366e-04 9.99358995e-01 -3.73033601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942791605000002 meters Centerline goodness [0,1] 0.9998510057114477 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.28, Z:-0.37 [[ 9.94395694e-01 9.69060111e-02 4.22661683e-02 9.66936831e+00] [-9.67869866e-02 9.95293262e-01 -4.85819235e-03 -2.75785842e-01] [-4.25380206e-02 7.40150485e-04 9.99094575e-01 -3.74370878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.972791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.28, Z:-0.38 [[ 9.93980699e-01 9.78761365e-02 4.92202387e-02 9.70105656e+00] [-9.77144993e-02 9.95198248e-01 -5.68533066e-03 -2.81879389e-01] [-4.95403535e-02 8.41577969e-04 9.98771768e-01 -3.77107068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002791605 meters Centerline goodness [0,1] 0.9999503697453967 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.29, Z:-0.38 [[ 9.93324632e-01 9.96720675e-02 5.80659455e-02 9.73233676e+00] [-9.94484107e-02 9.95019919e-01 -6.73607388e-03 -2.88576766e-01] [-5.84481708e-02 9.16542119e-04 9.98290024e-01 -3.79828054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.032791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.29, Z:-0.38 [[ 9.92991108e-01 1.01603315e-01 6.03773573e-02 9.76416972e+00] [-1.01363364e-01 9.94824619e-01 -7.03176871e-03 -2.93420791e-01] [-6.07793325e-02 8.62431730e-04 9.98150855e-01 -3.81698841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.30, Z:-0.38 [[ 9.92466702e-01 1.05214173e-01 6.27680102e-02 9.79609409e+00] [-1.04960090e-01 9.94449341e-01 -7.34085222e-03 -3.01161911e-01] [-6.31919681e-02 6.97415419e-04 9.98001147e-01 -3.83900238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.092791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.31, Z:-0.39 [[ 9.92196261e-01 1.06828718e-01 6.42977829e-02 9.82759914e+00] [-1.06563407e-01 9.94277232e-01 -7.55156437e-03 -3.07711224e-01] [-6.47365456e-02 6.40843148e-04 9.97902184e-01 -3.85257389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.122791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.31, Z:-0.39 [[ 9.91987028e-01 1.08735867e-01 6.43292054e-02 9.86047582e+00] [-1.08472283e-01 9.94070526e-01 -7.58633240e-03 -3.13985797e-01] [-6.47726735e-02 5.47607567e-04 9.97899895e-01 -3.86896716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.152791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.32, Z:-0.39 [[ 9.91990128e-01 1.10452729e-01 6.12844191e-02 9.89263903e+00] [-1.10215431e-01 9.93881283e-01 -7.24948372e-03 -3.20032735e-01] [-6.17101623e-02 4.36927629e-04 9.98094016e-01 -3.87002187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.32, Z:-0.39 [[ 9.91827666e-01 1.11832268e-01 6.14119341e-02 9.92576260e+00] [-1.11595430e-01 9.93727028e-01 -7.28380566e-03 -3.24474890e-01] [-6.18412633e-02 3.70988775e-04 9.98085928e-01 -3.88712718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.212791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.33, Z:-0.39 [[ 9.91741822e-01 1.12959048e-01 6.07323045e-02 9.95787563e+00] [-1.12727682e-01 9.93599591e-01 -7.23349585e-03 -3.28865633e-01] [-6.11606817e-02 3.27548458e-04 9.98127879e-01 -3.89897150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.242791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.34, Z:-0.39 [[ 9.91644225e-01 1.12800597e-01 6.25919869e-02 9.98898910e+00] [-1.12553003e-01 9.93617576e-01 -7.47891970e-03 -3.35218374e-01] [-6.30361249e-02 3.71511424e-04 9.98011177e-01 -3.92241108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.272791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.34, Z:-0.39 [[ 9.91661076e-01 1.13112158e-01 6.17571832e-02 1.00211487e+01] [-1.12870439e-01 9.93582158e-01 -7.39996632e-03 -3.39230777e-01] [-6.21978615e-02 3.67698209e-04 9.98063771e-01 -3.92879262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.302791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.34, Z:-0.40 [[ 9.91703726e-01 1.12663091e-01 6.18930352e-02 1.00541138e+01] [-1.12417539e-01 9.93633154e-01 -7.44655435e-03 -3.44837092e-01] [-6.23379236e-02 4.26912980e-04 9.98055009e-01 -3.95027391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.332791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.35, Z:-0.40 [[ 9.91751872e-01 1.12302376e-01 6.17770327e-02 1.00863981e+01] [-1.12055012e-01 9.93673963e-01 -7.46521505e-03 -3.50555223e-01] [-6.22245903e-02 4.81214849e-04 9.98062057e-01 -3.96677959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.362791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.36, Z:-0.40 [[ 9.91826198e-01 1.11997176e-01 6.11344845e-02 1.01192581e+01] [-1.11752365e-01 9.93708385e-01 -7.41986185e-03 -3.57281415e-01] [-6.15808535e-02 5.27290145e-04 9.98101959e-01 -3.98265460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.392791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.36, Z:-0.40 [[ 9.91767916e-01 1.11861916e-01 6.23162270e-02 1.01509589e+01] [-1.11605277e-01 9.93723592e-01 -7.59500376e-03 -3.63592756e-01] [-6.27746966e-02 5.77661303e-04 9.98027557e-01 -3.99701864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.422791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.37, Z:-0.40 [[ 9.91705661e-01 1.12691957e-01 6.18094238e-02 1.01839017e+01] [-1.12439214e-01 9.93629820e-01 -7.56330395e-03 -3.67425004e-01] [-6.22680102e-02 5.50768278e-04 9.98059313e-01 -4.01073742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.452791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.37, Z:-0.40 [[ 9.91694929e-01 1.13618299e-01 6.02664981e-02 1.02160695e+01] [-1.13378365e-01 9.93524348e-01 -7.39708430e-03 -3.73806538e-01] [-6.07166774e-02 5.02733958e-04 9.98154914e-01 -4.01919885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.38, Z:-0.40 [[ 9.91620748e-01 1.14588023e-01 5.96479355e-02 1.02477518e+01] [-1.14353747e-01 9.93412995e-01 -7.33777202e-03 -3.79575665e-01] [-6.00958550e-02 4.55322079e-04 9.98192507e-01 -4.02837285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.512791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.38, Z:-0.40 [[ 9.91372012e-01 1.16308391e-01 6.04474287e-02 1.02804788e+01] [-1.16069165e-01 9.93213074e-01 -7.46586157e-03 -3.84734476e-01] [-6.09055188e-02 3.85363619e-04 9.98143461e-01 -4.04316446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.39, Z:-0.40 [[ 9.91006367e-01 1.20272465e-01 5.86593109e-02 1.03120210e+01] [-1.20052409e-01 9.92740906e-01 -7.27410833e-03 -3.90564761e-01] [-5.91083723e-02 1.66496113e-04 9.98251558e-01 -4.04867744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.572791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.40, Z:-0.41 [[ 9.90850136e-01 1.22300825e-01 5.70834165e-02 1.03443572e+01] [-1.22094299e-01 9.92493075e-01 -7.10484752e-03 -3.95076692e-01] [-5.75238243e-02 7.02794123e-05 9.98344131e-01 -4.06022584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.40, Z:-0.41 [[ 9.90544246e-01 1.26098888e-01 5.40478165e-02 1.03763957e+01] [-1.25918071e-01 9.92017669e-01 -6.75151352e-03 -4.01000254e-01] [-5.44677473e-02 -1.17923929e-04 9.98515523e-01 -4.08192343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.632791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.41, Z:-0.41 [[ 9.90437563e-01 1.27015429e-01 5.38564298e-02 1.04090153e+01] [-1.26835805e-01 9.91900731e-01 -6.75410001e-03 -4.05504347e-01] [-5.42781070e-02 -1.41409271e-04 9.98525847e-01 -4.09515400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.41, Z:-0.41 [[ 9.90321134e-01 1.28112329e-01 5.33974053e-02 1.04412331e+01] [-1.27936085e-01 9.91759648e-01 -6.71996994e-03 -4.10423702e-01] [-5.38183029e-02 -1.76526739e-04 9.98550729e-01 -4.10460576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.692791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.42, Z:-0.41 [[ 9.89888241e-01 1.31380157e-01 5.34838666e-02 1.04739481e+01] [-1.31207130e-01 9.91332003e-01 -6.74892471e-03 -4.15597918e-01] [-5.39069434e-02 -3.36783450e-04 9.98545907e-01 -4.11115195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.42, Z:-0.41 [[ 9.89693985e-01 1.33186092e-01 5.26049453e-02 1.05064703e+01] [-1.33019740e-01 9.91090967e-01 -6.66659482e-03 -4.20249698e-01] [-5.30241839e-02 -3.99607345e-04 9.98593149e-01 -4.13136398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.752791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.43, Z:-0.42 [[ 9.89319763e-01 1.36634009e-01 5.07696231e-02 1.05391391e+01] [-1.36482194e-01 9.90621451e-01 -6.46150851e-03 -4.25788623e-01] [-5.11763395e-02 -5.36651478e-04 9.98689488e-01 -4.16427479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.43, Z:-0.42 [[ 9.89023682e-01 1.39356240e-01 4.91120717e-02 1.05718164e+01] [-1.39216219e-01 9.90242113e-01 -6.27706492e-03 -4.30121150e-01] [-4.95075899e-02 -6.29031092e-04 9.98773549e-01 -4.18223557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.812791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.43, Z:-0.42 [[ 9.88685451e-01 1.42067738e-01 4.81439218e-02 1.06046046e+01] [-1.41935158e-01 9.89856673e-01 -6.17882997e-03 -4.34630976e-01] [-4.85333947e-02 -7.24395847e-04 9.98821298e-01 -4.19825765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842791605000002 meters Centerline goodness [0,1] 0.9999011466982998 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.44, Z:-0.42 [[ 9.88025344e-01 1.47109208e-01 4.65274207e-02 1.06360099e+01] [-1.46989870e-01 9.89119832e-01 -5.99471407e-03 -4.39552668e-01] [-4.69030722e-02 -9.16130086e-04 9.98899025e-01 -4.18777593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.872791605000002 meters Centerline goodness [0,1] 0.9996539792387543 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.44, Z:-0.42 [[ 9.87726747e-01 1.49754195e-01 4.43796722e-02 1.06683564e+01] [-1.49647415e-01 9.88722778e-01 -5.73750943e-03 -4.44009907e-01] [-4.47384089e-02 -9.74211708e-04 9.98998261e-01 -4.19044870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.902791605 meters Centerline goodness [0,1] 0.9997038645673955 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.45, Z:-0.42 [[ 9.87579463e-01 1.50644480e-01 4.46435215e-02 1.07013375e+01] [-1.50536234e-01 9.88587501e-01 -5.79606951e-03 -4.48676032e-01] [-4.50071732e-02 -9.96388393e-04 9.98986167e-01 -4.20270829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.932791605000002 meters Centerline goodness [0,1] 0.9993585631815266 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.45, Z:-0.42 [[ 9.87501843e-01 1.51518359e-01 4.33854590e-02 1.07341507e+01] [-1.51415955e-01 9.88453954e-01 -5.65593966e-03 -4.53414457e-01] [-4.37415072e-02 -9.83999895e-04 9.99042398e-01 -4.21337712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.962791605000001 meters Centerline goodness [0,1] 0.9993079926844941 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.46, Z:-0.42 [[ 9.87459966e-01 1.52019078e-01 4.25795193e-02 1.07671176e+01] [-1.51919919e-01 9.88377089e-01 -5.57395299e-03 -4.56668667e-01] [-4.29319686e-02 -9.64621694e-04 9.99077532e-01 -4.21872218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.992791605 meters Centerline goodness [0,1] 0.9990115646930908 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.46, Z:-0.42 [[ 9.87269106e-01 1.53503209e-01 4.16710525e-02 1.08007570e+01] [-1.53408617e-01 9.88147658e-01 -5.47738243e-03 -4.58311871e-01] [-4.20179487e-02 -9.85048050e-04 9.99116370e-01 -4.21376370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022791605000002 meters Centerline goodness [0,1] 0.998468606431853 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.46, Z:-0.42 [[ 9.86864072e-01 1.56213392e-01 4.11907657e-02 1.08331943e+01] [-1.56122409e-01 9.87722755e-01 -5.43629052e-03 -4.62039617e-01] [-4.15342780e-02 -1.06592179e-03 9.99136511e-01 -4.21342409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.052791605000001 meters Centerline goodness [0,1] 0.9984693625635709 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.47, Z:-0.42 [[ 9.86621422e-01 1.58100746e-01 3.97784421e-02 1.08656589e+01] [-1.58016686e-01 9.87422387e-01 -5.26839608e-03 -4.65174615e-01] [-4.01110616e-02 -1.08774517e-03 9.99194635e-01 -4.21719791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.082791605 meters Centerline goodness [0,1] 0.9979753086419753 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.47, Z:-0.42 [[ 9.86179262e-01 1.61183116e-01 3.83466708e-02 1.08977252e+01] [-1.61106641e-01 9.86923845e-01 -5.09647059e-03 -4.67376577e-01] [-3.86667088e-02 -1.15186971e-03 9.99251499e-01 -4.22545890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.112791605000002 meters Centerline goodness [0,1] 0.9973788328387735 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.47, Z:-0.42 [[ 9.85447845e-01 1.65731268e-01 3.77583186e-02 1.09299980e+01] [-1.65659777e-01 9.86170105e-01 -5.03604164e-03 -4.67618023e-01] [-3.80707546e-02 -1.29227825e-03 9.99274210e-01 -4.22211863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.142791605000001 meters Centerline goodness [0,1] 0.9982210801996343 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.47, Z:-0.42 [[ 9.85206071e-01 1.67447050e-01 3.64757942e-02 1.09626358e+01] [-1.67380888e-01 9.85880219e-01 -4.88178106e-03 -4.69548852e-01] [-3.67782038e-02 -1.29579049e-03 9.99322613e-01 -4.22913465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.172791605 meters Centerline goodness [0,1] 0.9980714073781031 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.47, Z:-0.42 [[ 9.84908069e-01 1.69538388e-01 3.48257100e-02 1.09949823e+01] [-1.69478837e-01 9.85522732e-01 -4.67647327e-03 -4.69951599e-01] [-3.51143706e-02 -1.29632457e-03 9.99382460e-01 -4.22619196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.202791605000002 meters Centerline goodness [0,1] 0.9978811471370849 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.47, Z:-0.42 [[ 9.85077566e-01 1.68644181e-01 3.43704702e-02 1.10269876e+01] [-1.68585059e-01 9.85676226e-01 -4.63189568e-03 -4.71748203e-01] [-3.46592976e-02 -1.23157123e-03 9.99398427e-01 -4.23921389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.232791605000001 meters Centerline goodness [0,1] 0.9979761082041663 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.47, Z:-0.42 [[ 9.85238594e-01 1.67984458e-01 3.29565744e-02 1.10595674e+01] [-1.67929590e-01 9.85788968e-01 -4.44561279e-03 -4.73903469e-01] [-3.32350214e-02 -1.15439474e-03 9.99446897e-01 -4.23917508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262791605000002 meters Centerline goodness [0,1] 0.998218262806236 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.47, Z:-0.42 [[ 9.86051505e-01 1.63177340e-01 3.27961148e-02 1.10913980e+01] [-1.63120195e-01 9.86596265e-01 -4.42858818e-03 -4.73951212e-01] [-3.30791696e-02 -9.82892619e-04 9.99452251e-01 -4.23733170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.292791605000001 meters Centerline goodness [0,1] 0.998218262806236 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.48, Z:-0.42 [[ 9.86018264e-01 1.63378131e-01 3.27958779e-02 1.11236274e+01] [-1.63321038e-01 9.86563029e-01 -4.43034245e-03 -4.78261510e-01] [-3.30790217e-02 -9.87858245e-04 9.99452251e-01 -4.24921855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.322791605 meters Centerline goodness [0,1] 0.9993551267423979 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.48, Z:-0.43 [[ 9.86376703e-01 1.60618857e-01 3.55328461e-02 1.11561372e+01] [-1.60549759e-01 9.87016037e-01 -4.80811931e-03 -4.80556155e-01] [-3.58437636e-02 -9.62172987e-04 9.99356943e-01 -4.26276414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.352791605000002 meters Centerline goodness [0,1] 0.9998009157873781 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.48, Z:-0.43 [[ 9.86910169e-01 1.54385484e-01 4.66201733e-02 1.11884717e+01] [-1.54259020e-01 9.88010229e-01 -6.32004165e-03 -4.81092406e-01] [-4.70369307e-02 -9.54268878e-04 9.98892695e-01 -4.28967066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.382791605000001 meters Centerline goodness [0,1] 0.9999007542675665 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.48, Z:-0.43 [[ 9.86827768e-01 1.53127963e-01 5.21802982e-02 1.12208323e+01] [-1.52966317e-01 9.88205888e-01 -7.10124728e-03 -4.83026041e-01] [-5.26522775e-02 -9.74120060e-04 9.98612432e-01 -4.32262090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.412791605 meters Centerline goodness [0,1] 0.9997507229035796 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.48, Z:-0.43 [[ 9.86525442e-01 1.52717454e-01 5.86935398e-02 1.12526423e+01] [-1.52510425e-01 9.88269343e-01 -8.01729441e-03 -4.84609192e-01] [-5.92294068e-02 -1.04211177e-03 9.98243854e-01 -4.33545054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.442791605000002 meters Centerline goodness [0,1] 0.9995029326970872 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.49, Z:-0.44 [[ 9.86499998e-01 1.49892949e-01 6.59534447e-02 1.12851143e+01] [-1.49623704e-01 9.88701767e-01 -9.03121475e-03 -4.85415700e-01] [-6.65620027e-02 -9.58905356e-04 9.97781830e-01 -4.36443109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.472791605000001 meters Centerline goodness [0,1] 0.9996042934164318 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.49, Z:-0.44 [[ 9.86701518e-01 1.47935617e-01 6.73436551e-02 1.13178492e+01] [-1.47648852e-01 9.88996651e-01 -9.24339174e-03 -4.88280590e-01] [-6.79700762e-02 -8.22744683e-04 9.97687021e-01 -4.37019879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.502791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.49, Z:-0.44 [[ 9.87264588e-01 1.43613504e-01 6.84382551e-02 1.13507086e+01] [-1.43304382e-01 9.89633728e-01 -9.43077345e-03 -4.90868270e-01] [-6.90831919e-02 -4.96833178e-04 9.97610779e-01 -4.38598828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.532791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.49, Z:-0.44 [[ 9.87466181e-01 1.42237760e-01 6.84029290e-02 1.13831594e+01] [-1.41923118e-01 9.89832454e-01 -9.46263541e-03 -4.94396241e-01] [-6.90533832e-02 -3.63924519e-04 9.97612900e-01 -4.39995016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.562791605000001 meters Centerline goodness [0,1] 0.9999506465304511 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.50, Z:-0.44 [[ 9.87968526e-01 1.38912662e-01 6.79813519e-02 1.14151315e+01] [-1.38591669e-01 9.90304631e-01 -9.43855352e-03 -4.96907941e-01] [-6.86333823e-02 -9.66552135e-05 9.97641945e-01 -4.43466106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.592791605000002 meters Centerline goodness [0,1] 0.9999506294742039 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.50, Z:-0.45 [[ 9.88062477e-01 1.38528582e-01 6.73971368e-02 1.14471210e+01] [-1.38210046e-01 9.90358435e-01 -9.38897045e-03 -5.00844423e-01] [-6.80479637e-02 -3.80719639e-05 9.97682050e-01 -4.45334017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.622791605000002 meters Centerline goodness [0,1] 0.9998517493575806 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.50, Z:-0.45 [[ 9.88214508e-01 1.37587926e-01 6.70943282e-02 1.14796348e+01] [-1.37267812e-01 9.90489555e-01 -9.38022548e-03 -5.04953835e-01] [-6.77468371e-02 5.97832780e-05 9.97702542e-01 -4.47275629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.652791605 meters Centerline goodness [0,1] 0.9997534151994871 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.51, Z:-0.45 [[ 9.88320671e-01 1.37237391e-01 6.62431115e-02 1.15115493e+01] [-1.36922342e-01 9.90538179e-01 -9.29446882e-03 -5.09947510e-01] [-6.68918797e-02 1.15753670e-04 9.97760223e-01 -4.49233520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.682791605000002 meters Centerline goodness [0,1] 0.9998021271333168 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.52, Z:-0.45 [[ 9.88892998e-01 1.34199796e-01 6.38831295e-02 1.15435000e+01] [-1.33898600e-01 9.90954237e-01 -8.99249593e-03 -5.15335486e-01] [-6.45120490e-02 3.38754674e-04 9.97916871e-01 -4.49838990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.712791605000001 meters Centerline goodness [0,1] 0.9997526956177664 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.52, Z:-0.45 [[ 9.89173185e-01 1.32438459e-01 6.32176022e-02 1.15768408e+01] [-1.32137947e-01 9.91191114e-01 -8.92964316e-03 -5.18856732e-01] [-6.38433538e-02 4.79519407e-04 9.97959817e-01 -4.51711431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.742791605 meters Centerline goodness [0,1] 0.9999012004149582 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.52, Z:-0.45 [[ 9.89244189e-01 1.32471883e-01 6.20252765e-02 1.16091863e+01] [-1.32181235e-01 9.91186642e-01 -8.78419846e-03 -5.23121694e-01] [-6.26422849e-02 4.91139655e-04 9.98035923e-01 -4.53325098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.772791605000002 meters Centerline goodness [0,1] 0.9999506416584403 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.53, Z:-0.46 [[ 9.89202536e-01 1.32241287e-01 6.31710769e-02 1.16404863e+01] [-1.31938194e-01 9.91217412e-01 -8.96407132e-03 -5.27835385e-01] [-6.38016917e-02 5.32604258e-04 9.97962454e-01 -4.56425339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.802791605000001 meters Centerline goodness [0,1] 0.9996543721917741 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.53, Z:-0.46 [[ 9.89194481e-01 1.32815886e-01 6.20823609e-02 1.16719512e+01] [-1.32522592e-01 9.91140594e-01 -8.83664710e-03 -5.33478071e-01] [-6.27059952e-02 5.13847157e-04 9.98031910e-01 -4.57038497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.832791605 meters Centerline goodness [0,1] 0.9996543039162428 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.54, Z:-0.46 [[ 9.89396083e-01 1.31537133e-01 6.15903632e-02 1.17040963e+01] [-1.31244138e-01 9.91311050e-01 -8.79647040e-03 -5.39906476e-01] [-6.22122701e-02 6.19819242e-04 9.98062748e-01 -4.57879779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.862791605000002 meters Centerline goodness [0,1] 0.9997036890710652 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.55, Z:-0.46 [[ 9.89775257e-01 1.29658681e-01 5.94438140e-02 1.17359945e+01] [-1.29380631e-01 9.91558408e-01 -8.51909960e-03 -5.45722825e-01] [-6.00465888e-02 7.41115815e-04 9.98195300e-01 -4.59940965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.892791605000001 meters Centerline goodness [0,1] 0.9994064107637515 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.55, Z:-0.46 [[ 9.90021195e-01 1.28169108e-01 5.85722877e-02 1.17684705e+01] [-1.27894859e-01 9.91751966e-01 -8.42280847e-03 -5.50110915e-01] [-5.91687253e-02 8.47664404e-04 9.98247636e-01 -4.63178555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922791605000002 meters Centerline goodness [0,1] 0.9997035573122529 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.56, Z:-0.46 [[ 9.90221447e-01 1.27346309e-01 5.69596591e-02 1.18009805e+01] [-1.27083897e-01 9.91857906e-01 -8.22059714e-03 -5.55162695e-01] [-5.75427508e-02 9.01556139e-04 9.98342636e-01 -4.64497322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.952791605000002 meters Centerline goodness [0,1] 0.9997035280166024 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.56, Z:-0.47 [[ 9.90281727e-01 1.26645355e-01 5.74722188e-02 1.18330911e+01] [-1.26375365e-01 9.91947577e-01 -8.32295622e-03 -5.61146356e-01] [-5.80634919e-02 9.78998834e-04 9.98312412e-01 -4.65854171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.982791605000001 meters Centerline goodness [0,1] 0.9994552567721487 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.57, Z:-0.47 [[ 9.90302443e-01 1.27068838e-01 5.61656723e-02 1.18640368e+01] [-1.26810598e-01 9.91893445e-01 -8.15270609e-03 -5.68869370e-01] [-5.67463171e-02 9.51242253e-04 9.98388176e-01 -4.67251033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.012791605000002 meters Centerline goodness [0,1] 0.9997522667591537 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.57, Z:-0.47 [[ 9.90144553e-01 1.28533875e-01 5.56130134e-02 1.18956567e+01] [-1.28282186e-01 9.91704735e-01 -8.08704479e-03 -5.74435437e-01] [-5.61911479e-02 8.73184436e-04 9.98419647e-01 -4.69714218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042791605000001 meters Centerline goodness [0,1] 0.9996047821361526 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.58, Z:-0.47 [[ 9.89930734e-01 1.30269421e-01 5.53806878e-02 1.19275719e+01] [-1.30021138e-01 9.91478312e-01 -8.07835922e-03 -5.79810569e-01] [-5.59611140e-02 7.96356005e-04 9.98432631e-01 -4.71625305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.072791605 meters Centerline goodness [0,1] 0.9997033814514534 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.58, Z:-0.47 [[ 9.89921195e-01 1.30761060e-01 5.43835738e-02 1.19589642e+01] [-1.30521037e-01 9.91413606e-01 -7.95741005e-03 -5.84742681e-01] [-5.49571344e-02 7.79008395e-04 9.98488411e-01 -4.72998495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102791605000002 meters Centerline goodness [0,1] 0.99965360253365 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.59, Z:-0.48 [[ 9.89798470e-01 1.31778949e-01 5.41599270e-02 1.19917747e+01] [-1.31541000e-01 9.91278847e-01 -7.95061560e-03 -5.89786231e-01] [-5.47353138e-02 7.45256210e-04 9.98500621e-01 -4.75712460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.132791605000001 meters Centerline goodness [0,1] 0.9998014691284495 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.60, Z:-0.48 [[ 9.89785543e-01 1.32593131e-01 5.23797649e-02 1.20239142e+01] [-1.32370348e-01 9.91170302e-01 -7.71514677e-03 -5.95149206e-01] [-5.29402429e-02 7.02813049e-04 9.98597435e-01 -4.78003283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162791605 meters Centerline goodness [0,1] 0.9997031613318161 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.60, Z:-0.48 [[ 9.89998342e-01 1.31431282e-01 5.12747582e-02 1.20561446e+01] [-1.31214993e-01 9.91324982e-01 -7.57658679e-03 -6.00603186e-01] [-5.18257493e-02 7.72791310e-04 9.98655844e-01 -4.79574623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.192791605000002 meters Centerline goodness [0,1] 0.999603842725562 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.60, Z:-0.48 [[ 9.90277510e-01 1.29755718e-01 5.01388780e-02 1.20890992e+01] [-1.29545447e-01 9.91545613e-01 -7.43473930e-03 -6.04742443e-01] [-5.06796845e-02 8.67191739e-04 9.98714583e-01 -4.79874390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222791605000001 meters Centerline goodness [0,1] 0.9998024496246543 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.61, Z:-0.48 [[ 9.90516537e-01 1.28523473e-01 4.85665161e-02 1.21220811e+01] [-1.28323490e-01 9.91706035e-01 -7.22649581e-03 -6.09093028e-01] [-4.90924814e-02 9.25738782e-04 9.98793808e-01 -4.80522076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.252791605 meters Centerline goodness [0,1] 0.9994028959546201 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.61, Z:-0.48 [[ 9.91105314e-01 1.24896127e-01 4.59479528e-02 1.21542019e+01] [-1.24712208e-01 9.92169248e-01 -6.85916797e-03 -6.11902238e-01] [-4.64448293e-02 1.06788717e-03 9.98920286e-01 -4.81150424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282791605000002 meters Centerline goodness [0,1] 0.9994567901234568 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.62, Z:-0.48 [[ 9.91334764e-01 1.23470223e-01 4.48384863e-02 1.21861530e+01] [-1.23292723e-01 9.92347638e-01 -6.71347275e-03 -6.16428386e-01] [-4.53242799e-02 1.12703987e-03 9.98971691e-01 -4.82231992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.312791605000001 meters Centerline goodness [0,1] 0.9987088444157521 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.62, Z:-0.48 [[ 9.91580777e-01 1.22483167e-01 4.20170921e-02 1.22182311e+01] [-1.22325650e-01 9.92469963e-01 -6.30935251e-03 -6.24226757e-01] [-4.24734913e-02 1.11646457e-03 9.99096970e-01 -4.82909634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342791605000002 meters Centerline goodness [0,1] 0.9986631677971975 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.63, Z:-0.48 [[ 9.91668861e-01 1.22821733e-01 3.88290021e-02 1.22510537e+01] [-1.22686750e-01 9.92428207e-01 -5.84930104e-03 -6.30483454e-01] [-3.92534183e-02 1.03676561e-03 9.99228750e-01 -4.82569515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.372791605000002 meters Centerline goodness [0,1] 0.9987659196366867 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.64, Z:-0.48 [[ 9.91501796e-01 1.24194220e-01 3.87296201e-02 1.22823614e+01] [-1.24060198e-01 9.92257425e-01 -5.85410675e-03 -6.36433774e-01] [-3.91567993e-02 9.99553008e-04 9.99232579e-01 -4.83776117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.402791605 meters Centerline goodness [0,1] 0.99861447869761 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.64, Z:-0.48 [[ 9.91051283e-01 1.27840534e-01 3.83947037e-02 1.23135983e+01] [-1.27710885e-01 9.91794358e-01 -5.82070628e-03 -6.44782652e-01] [-3.88237727e-02 8.65196854e-04 9.99245699e-01 -4.84420559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.432791605000002 meters Centerline goodness [0,1] 0.9982198486871384 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.65, Z:-0.49 [[ 9.90789797e-01 1.30069191e-01 3.76508104e-02 1.23448453e+01] [-1.29945489e-01 9.91504613e-01 -5.72465948e-03 -6.50784850e-01] [-3.80755540e-02 7.79381221e-04 9.99274559e-01 -4.85772284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.462791605000001 meters Centerline goodness [0,1] 0.9992983511251441 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.66, Z:-0.49 [[ 9.90279957e-01 1.34786927e-01 3.43233444e-02 1.23758513e+01] [-1.34686448e-01 9.90874448e-01 -5.23352409e-03 -6.59044071e-01] [-3.47155355e-02 5.59764672e-04 9.99397077e-01 -4.85053955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.492791605 meters Centerline goodness [0,1] 0.999009900990099 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.67, Z:-0.49 [[ 9.89869148e-01 1.37701379e-01 3.46034779e-02 1.24077705e+01] [-1.37600845e-01 9.90473681e-01 -5.28154255e-03 -6.65137189e-01] [-3.50011098e-02 4.66568214e-04 9.99387165e-01 -4.86423872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.522791605000002 meters Centerline goodness [0,1] 0.9992070178916588 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.67, Z:-0.49 [[ 9.89422074e-01 1.40886873e-01 3.45665809e-02 1.24397820e+01] [-1.40787929e-01 9.90025632e-01 -5.29212663e-03 -6.71662256e-01] [-3.49673923e-02 3.69589576e-04 9.99388385e-01 -4.87503242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.552791605000001 meters Centerline goodness [0,1] 0.9990095577675432 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.68, Z:-0.49 [[ 9.88310466e-01 1.48589622e-01 3.41108023e-02 1.24711145e+01] [-1.48497307e-01 9.88898939e-01 -5.23813111e-03 -6.78771264e-01] [-3.45104682e-02 1.11537503e-04 9.99404330e-01 -4.88338043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.582791605 meters Centerline goodness [0,1] 0.9997028820441716 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.68, Z:-0.49 [[ 9.87560334e-01 1.53225575e-01 3.53059493e-02 1.25038692e+01] [-1.53129018e-01 9.88191238e-01 -5.43890815e-03 -6.84058120e-01] [-3.57224095e-02 -3.51153990e-05 9.99361750e-01 -4.91065462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.612791605000002 meters Centerline goodness [0,1] 0.99985121261717 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.69, Z:-0.49 [[ 9.85603032e-01 1.64571438e-01 3.87673148e-02 1.25356755e+01] [-1.64462863e-01 9.86365056e-01 -5.99522523e-03 -6.90261840e-01] [-3.92253675e-02 -4.66871429e-04 9.99230280e-01 -4.94883861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.642791605000001 meters Centerline goodness [0,1] 0.9997520825069417 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.70, Z:-0.50 [[ 9.84484509e-01 1.70584916e-01 4.11222372e-02 1.25677775e+01] [-1.70467122e-01 9.85342709e-01 -6.38005862e-03 -6.95546310e-01] [-4.16078384e-02 -7.28920578e-04 9.99133753e-01 -4.96972644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.672791605000002 meters Centerline goodness [0,1] 0.9996528122210098 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.70, Z:-0.50 [[ 9.83714476e-01 1.74128980e-01 4.45525236e-02 1.25997112e+01] [-1.73993306e-01 9.84722415e-01 -6.93508714e-03 -6.99824162e-01] [-4.50794683e-02 -9.29695259e-04 9.98982971e-01 -4.98751046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.702791605000002 meters Centerline goodness [0,1] 0.9998507982294723 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.70, Z:-0.50 [[ 9.82703499e-01 1.78246964e-01 5.02180471e-02 1.26316937e+01] [-1.78078843e-01 9.83985001e-01 -7.83855677e-03 -7.02020582e-01] [-5.08110041e-02 -1.23979456e-03 9.98707517e-01 -4.98309237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.732791605000001 meters Centerline goodness [0,1] 0.9995549841772152 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.71, Z:-0.50 [[ 9.82246306e-01 1.79900796e-01 5.31779927e-02 1.26631854e+01] [-1.79713984e-01 9.83683775e-01 -8.31352865e-03 -7.05681854e-01] [-5.38059391e-02 -1.39089613e-03 9.98550443e-01 -4.99940176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762791605000002 meters Centerline goodness [0,1] 0.9998014691284495 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.71, Z:-0.50 [[ 9.81489220e-01 1.81290441e-01 6.17469519e-02 1.26948933e+01] [-1.81039387e-01 9.83428173e-01 -9.68340233e-03 -7.09043673e-01] [-6.24792004e-02 -1.67447533e-03 9.98044862e-01 -5.00256633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.792791605000001 meters Centerline goodness [0,1] 0.9996537567393777 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.71, Z:-0.50 [[ 9.81395200e-01 1.81005754e-01 6.40342027e-02 1.27272546e+01] [-1.80733189e-01 9.83480588e-01 -1.00721406e-02 -7.13105904e-01] [-6.47995107e-02 -1.68835521e-03 9.97896875e-01 -5.01543934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822791605 meters Centerline goodness [0,1] 0.9993551267423979 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.72, Z:-0.50 [[ 9.81270102e-01 1.80667401e-01 6.68451802e-02 1.27593191e+01] [-1.80367376e-01 9.83542767e-01 -1.05467935e-02 -7.15931796e-01] [-6.76505553e-02 -1.70743662e-03 9.97707616e-01 -5.04432655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.852791605000002 meters Centerline goodness [0,1] 0.9999504361617764 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.72, Z:-0.51 [[ 9.81415244e-01 1.79145893e-01 6.87813062e-02 1.27919932e+01] [-1.78822029e-01 9.83821194e-01 -1.08875659e-02 -7.18228934e-01] [-6.96189696e-02 -1.61438960e-03 9.97572350e-01 -5.07914628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882791605000001 meters Centerline goodness [0,1] 0.9999008133306884 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.72, Z:-0.51 [[ 9.81639049e-01 1.77926270e-01 6.87533254e-02 1.28244378e+01] [-1.77597928e-01 9.84042674e-01 -1.09082957e-02 -7.22207548e-01] [-6.95970786e-02 -1.50243909e-03 9.97574052e-01 -5.09491812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.912791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.72, Z:-0.51 [[ 9.82089719e-01 1.75036025e-01 6.97292895e-02 1.28569304e+01] [-1.74689436e-01 9.84561179e-01 -1.10853811e-02 -7.24977991e-01] [-7.05930926e-02 -1.29413145e-03 9.97504356e-01 -5.10199463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.73, Z:-0.51 [[ 9.82354884e-01 1.73588831e-01 6.96117837e-02 1.28892113e+01] [-1.73237449e-01 9.84817538e-01 -1.10997130e-02 -7.28016754e-01] [-7.04816917e-02 -1.15551058e-03 9.97512404e-01 -5.12093806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.972791605000001 meters Centerline goodness [0,1] 0.9999011564693091 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.73, Z:-0.51 [[ 9.82502439e-01 1.72662736e-01 6.98322086e-02 1.29219774e+01] [-1.72304275e-01 9.84980437e-01 -1.11702994e-02 -7.31142310e-01] [-7.07120538e-02 -1.05754168e-03 9.97496209e-01 -5.13402730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.73, Z:-0.52 [[ 9.82937919e-01 1.70238727e-01 6.96550261e-02 1.29545245e+01] [-1.69873496e-01 9.85402486e-01 -1.11774284e-02 -7.33900987e-01] [-7.05410671e-02 -8.45824632e-04 9.97508517e-01 -5.15418115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.032791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.74, Z:-0.52 [[ 9.83148879e-01 1.68965126e-01 6.97787056e-02 1.29875982e+01] [-1.68592886e-01 9.85621766e-01 -1.12326468e-02 -7.37277221e-01] [-7.06733367e-02 -7.20829283e-04 9.97499253e-01 -5.16146422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.062791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.74, Z:-0.52 [[ 9.83552740e-01 1.66688746e-01 6.95619787e-02 1.30191926e+01] [-1.66310635e-01 9.86009427e-01 -1.12330699e-02 -7.40415535e-01] [-7.04611932e-02 -5.20580152e-04 9.97514385e-01 -5.18523337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.092791605000002 meters Centerline goodness [0,1] 0.9999505635752423 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.74, Z:-0.52 [[ 9.83876073e-01 1.65073511e-01 6.88375552e-02 1.30512033e+01] [-1.64697027e-01 9.86281197e-01 -1.11484963e-02 -7.44971134e-01] [-6.97335078e-02 -3.68601947e-04 9.97565588e-01 -5.20724291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.122791605000002 meters Centerline goodness [0,1] 0.9999012784441483 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.75, Z:-0.52 [[ 9.84240501e-01 1.63320052e-01 6.78026301e-02 1.30829568e+01] [-1.62948473e-01 9.86573118e-01 -1.10126392e-02 -7.49153581e-01] [-6.86908370e-02 -2.09249483e-04 9.97637973e-01 -5.22565474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.152791605 meters Centerline goodness [0,1] 0.9999012052953962 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.75, Z:-0.52 [[ 9.84960155e-01 1.59717513e-01 6.59075820e-02 1.31149477e+01] [-1.59356333e-01 9.87162758e-01 -1.07353766e-02 -7.51875382e-01] [-6.67761381e-02 7.11276479e-05 9.97767980e-01 -5.24714007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.182791605000002 meters Centerline goodness [0,1] 0.9998517053880376 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.76, Z:-0.53 [[ 9.85223893e-01 1.57967057e-01 6.61837632e-02 1.31480624e+01] [-1.57596668e-01 9.87444357e-01 -1.08134772e-02 -7.56474349e-01] [-6.70609567e-02 2.23355572e-04 9.97748855e-01 -5.26255122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.212791605000001 meters Centerline goodness [0,1] 0.9998517053880376 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.76, Z:-0.53 [[ 9.85141360e-01 1.58483306e-01 6.61781081e-02 1.31802469e+01] [-1.58111761e-01 9.87361632e-01 -1.08480018e-02 -7.61398497e-01] [-6.70609520e-02 2.23278013e-04 9.97748856e-01 -5.27443885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.242791605 meters Centerline goodness [0,1] 0.999901166238387 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.77, Z:-0.53 [[ 9.85619252e-01 1.56511052e-01 6.37101278e-02 1.32116547e+01] [-1.56160574e-01 9.87676136e-01 -1.04749919e-02 -7.66662206e-01] [-6.45644249e-02 3.75343586e-04 9.97913470e-01 -5.26908753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.272791605000002 meters Centerline goodness [0,1] 0.9999011369253584 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.77, Z:-0.53 [[ 9.86094894e-01 1.53175071e-01 6.44535269e-02 1.32436364e+01] [-1.52807258e-01 9.88198867e-01 -1.06274189e-02 -7.71895476e-01] [-6.53207578e-02 6.30676777e-04 9.97864119e-01 -5.29936911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302791605000001 meters Centerline goodness [0,1] 0.9995554238292828 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.78, Z:-0.53 [[ 9.86242303e-01 1.52517955e-01 6.37525988e-02 1.32764419e+01] [-1.52154722e-01 9.88300454e-01 -1.05429598e-02 -7.76929073e-01] [-6.46147130e-02 6.97653971e-04 9.97910042e-01 -5.31728433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.332791605000002 meters Centerline goodness [0,1] 0.999702955591861 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.78, Z:-0.53 [[ 9.86396389e-01 1.52131140e-01 6.22758380e-02 1.33076169e+01] [-1.51781851e-01 9.88360043e-01 -1.03293662e-02 -7.83078339e-01] [-6.31223682e-02 7.36507573e-04 9.98005523e-01 -5.34098150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362791605000002 meters Centerline goodness [0,1] 0.9997530010373956 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.79, Z:-0.54 [[ 9.86263422e-01 1.53396250e-01 6.12703251e-02 1.33389382e+01] [-1.53058850e-01 9.88164530e-01 -1.01907006e-02 -7.88421316e-01] [-6.21083773e-02 6.72749699e-04 9.98069184e-01 -5.35986029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.392791605000001 meters Centerline goodness [0,1] 0.9997033227848101 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.80, Z:-0.54 [[ 9.86194891e-01 1.54730515e-01 5.89754620e-02 1.33702299e+01] [-1.54419126e-01 9.87956539e-01 -9.82902176e-03 -7.95241597e-01] [-5.97860429e-02 5.86391735e-04 9.98211042e-01 -5.35385395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422791605000002 meters Centerline goodness [0,1] 0.999950585561101 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.80, Z:-0.54 [[ 9.85869171e-01 1.57665804e-01 5.65992214e-02 1.34018245e+01] [-1.57383213e-01 9.87492447e-01 -9.44415929e-03 -8.03781465e-01] [-5.73803246e-02 4.02938156e-04 9.98352311e-01 -5.38800600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.452791605000002 meters Centerline goodness [0,1] 0.9998018428613891 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.81, Z:-0.54 [[ 9.85531823e-01 1.59875631e-01 5.62744037e-02 1.34335733e+01] [-1.59598731e-01 9.87137122e-01 -9.41000835e-03 -8.10987631e-01] [-5.70549839e-02 2.92539290e-04 9.98370995e-01 -5.41254842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.482791605000001 meters Centerline goodness [0,1] 0.9998512937444235 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.82, Z:-0.54 [[ 9.84907258e-01 1.64072570e-01 5.51170072e-02 1.34651686e+01] [-1.63811969e-01 9.86448268e-01 -9.24406397e-03 -8.16763582e-01] [-5.58867737e-02 7.57202370e-05 9.98437110e-01 -5.43106582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.512791605000002 meters Centerline goodness [0,1] 0.9999011711222019 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.82, Z:-0.55 [[ 9.84396215e-01 1.66915666e-01 5.57068494e-02 1.34974356e+01] [-1.66652432e-01 9.85971175e-01 -9.37068495e-03 -8.21670840e-01] [-5.64894619e-02 -5.92151541e-05 9.98403194e-01 -5.45083146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.542791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.83, Z:-0.54 [[ 9.83860239e-01 1.71238771e-01 5.19260408e-02 1.35291106e+01] [-1.71014991e-01 9.85229523e-01 -8.75558382e-03 -8.28976126e-01] [-5.26583638e-02 -2.65860595e-04 9.98612551e-01 -5.43559466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.572791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.83, Z:-0.54 [[ 9.83484169e-01 1.74165311e-01 4.92476821e-02 1.35609637e+01] [-1.73967091e-01 9.84716352e-01 -8.31612439e-03 -8.34897524e-01] [-4.99433782e-02 -3.88699312e-04 9.98751975e-01 -5.43949590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602791605000002 meters Centerline goodness [0,1] 0.9999012052953962 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.84, Z:-0.54 [[ 9.82968370e-01 1.77934502e-01 4.59619068e-02 1.35936440e+01] [-1.77764971e-01 9.84042195e-01 -7.78284879e-03 -8.40040836e-01] [-4.66132930e-02 -5.20122817e-04 9.98912874e-01 -5.42870669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.632791605000001 meters Centerline goodness [0,1] 0.999801970394574 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.84, Z:-0.54 [[ 9.82027433e-01 1.83827013e-01 4.27755725e-02 1.36258666e+01] [-1.83684917e-01 9.82958343e-01 -7.26276597e-03 -8.44450554e-01] [-4.33816985e-02 -7.24992053e-04 9.99058308e-01 -5.42162177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.662791605 meters Centerline goodness [0,1] 0.9998025958643834 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.85, Z:-0.54 [[ 9.81471767e-01 1.86756816e-01 4.28376297e-02 1.36579621e+01] [-1.86616680e-01 9.82405810e-01 -7.28281154e-03 -8.49497248e-01] [-4.34440510e-02 -8.46342325e-04 9.99055503e-01 -5.43630595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.692791605000002 meters Centerline goodness [0,1] 0.9995054646159933 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.85, Z:-0.54 [[ 9.80968707e-01 1.89821463e-01 4.08436981e-02 1.36906316e+01] [-1.89695938e-01 9.81818196e-01 -6.96283596e-03 -8.51455228e-01] [-4.14227817e-02 -9.17559427e-04 9.99141287e-01 -5.42277867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.722791605000001 meters Centerline goodness [0,1] 0.9996035285955001 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.85, Z:-0.54 [[ 9.80910172e-01 1.90534484e-01 3.88824362e-02 1.37239317e+01] [-1.90420567e-01 9.81680105e-01 -6.64674597e-03 -8.54505991e-01] [-3.94365484e-02 -8.84154802e-04 9.99221686e-01 -5.41998794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.752791605000002 meters Centerline goodness [0,1] 0.9995557091375821 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.86, Z:-0.54 [[ 9.81336622e-01 1.89032810e-01 3.52850119e-02 1.37558458e+01] [-1.88937391e-01 9.81970501e-01 -6.04965428e-03 -8.56686636e-01] [-3.57924240e-02 -7.29910794e-04 9.99358979e-01 -5.41406086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.782791605000002 meters Centerline goodness [0,1] 0.999801970394574 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.86, Z:-0.54 [[ 9.81705506e-01 1.87539717e-01 3.29112966e-02 1.37878654e+01] [-1.87455332e-01 9.82256829e-01 -5.65871050e-03 -8.61054192e-01] [-3.33885787e-02 -6.14210782e-04 9.99442257e-01 -5.41412815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.812791605000001 meters Centerline goodness [0,1] 0.9999012345679013 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.87, Z:-0.54 [[ 9.82075960e-01 1.85668928e-01 3.24631678e-02 1.38199012e+01] [-1.85585658e-01 9.82612212e-01 -5.58612855e-03 -8.65208750e-01] [-3.29358756e-02 -5.38695777e-04 9.99457322e-01 -5.43372278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842791605000002 meters Centerline goodness [0,1] 0.9999012248123271 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.87, Z:-0.54 [[ 9.83019164e-01 1.81408114e-01 2.76481372e-02 1.38526032e+01] [-1.81345943e-01 9.83407843e-01 -4.76070619e-03 -8.66951694e-01] [-2.80530257e-02 -3.34012088e-04 9.99606381e-01 -5.43426881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.872791605000002 meters Centerline goodness [0,1] 0.9999505195447798 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.87, Z:-0.54 [[ 9.83401981e-01 1.79591588e-01 2.58341718e-02 1.38851466e+01] [-1.79536615e-01 9.83741223e-01 -4.45090047e-03 -8.71542361e-01] [-2.62134841e-02 -2.61155432e-04 9.99656333e-01 -5.44089737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.902791605 meters Centerline goodness [0,1] 0.9999009067036615 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.87, Z:-0.54 [[ 9.84319373e-01 1.74598063e-01 2.51175066e-02 1.39167727e+01] [-1.74544321e-01 9.84639783e-01 -4.33330860e-03 -8.74921741e-01] [-2.54882835e-02 -1.18758526e-04 9.99675114e-01 -5.43861701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.932791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.88, Z:-0.54 [[ 9.84848076e-01 1.71387184e-01 2.64707648e-02 1.39484508e+01] [-1.71326227e-01 9.85203752e-01 -4.57076532e-03 -8.78143475e-01] [-2.68624673e-02 -3.36268224e-05 9.99639138e-01 -5.44320816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.88, Z:-0.55 [[ 9.85327459e-01 1.68227239e-01 2.87992187e-02 1.39805501e+01] [-1.68153604e-01 9.85748240e-01 -4.97728033e-03 -8.81792497e-01] [-2.92260933e-02 6.15585679e-05 9.99572825e-01 -5.46096521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.992791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.89, Z:-0.55 [[ 9.85854475e-01 1.63317951e-01 3.76590025e-02 1.40133399e+01] [-1.63188174e-01 9.86573449e-01 -6.51537820e-03 -8.85290074e-01] [-3.82174502e-02 2.77710903e-04 9.99269408e-01 -5.50438350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.022791605000002 meters Centerline goodness [0,1] 0.999900714853058 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.89, Z:-0.55 [[ 9.86059107e-01 1.61240058e-01 4.10984294e-02 1.40454386e+01] [-1.61083306e-01 9.86915135e-01 -7.11931057e-03 -8.89950223e-01] [-4.17085801e-02 3.99790129e-04 9.99129739e-01 -5.52552964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.052791605000001 meters Centerline goodness [0,1] 0.999850723988655 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.89, Z:-0.55 [[ 9.86117848e-01 1.58644241e-01 4.90264686e-02 1.40776044e+01] [-1.58417334e-01 9.87335617e-01 -8.50456649e-03 -8.93847969e-01] [-4.97547791e-02 6.19862359e-04 9.98761272e-01 -5.54208994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082791605000002 meters Centerline goodness [0,1] 0.9995026854983091 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.90, Z:-0.56 [[ 9.86015191e-01 1.57971727e-01 5.30940299e-02 1.41096890e+01] [-1.57703188e-01 9.87443363e-01 -9.23633364e-03 -8.98530265e-01] [-5.38864270e-02 7.34067500e-04 9.98546801e-01 -5.56397397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.112791605000002 meters Centerline goodness [0,1] 0.9991050119331742 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.91, Z:-0.56 [[ 9.85786084e-01 1.57200164e-01 5.92781985e-02 1.41409023e+01] [-1.56862650e-01 9.87566362e-01 -1.03339266e-02 -9.05514890e-01] [-6.01656498e-02 8.88505767e-04 9.98188011e-01 -5.60367661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142791605000001 meters Centerline goodness [0,1] 0.9995990376904571 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.91, Z:-0.56 [[ 9.85435872e-01 1.58155504e-01 6.24738304e-02 1.41727737e+01] [-1.57781394e-01 9.87413814e-01 -1.09083108e-02 -9.11208466e-01] [-6.34127325e-02 8.92232718e-04 9.97986989e-01 -5.62741431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.172791605000002 meters Centerline goodness [0,1] 0.9998509761065024 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.92, Z:-0.56 [[ 9.85302847e-01 1.58678592e-01 6.32408495e-02 1.42055894e+01] [-1.58294300e-01 9.87329881e-01 -1.10733999e-02 -9.16694893e-01] [-6.41966920e-02 8.99986422e-04 9.97936859e-01 -5.64908328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.202791605000002 meters Centerline goodness [0,1] 0.9999505097495793 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.92, Z:-0.57 [[ 9.84884644e-01 1.60469247e-01 6.52062732e-02 1.42376830e+01] [-1.60062404e-01 9.87040483e-01 -1.14504146e-02 -9.21976904e-01] [-6.61986708e-02 8.40264669e-04 9.97806108e-01 -5.67770317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.232791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.93, Z:-0.57 [[ 9.84711244e-01 1.61545029e-01 6.51687728e-02 1.42696339e+01] [-1.61139432e-01 9.86865025e-01 -1.14675924e-02 -9.28805006e-01] [-6.61653152e-02 7.91008144e-04 9.97808361e-01 -5.68407009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.94, Z:-0.57 [[ 9.84163631e-01 1.64381700e-01 6.63370445e-02 1.43014359e+01] [-1.63966129e-01 9.86396600e-01 -1.16985685e-02 -9.36893515e-01] [-6.73576657e-02 6.36277208e-04 9.97728691e-01 -5.70723560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.292791605000001 meters Centerline goodness [0,1] 0.9999011075949367 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.94, Z:-0.57 [[ 9.84059297e-01 1.65461774e-01 6.51897401e-02 1.43329159e+01] [-1.65060693e-01 9.86216031e-01 -1.15285745e-02 -9.43324209e-01] [-6.61987051e-02 5.84537278e-04 9.97806289e-01 -5.71584979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.322791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.95, Z:-0.57 [[ 9.84079709e-01 1.65957787e-01 6.36014169e-02 1.43647065e+01] [-1.65575186e-01 9.86132695e-01 -1.12767685e-02 -9.50564497e-01] [-6.45909042e-02 5.66422663e-04 9.97911667e-01 -5.73206359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.352791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.96, Z:-0.57 [[ 9.84055439e-01 1.65915990e-01 6.40841354e-02 1.43973478e+01] [-1.65525382e-01 9.86139705e-01 -1.13942871e-02 -9.56098828e-01] [-6.50864048e-02 6.05059203e-04 9.97879449e-01 -5.74940159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.96, Z:-0.58 [[ 9.84071501e-01 1.65900012e-01 6.38785340e-02 1.44298931e+01] [-1.65509665e-01 9.86142373e-01 -1.13917354e-02 -9.61565035e-01] [-6.48832181e-02 6.37767368e-04 9.97892660e-01 -5.75989169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.412791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.97, Z:-0.58 [[ 9.83942730e-01 1.66677749e-01 6.38375400e-02 1.44626440e+01] [-1.66287332e-01 9.86011229e-01 -1.14183630e-02 -9.67475281e-01] [-6.48477183e-02 6.19641001e-04 9.97894979e-01 -5.77668211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.97, Z:-0.58 [[ 9.83870336e-01 1.67599420e-01 6.25267625e-02 1.44942847e+01] [-1.67224768e-01 9.85855010e-01 -1.12150176e-02 -9.73034006e-01] [-6.35219525e-02 5.78099779e-04 9.97980274e-01 -5.78356360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.472791605000001 meters Centerline goodness [0,1] 0.999950585561101 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.98, Z:-0.58 [[ 9.83451605e-01 1.71169780e-01 5.93620024e-02 1.45258530e+01] [-1.70837005e-01 9.85241483e-01 -1.06741943e-02 -9.80543064e-01] [-6.03130068e-02 3.56326871e-04 9.98179450e-01 -5.79168710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.99, Z:-0.58 [[ 9.83181793e-01 1.72899898e-01 5.88148589e-02 1.45568002e+01] [-1.72575105e-01 9.84939365e-01 -1.05962088e-02 -9.87663136e-01] [-5.97611532e-02 2.68019107e-04 9.98212669e-01 -5.80070182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.532791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.99, Z:-0.58 [[ 9.82841934e-01 1.75011149e-01 5.82480067e-02 1.45885292e+01] [-1.74695306e-01 9.84566439e-01 -1.05107743e-02 -9.94714790e-01] [-5.91885352e-02 1.54776400e-04 9.98246810e-01 -5.81444318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.62, Y:-1.00, Z:-0.58 [[ 9.82317926e-01 1.77394193e-01 5.98564330e-02 1.46205318e+01] [-1.77063290e-01 9.84139878e-01 -1.08301770e-02 -1.00090715e+00] [-6.08283132e-02 4.03000737e-05 9.98148243e-01 -5.84259603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.592791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.65, Y:-1.01, Z:-0.58 [[ 9.82309552e-01 1.77872215e-01 5.85612483e-02 1.46524127e+01] [-1.77554691e-01 9.84053593e-01 -1.06234664e-02 -1.00659922e+00] [-5.95170263e-02 3.77081416e-05 9.98227290e-01 -5.84896167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.68, Y:-1.01, Z:-0.59 [[ 9.82387949e-01 1.78267769e-01 5.59867866e-02 1.46834136e+01] [-1.77976741e-01 9.83982012e-01 -1.01822702e-02 -1.01349825e+00] [-5.69051616e-02 3.85937129e-05 9.98379588e-01 -5.86734670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.652791605 meters Centerline goodness [0,1] 0.9999504656231425 Centerline is valid? [True, True] Translation: X:14.71, Y:-1.02, Z:-0.59 [[ 9.82547399e-01 1.77796326e-01 5.46724314e-02 1.47149765e+01] [-1.77516673e-01 9.84067304e-01 -9.96856833e-03 -1.01878418e+00] [-5.55737270e-02 8.93227408e-05 9.98454582e-01 -5.86933112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.75, Y:-1.02, Z:-0.59 [[ 9.82713797e-01 1.77172765e-01 5.36973498e-02 1.47477063e+01] [-1.76900645e-01 9.84179755e-01 -9.81693880e-03 -1.02420557e+00] [-5.45871388e-02 1.48145363e-04 9.98509000e-01 -5.88720719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.712791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.78, Y:-1.03, Z:-0.59 [[ 9.82988296e-01 1.75958563e-01 5.26554320e-02 1.47801819e+01] [-1.75693662e-01 9.84397545e-01 -9.65453695e-03 -1.02978914e+00] [-5.35326765e-02 2.39071129e-04 9.98566070e-01 -5.89486827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742791605 meters Centerline goodness [0,1] 0.9997033961144891 Centerline is valid? [True, True] Translation: X:14.81, Y:-1.04, Z:-0.59 [[ 9.83315720e-01 1.75073415e-01 4.93912439e-02 1.48121541e+01] [-1.74838014e-01 9.84555338e-01 -9.08050951e-03 -1.03600173e+00] [-5.02181686e-02 2.93540730e-04 9.98738229e-01 -5.90428671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.772791605000002 meters Centerline goodness [0,1] 0.9999505684626792 Centerline is valid? [True, True] Translation: X:14.84, Y:-1.04, Z:-0.59 [[ 9.83183987e-01 1.76104898e-01 4.83354124e-02 1.48440364e+01] [-1.75879610e-01 9.84371372e-01 -8.90865777e-03 -1.04274069e+00] [-4.91488545e-02 2.57636166e-04 9.98791432e-01 -5.93393632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802791605000001 meters Centerline goodness [0,1] 0.9999504533518307 Centerline is valid? [True, True] Translation: X:14.88, Y:-1.05, Z:-0.59 [[ 9.83148191e-01 1.76608750e-01 4.72121252e-02 1.48762245e+01] [-1.76393318e-01 9.84281102e-01 -8.72410817e-03 -1.04888338e+00] [-4.80107565e-02 2.49187758e-04 9.98846788e-01 -5.94888298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.832791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.91, Y:-1.05, Z:-0.60 [[ 9.82865624e-01 1.78584428e-01 4.56373503e-02 1.49078994e+01] [-1.78384181e-01 9.83924577e-01 -8.45642349e-03 -1.05473217e+00] [-4.64138961e-02 1.70546590e-04 9.98922280e-01 -5.95138715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.94, Y:-1.06, Z:-0.59 [[ 9.83060514e-01 1.79056439e-01 3.91256580e-02 1.49403123e+01] [-1.78909051e-01 9.83838793e-01 -7.26498883e-03 -1.05954541e+00] [-3.97941831e-02 1.41989324e-04 9.99207888e-01 -5.93750543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.892791605000001 meters Centerline goodness [0,1] 0.9999010684606252 Centerline is valid? [True, True] Translation: X:14.97, Y:-1.06, Z:-0.60 [[ 9.82956175e-01 1.79633059e-01 3.91039887e-02 1.49733233e+01] [-1.79485978e-01 9.83733677e-01 -7.26880643e-03 -1.06497800e+00] [-3.97736285e-02 1.26300517e-04 9.99208708e-01 -5.95059871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.922791605000002 meters Centerline goodness [0,1] 0.9999505366770539 Centerline is valid? [True, True] Translation: X:15.01, Y:-1.07, Z:-0.59 [[ 9.82884416e-01 1.80214062e-01 3.82245501e-02 1.50060046e+01] [-1.80073166e-01 9.83627408e-01 -7.12584498e-03 -1.06986404e+00] [-3.88828926e-02 1.20666223e-04 9.99243767e-01 -5.94454252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.952791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.04, Y:-1.07, Z:-0.59 [[ 9.82981111e-01 1.79838063e-01 3.75020825e-02 1.50394387e+01] [-1.79701398e-01 9.83696217e-01 -7.01141464e-03 -1.07358021e+00] [-3.81515759e-02 1.52911515e-04 9.99271952e-01 -5.94385246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.982791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.07, Y:-1.08, Z:-0.60 [[ 9.83113991e-01 1.79365344e-01 3.62623091e-02 1.50722870e+01] [-1.79236537e-01 9.83782516e-01 -6.79883950e-03 -1.07751687e+00] [-3.68937019e-02 1.84503515e-04 9.99319179e-01 -5.95576783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.012791605000002 meters Centerline goodness [0,1] 0.9999505537974683 Centerline is valid? [True, True] Translation: X:15.10, Y:-1.08, Z:-0.60 [[ 9.83510635e-01 1.77665089e-01 3.37927065e-02 1.51044289e+01] [-1.77551611e-01 9.84090979e-01 -6.35381967e-03 -1.07836209e+00] [-3.43839495e-02 2.49099734e-04 9.99408666e-01 -5.95846281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.042791605000001 meters Centerline goodness [0,1] 0.9997528300954076 Centerline is valid? [True, True] Translation: X:15.14, Y:-1.08, Z:-0.60 [[ 9.83603950e-01 1.77071928e-01 3.41877456e-02 1.51368041e+01] [-1.76955281e-01 9.84197874e-01 -6.43219426e-03 -1.08235894e+00] [-3.47864676e-02 2.77029554e-04 9.99394729e-01 -5.96655316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.072791605 meters Centerline goodness [0,1] 0.9999011173736775 Centerline is valid? [True, True] Translation: X:15.17, Y:-1.09, Z:-0.60 [[ 9.83694348e-01 1.76557830e-01 3.42456256e-02 1.51692758e+01] [-1.76439849e-01 9.84290219e-01 -6.46103869e-03 -1.08723185e+00] [-3.48483813e-02 3.13394217e-04 9.99392562e-01 -5.96368393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.102791605000002 meters Centerline goodness [0,1] 0.9999011173736775 Centerline is valid? [True, True] Translation: X:15.20, Y:-1.09, Z:-0.60 [[ 9.83659365e-01 1.76752874e-01 3.42443473e-02 1.52012274e+01] [-1.76634777e-01 9.84255212e-01 -6.46780672e-03 -1.09320403e+00] [-3.48483807e-02 3.13376016e-04 9.99392562e-01 -5.97556166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.132791605000001 meters Centerline goodness [0,1] 0.9994562262098967 Centerline is valid? [True, True] Translation: X:15.23, Y:-1.10, Z:-0.60 [[ 9.84238205e-01 1.73519077e-01 3.41509317e-02 1.52335179e+01] [-1.73399429e-01 9.84830413e-01 -6.45727455e-03 -1.09693024e+00] [-3.47533365e-02 4.33744262e-04 9.99395826e-01 -5.97653896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162791605000002 meters Centerline goodness [0,1] 0.9995543892657325 Centerline is valid? [True, True] Translation: X:15.27, Y:-1.10, Z:-0.60 [[ 9.84496099e-01 1.72060201e-01 3.40986644e-02 1.52654067e+01] [-1.71939884e-01 9.85086315e-01 -6.45200543e-03 -1.10126714e+00] [-3.47002610e-02 4.89053790e-04 9.99397645e-01 -5.99341347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.192791605000002 meters Centerline goodness [0,1] 0.9996538423499159 Centerline is valid? [True, True] Translation: X:15.30, Y:-1.10, Z:-0.60 [[ 9.84680248e-01 1.71303063e-01 3.25587173e-02 1.52980250e+01] [-1.71192819e-01 9.85218257e-01 -6.16478139e-03 -1.10356432e+00] [-3.31334886e-02 4.96519881e-04 9.99450812e-01 -6.00654561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.222791605000001 meters Centerline goodness [0,1] 0.9995046807667541 Centerline is valid? [True, True] Translation: X:15.33, Y:-1.11, Z:-0.60 [[ 9.84769565e-01 1.70638312e-01 3.33387055e-02 1.53300317e+01] [-1.70522184e-01 9.85333588e-01 -6.31708688e-03 -1.10806255e+00] [-3.39276834e-02 5.35886027e-04 9.99424147e-01 -6.01593660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.252791605000002 meters Centerline goodness [0,1] 0.9992572418915573 Centerline is valid? [True, True] Translation: X:15.36, Y:-1.11, Z:-0.60 [[ 9.84907279e-01 1.69772552e-01 3.36887437e-02 1.53620912e+01] [-1.69653308e-01 9.85483104e-01 -6.38797921e-03 -1.11259926e+00] [-3.42841913e-02 5.76160398e-04 9.99411958e-01 -6.02908189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.282791605000002 meters Centerline goodness [0,1] 0.9997024399920651 Centerline is valid? [True, True] Translation: X:15.39, Y:-1.12, Z:-0.60 [[ 9.84573629e-01 1.71059279e-01 3.67898442e-02 1.53935706e+01] [-1.70917760e-01 9.85260565e-01 -6.98135859e-03 -1.11690383e+00] [-3.74418088e-02 5.85623800e-04 9.99298638e-01 -6.04219765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.312791605000001 meters Centerline goodness [0,1] 0.9998010544116184 Centerline is valid? [True, True] Translation: X:15.43, Y:-1.12, Z:-0.61 [[ 9.83895614e-01 1.74331524e-01 3.94707578e-02 1.54258305e+01] [-1.74171022e-01 9.84686889e-01 -7.49571179e-03 -1.12074213e+00] [-4.01730765e-02 5.00335743e-04 9.99192611e-01 -6.07379534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.46, Y:-1.13, Z:-0.61 [[ 9.83357317e-01 1.76090080e-01 4.47288467e-02 1.54574138e+01] [-1.75885455e-01 9.84373934e-01 -8.50090907e-03 -1.12645293e+00] [-4.55268366e-02 4.92277581e-04 9.98962995e-01 -6.10555517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.372791605000002 meters Centerline goodness [0,1] 0.9999004430285231 Centerline is valid? [True, True] Translation: X:15.49, Y:-1.13, Z:-0.61 [[ 9.83015280e-01 1.76276283e-01 5.10649808e-02 1.54889514e+01] [-1.76009128e-01 9.84340568e-01 -9.71768739e-03 -1.13206594e+00] [-5.19783300e-02 5.64732425e-04 9.98648053e-01 -6.12976445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.52, Y:-1.14, Z:-0.61 [[ 9.82661455e-01 1.72390846e-01 6.82485290e-02 1.55192961e+01] [-1.71902413e-01 9.85028065e-01 -1.30104733e-02 -1.13761977e+00] [-6.94696029e-02 1.05280381e-03 9.97583513e-01 -6.13587397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.432791605000002 meters Centerline goodness [0,1] 0.9999005865394175 Centerline is valid? [True, True] Translation: X:15.55, Y:-1.14, Z:-0.62 [[ 9.82703053e-01 1.69431304e-01 7.47512086e-02 1.55495366e+01] [-1.68836514e-01 9.85541027e-01 -1.42518640e-02 -1.14323850e+00] [-7.60850948e-02 1.38461679e-03 9.97100367e-01 -6.15531868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462791605000001 meters Centerline goodness [0,1] 0.999554367201426 Centerline is valid? [True, True] Translation: X:15.58, Y:-1.15, Z:-0.62 [[ 9.82848237e-01 1.66380545e-01 7.95415381e-02 1.55793732e+01] [-1.65696557e-01 9.86060100e-01 -1.51700307e-02 -1.15030028e+00] [-8.09567350e-02 1.73007889e-03 9.96716115e-01 -6.18995214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.492791605000003 meters Centerline goodness [0,1] 0.9996045281526521 Centerline is valid? [True, True] Translation: X:15.61, Y:-1.16, Z:-0.62 [[ 9.82972772e-01 1.65405342e-01 8.00350068e-02 1.56111610e+01] [-1.64707752e-01 9.86223946e-01 -1.52867271e-02 -1.15649458e+00] [-8.14609466e-02 1.84405039e-03 9.96674828e-01 -6.19367861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522791605000002 meters Centerline goodness [0,1] 0.9996040192050686 Centerline is valid? [True, True] Translation: X:15.64, Y:-1.16, Z:-0.62 [[ 9.82866423e-01 1.65318536e-01 8.15069051e-02 1.56431140e+01] [-1.64591655e-01 9.86238353e-01 -1.56044278e-02 -1.16230494e+00] [-8.29649370e-02 1.92171171e-03 9.96550614e-01 -6.21059419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.552791605000001 meters Centerline goodness [0,1] 0.9998022738507167 Centerline is valid? [True, True] Translation: X:15.67, Y:-1.17, Z:-0.62 [[ 9.83025042e-01 1.63333867e-01 8.35692169e-02 1.56747009e+01] [-1.62560582e-01 9.86568478e-01 -1.60217033e-02 -1.16846143e+00] [-8.50636419e-02 2.16467502e-03 9.96373169e-01 -6.22815048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582791605000002 meters Centerline goodness [0,1] 0.9996528466574093 Centerline is valid? [True, True] Translation: X:15.71, Y:-1.18, Z:-0.63 [[ 9.83176535e-01 1.62179681e-01 8.40336310e-02 1.57064411e+01] [-1.61391340e-01 9.86758556e-01 -1.61365174e-02 -1.17551179e+00] [-8.55379196e-02 2.30274504e-03 9.96332255e-01 -6.25330460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.612791605000002 meters Centerline goodness [0,1] 0.9995059776701907 Centerline is valid? [True, True] Translation: X:15.74, Y:-1.18, Z:-0.63 [[ 9.83348806e-01 1.61059838e-01 8.41715701e-02 1.57379036e+01] [-1.60261638e-01 9.86941625e-01 -1.61998664e-02 -1.18389474e+00] [-8.56815741e-02 2.44064558e-03 9.96319583e-01 -6.27180505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642791605000001 meters Centerline goodness [0,1] 0.9995548741282951 Centerline is valid? [True, True] Translation: X:15.77, Y:-1.19, Z:-0.63 [[ 9.83495652e-01 1.59335922e-01 8.57226104e-02 1.57688937e+01] [-1.58499492e-01 9.87220838e-01 -1.65205047e-02 -1.19435061e+00] [-8.72594572e-02 2.66085438e-03 9.96182065e-01 -6.29145793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.672791605000002 meters Centerline goodness [0,1] 0.9995051464766429 Centerline is valid? [True, True] Translation: X:15.80, Y:-1.20, Z:-0.63 [[ 9.83292644e-01 1.59616592e-01 8.75106863e-02 1.58006990e+01] [-1.58743504e-01 9.87175342e-01 -1.68921525e-02 -1.20155319e+00] [-8.90846595e-02 2.71817633e-03 9.96020349e-01 -6.30356796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702791605000002 meters Centerline goodness [0,1] 0.9994076706648897 Centerline is valid? [True, True] Translation: X:15.83, Y:-1.21, Z:-0.63 [[ 9.83408156e-01 1.58944378e-01 8.74361649e-02 1.58316757e+01] [-1.58066738e-01 9.87283528e-01 -1.69157370e-02 -1.20941849e+00] [-8.90129466e-02 2.81432441e-03 9.96026493e-01 -6.31391704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.732791605000001 meters Centerline goodness [0,1] 0.9996535853912011 Centerline is valid? [True, True] Translation: X:15.86, Y:-1.22, Z:-0.63 [[ 9.83304697e-01 1.59597820e-01 8.74094311e-02 1.58639982e+01] [-1.58719627e-01 9.87178162e-01 -1.69515819e-02 -1.21770399e+00] [-8.89941171e-02 2.79497780e-03 9.96028230e-01 -6.33020177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762791605000002 meters Centerline goodness [0,1] 0.9998024788899313 Centerline is valid? [True, True] Translation: X:15.90, Y:-1.23, Z:-0.63 [[ 9.83231329e-01 1.60027981e-01 8.74482637e-02 1.58961317e+01] [-1.59146826e-01 9.87108507e-01 -1.70024698e-02 -1.22577752e+00] [-8.90417959e-02 2.80024740e-03 9.96023954e-01 -6.33931064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.792791605000001 meters Centerline goodness [0,1] 0.9997036305260558 Centerline is valid? [True, True] Translation: X:15.93, Y:-1.23, Z:-0.64 [[ 9.82914093e-01 1.61210015e-01 8.88325253e-02 1.59268740e+01] [-1.60301736e-01 9.86916217e-01 -1.73128405e-02 -1.23494596e+00] [-9.04612631e-02 2.77702691e-03 9.95896103e-01 -6.35966520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822791605 meters Centerline goodness [0,1] 0.9999010586722074 Centerline is valid? [True, True] Translation: X:15.96, Y:-1.24, Z:-0.64 [[ 9.82644324e-01 1.61994876e-01 9.03758400e-02 1.59579648e+01] [-1.61054330e-01 9.86787651e-01 -1.76531680e-02 -1.24321009e+00] [-9.20414856e-02 2.79136503e-03 9.95751261e-01 -6.37350856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.852791605000002 meters Centerline goodness [0,1] 0.9997526956177664 Centerline is valid? [True, True] Translation: X:15.99, Y:-1.25, Z:-0.64 [[ 9.82220089e-01 1.64947079e-01 8.96446212e-02 1.59884579e+01] [-1.64030421e-01 9.86299167e-01 -1.75492021e-02 -1.25368464e+00] [-9.13111048e-02 2.53273394e-03 9.95819194e-01 -6.38728124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882791605000001 meters Centerline goodness [0,1] 0.9997030291031479 Centerline is valid? [True, True] Translation: X:16.02, Y:-1.26, Z:-0.64 [[ 9.81888159e-01 1.67065393e-01 8.93576984e-02 1.60194872e+01] [-1.66159783e-01 9.85942976e-01 -1.75320891e-02 -1.26101880e+00] [-9.10306005e-02 2.36689485e-03 9.95845283e-01 -6.40086109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.912791605000002 meters Centerline goodness [0,1] 0.9999506075274128 Centerline is valid? [True, True] Translation: X:16.05, Y:-1.27, Z:-0.64 [[ 9.81587650e-01 1.68807563e-01 8.93850716e-02 1.60512251e+01] [-1.67905004e-01 9.85646472e-01 -1.75767698e-02 -1.26805664e+00] [-9.10691721e-02 2.24493941e-03 9.95842039e-01 -6.42806758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942791605000002 meters Centerline goodness [0,1] 0.9999010782471065 Centerline is valid? [True, True] Translation: X:16.08, Y:-1.28, Z:-0.64 [[ 9.80939711e-01 1.72739279e-01 8.89855293e-02 1.60824464e+01] [-1.71857351e-01 9.84965732e-01 -1.75373471e-02 -1.27635363e+00] [-9.06770856e-02 1.91026289e-03 9.95878515e-01 -6.43437743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.972791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.11, Y:-1.28, Z:-0.64 [[ 9.80635834e-01 1.74978395e-01 8.79540888e-02 1.61141205e+01] [-1.74122326e-01 9.84570768e-01 -1.73729340e-02 -1.28351151e+00] [-8.96369128e-02 1.72175113e-03 9.95973021e-01 -6.44917298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.15, Y:-1.29, Z:-0.65 [[ 9.80266224e-01 1.78738123e-01 8.44441509e-02 1.61450152e+01] [-1.77961343e-01 9.83895768e-01 -1.66996627e-02 -1.29168201e+00] [-8.60691090e-02 1.34232081e-03 9.96288265e-01 -6.45734080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.032791605000002 meters Centerline goodness [0,1] 0.9998022640763261 Centerline is valid? [True, True] Translation: X:16.18, Y:-1.30, Z:-0.65 [[ 9.79654987e-01 1.81702308e-01 8.52078471e-02 1.61776474e+01] [-1.80920025e-01 9.83352946e-01 -1.68798400e-02 -1.29911958e+00] [-8.68564933e-02 1.12061363e-03 9.96220203e-01 -6.48854331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062791605000001 meters Centerline goodness [0,1] 0.9999506099669087 Centerline is valid? [True, True] Translation: X:16.21, Y:-1.31, Z:-0.65 [[ 9.79019852e-01 1.86182114e-01 8.28030735e-02 1.62077761e+01] [-1.85457636e-01 9.82514986e-01 -1.64246287e-02 -1.30737370e+00] [-8.44132327e-02 7.23575238e-04 9.96430571e-01 -6.52095654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.092791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.24, Y:-1.31, Z:-0.65 [[ 9.78615840e-01 1.88695606e-01 8.18841025e-02 1.62395075e+01] [-1.87993964e-01 9.82035485e-01 -1.62657949e-02 -1.31413734e+00] [-8.34823783e-02 5.24247509e-04 9.96509116e-01 -6.52902790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.27, Y:-1.32, Z:-0.65 [[ 9.77987322e-01 1.93178909e-01 7.88841389e-02 1.62713425e+01] [-1.92539488e-01 9.81163534e-01 -1.57056071e-02 -1.31997612e+00] [-8.04322325e-02 1.71572924e-04 9.96760065e-01 -6.53923706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.152791605 meters Centerline goodness [0,1] 0.9999010439859483 Centerline is valid? [True, True] Translation: X:16.30, Y:-1.33, Z:-0.66 [[ 9.77539652e-01 1.95429558e-01 7.88892666e-02 1.63036417e+01] [-1.94794152e-01 9.80717741e-01 -1.57464622e-02 -1.32589634e+00] [-8.04454275e-02 2.56234415e-05 9.96759014e-01 -6.55958100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182791605000002 meters Centerline goodness [0,1] 0.9999505733491498 Centerline is valid? [True, True] Translation: X:16.34, Y:-1.33, Z:-0.66 [[ 9.77135511e-01 1.98215906e-01 7.69197463e-02 1.63352111e+01] [-1.97617482e-01 9.80158369e-01 -1.53916164e-02 -1.33243703e+00] [-7.84443963e-02 -1.60991622e-04 9.96918477e-01 -6.56854748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.212791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.37, Y:-1.34, Z:-0.66 [[ 9.77074783e-01 1.99969813e-01 7.30543857e-02 1.63663707e+01] [-1.99432482e-01 9.79802026e-01 -1.46518085e-02 -1.33964989e+00] [-7.45087545e-02 -2.53504840e-04 9.97220327e-01 -6.57733378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242791605000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.40, Y:-1.35, Z:-0.66 [[ 9.76810966e-01 2.01953945e-01 7.10981035e-02 1.63980570e+01] [-2.01447866e-01 9.79394953e-01 -1.42927821e-02 -1.34561633e+00] [-7.25196075e-02 -3.61214873e-04 9.97366921e-01 -6.58145118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.272791605000002 meters Centerline goodness [0,1] 0.9999505391235533 Centerline is valid? [True, True] Translation: X:16.43, Y:-1.35, Z:-0.66 [[ 9.76451833e-01 2.04821805e-01 6.77483973e-02 1.64303092e+01] [-2.04367058e-01 9.78799143e-01 -1.36507741e-02 -1.34871056e+00] [-6.91080494e-02 -5.16217277e-04 9.97609047e-01 -6.57627280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302791605000001 meters Centerline goodness [0,1] 0.9999506392220742 Centerline is valid? [True, True] Translation: X:16.46, Y:-1.35, Z:-0.66 [[ 9.76377238e-01 2.06226674e-01 6.44829291e-02 1.64618529e+01] [-2.05815849e-01 9.78504087e-01 -1.30225702e-02 -1.35398805e+00] [-6.57824110e-02 -5.56667678e-04 9.97833836e-01 -6.58282429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.332791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.49, Y:-1.36, Z:-0.66 [[ 9.75846077e-01 2.09230549e-01 6.28252460e-02 1.64931775e+01] [-2.08844913e-01 9.77866081e-01 -1.27173082e-02 -1.36044496e+00] [-6.40955264e-02 -7.10597707e-04 9.97943515e-01 -6.59068699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.362791605000002 meters Centerline goodness [0,1] 0.9999505537974683 Centerline is valid? [True, True] Translation: X:16.52, Y:-1.37, Z:-0.66 [[ 9.75525887e-01 2.11248927e-01 6.10174865e-02 1.65243880e+01] [-2.10887340e-01 9.77431975e-01 -1.23800062e-02 -1.36633856e+00] [-6.22557053e-02 -7.90798909e-04 9.98059919e-01 -6.59528511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.392791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.56, Y:-1.37, Z:-0.66 [[ 9.75383464e-01 2.12345073e-01 5.94698893e-02 1.65563544e+01] [-2.12001937e-01 9.77194408e-01 -1.20940977e-02 -1.37169818e+00] [-6.06817653e-02 -8.11348795e-04 9.98156834e-01 -6.59427001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.59, Y:-1.37, Z:-0.66 [[ 9.75784946e-01 2.11610811e-01 5.53588583e-02 1.65886369e+01] [-2.11310895e-01 9.77353770e-01 -1.12833603e-02 -1.37492982e+00] [-5.64928699e-02 -6.87796720e-04 9.98402766e-01 -6.57733805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.452791605000002 meters Centerline goodness [0,1] 0.9998518152630279 Centerline is valid? [True, True] Translation: X:16.62, Y:-1.38, Z:-0.66 [[ 9.75915216e-01 2.11681847e-01 5.27284320e-02 1.66209074e+01] [-2.11408846e-01 9.77338419e-01 -1.07663418e-02 -1.38052041e+00] [-5.38125615e-02 -6.40220146e-04 9.98550849e-01 -6.58026348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.482791605000001 meters Centerline goodness [0,1] 0.9998509687034277 Centerline is valid? [True, True] Translation: X:16.65, Y:-1.38, Z:-0.66 [[ 9.76928851e-01 2.08214286e-01 4.75061188e-02 1.66528654e+01] [-2.07988067e-01 9.78083154e-01 -9.71122492e-03 -1.38381974e+00] [-4.84869503e-02 -3.93530025e-04 9.98823739e-01 -6.57695193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.512791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.69, Y:-1.39, Z:-0.66 [[ 9.77469787e-01 2.06339893e-01 4.44596927e-02 1.66854167e+01] [-2.06138905e-01 9.78480342e-01 -9.10886849e-03 -1.38723797e+00] [-4.53824583e-02 -2.61228641e-04 9.98969651e-01 -6.57439987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.72, Y:-1.39, Z:-0.66 [[ 9.77992646e-01 2.04406524e-01 4.18133518e-02 1.67171506e+01] [-2.04226168e-01 9.78886077e-01 -8.58602489e-03 -1.39060635e+00] [-4.26855475e-02 -1.42311411e-04 9.99088547e-01 -6.58437974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.572791605000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.75, Y:-1.40, Z:-0.66 [[ 9.79152157e-01 1.99619670e-01 3.75904464e-02 1.67491294e+01] [-1.99469753e-01 9.79873452e-01 -7.73538449e-03 -1.39578915e+00] [-3.83780154e-02 7.59613542e-05 9.99263290e-01 -6.58172999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.602791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.78, Y:-1.40, Z:-0.66 [[ 9.79733186e-01 1.96796450e-01 3.73368782e-02 1.67810799e+01] [-1.96645812e-01 9.80444346e-01 -7.70119626e-03 -1.40224376e+00] [-3.81222992e-02 2.02976807e-04 9.99273060e-01 -6.59601348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.632791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.81, Y:-1.41, Z:-0.66 [[ 9.80915427e-01 1.90673500e-01 3.80597004e-02 1.68130231e+01] [-1.90511561e-01 9.81653399e-01 -7.87078650e-03 -1.40680546e+00] [-3.88621846e-02 4.69762956e-04 9.99244470e-01 -6.59251269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.84, Y:-1.41, Z:-0.66 [[ 9.81276037e-01 1.88201276e-01 4.09587398e-02 1.68448508e+01] [-1.88011312e-01 9.82130286e-01 -8.47628643e-03 -1.41171852e+00] [-4.18220668e-02 6.16870361e-04 9.99124884e-01 -6.61851294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.692791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.88, Y:-1.42, Z:-0.66 [[ 9.81973037e-01 1.84415669e-01 4.14706688e-02 1.68768040e+01] [-1.84217227e-01 9.82848019e-01 -8.58982689e-03 -1.41714268e+00] [-4.23434633e-02 7.95366809e-04 9.99102797e-01 -6.62387399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.91, Y:-1.42, Z:-0.66 [[ 9.82180733e-01 1.83337724e-01 4.13314227e-02 1.69080714e+01] [-1.83138846e-01 9.83049614e-01 -8.58022258e-03 -1.42385886e+00] [-4.22039176e-02 8.57940218e-04 9.99108649e-01 -6.63337273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.752791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.94, Y:-1.43, Z:-0.66 [[ 9.82336500e-01 1.82179139e-01 4.27289460e-02 1.69395031e+01] [-1.81964596e-01 9.83264889e-01 -8.89061027e-03 -1.42983240e+00] [-4.36335561e-02 9.58415561e-04 9.99047143e-01 -6.64394395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.97, Y:-1.44, Z:-0.67 [[ 9.82254944e-01 1.81688270e-01 4.65252302e-02 1.69710004e+01] [-1.81432238e-01 9.83355574e-01 -9.70354347e-03 -1.43558096e+00] [-4.75138645e-02 1.09017689e-03 9.98869984e-01 -6.66727817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.812791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.00, Y:-1.44, Z:-0.67 [[ 9.82076615e-01 1.82061864e-01 4.87749864e-02 1.70025838e+01] [-1.81779743e-01 9.83286409e-01 -1.01962451e-02 -1.44266076e+00] [-4.98161286e-02 1.14718933e-03 9.98757747e-01 -6.69271604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.03, Y:-1.45, Z:-0.67 [[ 9.81501648e-01 1.84242733e-01 5.20492978e-02 1.70345785e+01] [-1.83923103e-01 9.82880122e-01 -1.09067949e-02 -1.45166473e+00] [-5.31677178e-02 1.13196885e-03 9.98584955e-01 -6.71775971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.872791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.07, Y:-1.46, Z:-0.67 [[ 9.81130461e-01 1.85516993e-01 5.44652556e-02 1.70662386e+01] [-1.85167358e-01 9.82640395e-01 -1.14413420e-02 -1.45815689e+00] [-5.56423236e-02 1.14026164e-03 9.98450115e-01 -6.73859806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902791605000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.10, Y:-1.46, Z:-0.68 [[ 9.80800452e-01 1.86863085e-01 5.57912273e-02 1.70986253e+01] [-1.86496804e-01 9.82385332e-01 -1.17474373e-02 -1.46428964e+00] [-5.70036457e-02 1.11700623e-03 9.98373345e-01 -6.75440451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.932791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.13, Y:-1.47, Z:-0.68 [[ 9.80248528e-01 1.89217196e-01 5.75297782e-02 1.71300606e+01] [-1.88829931e-01 9.81934707e-01 -1.21444964e-02 -1.47301879e+00] [-5.87884334e-02 1.04128066e-03 9.98269921e-01 -6.77244138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962791605000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.16, Y:-1.48, Z:-0.68 [[ 9.79868143e-01 1.90197552e-01 6.06903067e-02 1.71609203e+01] [-1.89766452e-01 9.81745258e-01 -1.28429767e-02 -1.48127217e+00] [-6.20251235e-02 1.06743961e-03 9.98074018e-01 -6.80334876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.992791605000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.19, Y:-1.49, Z:-0.68 [[ 9.79758456e-01 1.90729380e-01 6.07920387e-02 1.71934395e+01] [-1.90296004e-01 9.81642078e-01 -1.28942174e-02 -1.48835924e+00] [-6.21353293e-02 1.06473650e-03 9.98067166e-01 -6.80887966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.022791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.23, Y:-1.49, Z:-0.68 [[ 9.79661727e-01 1.91227671e-01 6.07855160e-02 1.72253520e+01] [-1.90793349e-01 9.81545131e-01 -1.29249091e-02 -1.49479709e+00] [-6.21353276e-02 1.06456662e-03 9.98067166e-01 -6.82076730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.052791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.26, Y:-1.50, Z:-0.68 [[ 9.79586449e-01 1.91998619e-01 5.95560236e-02 1.72569046e+01] [-1.91581326e-01 9.81394661e-01 -1.26930774e-02 -1.50218968e+00] [-6.08850169e-02 1.02414464e-03 9.98144261e-01 -6.83882744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.51, Z:-0.69 [[ 9.79287704e-01 1.93794352e-01 5.86459000e-02 1.72874960e+01] [-1.93391329e-01 9.81041739e-01 -1.25259904e-02 -1.51104579e+00] [-5.99615419e-02 9.24939858e-04 9.98200259e-01 -6.86269081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.112791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.32, Y:-1.52, Z:-0.69 [[ 9.78991625e-01 1.95397521e-01 5.82684084e-02 1.73189589e+01] [-1.95000906e-01 9.80723758e-01 -1.24722478e-02 -1.51805182e+00] [-5.95822588e-02 8.47833704e-04 9.98223039e-01 -6.87466041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.35, Y:-1.53, Z:-0.69 [[ 9.78349064e-01 1.98153331e-01 5.97358060e-02 1.73505869e+01] [-1.97739763e-01 9.80170765e-01 -1.28162690e-02 -1.52623689e+00] [-6.10908771e-02 7.26640643e-04 9.98131944e-01 -6.88872406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.172791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.38, Y:-1.54, Z:-0.69 [[ 9.77983791e-01 1.99832683e-01 6.01215770e-02 1.73822898e+01] [-1.99414914e-01 9.79829815e-01 -1.29315793e-02 -1.53509786e+00] [-6.14930658e-02 6.57735832e-04 9.98107294e-01 -6.90307013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.41, Y:-1.54, Z:-0.69 [[ 9.77662363e-01 2.01584823e-01 5.94967514e-02 1.74130122e+01] [-2.01177100e-01 9.79470894e-01 -1.28273910e-02 -1.54387786e+00] [-6.08611437e-02 5.71473526e-04 9.98146079e-01 -6.91451885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.232791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.44, Y:-1.55, Z:-0.69 [[ 9.77058615e-01 2.04439403e-01 5.96740508e-02 1.74448395e+01] [-2.04032733e-01 9.78879130e-01 -1.28954743e-02 -1.55320184e+00] [-6.10500259e-02 4.24174563e-04 9.98134617e-01 -6.94177173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.48, Y:-1.56, Z:-0.69 [[ 9.76192534e-01 2.08532264e-01 5.96861022e-02 1.74759394e+01] [-2.08131176e-01 9.78015468e-01 -1.29289619e-02 -1.56199977e+00] [-6.10700369e-02 1.98617384e-04 9.98133464e-01 -6.94916761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.292791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.51, Y:-1.57, Z:-0.70 [[ 9.75549140e-01 2.11071300e-01 6.12599482e-02 1.75071913e+01] [-2.10651887e-01 9.77470665e-01 -1.32996700e-02 -1.57014544e+00] [-6.26869809e-02 6.99579415e-05 9.98033235e-01 -6.96595697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.322791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.54, Y:-1.58, Z:-0.70 [[ 9.74939371e-01 2.13684019e-01 6.19060762e-02 1.75395974e+01] [-2.13258938e-01 9.76902828e-01 -1.34718145e-02 -1.57843721e+00] [-6.33549323e-02 -6.78217561e-05 9.97991056e-01 -6.98115119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.352791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.57, Y:-1.59, Z:-0.70 [[ 9.73939514e-01 2.18468291e-01 6.09379083e-02 1.75700336e+01] [-2.18064278e-01 9.75843985e-01 -1.32848491e-02 -1.58845425e+00] [-6.23682096e-02 -3.49741551e-04 9.98053147e-01 -6.99682625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.60, Y:-1.60, Z:-0.70 [[ 9.73276537e-01 2.21617996e-01 6.01518561e-02 1.76018200e+01] [-2.21229140e-01 9.75133421e-01 -1.31331325e-02 -1.59693084e+00] [-6.15666237e-02 -5.25173702e-04 9.98102838e-01 -7.01075476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.412791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.63, Y:-1.60, Z:-0.70 [[ 9.72141915e-01 2.26561799e-01 6.00820184e-02 1.76332419e+01] [-2.26181324e-01 9.73996458e-01 -1.31494347e-02 -1.60378706e+00] [-6.14988327e-02 -8.06313800e-04 9.98106830e-01 -7.01418517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.67, Y:-1.61, Z:-0.70 [[ 9.71708484e-01 2.28537170e-01 5.96102591e-02 1.76660974e+01] [-2.28164513e-01 9.73534777e-01 -1.30764434e-02 -1.60951927e+00] [-6.10211136e-02 -8.94454763e-04 9.98136075e-01 -7.02004265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.472791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.70, Y:-1.62, Z:-0.70 [[ 9.71332048e-01 2.30189291e-01 5.93880705e-02 1.76991098e+01] [-2.29820486e-01 9.73145397e-01 -1.30606447e-02 -1.61543729e+00] [-6.07996481e-02 -9.62372407e-04 9.98149526e-01 -7.02960350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.502791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.73, Y:-1.62, Z:-0.71 [[ 9.71171127e-01 2.31287236e-01 5.77308997e-02 1.77307979e+01] [-2.30938889e-01 9.72885023e-01 -1.27264034e-02 -1.62045638e+00] [-5.91089824e-02 -9.72794336e-04 9.98251062e-01 -7.06143561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.532791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.76, Y:-1.63, Z:-0.71 [[ 9.71101382e-01 2.31394443e-01 5.84697971e-02 1.77632399e+01] [-2.31035490e-01 9.72859541e-01 -1.29196285e-02 -1.62677152e+00] [-5.98724301e-02 -9.62329147e-04 9.98205573e-01 -7.07943146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.80, Y:-1.63, Z:-0.71 [[ 9.71496708e-01 2.29365101e-01 5.98815224e-02 1.77956236e+01] [-2.28982662e-01 9.73340110e-01 -1.32653659e-02 -1.63301183e+00] [-6.13276996e-02 -8.24571089e-04 9.98117344e-01 -7.09208325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.592791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.83, Y:-1.64, Z:-0.71 [[ 9.71651147e-01 2.28588215e-01 6.03446427e-02 1.78280874e+01] [-2.28196246e-01 9.73522916e-01 -1.34017081e-02 -1.63984746e+00] [-6.18103650e-02 -7.48635836e-04 9.98087631e-01 -7.10473660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.86, Y:-1.65, Z:-0.71 [[ 9.72310256e-01 2.25867191e-01 5.99731407e-02 1.78598188e+01] [-2.25472926e-01 9.74157954e-01 -1.33506734e-02 -1.64551430e+00] [-6.14387911e-02 -5.41322822e-04 9.98110706e-01 -7.11967112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.652791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.89, Y:-1.65, Z:-0.71 [[ 9.72639921e-01 2.24428145e-01 6.00299268e-02 1.78921333e+01] [-2.24028490e-01 9.74490549e-01 -1.33942155e-02 -1.65209466e+00] [-6.15046352e-02 -4.20665107e-04 9.98106709e-01 -7.14638534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.682791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.92, Y:-1.66, Z:-0.72 [[ 9.73071630e-01 2.22380357e-01 6.06513026e-02 1.79246406e+01] [-2.21966278e-01 9.74959952e-01 -1.35669642e-02 -1.65911001e+00] [-6.21496175e-02 -2.60915930e-04 9.98066810e-01 -7.17467945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.712791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.96, Y:-1.67, Z:-0.72 [[ 9.74034632e-01 2.17942949e-01 6.12976955e-02 1.79568880e+01] [-2.17509039e-01 9.75961509e-01 -1.37459050e-02 -1.66682245e+00] [-6.28200145e-02 5.61846596e-05 9.98024871e-01 -7.18143488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.67, Z:-0.72 [[ 9.74432446e-01 2.16433100e-01 6.03168412e-02 1.79881035e+01] [-2.16008161e-01 9.76297434e-01 -1.35570747e-02 -1.67440657e+00] [-6.18213770e-02 1.81523556e-04 9.98087213e-01 -7.17592094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.772791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.68, Z:-0.72 [[ 9.75235126e-01 2.12848630e-01 6.00991648e-02 1.80195442e+01] [-2.12418128e-01 9.77085089e-01 -1.35376672e-02 -1.68279035e+00] [-6.16034717e-02 4.36256465e-04 9.98100607e-01 -7.19003852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.69, Z:-0.72 [[ 9.75621743e-01 2.11430063e-01 5.88178749e-02 1.80519842e+01] [-2.11013311e-01 9.77392977e-01 -1.32797092e-02 -1.68937156e+00] [-6.02959077e-02 5.44618540e-04 9.98180398e-01 -7.20207012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.832791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.70, Z:-0.72 [[ 9.76137368e-01 2.09198104e-01 5.82408073e-02 1.80844257e+01] [-2.08783632e-01 9.77873025e-01 -1.31811004e-02 -1.69692890e+00] [-5.97095756e-02 7.06837358e-04 9.98215541e-01 -7.22880413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.12, Y:-1.71, Z:-0.72 [[ 9.76209260e-01 2.08546761e-01 5.93610082e-02 1.81159175e+01] [-2.08113081e-01 9.78012077e-01 -1.34656377e-02 -1.70505488e+00] [-6.08639980e-02 7.91477968e-04 9.98145755e-01 -7.24562277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.892791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.15, Y:-1.71, Z:-0.72 [[ 9.76447980e-01 2.07661754e-01 5.85315074e-02 1.81478266e+01] [-2.07236795e-01 9.78200312e-01 -1.33063822e-02 -1.71305490e+00] [-6.00187654e-02 8.63107986e-04 9.98196876e-01 -7.24134915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.18, Y:-1.72, Z:-0.72 [[ 9.76454964e-01 2.07734007e-01 5.81574138e-02 1.81800983e+01] [-2.07312738e-01 9.78184953e-01 -1.32524480e-02 -1.72020722e+00] [-5.96416912e-02 8.83645973e-04 9.98219459e-01 -7.24586098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.952791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.21, Y:-1.73, Z:-0.73 [[ 9.76451383e-01 2.07898757e-01 5.76264200e-02 1.82123214e+01] [-2.07483617e-01 9.78149940e-01 -1.31622143e-02 -1.72824880e+00] [-5.91036872e-02 8.95724322e-04 9.98251447e-01 -7.27137435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.24, Y:-1.74, Z:-0.73 [[ 9.76400405e-01 2.08191760e-01 5.74320549e-02 1.82436562e+01] [-2.07778109e-01 9.78087610e-01 -1.31485886e-02 -1.73954334e+00] [-5.89110091e-02 9.05163431e-04 9.98262828e-01 -7.29021382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.012791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.28, Y:-1.75, Z:-0.73 [[ 9.76349252e-01 2.08329489e-01 5.78010622e-02 1.82756400e+01] [-2.07908892e-01 9.78058257e-01 -1.32642120e-02 -1.74746915e+00] [-5.92961326e-02 9.33148631e-04 9.98240000e-01 -7.30217438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.31, Y:-1.75, Z:-0.73 [[ 9.76338704e-01 2.08791278e-01 5.62933203e-02 1.83074945e+01] [-2.08391851e-01 9.77959808e-01 -1.29402452e-02 -1.75481505e+00] [-5.77544151e-02 9.02993075e-04 9.98330412e-01 -7.31214400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.072791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.34, Y:-1.76, Z:-0.73 [[ 9.76144008e-01 2.10047212e-01 5.49822139e-02 1.83382191e+01] [-2.09667337e-01 9.77690897e-01 -1.26537750e-02 -1.76328796e+00] [-5.64135002e-02 8.23932252e-04 9.98407150e-01 -7.32887447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.37, Y:-1.77, Z:-0.73 [[ 9.75927955e-01 2.11216145e-01 5.43356789e-02 1.83686954e+01] [-2.10845550e-01 9.77439074e-01 -1.25303683e-02 -1.77264881e+00] [-5.57564318e-02 7.72300637e-04 9.98444102e-01 -7.34295376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.132791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.40, Y:-1.78, Z:-0.73 [[ 9.75153469e-01 2.14947281e-01 5.36039061e-02 1.83996822e+01] [-2.14591151e-01 9.76625486e-01 -1.23813208e-02 -1.78394905e+00] [-5.50122721e-02 5.70764017e-04 9.98485515e-01 -7.34353473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.162791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.43, Y:-1.79, Z:-0.74 [[ 9.74324291e-01 2.18330274e-01 5.49915183e-02 1.84321045e+01] [-2.17959877e-01 9.75874852e-01 -1.27187076e-02 -1.79178499e+00] [-5.64417186e-02 4.06201195e-04 9.98405813e-01 -7.35351115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.192791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.46, Y:-1.80, Z:-0.74 [[ 9.73330571e-01 2.22740178e-01 5.49036751e-02 1.84625780e+01] [-2.22376338e-01 9.74877829e-01 -1.27272520e-02 -1.80099219e+00] [-5.63592460e-02 1.78545223e-04 9.98410539e-01 -7.36436045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.49, Y:-1.81, Z:-0.74 [[ 9.72732335e-01 2.25301946e-01 5.50530367e-02 1.84942057e+01] [-2.24938629e-01 9.74288987e-01 -1.27899831e-02 -1.81010714e+00] [-5.65191755e-02 5.76754893e-05 9.98401512e-01 -7.38272935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.252791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.53, Y:-1.82, Z:-0.74 [[ 9.71862704e-01 2.29079836e-01 5.48207451e-02 1.85258446e+01] [-2.28723855e-01 9.73407629e-01 -1.27666256e-02 -1.81953970e+00] [-5.62875080e-02 -1.31404911e-04 9.98414593e-01 -7.39703710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.282791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.83, Z:-0.74 [[ 9.71169421e-01 2.31892658e-01 5.52788481e-02 1.85584251e+01] [-2.31533471e-01 9.72741345e-01 -1.29045453e-02 -1.82664141e+00] [-5.67644903e-02 -2.66403839e-04 9.98387561e-01 -7.41298675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.312791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.59, Y:-1.83, Z:-0.74 [[ 9.70660445e-01 2.34203686e-01 5.44695686e-02 1.85908245e+01] [-2.33856888e-01 9.72187482e-01 -1.27458342e-02 -1.83414383e+00] [-5.59397541e-02 -3.66206759e-04 9.98434079e-01 -7.42196036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.342791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.62, Y:-1.84, Z:-0.74 [[ 9.69629654e-01 2.38250975e-01 5.52703015e-02 1.86216608e+01] [-2.37898757e-01 9.71203448e-01 -1.29631708e-02 -1.84481450e+00] [-5.67671955e-02 -5.79261217e-04 9.98387275e-01 -7.43714116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.372791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.65, Y:-1.85, Z:-0.74 [[ 9.69294425e-01 2.39665486e-01 5.50342870e-02 1.86539720e+01] [-2.39316943e-01 9.70855322e-01 -1.29361839e-02 -1.85313492e+00] [-5.65306872e-02 -6.31666369e-04 9.98400662e-01 -7.44234837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.69, Y:-1.86, Z:-0.75 [[ 9.69167545e-01 2.39512881e-01 5.78606011e-02 1.86854792e+01] [-2.39125457e-01 9.70892986e-01 -1.36317982e-02 -1.85770621e+00] [-5.94414430e-02 -6.24446302e-04 9.98231599e-01 -7.45854971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.432791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.72, Y:-1.86, Z:-0.75 [[ 9.69162260e-01 2.39399275e-01 5.84166210e-02 1.87180743e+01] [-2.39002387e-01 9.70921023e-01 -1.37922439e-02 -1.86345124e+00] [-6.00197787e-02 -5.94789578e-04 9.98197011e-01 -7.47480821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.75, Y:-1.87, Z:-0.75 [[ 9.68889757e-01 2.40461542e-01 5.85737663e-02 1.87505566e+01] [-2.40062455e-01 9.70658462e-01 -1.38624614e-02 -1.87171473e+00] [-6.01885107e-02 -6.30165244e-04 9.98186829e-01 -7.48476399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.492791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.78, Y:-1.88, Z:-0.75 [[ 9.68783946e-01 2.41074568e-01 5.77989548e-02 1.87830900e+01] [-2.40685147e-01 9.70506393e-01 -1.37113699e-02 -1.87974270e+00] [-5.93997177e-02 -6.27994919e-04 9.98234080e-01 -7.49189275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.81, Y:-1.89, Z:-0.75 [[ 9.69189335e-01 2.39492070e-01 5.75810888e-02 1.88147697e+01] [-2.39100963e-01 9.70898192e-01 -1.36905085e-02 -1.88508780e+00] [-5.91841432e-02 -4.98998922e-04 9.98246958e-01 -7.51364825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.552791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.85, Y:-1.89, Z:-0.75 [[ 9.69322433e-01 2.39103606e-01 5.69516074e-02 1.88465874e+01] [-2.38718705e-01 9.70993959e-01 -1.35687398e-02 -1.89218131e+00] [-5.85440014e-02 -4.42930098e-04 9.98284731e-01 -7.52556242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.88, Y:-1.90, Z:-0.75 [[ 9.69486291e-01 2.38331648e-01 5.73964899e-02 1.88785818e+01] [-2.37937577e-01 9.71183756e-01 -1.37047640e-02 -1.90000697e+00] [-5.90088177e-02 -3.70200913e-04 9.98257393e-01 -7.54837187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.612791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.91, Y:-1.91, Z:-0.76 [[ 9.70385261e-01 2.33932112e-01 6.02346454e-02 1.89099748e+01] [-2.33487529e-01 9.72252931e-01 -1.44156981e-02 -1.90740718e+00] [-6.19356053e-02 -7.52575219e-05 9.98080145e-01 -7.55888426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.642791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.94, Y:-1.91, Z:-0.76 [[ 9.70728561e-01 2.32601245e-01 5.98558413e-02 1.89424363e+01] [-2.32157795e-01 9.72572187e-01 -1.43561495e-02 -1.91406736e+00] [-6.15533848e-02 3.99242518e-05 9.98103792e-01 -7.56541883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.672791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.97, Y:-1.92, Z:-0.76 [[ 9.71586364e-01 2.29421685e-01 5.81861462e-02 1.89738293e+01] [-2.28995125e-01 9.73327088e-01 -1.39861384e-02 -1.92059141e+00] [-5.98428756e-02 2.64397507e-04 9.98207774e-01 -7.57490065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.01, Y:-1.93, Z:-0.76 [[ 9.71785234e-01 2.28529239e-01 5.83767610e-02 1.90056792e+01] [-2.28096471e-01 9.73536987e-01 -1.40618420e-02 -1.92920537e+00] [-6.00454781e-02 3.49557249e-04 9.98195581e-01 -7.58900133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.732791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.04, Y:-1.94, Z:-0.76 [[ 9.72589762e-01 2.25611700e-01 5.62895659e-02 1.90368405e+01] [-2.25202787e-01 9.74217158e-01 -1.35880296e-02 -1.93852447e+00] [-5.79038793e-02 5.39011387e-04 9.98322017e-01 -7.60259550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.07, Y:-1.95, Z:-0.76 [[ 9.72782836e-01 2.25045299e-01 5.52102123e-02 1.90683907e+01] [-2.24649444e-01 9.74348124e-01 -1.33551562e-02 -1.94658106e+00] [-5.67994819e-02 5.88723174e-04 9.98385433e-01 -7.61937340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.792791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.10, Y:-1.96, Z:-0.76 [[ 9.72930195e-01 2.24390111e-01 5.52803158e-02 1.91007088e+01] [-2.23990465e-01 9.74499177e-01 -1.34024423e-02 -1.95506311e+00] [-5.68779978e-02 6.57377179e-04 9.98380920e-01 -7.63325990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.822791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.13, Y:-1.97, Z:-0.76 [[ 9.72925884e-01 2.24263443e-01 5.58670946e-02 1.91324448e+01] [-2.23853271e-01 9.74528304e-01 -1.35756406e-02 -1.96570449e+00] [-5.74885848e-02 7.02060309e-04 9.98345917e-01 -7.64358243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.852791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.16, Y:-1.98, Z:-0.77 [[ 9.72611248e-01 2.25631625e-01 5.58366409e-02 1.91645457e+01] [-2.25222386e-01 9.74212475e-01 -1.35989274e-02 -1.97502025e+00] [-5.74651003e-02 6.50808269e-04 9.98347304e-01 -7.65384967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.20, Y:-1.98, Z:-0.77 [[ 9.72494474e-01 2.26136149e-01 5.58295593e-02 1.91962173e+01] [-2.25726074e-01 9.74095487e-01 -1.36279506e-02 -1.98240307e+00] [-5.74650941e-02 6.50919389e-04 9.98347304e-01 -7.66573471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.912791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.23, Y:-1.99, Z:-0.77 [[ 9.72117159e-01 2.27937909e-01 5.50684854e-02 1.92271740e+01] [-2.27540211e-01 9.73675506e-01 -1.34707823e-02 -1.99160114e+00] [-5.66893373e-02 5.64883779e-04 9.98391707e-01 -7.68493543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.26, Y:-2.00, Z:-0.77 [[ 9.71753313e-01 2.29558006e-01 5.47596678e-02 1.92590888e+01] [-2.29165769e-01 9.73294856e-01 -1.34228653e-02 -2.00133388e+00] [-5.63786292e-02 4.94672455e-04 9.98409338e-01 -7.69679204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.972791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.29, Y:-2.01, Z:-0.77 [[ 9.71175443e-01 2.31645428e-01 5.62019029e-02 1.92905815e+01] [-2.31233891e-01 9.72800197e-01 -1.38080908e-02 -2.01107856e+00] [-5.78718033e-02 4.14294015e-04 9.98323937e-01 -7.71802739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.002791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.32, Y:-2.02, Z:-0.77 [[ 9.70785430e-01 2.33185757e-01 5.65689990e-02 1.93224666e+01] [-2.32769590e-01 9.72432145e-01 -1.39298806e-02 -2.01984438e+00] [-5.82577627e-02 3.55382409e-04 9.98301511e-01 -7.72781676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.032791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.35, Y:-2.03, Z:-0.77 [[ 9.70442743e-01 2.34456850e-01 5.71915048e-02 1.93535704e+01] [-2.34031777e-01 9.72126477e-01 -1.41152523e-02 -2.02960424e+00] [-5.89067937e-02 3.13414631e-04 9.98263438e-01 -7.73731318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.39, Y:-2.04, Z:-0.77 [[ 9.70367335e-01 2.34663956e-01 5.76199828e-02 1.93851188e+01] [-2.34230932e-01 9.72076497e-01 -1.42532330e-02 -2.03880972e+00] [-5.93557510e-02 3.34489466e-04 9.98236837e-01 -7.74756131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.092791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.42, Y:-2.05, Z:-0.78 [[ 9.70759676e-01 2.32781713e-01 5.86372334e-02 1.94158239e+01] [-2.32327915e-01 9.72528887e-01 -1.45362941e-02 -2.04702598e+00] [-6.04101868e-02 4.88181963e-04 9.98173517e-01 -7.75794672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.45, Y:-2.05, Z:-0.78 [[ 9.70842947e-01 2.32163980e-01 5.96980545e-02 1.94468788e+01] [-2.31690624e-01 9.72676497e-01 -1.48286009e-02 -2.05496105e+00] [-6.15095615e-02 5.64763085e-04 9.98106334e-01 -7.78042450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.152791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.48, Y:-2.06, Z:-0.78 [[ 9.71423628e-01 2.29656266e-01 5.99510968e-02 1.94771790e+01] [-2.29172312e-01 9.73271509e-01 -1.49205183e-02 -2.06460599e+00] [-6.17752849e-02 7.55012601e-04 9.98089798e-01 -7.79687677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.182791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.51, Y:-2.07, Z:-0.78 [[ 9.71526188e-01 2.29063345e-01 6.05545169e-02 1.95080778e+01] [-2.28566616e-01 9.73411165e-01 -1.50998568e-02 -2.07300259e+00] [-6.24032665e-02 8.29165289e-04 9.98050672e-01 -7.81089544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.212791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.54, Y:-2.08, Z:-0.78 [[ 9.71433683e-01 2.29411093e-01 6.07219026e-02 1.95399195e+01] [-2.28910353e-01 9.73329259e-01 -1.51724770e-02 -2.08161122e+00] [-6.25831390e-02 8.39183005e-04 9.98039401e-01 -7.82362180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.242791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.57, Y:-2.09, Z:-0.78 [[ 9.71054054e-01 2.30934664e-01 6.10180699e-02 1.95710952e+01] [-2.30429909e-01 9.72968949e-01 -1.52800743e-02 -2.09252689e+00] [-6.28973862e-02 7.77389839e-04 9.98019696e-01 -7.84588750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.272791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.60, Y:-2.10, Z:-0.79 [[ 9.70491317e-01 2.33207852e-01 6.13245546e-02 1.96027485e+01] [-2.32700396e-01 9.72426683e-01 -1.53906314e-02 -2.10209243e+00] [-6.32228493e-02 6.66226022e-04 9.97999212e-01 -7.86887148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.302791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.63, Y:-2.11, Z:-0.79 [[ 9.69336411e-01 2.37689562e-01 6.23746299e-02 1.96343837e+01] [-2.37171561e-01 9.71341083e-01 -1.56891805e-02 -2.11155044e+00] [-6.43161951e-02 4.14605574e-04 9.97929484e-01 -7.88891574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.332791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.67, Y:-2.12, Z:-0.79 [[ 9.68836459e-01 2.39506170e-01 6.31878929e-02 1.96662910e+01] [-2.38976087e-01 9.70894785e-01 -1.59293912e-02 -2.11982192e+00] [-6.51639832e-02 3.32579582e-04 9.97874513e-01 -7.90307635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.70, Y:-2.13, Z:-0.79 [[ 9.68087657e-01 2.41954802e-01 6.53005611e-02 1.96971073e+01] [-2.41391819e-01 9.70287499e-01 -1.64972361e-02 -2.12837535e+00] [-6.73519036e-02 2.07749408e-04 9.97729261e-01 -7.91510599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.392791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.73, Y:-2.14, Z:-0.79 [[ 9.67859276e-01 2.42845751e-01 6.53786174e-02 1.97297977e+01] [-2.42281134e-01 9.70064899e-01 -1.65512292e-02 -2.13562008e+00] [-6.74408976e-02 1.79255160e-04 9.97723255e-01 -7.93393097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.422791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.76, Y:-2.14, Z:-0.80 [[ 9.67641926e-01 2.44136377e-01 6.37693718e-02 1.97615737e+01] [-2.43599843e-01 9.69740901e-01 -1.61771845e-02 -2.14183761e+00] [-6.57892073e-02 1.19513037e-04 9.97833536e-01 -7.96175534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.452791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.79, Y:-2.15, Z:-0.80 [[ 9.67675679e-01 2.44353176e-01 6.24123882e-02 1.97925523e+01] [-2.43837750e-01 9.69686294e-01 -1.58632813e-02 -2.14933364e+00] [-6.43966805e-02 1.32015159e-04 9.97924371e-01 -7.98356913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.482791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.82, Y:-2.16, Z:-0.80 [[ 9.67591684e-01 2.44848268e-01 6.17710160e-02 1.98241450e+01] [-2.44342464e-01 9.69561401e-01 -1.57305663e-02 -2.15646644e+00] [-6.37423947e-02 1.27482896e-04 9.97966378e-01 -7.99613870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.512791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.86, Y:-2.16, Z:-0.80 [[ 9.67669176e-01 2.44417125e-01 6.22626220e-02 1.98567586e+01] [-2.43900222e-01 9.69670167e-01 -1.58886262e-02 -2.16101878e+00] [-6.42576594e-02 1.89066507e-04 9.97933323e-01 -8.00183116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.89, Y:-2.17, Z:-0.80 [[ 9.67832681e-01 2.43778633e-01 6.22244302e-02 1.98892830e+01] [-2.43258779e-01 9.69830865e-01 -1.59141109e-02 -2.16774721e+00] [-6.42266932e-02 2.65557653e-04 9.97935299e-01 -8.00751091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.572791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.92, Y:-2.18, Z:-0.80 [[ 9.68106469e-01 2.42719174e-01 6.21068999e-02 1.99216622e+01] [-2.42196851e-01 9.70096524e-01 -1.59191558e-02 -2.17503151e+00] [-6.41135720e-02 3.69342149e-04 9.97942540e-01 -8.02864438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.95, Y:-2.18, Z:-0.81 [[ 9.68312679e-01 2.42120584e-01 6.12223633e-02 1.99535543e+01] [-2.41609693e-01 9.70246068e-01 -1.57265295e-02 -2.18270990e+00] [-6.32084738e-02 4.36281518e-04 9.98000250e-01 -8.05028281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.632791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.99, Y:-2.19, Z:-0.81 [[ 9.68919585e-01 2.39889113e-01 6.03990973e-02 1.99859664e+01] [-2.39385464e-01 9.70800106e-01 -1.55484525e-02 -2.19061979e+00] [-6.23653545e-02 6.06534208e-04 9.98053202e-01 -8.06870675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.02, Y:-2.20, Z:-0.81 [[ 9.69486140e-01 2.37734503e-01 5.98241604e-02 2.00181053e+01] [-2.37234262e-01 9.71329868e-01 -1.54334792e-02 -2.19867255e+00] [-6.17780644e-02 7.70203631e-04 9.98089614e-01 -8.08035799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.692791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.05, Y:-2.21, Z:-0.81 [[ 9.70416415e-01 2.33919992e-01 5.97780762e-02 2.00488769e+01] [-2.33411350e-01 9.72255291e-01 -1.54528941e-02 -2.20838957e+00] [-6.17342917e-02 1.04286067e-03 9.98092075e-01 -8.09353377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.08, Y:-2.22, Z:-0.81 [[ 9.70614861e-01 2.32857322e-01 6.06980962e-02 2.00800247e+01] [-2.32328966e-01 9.72510222e-01 -1.57200719e-02 -2.21701735e+00] [-6.26900528e-02 1.15620948e-03 9.98032374e-01 -8.10500980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.752791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.11, Y:-2.23, Z:-0.81 [[ 9.70810414e-01 2.32127560e-01 6.03650276e-02 2.01120950e+01] [-2.31601683e-01 9.72684580e-01 -1.56642451e-02 -2.22529395e+00] [-6.23522345e-02 1.22637030e-03 9.98053453e-01 -8.12088979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.14, Y:-2.24, Z:-0.81 [[ 9.70881668e-01 2.31602424e-01 6.12299289e-02 2.01425031e+01] [-2.31058291e-01 9.72809644e-01 -1.59205255e-02 -2.23544527e+00] [-6.32522976e-02 1.30926359e-03 9.97996710e-01 -8.12494246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.812791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.17, Y:-2.25, Z:-0.81 [[ 9.71183220e-01 2.30908950e-01 5.90272015e-02 2.01725513e+01] [-2.30400359e-01 9.72974451e-01 -1.53750621e-02 -2.24617908e+00] [-6.09821984e-02 1.33211390e-03 9.98137965e-01 -8.13939294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.20, Y:-2.26, Z:-0.82 [[ 9.71100293e-01 2.31366476e-01 5.85984112e-02 2.02036722e+01] [-2.30864315e-01 9.72865769e-01 -1.52925732e-02 -2.25621498e+00] [-6.05465772e-02 1.32234029e-03 9.98164497e-01 -8.15712038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.872791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.23, Y:-2.27, Z:-0.82 [[ 9.70847762e-01 2.32556697e-01 5.80689738e-02 2.02337964e+01] [-2.32063909e-01 9.72582017e-01 -1.51842709e-02 -2.26674737e+00] [-6.00080436e-02 1.26590237e-03 9.98197091e-01 -8.17057206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.26, Y:-2.28, Z:-0.82 [[ 9.70404036e-01 2.34223588e-01 5.87819426e-02 2.02649847e+01] [-2.33719843e-01 9.72182007e-01 -1.54006425e-02 -2.27783224e+00] [-6.07539407e-02 1.20633923e-03 9.98152044e-01 -8.18109995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.932791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.30, Y:-2.29, Z:-0.82 [[ 9.70061430e-01 2.35792559e-01 5.81609153e-02 2.02960716e+01] [-2.35300414e-01 9.71802759e-01 -1.52680394e-02 -2.28694906e+00] [-6.01210281e-02 1.12564870e-03 9.98190460e-01 -8.18681505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.33, Y:-2.30, Z:-0.82 [[ 9.69036464e-01 2.39716458e-01 5.91975607e-02 2.03264248e+01] [-2.39212138e-01 9.70842501e-01 -1.55689199e-02 -2.29911125e+00] [-6.12036342e-02 9.26076047e-04 9.98124871e-01 -8.20068006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.992791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.36, Y:-2.31, Z:-0.82 [[ 9.68454528e-01 2.41951885e-01 5.96247703e-02 2.03581420e+01] [-2.41442585e-01 9.70287902e-01 -1.57119601e-02 -2.30859874e+00] [-6.16547316e-02 8.20360206e-04 9.98097200e-01 -8.22495573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.39, Y:-2.32, Z:-0.82 [[ 9.67251869e-01 2.46642568e-01 5.99271736e-02 2.03899004e+01] [-2.46135433e-01 9.69106362e-01 -1.58179437e-02 -2.31607613e+00] [-6.19771834e-02 5.49734813e-04 9.98077415e-01 -8.24971019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.052791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.42, Y:-2.32, Z:-0.83 [[ 9.66670781e-01 2.48883388e-01 6.00388305e-02 2.04214380e+01] [-2.48377226e-01 9.68533363e-01 -1.58706956e-02 -2.32401719e+00] [-6.20995629e-02 4.29459506e-04 9.98069867e-01 -8.26452100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.45, Y:-2.33, Z:-0.83 [[ 9.66395652e-01 2.49818495e-01 6.05818813e-02 2.04530527e+01] [-2.49302808e-01 9.68292598e-01 -1.60485237e-02 -2.33174724e+00] [-6.26702053e-02 4.05990418e-04 9.98034208e-01 -8.27454172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.112791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.49, Y:-2.34, Z:-0.83 [[ 9.66089888e-01 2.50833129e-01 6.12623011e-02 2.04856669e+01] [-2.50305605e-01 9.68030267e-01 -1.62636175e-02 -2.33864941e+00] [-6.33832158e-02 3.77819045e-04 9.97989191e-01 -8.27518965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.52, Y:-2.34, Z:-0.83 [[ 9.65928639e-01 2.51561099e-01 6.08183960e-02 2.05177957e+01] [-2.51040487e-01 9.67841352e-01 -1.61799398e-02 -2.34480792e+00] [-6.29328021e-02 3.60787507e-04 9.98017701e-01 -8.27934971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.172791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.55, Y:-2.35, Z:-0.83 [[ 9.65398671e-01 2.53962614e-01 5.92317280e-02 2.05497671e+01] [-2.53471433e-01 9.67214008e-01 -1.57890687e-02 -2.34818577e+00] [-6.12995902e-02 2.29194961e-04 9.98119385e-01 -8.29992550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.58, Y:-2.35, Z:-0.83 [[ 9.65132649e-01 2.55040927e-01 5.89329813e-02 2.05828776e+01] [-2.54554811e-01 9.66930240e-01 -1.57403507e-02 -2.35402409e+00] [-6.09985153e-02 1.89852435e-04 9.98137839e-01 -8.30783024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.232791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.62, Y:-2.36, Z:-0.83 [[ 9.64657561e-01 2.56397608e-01 6.07952080e-02 2.06150797e+01] [-2.55881205e-01 9.66571388e-01 -1.62653172e-02 -2.35622389e+00] [-6.29332970e-02 1.34110137e-04 9.98017726e-01 -8.32177903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.65, Y:-2.36, Z:-0.83 [[ 9.64617328e-01 2.56349523e-01 6.16306109e-02 2.06469228e+01] [-2.55817257e-01 9.66584138e-01 -1.65116522e-02 -2.36136897e+00] [-6.38039251e-02 1.61252002e-04 9.97962441e-01 -8.32437489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.292791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.68, Y:-2.37, Z:-0.83 [[ 9.64771289e-01 2.55904984e-01 6.10655342e-02 2.06798508e+01] [-2.55379517e-01 9.66701914e-01 -1.63924202e-02 -2.36545258e+00] [-6.32270708e-02 2.20049750e-04 9.97999143e-01 -8.33125058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.71, Y:-2.37, Z:-0.83 [[ 9.64850850e-01 2.55807300e-01 6.02118186e-02 2.07111833e+01] [-2.55294232e-01 9.66727759e-01 -1.61955123e-02 -2.37089985e+00] [-6.23513667e-02 2.54523784e-04 9.98054228e-01 -8.34735139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.352791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.74, Y:-2.38, Z:-0.84 [[ 9.64705552e-01 2.56362092e-01 6.01803549e-02 2.07440966e+01] [-2.55848668e-01 9.66580786e-01 -1.62186107e-02 -2.37598401e+00] [-6.23270117e-02 2.49120188e-04 9.98055751e-01 -8.36497118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.78, Y:-2.38, Z:-0.84 [[ 9.64539259e-01 2.57024693e-01 6.00193777e-02 2.07775103e+01] [-2.56513183e-01 9.66404807e-01 -1.62091485e-02 -2.37774863e+00] [-6.21691665e-02 2.38598499e-04 9.98065598e-01 -8.38285173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.412791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.81, Y:-2.38, Z:-0.84 [[ 9.64245888e-01 2.57720088e-01 6.17270170e-02 2.08088669e+01] [-2.57178301e-01 9.66219593e-01 -1.67038494e-02 -2.38402816e+00] [-6.39467708e-02 2.31768697e-04 9.97953284e-01 -8.40429513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.84, Y:-2.39, Z:-0.84 [[ 9.64056454e-01 2.58388594e-01 6.18909326e-02 2.08419846e+01] [-2.57843229e-01 9.66041038e-01 -1.67804341e-02 -2.38880157e+00] [-6.41250535e-02 2.19127904e-04 9.97941847e-01 -8.41399064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.472791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.87, Y:-2.40, Z:-0.84 [[ 9.63806021e-01 2.59501476e-01 6.11305046e-02 2.08731036e+01] [-2.58969638e-01 9.65742695e-01 -1.66064227e-02 -2.39544629e+00] [-6.33457295e-02 1.74425557e-04 9.97991627e-01 -8.42828666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.90, Y:-2.40, Z:-0.84 [[ 9.63447079e-01 2.60574704e-01 6.22137404e-02 2.09043465e+01] [-2.60024075e-01 9.65453679e-01 -1.69314770e-02 -2.40172926e+00] [-6.44763991e-02 1.35511738e-04 9.97919223e-01 -8.44274017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.532791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.94, Y:-2.41, Z:-0.85 [[ 9.63266154e-01 2.60909242e-01 6.35978336e-02 2.09353354e+01] [-2.60332456e-01 9.65363323e-01 -1.73397247e-02 -2.40950959e+00] [-6.59191104e-02 1.46189665e-04 9.97824959e-01 -8.46245427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.97, Y:-2.42, Z:-0.85 [[ 9.63318013e-01 2.60591473e-01 6.41131091e-02 2.09668800e+01] [-2.60002347e-01 9.65449141e-01 -1.75138865e-02 -2.41776411e+00] [-6.64619156e-02 2.01883541e-04 9.97788942e-01 -8.47959697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.592791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.00, Y:-2.43, Z:-0.85 [[ 9.63306477e-01 2.60666984e-01 6.39793367e-02 2.09986759e+01] [-2.60078099e-01 9.65428749e-01 -1.75132008e-02 -2.42564177e+00] [-6.63326042e-02 2.30955491e-04 9.97797541e-01 -8.50226788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.03, Y:-2.43, Z:-0.85 [[ 9.63438111e-01 2.60340955e-01 6.33213506e-02 2.10314621e+01] [-2.59761110e-01 9.65516704e-01 -1.73683512e-02 -2.43257831e+00] [-6.56595149e-02 2.84907175e-04 9.97842045e-01 -8.52269632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.652791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.06, Y:-2.44, Z:-0.85 [[ 9.63260335e-01 2.61037910e-01 6.31564436e-02 2.10634251e+01] [-2.60460968e-01 9.65328515e-01 -1.73477079e-02 -2.43936598e+00] [-6.54951253e-02 2.60570530e-04 9.97852855e-01 -8.54414190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.09, Y:-2.45, Z:-0.86 [[ 9.62976248e-01 2.61844803e-01 6.41408185e-02 2.10942599e+01] [-2.61250137e-01 9.65109966e-01 -1.76385738e-02 -2.44705261e+00] [-6.65215121e-02 2.28729995e-04 9.97784965e-01 -8.55321885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.712791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.13, Y:-2.45, Z:-0.86 [[ 9.62818385e-01 2.62374456e-01 6.43459620e-02 2.11270453e+01] [-2.61774893e-01 9.64966110e-01 -1.77288234e-02 -2.45382530e+00] [-6.67432630e-02 2.25479768e-04 9.97770157e-01 -8.56910728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.16, Y:-2.46, Z:-0.86 [[ 9.62591774e-01 2.63291322e-01 6.39902814e-02 2.11590688e+01] [-2.62698003e-01 9.64716353e-01 -1.76668536e-02 -2.46120200e+00] [-6.63840001e-02 1.95848746e-04 9.97794130e-01 -8.58376340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.772791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.19, Y:-2.47, Z:-0.86 [[ 9.62846627e-01 2.62231031e-01 6.45078232e-02 2.11917200e+01] [-2.61623241e-01 9.65005074e-01 -1.78462099e-02 -2.46832576e+00] [-6.69302068e-02 3.06417280e-04 9.97757613e-01 -8.60055946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.22, Y:-2.48, Z:-0.86 [[ 9.62709772e-01 2.62735308e-01 6.44984673e-02 2.12231627e+01] [-2.62126387e-01 9.64867900e-01 -1.78799755e-02 -2.47668228e+00] [-6.69302015e-02 3.06476942e-04 9.97757613e-01 -8.61244679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.832791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.25, Y:-2.48, Z:-0.86 [[ 9.62964294e-01 2.61470948e-01 6.58233378e-02 2.12547918e+01] [-2.60831358e-01 9.65211248e-01 -1.82824929e-02 -2.48462210e+00] [-6.83137668e-02 4.36597294e-04 9.97663790e-01 -8.61566032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.29, Y:-2.49, Z:-0.86 [[ 9.63354516e-01 2.59737941e-01 6.69647566e-02 2.12864909e+01] [-2.59069469e-01 9.65678953e-01 -1.86324966e-02 -2.49154426e+00] [-6.95060224e-02 6.01175818e-04 9.97581351e-01 -8.62270804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.892791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.32, Y:-2.49, Z:-0.86 [[ 9.64009374e-01 2.57095228e-01 6.77345600e-02 2.13188591e+01] [-2.56402435e-01 9.66385715e-01 -1.88796461e-02 -2.49476209e+00] [-7.03115781e-02 8.32849721e-04 9.97524731e-01 -8.63009949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922791605 meters Centerline goodness [0,1] 0.9999504901475393 Centerline is valid? [True, True] Translation: X:21.35, Y:-2.50, Z:-0.87 [[ 9.64228230e-01 2.56096614e-01 6.83991503e-02 2.13501426e+01] [-2.55385281e-01 9.66650727e-01 -1.90979169e-02 -2.50244659e+00] [-7.10090002e-02 9.46614462e-04 9.97475226e-01 -8.65282739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952791605 meters Centerline goodness [0,1] 0.9999503648185835 Centerline is valid? [True, True] Translation: X:21.38, Y:-2.51, Z:-0.87 [[ 9.64658595e-01 2.54773844e-01 6.72613051e-02 2.13815143e+01] [-2.54080419e-01 9.67000086e-01 -1.88142277e-02 -2.51156909e+00] [-6.98350609e-02 1.05952595e-03 9.97557989e-01 -8.66928722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.41, Y:-2.52, Z:-0.87 [[ 9.64806102e-01 2.53992046e-01 6.80971808e-02 2.14126711e+01] [-2.53276831e-01 9.67205607e-01 -1.90830027e-02 -2.51880221e+00] [-7.07109060e-02 1.16395924e-03 9.97496172e-01 -8.67907056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.012791605 meters Centerline goodness [0,1] 0.9999504165013884 Centerline is valid? [True, True] Translation: X:21.44, Y:-2.53, Z:-0.87 [[ 9.64769405e-01 2.53936529e-01 6.88202999e-02 2.14437393e+01] [-2.53203534e-01 9.67220125e-01 -1.93184057e-02 -2.52657963e+00] [-7.14700280e-02 1.21226366e-03 9.97442011e-01 -8.68310598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.47, Y:-2.54, Z:-0.87 [[ 9.64655849e-01 2.53886825e-01 7.05731684e-02 2.14741705e+01] [-2.53113330e-01 9.67233085e-01 -1.98444126e-02 -2.53629847e+00] [-7.32989383e-02 1.28001900e-03 9.97309193e-01 -8.69861740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.072791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.50, Y:-2.55, Z:-0.87 [[ 9.64403457e-01 2.54283705e-01 7.25656167e-02 2.15049708e+01] [-2.53464326e-01 9.67128769e-01 -2.04396380e-02 -2.54615397e+00] [-7.53777625e-02 1.31926246e-03 9.97154177e-01 -8.71995819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102791605 meters Centerline goodness [0,1] 0.9999504214179474 Centerline is valid? [True, True] Translation: X:21.54, Y:-2.56, Z:-0.87 [[ 9.64389474e-01 2.54302909e-01 7.26840609e-02 2.15364274e+01] [-2.53478106e-01 9.67123670e-01 -2.05099344e-02 -2.55556112e+00] [-7.55102117e-02 1.35574680e-03 9.97144107e-01 -8.73882975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.132791605 meters Centerline goodness [0,1] 0.9999006852716258 Centerline is valid? [True, True] Translation: X:21.57, Y:-2.56, Z:-0.88 [[ 9.64112108e-01 2.55403701e-01 7.25037456e-02 2.15676872e+01] [-2.54583338e-01 9.66833623e-01 -2.04955952e-02 -2.56426790e+00] [-7.53337099e-02 1.30180595e-03 9.97157529e-01 -8.76297970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162791605 meters Centerline goodness [0,1] 0.9999008034917171 Centerline is valid? [True, True] Translation: X:21.60, Y:-2.57, Z:-0.88 [[ 9.63414825e-01 2.58236246e-01 7.17350421e-02 2.15981617e+01] [-2.57438523e-01 9.66081170e-01 -2.03120409e-02 -2.57456564e+00] [-7.45471786e-02 1.10155805e-03 9.97216879e-01 -8.77649883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.192791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.63, Y:-2.58, Z:-0.88 [[ 9.62946130e-01 2.59722255e-01 7.26574276e-02 2.16300857e+01] [-2.58905247e-01 9.65682804e-01 -2.06105485e-02 -2.58427734e+00] [-7.55170465e-02 1.03545865e-03 9.97143973e-01 -8.78954306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.66, Y:-2.59, Z:-0.88 [[ 9.62360970e-01 2.61466512e-01 7.41392327e-02 2.16611769e+01] [-2.60618000e-01 9.65212077e-01 -2.10690544e-02 -2.59349174e+00] [-7.70689349e-02 9.54017086e-04 9.97025310e-01 -8.79799007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.252791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.69, Y:-2.60, Z:-0.88 [[ 9.62138487e-01 2.62141768e-01 7.46406396e-02 2.16927344e+01] [-2.61280744e-01 9.65028913e-01 -2.12501652e-02 -2.60234538e+00] [-7.76009312e-02 9.43439994e-04 9.96984055e-01 -8.80667067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.72, Y:-2.61, Z:-0.88 [[ 9.61999749e-01 2.62412500e-01 7.54729242e-02 2.17236536e+01] [-2.61529905e-01 9.64955305e-01 -2.15260082e-02 -2.61057731e+00] [-7.84766922e-02 9.69587871e-04 9.96915477e-01 -8.82479389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.312791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.76, Y:-2.62, Z:-0.88 [[ 9.62299713e-01 2.62050724e-01 7.28606962e-02 2.17551180e+01] [-2.61224627e-01 9.65053586e-01 -2.08151688e-02 -2.61880340e+00] [-7.57691062e-02 9.97422789e-04 9.97124891e-01 -8.83401086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.342791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.79, Y:-2.63, Z:-0.89 [[ 9.61974961e-01 2.63420079e-01 7.22082836e-02 2.17855656e+01] [-2.62609997e-01 9.64680789e-01 -2.06631179e-02 -2.62783217e+00] [-7.51010242e-02 9.14784932e-04 9.97175511e-01 -8.86234744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.372791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.82, Y:-2.64, Z:-0.89 [[ 9.61801308e-01 2.63954022e-01 7.25707858e-02 2.18164627e+01] [-2.63134455e-01 9.64534831e-01 -2.08043047e-02 -2.63915072e+00] [-7.54884305e-02 9.13733225e-04 9.97146259e-01 -8.88454672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.85, Y:-2.65, Z:-0.89 [[ 9.61798642e-01 2.63978669e-01 7.25164431e-02 2.18481118e+01] [-2.63157386e-01 9.64528051e-01 -2.08285787e-02 -2.64852749e+00] [-7.54424439e-02 9.49661067e-04 9.97149706e-01 -8.89258494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.432791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.88, Y:-2.66, Z:-0.89 [[ 9.62149055e-01 2.62372882e-01 7.36862695e-02 2.18788922e+01] [-2.61517211e-01 9.64965903e-01 -2.12026973e-02 -2.65877071e+00] [-7.66677503e-02 1.12992748e-03 9.97056056e-01 -8.90696225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.91, Y:-2.67, Z:-0.89 [[ 9.62288513e-01 2.61681360e-01 7.43214839e-02 2.19095780e+01] [-2.60806026e-01 9.65153539e-01 -2.14210940e-02 -2.66810620e+00] [-7.73371442e-02 1.22978187e-03 9.97004240e-01 -8.91438192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.492791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.94, Y:-2.68, Z:-0.89 [[ 9.61995503e-01 2.62624196e-01 7.47875953e-02 2.19408417e+01] [-2.61737664e-01 9.64897453e-01 -2.15939870e-02 -2.67743801e+00] [-7.78334637e-02 1.19858793e-03 9.96965654e-01 -8.92928664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.97, Y:-2.69, Z:-0.90 [[ 9.61695528e-01 2.62939222e-01 7.74898540e-02 2.19718415e+01] [-2.61985123e-01 9.64811584e-01 -2.24143560e-02 -2.68564281e+00] [-8.06567221e-02 1.25459695e-03 9.96741150e-01 -8.96017035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.552791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.00, Y:-2.69, Z:-0.90 [[ 9.61669380e-01 2.62391527e-01 7.96410067e-02 2.20023621e+01] [-2.61378666e-01 9.64960518e-01 -2.30735938e-02 -2.69351550e+00] [-8.29047427e-02 1.37270854e-03 9.96556531e-01 -8.99498739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.03, Y:-2.70, Z:-0.90 [[ 9.61774978e-01 2.61762408e-01 8.04321621e-02 2.20328867e+01] [-2.60723977e-01 9.65131214e-01 -2.33398417e-02 -2.70270462e+00] [-8.37370834e-02 1.47708255e-03 9.96486788e-01 -9.00543907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.612791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.06, Y:-2.71, Z:-0.90 [[ 9.61887895e-01 2.61413384e-01 8.02167066e-02 2.20641687e+01] [-2.60375892e-01 9.65225705e-01 -2.33180842e-02 -2.71305247e+00] [-8.35228865e-02 1.54288640e-03 9.96504665e-01 -9.01282415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.09, Y:-2.72, Z:-0.90 [[ 9.62328996e-01 2.60060790e-01 7.93176435e-02 2.20946101e+01] [-2.59038354e-01 9.65590780e-01 -2.30992952e-02 -2.72490451e+00] [-8.25956062e-02 1.68280979e-03 9.96581725e-01 -9.04044919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.672791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.13, Y:-2.73, Z:-0.91 [[ 9.62371984e-01 2.59985159e-01 7.90435398e-02 2.21259552e+01] [-2.58966032e-01 9.65611072e-01 -2.30618989e-02 -2.73397770e+00] [-8.23210687e-02 1.72453352e-03 9.96604369e-01 -9.05067943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.16, Y:-2.74, Z:-0.91 [[ 9.62149720e-01 2.60796140e-01 7.90777422e-02 2.21584191e+01] [-2.59775338e-01 9.65392404e-01 -2.31145160e-02 -2.74222351e+00] [-8.23692282e-02 1.69717792e-03 9.96600436e-01 -9.06084707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.732791605 meters Centerline goodness [0,1] 0.9999504631693664 Centerline is valid? [True, True] Translation: X:22.19, Y:-2.75, Z:-0.91 [[ 9.62062475e-01 2.61526492e-01 7.77154243e-02 2.21888376e+01] [-2.60539862e-01 9.65194898e-01 -2.27549652e-02 -2.75140822e+00] [-8.09615573e-02 1.64373226e-03 9.96715869e-01 -9.07132905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.22, Y:-2.76, Z:-0.91 [[ 9.61824544e-01 2.62927139e-01 7.59135460e-02 2.22195457e+01] [-2.61987357e-01 9.64814488e-01 -2.22627314e-02 -2.76070354e+00] [-7.90959652e-02 1.52445220e-03 9.96865841e-01 -9.08178894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.792791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.25, Y:-2.77, Z:-0.91 [[ 9.61355121e-01 2.64854487e-01 7.51560555e-02 2.22500943e+01] [-2.63936503e-01 9.64287394e-01 -2.20758600e-02 -2.77090598e+00] [-7.83189275e-02 1.38631462e-03 9.96927391e-01 -9.10366949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.28, Y:-2.78, Z:-0.91 [[ 9.61139784e-01 2.65574863e-01 7.53678212e-02 2.22817152e+01] [-2.64650866e-01 9.64089269e-01 -2.21765600e-02 -2.78013301e+00] [-7.85508445e-02 1.36861489e-03 9.96909169e-01 -9.11364057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.852791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.31, Y:-2.79, Z:-0.91 [[ 9.61268238e-01 2.65189507e-01 7.50859545e-02 2.23133704e+01] [-2.64268049e-01 9.64195244e-01 -2.21343573e-02 -2.78852277e+00] [-7.82673195e-02 1.43423590e-03 9.96931377e-01 -9.12684285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.34, Y:-2.80, Z:-0.91 [[ 9.61668376e-01 2.64278572e-01 7.31489645e-02 2.23447483e+01] [-2.63399480e-01 9.64445230e-01 -2.15896161e-02 -2.79759735e+00] [-7.62538428e-02 1.49465190e-03 9.97087317e-01 -9.12696091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.912791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.37, Y:-2.81, Z:-0.91 [[ 9.62218970e-01 2.62761052e-01 7.13532286e-02 2.23749787e+01] [-2.61918679e-01 9.64859614e-01 -2.10839222e-02 -2.80720089e+00] [-7.43858821e-02 1.59860652e-03 9.97228251e-01 -9.14755229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.41, Y:-2.82, Z:-0.91 [[ 9.62671559e-01 2.61600939e-01 6.94868155e-02 2.24056029e+01] [-2.60796743e-01 9.65174669e-01 -2.05649391e-02 -2.81784365e+00] [-7.24467216e-02 1.67534680e-03 9.97370877e-01 -9.14741647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.972791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.44, Y:-2.83, Z:-0.92 [[ 9.63375012e-01 2.59303522e-01 6.83393689e-02 2.24361760e+01] [-2.58517647e-01 9.65794112e-01 -2.02573281e-02 -2.82835633e+00] [-7.12545566e-02 1.84847079e-03 9.97456451e-01 -9.16876627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.47, Y:-2.84, Z:-0.92 [[ 9.63680528e-01 2.58727556e-01 6.61807454e-02 2.24667504e+01] [-2.57987136e-01 9.65948544e-01 -1.96481098e-02 -2.83726689e+00] [-6.90107021e-02 1.86071991e-03 9.97614184e-01 -9.18231090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.032791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.50, Y:-2.85, Z:-0.92 [[ 9.63841812e-01 2.58549681e-01 6.45059970e-02 2.24972961e+01] [-2.57843905e-01 9.65996182e-01 -1.91806684e-02 -2.84605049e+00] [-6.72717025e-02 1.85465204e-03 9.97732969e-01 -9.19053601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.53, Y:-2.86, Z:-0.92 [[ 9.63467119e-01 2.60514032e-01 6.21574646e-02 2.25270751e+01] [-2.59860996e-01 9.65468596e-01 -1.85109117e-02 -2.85804256e+00] [-6.48334323e-02 1.68235414e-03 9.97894682e-01 -9.19811907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.092791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.56, Y:-2.87, Z:-0.92 [[ 9.63073185e-01 2.62429044e-01 6.01750582e-02 2.25573260e+01] [-2.61819022e-01 9.64950078e-01 -1.79484201e-02 -2.86925976e+00] [-6.27761139e-02 1.53066721e-03 9.98026461e-01 -9.19729613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.59, Y:-2.88, Z:-0.92 [[ 9.62432778e-01 2.65129486e-01 5.85619617e-02 2.25878058e+01] [-2.64555080e-01 9.64211879e-01 -1.74946208e-02 -2.87983909e+00] [-6.11044789e-02 1.34453200e-03 9.98130470e-01 -9.21948607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.152791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.62, Y:-2.89, Z:-0.92 [[ 9.62171012e-01 2.66191536e-01 5.80431778e-02 2.26187772e+01] [-2.65627531e-01 9.63919289e-01 -1.73671867e-02 -2.88854380e+00] [-6.05719367e-02 1.29233763e-03 9.98162998e-01 -9.22857204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.65, Y:-2.90, Z:-0.93 [[ 9.61775422e-01 2.67453836e-01 5.87918611e-02 2.26501689e+01] [-2.66875669e-01 9.63569854e-01 -1.76213925e-02 -2.89710727e+00] [-6.13629740e-02 1.25770493e-03 9.98114725e-01 -9.25305033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.212791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.68, Y:-2.91, Z:-0.93 [[ 9.61460537e-01 2.68125842e-01 6.08454442e-02 2.26810998e+01] [-2.67505807e-01 9.63383035e-01 -1.82694090e-02 -2.90667385e+00] [-6.35159694e-02 1.28880610e-03 9.97979990e-01 -9.27035526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.71, Y:-2.92, Z:-0.93 [[ 9.61370848e-01 2.68506329e-01 6.05841927e-02 2.27131673e+01] [-2.67890414e-01 9.63277059e-01 -1.82217982e-02 -2.91581716e+00] [-6.32520311e-02 1.28798117e-03 9.97996754e-01 -9.29253370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.272791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.74, Y:-2.92, Z:-0.93 [[ 9.61232845e-01 2.69215065e-01 5.96210188e-02 2.27441048e+01] [-2.68618037e-01 9.63079271e-01 -1.79629327e-02 -2.92319827e+00] [-6.22556594e-02 1.25127989e-03 9.98059451e-01 -9.29573553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.78, Y:-2.93, Z:-0.93 [[ 9.61219283e-01 2.69144941e-01 6.01538885e-02 2.27751637e+01] [-2.68535215e-01 9.63098813e-01 -1.81525459e-02 -2.93116369e+00] [-6.28198045e-02 1.29513971e-03 9.98024045e-01 -9.31583563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.332791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.81, Y:-2.94, Z:-0.93 [[ 9.61141144e-01 2.69070662e-01 6.17145046e-02 2.28056826e+01] [-2.68426812e-01 9.63119475e-01 -1.86526886e-02 -2.93949294e+00] [-6.44573325e-02 1.36203873e-03 9.97919534e-01 -9.33151662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.84, Y:-2.95, Z:-0.93 [[ 9.61902298e-01 2.65803840e-01 6.39709842e-02 2.28363425e+01] [-2.65102829e-01 9.64025694e-01 -1.93636470e-02 -2.94794765e+00] [-6.68166042e-02 1.66704768e-03 9.97763881e-01 -9.33876962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.392791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.87, Y:-2.96, Z:-0.94 [[ 9.62766434e-01 2.63365708e-01 6.09860422e-02 2.28687846e+01] [-2.62721939e-01 9.64694429e-01 -1.84889446e-02 -2.95584889e+00] [-6.37022492e-02 1.77816405e-03 9.97967365e-01 -9.35472680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.90, Y:-2.96, Z:-0.94 [[ 9.63080414e-01 2.62471727e-01 5.98724308e-02 2.29005943e+01] [-2.61847542e-01 9.64937939e-01 -1.81834528e-02 -2.96497426e+00] [-6.25458222e-02 1.83467843e-03 9.98040407e-01 -9.37087114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.452791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.93, Y:-2.97, Z:-0.94 [[ 9.62963330e-01 2.62808002e-01 6.02791771e-02 2.29323556e+01] [-2.62173887e-01 9.64846364e-01 -1.83397613e-02 -2.97445996e+00] [-6.29799808e-02 1.85689142e-03 9.98013063e-01 -9.40055158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.97, Y:-2.98, Z:-0.94 [[ 9.62840574e-01 2.63273724e-01 6.02077678e-02 2.29650020e+01] [-2.62639967e-01 9.64719390e-01 -1.83506338e-02 -2.98209511e+00] [-6.29148407e-02 1.85576863e-03 9.98017174e-01 -9.40216358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.512791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.00, Y:-2.99, Z:-0.94 [[ 9.62621071e-01 2.64294621e-01 5.92370340e-02 2.29964516e+01] [-2.63681221e-01 9.64440331e-01 -1.80848445e-02 -2.98943607e+00] [-6.19103118e-02 1.78915890e-03 9.98080113e-01 -9.41498980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.03, Y:-3.00, Z:-0.94 [[ 9.62185110e-01 2.65929273e-01 5.90037025e-02 2.30277332e+01] [-2.65322045e-01 9.63991036e-01 -1.80414799e-02 -2.99786206e+00] [-6.16767980e-02 1.70426024e-03 9.98094719e-01 -9.43421551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.572791605 meters Centerline goodness [0,1] 0.9999003686360466 Centerline is valid? [True, True] Translation: X:23.06, Y:-3.01, Z:-0.95 [[ 9.62023326e-01 2.66581395e-01 5.86982072e-02 2.30590917e+01] [-2.65979847e-01 9.63810941e-01 -1.79775256e-02 -3.00801489e+00] [-6.13664481e-02 1.68225882e-03 9.98113886e-01 -9.45853078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602791605 meters Centerline goodness [0,1] 0.9995528172513167 Centerline is valid? [True, True] Translation: X:23.09, Y:-3.02, Z:-0.95 [[ 9.62012790e-01 2.66536035e-01 5.90756719e-02 2.30898640e+01] [-2.65924733e-01 9.63823409e-01 -1.81237923e-02 -3.01716897e+00] [-6.17691592e-02 1.72563765e-03 9.98088971e-01 -9.46883963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.632791605 meters Centerline goodness [0,1] 0.9995527283570221 Centerline is valid? [True, True] Translation: X:23.12, Y:-3.03, Z:-0.95 [[ 9.62033860e-01 2.66248140e-01 6.00231604e-02 2.31213469e+01] [-2.65614680e-01 9.63902842e-01 -1.84432640e-02 -3.02553365e+00] [-6.27669796e-02 1.80001196e-03 9.98026586e-01 -9.47239545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662791605 meters Centerline goodness [0,1] 0.9996521393430403 Centerline is valid? [True, True] Translation: X:23.15, Y:-3.03, Z:-0.95 [[ 9.62236200e-01 2.65576290e-01 5.97555882e-02 2.31522781e+01] [-2.64945413e-01 9.64088048e-01 -1.83892321e-02 -3.03475349e+00] [-6.24933925e-02 1.86281576e-03 9.98043639e-01 -9.48440512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.692791605 meters Centerline goodness [0,1] 0.9996521393430403 Centerline is valid? [True, True] Translation: X:23.18, Y:-3.04, Z:-0.95 [[ 9.62105729e-01 2.66050447e-01 5.97471811e-02 2.31834673e+01] [-2.65418790e-01 9.63957311e-01 -1.84165157e-02 -3.04401925e+00] [-6.24934543e-02 1.86061077e-03 9.98043639e-01 -9.49629660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722791605 meters Centerline goodness [0,1] 0.9996523811888564 Centerline is valid? [True, True] Translation: X:23.21, Y:-3.05, Z:-0.95 [[ 9.62880301e-01 2.63585865e-01 5.81723117e-02 2.32137041e+01] [-2.62980832e-01 9.64633874e-01 -1.79602936e-02 -3.05385544e+00] [-6.08490619e-02 1.99540994e-03 9.98144984e-01 -9.52370968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.752791605 meters Centerline goodness [0,1] 0.9996025832091406 Centerline is valid? [True, True] Translation: X:23.25, Y:-3.06, Z:-0.95 [[ 9.63016855e-01 2.63214759e-01 5.75892980e-02 2.32458388e+01] [-2.62619432e-01 9.64735138e-01 -1.78086455e-02 -3.06318156e+00] [-6.02459177e-02 2.02595704e-03 9.98181509e-01 -9.53384810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782791605 meters Centerline goodness [0,1] 0.9995022151426154 Centerline is valid? [True, True] Translation: X:23.28, Y:-3.07, Z:-0.95 [[ 9.62722581e-01 2.64776015e-01 5.53072629e-02 2.32763887e+01] [-2.64227953e-01 9.64308112e-01 -1.71305215e-02 -3.07279475e+00] [-5.78689934e-02 1.87821505e-03 9.98322419e-01 -9.53939310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.812791605 meters Centerline goodness [0,1] 0.9995032783628055 Centerline is valid? [True, True] Translation: X:23.31, Y:-3.08, Z:-0.96 [[ 9.62414195e-01 2.65402429e-01 5.76235105e-02 2.33060686e+01] [-2.64806934e-01 9.64135764e-01 -1.78750111e-02 -3.08407361e+00] [-6.03009587e-02 1.94405928e-03 9.98178348e-01 -9.55822453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842791605000002 meters Centerline goodness [0,1] 0.9996007187063286 Centerline is valid? [True, True] Translation: X:23.34, Y:-3.10, Z:-0.96 [[ 9.62313549e-01 2.65770733e-01 5.76068599e-02 2.33363355e+01] [-2.65175086e-01 9.64034314e-01 -1.78889745e-02 -3.09671299e+00] [-6.02893555e-02 1.93889848e-03 9.98179059e-01 -9.57106760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.872791605 meters Centerline goodness [0,1] 0.9992546583850932 Centerline is valid? [True, True] Translation: X:23.37, Y:-3.11, Z:-0.96 [[ 9.62074424e-01 2.66052165e-01 6.02415761e-02 2.33657275e+01] [-2.65400123e-01 9.63956501e-01 -1.87253372e-02 -3.11065084e+00] [-6.30521755e-02 2.02704630e-03 9.98008173e-01 -9.59091549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902791605 meters Centerline goodness [0,1] 0.9993542297948438 Centerline is valid? [True, True] Translation: X:23.40, Y:-3.12, Z:-0.96 [[ 9.62114635e-01 2.66165648e-01 5.90870247e-02 2.33961896e+01] [-2.65536885e-01 9.63925214e-01 -1.83941588e-02 -3.12153366e+00] [-6.18513661e-02 2.00750487e-03 9.98083352e-01 -9.59413706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.932791605000002 meters Centerline goodness [0,1] 0.9996021879661859 Centerline is valid? [True, True] Translation: X:23.43, Y:-3.13, Z:-0.96 [[ 9.61913508e-01 2.66635940e-01 6.02302185e-02 2.34259306e+01] [-2.65981670e-01 9.63795154e-01 -1.87790452e-02 -3.13451077e+00] [-6.30567611e-02 2.04368315e-03 9.98007850e-01 -9.62052623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.962791605 meters Centerline goodness [0,1] 0.9996517412935323 Centerline is valid? [True, True] Translation: X:23.46, Y:-3.15, Z:-0.96 [[ 9.61952802e-01 2.66775765e-01 5.89703172e-02 2.34559828e+01] [-2.66147158e-01 9.63756513e-01 -1.84139585e-02 -3.14600131e+00] [-6.17454252e-02 2.01857668e-03 9.98089890e-01 -9.63127589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.992791605 meters Centerline goodness [0,1] 0.9993049004518147 Centerline is valid? [True, True] Translation: X:23.49, Y:-3.16, Z:-0.96 [[ 9.61806142e-01 2.67430938e-01 5.83921126e-02 2.34855442e+01] [-2.66814130e-01 9.63574989e-01 -1.82609284e-02 -3.15865622e+00] [-6.11487164e-02 1.98363237e-03 9.98126695e-01 -9.64140283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022791605000002 meters Centerline goodness [0,1] 0.9991048338969565 Centerline is valid? [True, True] Translation: X:23.52, Y:-3.17, Z:-0.97 [[ 9.61707191e-01 2.68147622e-01 5.67109527e-02 2.35152541e+01] [-2.67565529e-01 9.63375946e-01 -1.77615782e-02 -3.17273792e+00] [-5.93966927e-02 1.90754144e-03 9.98232635e-01 -9.65472032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.052791605 meters Centerline goodness [0,1] 0.9994036674452119 Centerline is valid? [True, True] Translation: X:23.54, Y:-3.19, Z:-0.97 [[ 9.61258186e-01 2.69186788e-01 5.93394760e-02 2.35448822e+01] [-2.68549596e-01 9.63086000e-01 -1.86137383e-02 -3.18584904e+00] [-6.21595910e-02 1.95701597e-03 9.98064304e-01 -9.67917075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.082791605 meters Centerline goodness [0,1] 0.9993542297948438 Centerline is valid? [True, True] Translation: X:23.57, Y:-3.20, Z:-0.97 [[ 9.60737179e-01 2.71043558e-01 5.93250580e-02 2.35747829e+01] [-2.70408455e-01 9.62565279e-01 -1.86373423e-02 -3.19792307e+00] [-6.21557726e-02 1.86359041e-03 9.98064721e-01 -9.69101617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.112791605 meters Centerline goodness [0,1] 0.9992042572238524 Centerline is valid? [True, True] Translation: X:23.60, Y:-3.21, Z:-0.97 [[ 9.60268333e-01 2.72624214e-01 5.96721544e-02 2.36045813e+01] [-2.71982900e-01 9.62118912e-01 -1.87750264e-02 -3.20985128e+00] [-6.25302351e-02 1.79925779e-03 9.98041448e-01 -9.69792834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.142791605 meters Centerline goodness [0,1] 0.9989547558608332 Centerline is valid? [True, True] Translation: X:23.63, Y:-3.22, Z:-0.97 [[ 9.59288297e-01 2.76441861e-01 5.78434120e-02 2.36339138e+01] [-2.75844551e-01 9.61029427e-01 -1.82270298e-02 -3.22315364e+00] [-6.06279351e-02 1.52918634e-03 9.98159263e-01 -9.69625172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.172791605 meters Centerline goodness [0,1] 0.9989543915554671 Centerline is valid? [True, True] Translation: X:23.66, Y:-3.23, Z:-0.97 [[ 9.58776141e-01 2.78579845e-01 5.60498117e-02 2.36646082e+01] [-2.78021120e-01 9.60412086e-01 -1.76884425e-02 -3.23372031e+00] [-5.87585602e-02 1.37622524e-03 9.98271275e-01 -9.69486663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202791605 meters Centerline goodness [0,1] 0.9985079080871382 Centerline is valid? [True, True] Translation: X:23.69, Y:-3.25, Z:-0.97 [[ 9.58017650e-01 2.81384661e-01 5.49986799e-02 2.36943526e+01] [-2.80849798e-01 9.59594297e-01 -1.73831881e-02 -3.24554712e+00] [-5.76677821e-02 1.20703288e-03 9.98335099e-01 -9.71871402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.232791605 meters Centerline goodness [0,1] 0.9986062717770035 Centerline is valid? [True, True] Translation: X:23.73, Y:-3.26, Z:-0.97 [[ 9.57993267e-01 2.81615957e-01 5.42342472e-02 2.37254871e+01] [-2.81094664e-01 9.59526448e-01 -1.71692930e-02 -3.25630975e+00] [-5.68743415e-02 1.20310957e-03 9.98380620e-01 -9.73860511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262791605 meters Centerline goodness [0,1] 0.9985520271619732 Centerline is valid? [True, True] Translation: X:23.76, Y:-3.27, Z:-0.98 [[ 9.57786773e-01 2.82160768e-01 5.50436128e-02 2.37568549e+01] [-2.81622874e-01 9.59366362e-01 -1.74567982e-02 -3.26716145e+00] [-5.77326142e-02 1.21834995e-03 9.98331338e-01 -9.75989458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.292791605 meters Centerline goodness [0,1] 0.9988079272835643 Centerline is valid? [True, True] Translation: X:23.79, Y:-3.28, Z:-0.98 [[ 9.57948139e-01 2.81731366e-01 5.44316128e-02 2.37881464e+01] [-2.81202943e-01 9.59492496e-01 -1.72931832e-02 -3.27646273e+00] [-5.70987561e-02 1.25964293e-03 9.98367741e-01 -9.76304118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322791605 meters Centerline goodness [0,1] 0.9989065606361829 Centerline is valid? [True, True] Translation: X:23.82, Y:-3.29, Z:-0.98 [[ 9.57944727e-01 2.81689930e-01 5.47054172e-02 2.38194758e+01] [-2.81154329e-01 9.59504611e-01 -1.74110660e-02 -3.28634047e+00] [-5.73946220e-02 1.29817402e-03 9.98350726e-01 -9.77324181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.352791605 meters Centerline goodness [0,1] 0.9986089721297631 Centerline is valid? [True, True] Translation: X:23.85, Y:-3.30, Z:-0.98 [[ 9.57897627e-01 2.81488880e-01 5.65344785e-02 2.38498975e+01] [-2.80914650e-01 9.59563492e-01 -1.80239833e-02 -3.29773686e+00] [-5.93219724e-02 1.38376758e-03 9.98237942e-01 -9.78195446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382791605 meters Centerline goodness [0,1] 0.9987572699706716 Centerline is valid? [True, True] Translation: X:23.88, Y:-3.31, Z:-0.98 [[ 9.57808899e-01 2.81726022e-01 5.68556209e-02 2.38809861e+01] [-2.81143902e-01 9.59493863e-01 -1.81557898e-02 -3.30817145e+00] [-5.96675777e-02 1.40516592e-03 9.98217314e-01 -9.78749624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.412791605 meters Centerline goodness [0,1] 0.9989065062875888 Centerline is valid? [True, True] Translation: X:23.91, Y:-3.32, Z:-0.98 [[ 9.57912930e-01 2.82094549e-01 5.31552818e-02 2.39119718e+01] [-2.81584854e-01 9.59385704e-01 -1.70012218e-02 -3.31773946e+00] [-5.57923694e-02 1.31796793e-03 9.98441523e-01 -9.79241694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442791605 meters Centerline goodness [0,1] 0.9990553373440063 Centerline is valid? [True, True] Translation: X:23.94, Y:-3.33, Z:-0.98 [[ 9.57841402e-01 2.82306755e-01 5.33173980e-02 2.39432019e+01] [-2.81792734e-01 9.59323257e-01 -1.70805036e-02 -3.32824332e+00] [-5.59705615e-02 1.33595816e-03 9.98431526e-01 -9.80759434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.472791605 meters Centerline goodness [0,1] 0.9987564663748508 Centerline is valid? [True, True] Translation: X:23.97, Y:-3.34, Z:-0.98 [[ 9.57329811e-01 2.84231180e-01 5.22711204e-02 2.39738682e+01] [-2.83738498e-01 9.58754991e-01 -1.67729415e-02 -3.33898340e+00] [-5.48825905e-02 1.22590772e-03 9.98492062e-01 -9.81655628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502791605 meters Centerline goodness [0,1] 0.9986075886419017 Centerline is valid? [True, True] Translation: X:24.00, Y:-3.35, Z:-0.98 [[ 9.56611401e-01 2.86495392e-01 5.30567419e-02 2.40041331e+01] [-2.85989778e-01 9.58080944e-01 -1.70514216e-02 -3.35081693e+00] [-5.57178071e-02 1.13789847e-03 9.98445908e-01 -9.83876102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.532791605 meters Centerline goodness [0,1] 0.9981080408264874 Centerline is valid? [True, True] Translation: X:24.04, Y:-3.36, Z:-0.99 [[ 9.56180819e-01 2.87583432e-01 5.49000050e-02 2.40351246e+01] [-2.87042232e-01 9.57754913e-01 -1.76715495e-02 -3.36030768e+00] [-5.76627944e-02 1.13857668e-03 9.98335468e-01 -9.85204523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562791605 meters Centerline goodness [0,1] 0.9987592436349199 Centerline is valid? [True, True] Translation: X:24.07, Y:-3.37, Z:-0.99 [[ 9.55746953e-01 2.88819541e-01 5.59556423e-02 2.40670123e+01] [-2.88257674e-01 9.57382909e-01 -1.80410567e-02 -3.36990120e+00] [-5.87815853e-02 1.11304175e-03 9.98270247e-01 -9.86055291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.592791605000002 meters Centerline goodness [0,1] 0.9985079822947233 Centerline is valid? [True, True] Translation: X:24.10, Y:-3.38, Z:-0.99 [[ 9.56005051e-01 2.88094121e-01 5.52821892e-02 2.40986399e+01] [-2.87542685e-01 9.57601379e-01 -1.78550817e-02 -3.37950999e+00] [-5.80822447e-02 1.17355913e-03 9.98311112e-01 -9.86344577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622791605 meters Centerline goodness [0,1] 0.9986072423398329 Centerline is valid? [True, True] Translation: X:24.13, Y:-3.39, Z:-0.99 [[ 9.55794851e-01 2.88873936e-01 5.48457106e-02 2.41304586e+01] [-2.88330684e-01 9.57366458e-01 -1.77449383e-02 -3.38913588e+00] [-5.76334938e-02 1.14681939e-03 9.98337150e-01 -9.87452693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.652791605 meters Centerline goodness [0,1] 0.9984500774961252 Centerline is valid? [True, True] Translation: X:24.16, Y:-3.39, Z:-0.99 [[ 9.56673796e-01 2.86126770e-01 5.39139992e-02 2.41621841e+01] [-2.85595837e-01 9.58190866e-01 -1.74723407e-02 -3.39451863e+00] [-5.66592060e-02 1.31771680e-03 9.98392707e-01 -9.89572308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682791605000002 meters Centerline goodness [0,1] 0.9990566974481183 Centerline is valid? [True, True] Translation: X:24.19, Y:-3.40, Z:-0.99 [[ 9.58142733e-01 2.80969379e-01 5.49428024e-02 2.41931608e+01] [-2.80408311e-01 9.59715274e-01 -1.78261528e-02 -3.40377790e+00] [-5.77380498e-02 1.67358031e-03 9.98330365e-01 -9.92419486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.712791605 meters Centerline goodness [0,1] 0.9990063099319322 Centerline is valid? [True, True] Translation: X:24.22, Y:-3.41, Z:-0.99 [[ 9.58741557e-01 2.78749677e-01 5.57964634e-02 2.42234111e+01] [-2.78166378e-01 9.60362013e-01 -1.81182530e-02 -3.41434102e+00] [-5.86352611e-02 1.85002194e-03 9.98277759e-01 -9.93732547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742791605 meters Centerline goodness [0,1] 0.9990572123257083 Centerline is valid? [True, True] Translation: X:24.25, Y:-3.42, Z:-0.99 [[ 9.59232548e-01 2.76682821e-01 5.76154040e-02 2.42539125e+01] [-2.76055401e-01 9.60959073e-01 -1.87370284e-02 -3.42436450e+00] [-6.05502591e-02 2.06812402e-03 9.98163007e-01 -9.94799203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.772791605000002 meters Centerline goodness [0,1] 0.9995520159283225 Centerline is valid? [True, True] Translation: X:24.29, Y:-3.43, Z:-0.99 [[ 9.60544624e-01 2.71981367e-01 5.81391581e-02 2.42850856e+01] [-2.71332666e-01 9.62299512e-01 -1.89270590e-02 -3.43300929e+00] [-6.10950909e-02 2.40523205e-03 9.98129052e-01 -9.94578730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.802791605 meters Centerline goodness [0,1] 0.9994529268413985 Centerline is valid? [True, True] Translation: X:24.32, Y:-3.44, Z:-1.00 [[ 9.61326735e-01 2.69038534e-01 5.88997066e-02 2.43155972e+01] [-2.68366719e-01 9.63125811e-01 -1.91826866e-02 -3.44227430e+00] [-6.18887096e-02 2.63410847e-03 9.98079581e-01 -9.96078557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.832791605 meters Centerline goodness [0,1] 0.9998012916045703 Centerline is valid? [True, True] Translation: X:24.35, Y:-3.45, Z:-1.00 [[ 9.62563805e-01 2.64749984e-01 5.81237279e-02 2.43454607e+01] [-2.64087495e-01 9.64312790e-01 -1.89377236e-02 -3.45440198e+00] [-6.10632162e-02 2.87901754e-03 9.98129749e-01 -9.97626421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.38, Y:-3.47, Z:-1.00 [[ 9.63280743e-01 2.62549625e-01 5.61952297e-02 2.43757006e+01] [-2.61925823e-01 9.64914036e-01 -1.83239086e-02 -3.46515040e+00] [-5.90345012e-02 2.93208650e-03 9.98251637e-01 -9.98529026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.892791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.41, Y:-3.48, Z:-1.00 [[ 9.64214654e-01 2.59733529e-01 5.31845275e-02 2.44057491e+01] [-2.59169231e-01 9.65675788e-01 -1.73661465e-02 -3.47660492e+00] [-5.58695810e-02 2.96089987e-03 9.98433685e-01 -1.00079741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922791605 meters Centerline goodness [0,1] 0.9999502734957733 Centerline is valid? [True, True] Translation: X:24.44, Y:-3.49, Z:-1.00 [[ 9.64277772e-01 2.59464243e-01 5.33543395e-02 2.44353867e+01] [-2.58894563e-01 9.65748026e-01 -1.74457825e-02 -3.48769286e+00] [-5.60534048e-02 3.00943186e-03 9.98423236e-01 -1.00200124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.952791605 meters Centerline goodness [0,1] 0.9998509909104455 Centerline is valid? [True, True] Translation: X:24.46, Y:-3.50, Z:-1.00 [[ 9.64344312e-01 2.59021673e-01 5.42938354e-02 2.44639063e+01] [-2.58429891e-01 9.65866509e-01 -1.77729868e-02 -3.50239556e+00] [-5.70441860e-02 3.10812875e-03 9.98366817e-01 -1.00270092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.982791605 meters Centerline goodness [0,1] 0.9999503524972694 Centerline is valid? [True, True] Translation: X:24.49, Y:-3.51, Z:-1.00 [[ 9.64224460e-01 2.59278071e-01 5.51912357e-02 2.44943301e+01] [-2.58665905e-01 9.65797538e-01 -1.80849389e-02 -3.51415110e+00] [-5.79925876e-02 3.16184955e-03 9.98312007e-01 -1.00382474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.012791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.52, Y:-3.53, Z:-1.00 [[ 9.64080460e-01 2.59777269e-01 5.53591611e-02 2.45247739e+01] [-2.59160625e-01 9.65663367e-01 -1.81667788e-02 -3.52592450e+00] [-5.81776301e-02 3.16732167e-03 9.98301223e-01 -1.00449893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042791605 meters Centerline goodness [0,1] 0.9999005717126522 Centerline is valid? [True, True] Translation: X:24.55, Y:-3.54, Z:-1.01 [[ 9.64027685e-01 2.60273503e-01 5.39289068e-02 2.45535454e+01] [-2.59687604e-01 9.65530013e-01 -1.77240470e-02 -3.54106757e+00] [-5.66830779e-02 3.08180338e-03 9.98387465e-01 -1.00506524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.072791605 meters Centerline goodness [0,1] 0.9999502809128424 Centerline is valid? [True, True] Translation: X:24.58, Y:-3.55, Z:-1.01 [[ 9.63947683e-01 2.60798682e-01 5.28101479e-02 2.45831946e+01] [-2.60236311e-01 9.65388514e-01 -1.73804397e-02 -3.55463225e+00] [-5.55151060e-02 3.01071649e-03 9.98453308e-01 -1.00676188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.61, Y:-3.57, Z:-1.01 [[ 9.63639123e-01 2.62403453e-01 5.04387540e-02 2.46102538e+01] [-2.61891657e-01 9.64954173e-01 -1.66193665e-02 -3.57426601e+00] [-5.30320654e-02 2.80558285e-03 9.98588869e-01 -1.00813619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.132791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.64, Y:-3.59, Z:-1.01 [[ 9.63043414e-01 2.64405361e-01 5.13535512e-02 2.46403776e+01] [-2.63876742e-01 9.64407686e-01 -1.69375631e-02 -3.58520915e+00] [-5.40041420e-02 2.76060077e-03 9.98536896e-01 -1.01081959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.67, Y:-3.60, Z:-1.01 [[ 9.61977814e-01 2.68469028e-01 5.02301403e-02 2.46696935e+01] [-2.67967894e-01 9.63285089e-01 -1.65845157e-02 -3.59844744e+00] [-5.28383740e-02 2.49387123e-03 9.98599963e-01 -1.01167324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.192791605 meters Centerline goodness [0,1] 0.9999004727544165 Centerline is valid? [True, True] Translation: X:24.70, Y:-3.61, Z:-1.01 [[ 9.61105198e-01 2.71344528e-01 5.14679072e-02 2.46995998e+01] [-2.70821853e-01 9.62479280e-01 -1.70046978e-02 -3.61092281e+00] [-5.41509260e-02 2.40466948e-03 9.98529867e-01 -1.01212380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.73, Y:-3.62, Z:-1.01 [[ 9.60039027e-01 2.74828530e-01 5.28615684e-02 2.47287651e+01] [-2.74280979e-01 9.61490521e-01 -1.74906267e-02 -3.62382279e+00] [-5.56328202e-02 2.29276151e-03 9.98448663e-01 -1.01373605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.252791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.76, Y:-3.64, Z:-1.02 [[ 9.58629685e-01 2.79442825e-01 5.42294644e-02 2.47571676e+01] [-2.78872395e-01 9.60160031e-01 -1.79694703e-02 -3.64067890e+00] [-5.70904037e-02 2.10296700e-03 9.98366798e-01 -1.01500818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.79, Y:-3.66, Z:-1.02 [[ 9.57870469e-01 2.82225493e-01 5.32253387e-02 2.47861252e+01] [-2.81679203e-01 9.59346176e-01 -1.76561949e-02 -3.65685247e+00] [-5.60445535e-02 1.91987669e-03 9.98426423e-01 -1.01890640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.312791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.82, Y:-3.67, Z:-1.02 [[ 9.57548050e-01 2.83311129e-01 5.32591327e-02 2.48164425e+01] [-2.82765300e-01 9.59026235e-01 -1.76766744e-02 -3.66909881e+00] [-5.60849041e-02 1.86643049e-03 9.98424259e-01 -1.02097589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.85, Y:-3.68, Z:-1.02 [[ 9.57027552e-01 2.85130703e-01 5.29031836e-02 2.48464082e+01] [-2.84594091e-01 9.58487025e-01 -1.75734749e-02 -3.67978829e+00] [-5.57177523e-02 1.76236620e-03 9.98445004e-01 -1.02137391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.372791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.88, Y:-3.69, Z:-1.02 [[ 9.55505749e-01 2.89440564e-01 5.68588052e-02 2.48762231e+01] [-2.88826772e-01 9.57194570e-01 -1.89116768e-02 -3.69093983e+00] [-5.98987460e-02 1.64787070e-03 9.98203098e-01 -1.02121669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.91, Y:-3.70, Z:-1.02 [[ 9.54660918e-01 2.92325997e-01 5.62853723e-02 2.49068687e+01] [-2.91728345e-01 9.56317597e-01 -1.87410228e-02 -3.70094906e+00] [-5.93051802e-02 1.47128353e-03 9.98238815e-01 -1.02171728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.432791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.94, Y:-3.71, Z:-1.02 [[ 9.53412444e-01 2.96932668e-01 5.32513107e-02 2.49367007e+01] [-2.96403932e-01 9.54897741e-01 -1.77486092e-02 -3.71111167e+00] [-5.61196981e-02 1.13784696e-03 9.98423400e-01 -1.02310575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.97, Y:-3.72, Z:-1.02 [[ 9.53050586e-01 2.98434584e-01 5.12969720e-02 2.49670760e+01] [-2.97945551e-01 9.54429545e-01 -1.71082664e-02 -3.72219320e+00] [-5.40650440e-02 1.02133877e-03 9.98536894e-01 -1.02456076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.492791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.00, Y:-3.73, Z:-1.03 [[ 9.53404378e-01 2.97506904e-01 5.00972406e-02 2.49983217e+01] [-2.97037816e-01 9.54719063e-01 -1.67346219e-02 -3.73133550e+00] [-5.28074561e-02 1.07408690e-03 9.98604135e-01 -1.02620296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.03, Y:-3.74, Z:-1.03 [[ 9.53785464e-01 2.96056938e-01 5.14157370e-02 2.50292297e+01] [-2.95559151e-01 9.55169524e-01 -1.72037442e-02 -3.73880447e+00] [-5.42040329e-02 1.21228960e-03 9.98529145e-01 -1.02723715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.552791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.06, Y:-3.75, Z:-1.03 [[ 9.53967770e-01 2.95131980e-01 5.33161221e-02 2.50606430e+01] [-2.94593763e-01 9.55455560e-01 -1.78658275e-02 -3.74725319e+00] [-5.62139623e-02 1.33682664e-03 9.98417850e-01 -1.02881067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.09, Y:-3.76, Z:-1.03 [[ 9.54943398e-01 2.91739898e-01 5.45063121e-02 2.50912269e+01] [-2.91170246e-01 9.56496357e-01 -1.82922861e-02 -3.75734997e+00] [-5.74716786e-02 1.59748154e-03 9.98345859e-01 -1.03053983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.612791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.12, Y:-3.77, Z:-1.03 [[ 9.55045473e-01 2.91549439e-01 5.37314441e-02 2.51229121e+01] [-2.90994005e-01 9.56554402e-01 -1.80600489e-02 -3.76671268e+00] [-5.66624465e-02 1.61263987e-03 9.98392091e-01 -1.03193997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.642791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.15, Y:-3.78, Z:-1.03 [[ 9.54896415e-01 2.92038980e-01 5.37221652e-02 2.51537909e+01] [-2.91482770e-01 9.56405057e-01 -1.80876165e-02 -3.77676951e+00] [-5.66624396e-02 1.61271461e-03 9.98392091e-01 -1.03312885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.672791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.19, Y:-3.78, Z:-1.03 [[ 9.55133173e-01 2.91485921e-01 5.25031445e-02 2.51864933e+01] [-2.90952220e-01 9.56573719e-01 -1.77066557e-02 -3.78443519e+00] [-5.53843690e-02 1.63630782e-03 9.98463767e-01 -1.03332872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702791605 meters Centerline goodness [0,1] 0.9999503377036154 Centerline is valid? [True, True] Translation: X:25.22, Y:-3.79, Z:-1.04 [[ 9.54858368e-01 2.92279297e-01 5.30877562e-02 2.52182194e+01] [-2.91733148e-01 9.56331601e-01 -1.79342879e-02 -3.79421456e+00] [-5.60113200e-02 1.63724665e-03 9.98428791e-01 -1.03620063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.732791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.25, Y:-3.81, Z:-1.04 [[ 9.54625206e-01 2.93369283e-01 5.12365080e-02 2.52479644e+01] [-2.92860681e-01 9.55997949e-01 -1.73361789e-02 -3.80683088e+00] [-5.40678989e-02 1.54439470e-03 9.98536067e-01 -1.03695907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.762791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.28, Y:-3.82, Z:-1.04 [[ 9.54598999e-01 2.93495858e-01 5.09993324e-02 2.52792779e+01] [-2.92990713e-01 9.55959080e-01 -1.72823584e-02 -3.81697963e+00] [-5.38255755e-02 1.55539127e-03 9.98549142e-01 -1.03766462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.792791605 meters Centerline goodness [0,1] 0.9999502388535032 Centerline is valid? [True, True] Translation: X:25.31, Y:-3.83, Z:-1.04 [[ 9.54140126e-01 2.95053684e-01 5.05958936e-02 2.53098472e+01] [-2.94557216e-01 9.55479527e-01 -1.71732416e-02 -3.82591551e+00] [-5.34103687e-02 1.48229337e-03 9.98571547e-01 -1.03857310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.822791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.34, Y:-3.83, Z:-1.04 [[ 9.53690626e-01 2.96290939e-01 5.18253844e-02 2.53421561e+01] [-2.95770344e-01 9.55096596e-01 -1.76180649e-02 -3.83377345e+00] [-5.47183212e-02 1.47377160e-03 9.98500743e-01 -1.03972008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.852791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.37, Y:-3.84, Z:-1.04 [[ 9.53431267e-01 2.97214227e-01 5.13081128e-02 2.53726501e+01] [-2.96703801e-01 9.54809745e-01 -1.74701408e-02 -3.84354610e+00] [-5.41818604e-02 1.43326641e-03 9.98530056e-01 -1.04094633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.40, Y:-3.85, Z:-1.04 [[ 9.53382265e-01 2.97226451e-01 5.21411011e-02 2.54039297e+01] [-2.96697858e-01 9.54805867e-01 -1.77802736e-02 -3.85272100e+00] [-5.50693969e-02 1.48124450e-03 9.98481431e-01 -1.04282578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.912791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.44, Y:-3.86, Z:-1.04 [[ 9.53526986e-01 2.96941908e-01 5.11056712e-02 2.54352044e+01] [-2.96432280e-01 9.54894378e-01 -1.74536429e-02 -3.86159340e+00] [-5.39832362e-02 1.49314885e-03 9.98540726e-01 -1.04402129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.47, Y:-3.87, Z:-1.04 [[ 9.54013598e-01 2.95460728e-01 5.06064460e-02 2.54665100e+01] [-2.94957464e-01 9.55353567e-01 -1.73106144e-02 -3.87009455e+00] [-5.34616554e-02 1.58781257e-03 9.98568641e-01 -1.04495684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.972791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.50, Y:-3.88, Z:-1.04 [[ 9.54151048e-01 2.95076118e-01 5.02579480e-02 2.54986582e+01] [-2.94577858e-01 9.55472370e-01 -1.72172892e-02 -3.87844771e+00] [-5.31004915e-02 1.62301586e-03 9.98587855e-01 -1.04477194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.53, Y:-3.89, Z:-1.05 [[ 9.53958943e-01 2.95339375e-01 5.23162306e-02 2.55288540e+01] [-2.94798241e-01 9.55390892e-01 -1.79510510e-02 -3.88785694e+00] [-5.52841024e-02 1.70183294e-03 9.98469214e-01 -1.04618077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.032791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.56, Y:-3.90, Z:-1.05 [[ 9.53947680e-01 2.95386429e-01 5.22559273e-02 2.55604018e+01] [-2.94845181e-01 9.55376310e-01 -1.79562361e-02 -3.89799439e+00] [-5.52281034e-02 1.72190142e-03 9.98472279e-01 -1.04715950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.59, Y:-3.91, Z:-1.05 [[ 9.53362446e-01 2.97016137e-01 5.36792453e-02 2.55917737e+01] [-2.96445788e-01 9.54870943e-01 -1.84763737e-02 -3.90650764e+00] [-5.67445328e-02 1.70169464e-03 9.98387281e-01 -1.04980995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.092791605000002 meters Centerline goodness [0,1] 0.9999502561806696 Centerline is valid? [True, True] Translation: X:25.62, Y:-3.92, Z:-1.05 [[ 9.52945581e-01 2.98401909e-01 5.33949493e-02 2.56232917e+01] [-2.97838123e-01 9.54438901e-01 -1.84075014e-02 -3.91507950e+00] [-5.64550504e-02 1.63829564e-03 9.98403798e-01 -1.05088508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.65, Y:-3.92, Z:-1.05 [[ 9.51527404e-01 3.02512425e-01 5.55142521e-02 2.56546306e+01] [-3.01908269e-01 9.53144297e-01 -1.91662752e-02 -3.92391078e+00] [-5.87111292e-02 1.47702427e-03 9.98273921e-01 -1.05222033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.152791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.69, Y:-3.93, Z:-1.05 [[ 9.50761793e-01 3.04946510e-01 5.53140031e-02 2.56852692e+01] [-3.04349211e-01 9.52368526e-01 -1.91245678e-02 -3.93499322e+00] [-5.85112858e-02 1.34813515e-03 9.98285837e-01 -1.05259885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.72, Y:-3.95, Z:-1.05 [[ 9.49875153e-01 3.07732923e-01 5.51148061e-02 2.57154842e+01] [-3.07142994e-01 9.51472024e-01 -1.90832267e-02 -3.94557629e+00] [-5.83127332e-02 1.19855635e-03 9.98297645e-01 -1.05284994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.212791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.75, Y:-3.95, Z:-1.05 [[ 9.48315588e-01 3.12314993e-01 5.61862214e-02 2.57473310e+01] [-3.11708187e-01 9.49978115e-01 -1.94829886e-02 -3.95259381e+00] [-5.94605101e-02 9.62316581e-04 9.98230195e-01 -1.05491211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.78, Y:-3.96, Z:-1.06 [[ 9.47356963e-01 3.15054430e-01 5.70569026e-02 2.57795268e+01] [-3.14431738e-01 9.49073239e-01 -1.98158744e-02 -3.96082981e+00] [-6.03942584e-02 8.32205522e-04 9.98174254e-01 -1.05859308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.272791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.81, Y:-3.97, Z:-1.06 [[ 9.47381351e-01 3.14786488e-01 5.81209402e-02 2.58098216e+01] [-3.14137818e-01 9.49162085e-01 -2.02179958e-02 -3.97088244e+00] [-6.15305447e-02 8.96166852e-04 9.98104799e-01 -1.05982950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.84, Y:-3.98, Z:-1.06 [[ 9.47603495e-01 3.14280523e-01 5.72308424e-02 2.58418764e+01] [-3.13648805e-01 9.49329691e-01 -1.99390413e-02 -3.98013365e+00] [-6.05973903e-02 9.43919949e-04 9.98161843e-01 -1.06023785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.332791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.88, Y:-3.98, Z:-1.06 [[ 9.48476100e-01 3.11877035e-01 5.59088725e-02 2.58756729e+01] [-3.11268112e-01 9.50121834e-01 -1.95106032e-02 -3.98455880e+00] [-5.92051496e-02 1.10269169e-03 9.98245228e-01 -1.06181283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.91, Y:-3.99, Z:-1.06 [[ 9.48862654e-01 3.10846241e-01 5.50842840e-02 2.59076079e+01] [-3.10251568e-01 9.50459479e-01 -1.92546788e-02 -3.99270000e+00] [-5.83406244e-02 1.18006011e-03 9.98296038e-01 -1.06322526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.392791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.94, Y:-4.00, Z:-1.06 [[ 9.49862905e-01 3.07325434e-01 5.75459736e-02 2.59387298e+01] [-3.06668418e-01 9.51603321e-01 -2.01395458e-02 -4.00200970e+00] [-6.09503342e-02 1.48227481e-03 9.98139699e-01 -1.06423785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.422791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.97, Y:-4.01, Z:-1.07 [[ 9.50404912e-01 3.05439689e-01 5.86267883e-02 2.59692797e+01] [-3.04753432e-01 9.52210004e-01 -2.05293403e-02 -4.01027720e+00] [-6.20954897e-02 1.64447093e-03 9.98068858e-01 -1.06559037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.452791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.00, Y:-4.02, Z:-1.07 [[ 9.50793237e-01 3.04341004e-01 5.80411427e-02 2.60011073e+01] [-3.03665077e-01 9.52561598e-01 -2.03450883e-02 -4.01722699e+00] [-6.14796082e-02 1.71890426e-03 9.98106860e-01 -1.06634759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.03, Y:-4.02, Z:-1.07 [[ 9.51411126e-01 3.02818952e-01 5.58350430e-02 2.60343463e+01] [-3.02189170e-01 9.53046447e-01 -1.96003821e-02 -4.02322476e+00] [-5.91487565e-02 1.77527636e-03 9.98247601e-01 -1.06911288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.512791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.07, Y:-4.03, Z:-1.07 [[ 9.51347483e-01 3.03235654e-01 5.46452652e-02 2.60652585e+01] [-3.02631457e-01 9.52914011e-01 -1.92117114e-02 -4.03329271e+00] [-5.78979147e-02 1.73963705e-03 9.98320993e-01 -1.07025171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.10, Y:-4.04, Z:-1.07 [[ 9.51482505e-01 3.02803332e-01 5.46917209e-02 2.60966765e+01] [-3.02195842e-01 9.53051377e-01 -1.92547514e-02 -4.03962310e+00] [-5.79544228e-02 1.79294845e-03 9.98317620e-01 -1.07029408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.572791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.13, Y:-4.05, Z:-1.07 [[ 9.50813995e-01 3.04752585e-01 5.54852139e-02 2.61277805e+01] [-3.04129021e-01 9.52429991e-01 -1.95614767e-02 -4.04707025e+00] [-5.88071924e-02 1.72466203e-03 9.98267870e-01 -1.07035695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.16, Y:-4.05, Z:-1.07 [[ 9.49888332e-01 3.07363321e-01 5.69205196e-02 2.61593719e+01] [-3.06710001e-01 9.51590841e-01 -2.00959222e-02 -4.05295720e+00] [-6.03417945e-02 1.63078943e-03 9.98176441e-01 -1.07176956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.632791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.19, Y:-4.06, Z:-1.07 [[ 9.49375422e-01 3.09048525e-01 5.63499496e-02 2.61901347e+01] [-3.08409553e-01 9.51045032e-01 -1.99222087e-02 -4.06118831e+00] [-5.97482688e-02 1.53479258e-03 9.98212296e-01 -1.07309804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.22, Y:-4.06, Z:-1.07 [[ 9.48932170e-01 3.10827171e-01 5.39833841e-02 2.62231125e+01] [-3.10242160e-01 9.50465435e-01 -1.91117434e-02 -4.06462294e+00] [-5.72497898e-02 1.38782649e-03 9.98358921e-01 -1.07443001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.692791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.25, Y:-4.07, Z:-1.08 [[ 9.48727063e-01 3.11643010e-01 5.28733700e-02 2.62547245e+01] [-3.11081634e-01 9.50198321e-01 -1.87447916e-02 -4.07211411e+00] [-5.60818706e-02 1.33575673e-03 9.98425280e-01 -1.07609745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.29, Y:-4.08, Z:-1.08 [[ 9.48565326e-01 3.11962968e-01 5.38788393e-02 2.62856917e+01] [-3.11378979e-01 9.50093277e-01 -1.91283956e-02 -4.07962027e+00] [-5.71572741e-02 1.36779477e-03 9.98364250e-01 -1.07799020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.752791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.32, Y:-4.09, Z:-1.08 [[ 9.47995195e-01 3.13469683e-01 5.51531322e-02 2.63182950e+01] [-3.12858540e-01 9.49597270e-01 -1.96101727e-02 -4.08609968e+00] [-5.85204584e-02 1.33522107e-03 9.98285316e-01 -1.07819858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.35, Y:-4.09, Z:-1.08 [[ 9.47889731e-01 3.13516516e-01 5.66784985e-02 2.63497393e+01] [-3.12869264e-01 9.49581717e-01 -2.01838273e-02 -4.09382180e+00] [-6.01488291e-02 1.39908248e-03 9.98188440e-01 -1.07945249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.812791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.38, Y:-4.10, Z:-1.08 [[ 9.47918419e-01 3.13550808e-01 5.60050133e-02 2.63835201e+01] [-3.12917175e-01 9.49570381e-01 -1.99733287e-02 -4.09865415e+00] [-5.94433552e-02 1.40815562e-03 9.98230687e-01 -1.07966888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.42, Y:-4.11, Z:-1.08 [[ 9.47869566e-01 3.13775527e-01 5.55716194e-02 2.64158732e+01] [-3.13150192e-01 9.49496141e-01 -1.98503321e-02 -4.10647794e+00] [-5.89935866e-02 1.41326233e-03 9.98257361e-01 -1.08037086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.872791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.45, Y:-4.11, Z:-1.08 [[ 9.47876966e-01 3.14156446e-01 5.32445802e-02 2.64483659e+01] [-3.13581449e-01 9.49370256e-01 -1.90470758e-02 -4.11105840e+00] [-5.65325824e-02 1.35777179e-03 9.98399832e-01 -1.08030772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.48, Y:-4.12, Z:-1.08 [[ 9.47226214e-01 3.15949476e-01 5.42072604e-02 2.64806144e+01] [-3.15354763e-01 9.48775124e-01 -1.94200143e-02 -4.11975170e+00] [-5.75662436e-02 1.30062888e-03 9.98340842e-01 -1.08254809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.932791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.51, Y:-4.13, Z:-1.08 [[ 9.47036840e-01 3.16379266e-01 5.50034940e-02 2.65129483e+01] [-3.15765803e-01 9.48631861e-01 -1.97370079e-02 -4.12783106e+00] [-5.84224470e-02 1.32345112e-03 9.98291073e-01 -1.08445412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.962791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.55, Y:-4.13, Z:-1.09 [[ 9.46427032e-01 3.17922122e-01 5.65808849e-02 2.65461132e+01] [-3.17273707e-01 9.48115946e-01 -2.03358497e-02 -4.13255149e+00] [-6.01104558e-02 1.29477077e-03 9.98190892e-01 -1.08595805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.992791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.58, Y:-4.14, Z:-1.09 [[ 9.46403666e-01 3.18022759e-01 5.64058995e-02 2.65784665e+01] [-3.17376604e-01 9.48082167e-01 -2.03050484e-02 -4.14002169e+00] [-5.99348950e-02 1.31485940e-03 9.98201422e-01 -1.08747906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.61, Y:-4.15, Z:-1.09 [[ 9.47189885e-01 3.15867061e-01 5.53111408e-02 2.66103802e+01] [-3.15240357e-01 9.48802347e-01 -1.99404798e-02 -4.14572544e+00] [-5.87778810e-02 1.45111701e-03 9.98270031e-01 -1.08826014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.052791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.64, Y:-4.15, Z:-1.09 [[ 9.47498098e-01 3.14908081e-01 5.55000505e-02 2.66414198e+01] [-3.14273827e-01 9.49120921e-01 -2.00359233e-02 -4.15432661e+00] [-5.89857332e-02 1.54178597e-03 9.98257635e-01 -1.09007243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.67, Y:-4.16, Z:-1.09 [[ 9.48135926e-01 3.12700663e-01 5.70662885e-02 2.66740124e+01] [-3.12024346e-01 9.49850104e-01 -2.06297893e-02 -4.15859071e+00] [-6.06553689e-02 1.75377305e-03 9.98157227e-01 -1.09229557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.112791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.71, Y:-4.17, Z:-1.09 [[ 9.48673287e-01 3.11364704e-01 5.54167511e-02 2.67063201e+01] [-3.10723026e-01 9.50288764e-01 -2.00615497e-02 -4.16715426e+00] [-5.89083744e-02 1.81259574e-03 9.98261748e-01 -1.09289737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.142791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.74, Y:-4.18, Z:-1.09 [[ 9.49431795e-01 3.09247316e-01 5.42712133e-02 2.67368137e+01] [-3.08626861e-01 9.50979691e-01 -1.96745622e-02 -4.17606395e+00] [-5.76951271e-02 1.93010066e-03 9.98332383e-01 -1.09396594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.172791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.77, Y:-4.18, Z:-1.10 [[ 9.51300021e-01 3.03325520e-01 5.49718077e-02 2.67670616e+01] [-3.02678085e-01 9.52884137e-01 -1.99448980e-02 -4.18319137e+00] [-5.84315600e-02 2.33482044e-03 9.98288686e-01 -1.09524476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202791605 meters Centerline goodness [0,1] 0.9999005222581447 Centerline is valid? [True, True] Translation: X:26.80, Y:-4.19, Z:-1.10 [[ 9.52257013e-01 3.00088795e-01 5.61542159e-02 2.67982097e+01] [-2.99407312e-01 9.53907750e-01 -2.03780794e-02 -4.19194689e+00] [-5.96811750e-02 2.59218624e-03 9.98214124e-01 -1.09654025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.232791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.83, Y:-4.20, Z:-1.10 [[ 9.54107348e-01 2.94279976e-01 5.54839141e-02 2.68285084e+01] [-2.93604559e-01 9.55714778e-01 -2.01401594e-02 -4.19864721e+00] [-5.89536422e-02 2.92554396e-03 9.98256435e-01 -1.09842102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.262791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.86, Y:-4.21, Z:-1.10 [[ 9.54741761e-01 2.92435426e-01 5.43110637e-02 2.68594125e+01] [-2.91784714e-01 9.56280614e-01 -1.97248340e-02 -4.20851689e+00] [-5.77048575e-02 2.98498459e-03 9.98329224e-01 -1.09942066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.292791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.89, Y:-4.22, Z:-1.10 [[ 9.55293306e-01 2.90870555e-01 5.30001915e-02 2.68904261e+01] [-2.90247141e-01 9.56757624e-01 -1.92729545e-02 -4.21840968e+00] [-5.63142722e-02 3.02817031e-03 9.98408500e-01 -1.10002504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.322791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.92, Y:-4.23, Z:-1.10 [[ 9.55285486e-01 2.91084322e-01 5.19572731e-02 2.69213973e+01] [-2.90484166e-01 9.56692760e-01 -1.89185522e-02 -4.22863592e+00] [-5.52140410e-02 2.97985322e-03 9.98470095e-01 -1.09948558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.352791605 meters Centerline goodness [0,1] 0.9999502759683755 Centerline is valid? [True, True] Translation: X:26.95, Y:-4.24, Z:-1.10 [[ 9.54872645e-01 2.92386543e-01 5.22335243e-02 2.69523980e+01] [-2.91780451e-01 9.56295683e-01 -1.90455888e-02 -4.23881072e+00] [-5.55193677e-02 2.94539052e-03 9.98453266e-01 -1.10094885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382791605 meters Centerline goodness [0,1] 0.9999502339006668 Centerline is valid? [True, True] Translation: X:26.98, Y:-4.25, Z:-1.10 [[ 9.54674845e-01 2.93098218e-01 5.18591911e-02 2.69837545e+01] [-2.92500721e-01 9.56077931e-01 -1.89292892e-02 -4.24800447e+00] [-5.51295691e-02 2.90246550e-03 9.98474990e-01 -1.10335693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.412791605000002 meters Centerline goodness [0,1] 0.9999005914806899 Centerline is valid? [True, True] Translation: X:27.02, Y:-4.26, Z:-1.11 [[ 9.54681180e-01 2.93235852e-01 5.09566361e-02 2.70156733e+01] [-2.92658245e-01 9.56035853e-01 -1.86171946e-02 -4.25799188e+00] [-5.41755999e-02 2.86060566e-03 9.98527326e-01 -1.10522983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442791605 meters Centerline goodness [0,1] 0.9999002244948865 Centerline is valid? [True, True] Translation: X:27.05, Y:-4.27, Z:-1.11 [[ 9.55130084e-01 2.91844814e-01 5.05284714e-02 2.70467378e+01] [-2.91273569e-01 9.56461168e-01 -1.84862832e-02 -4.26600402e+00] [-5.37236467e-02 2.93919707e-03 9.98551516e-01 -1.10537785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.472791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.08, Y:-4.27, Z:-1.11 [[ 9.55601545e-01 2.90385436e-01 5.00198620e-02 2.70782732e+01] [-2.89822434e-01 9.56905023e-01 -1.83230548e-02 -4.27403230e+00] [-5.31850054e-02 3.01266131e-03 9.98580132e-01 -1.10658571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502791605000002 meters Centerline goodness [0,1] 0.9997513922036595 Centerline is valid? [True, True] Translation: X:27.11, Y:-4.28, Z:-1.11 [[ 9.56056366e-01 2.88571209e-01 5.17965470e-02 2.71091836e+01] [-2.87963780e-01 9.57452946e-01 -1.89925742e-02 -4.28400307e+00] [-5.50734666e-02 3.24244200e-03 9.98477040e-01 -1.10690838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.532791605 meters Centerline goodness [0,1] 0.9997513922036595 Centerline is valid? [True, True] Translation: X:27.14, Y:-4.29, Z:-1.11 [[ 9.55923314e-01 2.89012443e-01 5.17921296e-02 2.71398863e+01] [-2.88405008e-01 9.57319892e-01 -1.90046128e-02 -4.29493917e+00] [-5.50742055e-02 3.22984290e-03 9.98477040e-01 -1.10809964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562791605 meters Centerline goodness [0,1] 0.999801064305963 Centerline is valid? [True, True] Translation: X:27.17, Y:-4.30, Z:-1.11 [[ 9.55916677e-01 2.88969990e-01 5.21502750e-02 2.71707943e+01] [-2.88352597e-01 9.57332537e-01 -1.91622697e-02 -4.30454763e+00] [-5.54624760e-02 3.27986599e-03 9.98455385e-01 -1.10984467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.592791605000002 meters Centerline goodness [0,1] 0.999900423201394 Centerline is valid? [True, True] Translation: X:27.20, Y:-4.31, Z:-1.11 [[ 9.55844617e-01 2.89125934e-01 5.26047763e-02 2.72019575e+01] [-2.88496603e-01 9.57285305e-01 -1.93534336e-02 -4.31402329e+00] [-5.59533588e-02 3.32257607e-03 9.98427855e-01 -1.11059278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622791605 meters Centerline goodness [0,1] 0.9998506422383749 Centerline is valid? [True, True] Translation: X:27.23, Y:-4.32, Z:-1.11 [[ 9.55407322e-01 2.90902281e-01 5.07219156e-02 2.72322104e+01] [-2.90318507e-01 9.56747668e-01 -1.86832743e-02 -4.32436813e+00] [-5.39630816e-02 3.12462628e-03 9.98538043e-01 -1.11174882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.652791605 meters Centerline goodness [0,1] 0.9999502363772083 Centerline is valid? [True, True] Translation: X:27.26, Y:-4.34, Z:-1.11 [[ 9.55074174e-01 2.92075222e-01 5.02532297e-02 2.72628084e+01] [-2.91502591e-01 9.56390480e-01 -1.85334432e-02 -4.33533994e+00] [-5.34748700e-02 3.05186627e-03 9.98564532e-01 -1.11356893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682791605000002 meters Centerline goodness [0,1] 0.9999004380724811 Centerline is valid? [True, True] Translation: X:27.29, Y:-4.34, Z:-1.11 [[ 9.55714233e-01 2.89958539e-01 5.03423364e-02 2.72938743e+01] [-2.89379985e-01 9.57033881e-01 -1.85842651e-02 -4.34340622e+00] [-5.35679879e-02 3.19318216e-03 9.98559099e-01 -1.11431104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.712791605 meters Centerline goodness [0,1] 0.9996518798488164 Centerline is valid? [True, True] Translation: X:27.32, Y:-4.35, Z:-1.11 [[ 9.55829076e-01 2.89573778e-01 5.03766262e-02 2.73243980e+01] [-2.88993261e-01 9.57150252e-01 -1.86088687e-02 -4.35360620e+00] [-5.36066409e-02 3.22839226e-03 9.98556912e-01 -1.11494168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742791605 meters Centerline goodness [0,1] 0.9997014925373134 Centerline is valid? [True, True] Translation: X:27.35, Y:-4.36, Z:-1.12 [[ 9.56526395e-01 2.87125289e-01 5.11500082e-02 2.73542013e+01] [-2.86522243e-01 9.57886872e-01 -1.89141188e-02 -4.36439277e+00] [-5.44266432e-02 3.43623879e-03 9.98511859e-01 -1.11590254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.772791605000002 meters Centerline goodness [0,1] 0.9998503591380686 Centerline is valid? [True, True] Translation: X:27.38, Y:-4.38, Z:-1.12 [[ 9.56810159e-01 2.86238433e-01 5.08121879e-02 2.73841090e+01] [-2.85641287e-01 9.58152109e-01 -1.88039967e-02 -4.37725061e+00] [-5.40682316e-02 3.47779629e-03 9.98531187e-01 -1.11655930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802791605 meters Centerline goodness [0,1] 0.999552706127926 Centerline is valid? [True, True] Translation: X:27.41, Y:-4.39, Z:-1.12 [[ 9.57044978e-01 2.85415807e-01 5.10169400e-02 2.74144509e+01] [-2.84811407e-01 9.58397171e-01 -1.89030290e-02 -4.38788985e+00] [-5.42897142e-02 3.56084253e-03 9.98518877e-01 -1.11831193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.832791605 meters Centerline goodness [0,1] 0.9995024380535377 Centerline is valid? [True, True] Translation: X:27.44, Y:-4.40, Z:-1.12 [[ 9.58078942e-01 2.82112218e-01 4.99743559e-02 2.74432814e+01] [-2.81526977e-01 9.59374330e-01 -1.85325552e-02 -4.39858128e+00] [-5.31723745e-02 3.68652154e-03 9.98578544e-01 -1.11981595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862791605 meters Centerline goodness [0,1] 0.9998008959681434 Centerline is valid? [True, True] Translation: X:27.47, Y:-4.41, Z:-1.12 [[ 9.58094197e-01 2.82026696e-01 5.01642597e-02 2.74731207e+01] [-2.81436439e-01 9.59399372e-01 -1.86111902e-02 -4.41007810e+00] [-5.33764117e-02 3.71322271e-03 9.98567559e-01 -1.12081733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.892791605 meters Centerline goodness [0,1] 0.999650959860384 Centerline is valid? [True, True] Translation: X:27.50, Y:-4.43, Z:-1.12 [[ 9.57459968e-01 2.84142646e-01 5.03325473e-02 2.75016863e+01] [-2.83550112e-01 9.58775149e-01 -1.86961977e-02 -4.42523811e+00] [-5.35699827e-02 3.62906142e-03 9.98557503e-01 -1.12214545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922791605 meters Centerline goodness [0,1] 0.999850411368736 Centerline is valid? [True, True] Translation: X:27.53, Y:-4.44, Z:-1.12 [[ 9.56648479e-01 2.86816511e-01 5.05962232e-02 2.75309746e+01] [-2.86220505e-01 9.57979090e-01 -1.88118526e-02 -4.43794822e+00] [-5.38656738e-02 3.51465354e-03 9.98542005e-01 -1.12472101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.952791605 meters Centerline goodness [0,1] 0.9999004380724811 Centerline is valid? [True, True] Translation: X:27.56, Y:-4.45, Z:-1.13 [[ 9.54757908e-01 2.93003397e-01 5.08561422e-02 2.75581489e+01] [-2.92409679e-01 9.56106088e-01 -1.89137141e-02 -4.45229178e+00] [-5.41656497e-02 3.18718994e-03 9.98526877e-01 -1.12609298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982791605 meters Centerline goodness [0,1] 0.999950144580716 Centerline is valid? [True, True] Translation: X:27.59, Y:-4.46, Z:-1.13 [[ 9.53744609e-01 2.96253313e-01 5.10411218e-02 2.75868555e+01] [-2.95659754e-01 9.55104642e-01 -1.89850625e-02 -4.46478205e+00] [-5.43740001e-02 3.01609553e-03 9.98516085e-01 -1.12707929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.012791605 meters Centerline goodness [0,1] 0.9998507017020006 Centerline is valid? [True, True] Translation: X:27.62, Y:-4.48, Z:-1.13 [[ 9.53241021e-01 2.97989069e-01 5.03395492e-02 2.76170134e+01] [-2.97413557e-01 9.54564916e-01 -1.87349397e-02 -4.47616328e+00] [-5.36351748e-02 2.88724869e-03 9.98556424e-01 -1.12797465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042791605 meters Centerline goodness [0,1] 0.9999005222581447 Centerline is valid? [True, True] Translation: X:27.65, Y:-4.49, Z:-1.13 [[ 9.52722143e-01 2.99702636e-01 4.99884800e-02 2.76474311e+01] [-2.99136241e-01 9.54028577e-01 -1.86274751e-02 -4.48742145e+00] [-5.32731419e-02 2.79344201e-03 9.98576071e-01 -1.12915753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.072791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.68, Y:-4.50, Z:-1.13 [[ 9.52790343e-01 2.99743464e-01 4.84191892e-02 2.76787821e+01] [-2.99210962e-01 9.54015948e-01 -1.80657757e-02 -4.49800049e+00] [-5.16077769e-02 2.72534445e-03 9.98663712e-01 -1.12824355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102791605 meters Centerline goodness [0,1] 0.9999501818362975 Centerline is valid? [True, True] Translation: X:27.71, Y:-4.51, Z:-1.13 [[ 9.52324376e-01 3.01043416e-01 4.95090338e-02 2.77099103e+01] [-3.00487034e-01 9.53606500e-01 -1.84982635e-02 -4.50639509e+00] [-5.27809168e-02 2.73952450e-03 9.98602358e-01 -1.13001668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.132791605 meters Centerline goodness [0,1] 0.9999004727544165 Centerline is valid? [True, True] Translation: X:27.74, Y:-4.52, Z:-1.13 [[ 9.51833829e-01 3.02576103e-01 4.95990295e-02 2.77406750e+01] [-3.02018529e-01 9.53121456e-01 -1.85552588e-02 -4.51642708e+00] [-5.28882771e-02 2.68169713e-03 9.98596835e-01 -1.13073185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.77, Y:-4.53, Z:-1.13 [[ 9.51233132e-01 3.03893102e-01 5.29576438e-02 2.77720229e+01] [-3.03257874e-01 9.52701988e-01 -1.98389697e-02 -4.52716409e+00] [-5.64817785e-02 2.81166283e-03 9.98399671e-01 -1.13096324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.192791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.80, Y:-4.54, Z:-1.13 [[ 9.50794326e-01 3.05023506e-01 5.43213612e-02 2.78033348e+01] [-3.04355212e-01 9.52340576e-01 -2.03796961e-02 -4.53688912e+00] [-5.79487228e-02 2.84391003e-03 9.98315510e-01 -1.13350188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222791605 meters Centerline goodness [0,1] 0.9999502239920358 Centerline is valid? [True, True] Translation: X:27.83, Y:-4.55, Z:-1.14 [[ 9.50745209e-01 3.05264075e-01 5.38274211e-02 2.78344903e+01] [-3.04606604e-01 9.52263529e-01 -2.02234592e-02 -4.54646220e+00] [-5.74313855e-02 2.83116899e-03 9.98345441e-01 -1.13575167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.252791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.87, Y:-4.56, Z:-1.14 [[ 9.51193972e-01 3.04353687e-01 5.09790195e-02 2.78660085e+01] [-3.03761270e-01 9.52555104e-01 -1.91798250e-02 -4.55552400e+00] [-5.43977757e-02 2.75828223e-03 9.98515535e-01 -1.13841196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282791605 meters Centerline goodness [0,1] 0.9999005123613391 Centerline is valid? [True, True] Translation: X:27.90, Y:-4.57, Z:-1.14 [[ 9.51199321e-01 3.04399702e-01 5.06030905e-02 2.78977438e+01] [-3.03814593e-01 9.52540391e-01 -1.90655573e-02 -4.56516856e+00] [-5.40050376e-02 2.76118775e-03 9.98536845e-01 -1.13921498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.312791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.93, Y:-4.58, Z:-1.14 [[ 9.50491159e-01 3.06485872e-01 5.13124495e-02 2.79284353e+01] [-3.05885786e-01 9.51871363e-01 -1.93596192e-02 -4.57584209e+00] [-5.47763010e-02 2.70539794e-03 9.98494986e-01 -1.13991601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342791605000002 meters Centerline goodness [0,1] 0.9999502438053538 Centerline is valid? [True, True] Translation: X:27.96, Y:-4.59, Z:-1.14 [[ 9.49946242e-01 3.08017806e-01 5.22222940e-02 2.79593959e+01] [-3.07397146e-01 9.51376797e-01 -1.97277726e-02 -4.58593298e+00] [-5.57595840e-02 2.68733935e-03 9.98440608e-01 -1.13981385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.372791605 meters Centerline goodness [0,1] 0.9999501992031873 Centerline is valid? [True, True] Translation: X:27.99, Y:-4.60, Z:-1.14 [[ 9.49293133e-01 3.10298574e-01 5.05701806e-02 2.79903408e+01] [-3.09718743e-01 9.50635886e-01 -1.91236006e-02 -4.59661564e+00] [-5.40078544e-02 2.49136993e-03 9.98537403e-01 -1.14134956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.02, Y:-4.61, Z:-1.14 [[ 9.48971576e-01 3.11246913e-01 5.07770243e-02 2.80202987e+01] [-3.10663038e-01 9.50325899e-01 -1.92136147e-02 -4.60788232e+00] [-5.42348995e-02 2.45862966e-03 9.98525178e-01 -1.14299032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.432791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.05, Y:-4.61, Z:-1.15 [[ 9.48171958e-01 3.13800700e-01 4.99905897e-02 2.80523047e+01] [-3.13237606e-01 9.49486113e-01 -1.89294272e-02 -4.61368792e+00] [-5.34054382e-02 2.28941945e-03 9.98570287e-01 -1.14502023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.08, Y:-4.62, Z:-1.15 [[ 9.47672301e-01 3.15288679e-01 5.01024740e-02 2.80833392e+01] [-3.14723834e-01 9.48993182e-01 -1.89960132e-02 -4.62271934e+00] [-5.35361342e-02 2.23355283e-03 9.98563415e-01 -1.14686668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.492791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.11, Y:-4.63, Z:-1.15 [[ 9.47160109e-01 3.17207828e-01 4.76121925e-02 2.81140542e+01] [-3.16699075e-01 9.48353854e-01 -1.80738650e-02 -4.63257376e+00] [-5.08863777e-02 2.04010665e-03 9.98702365e-01 -1.14718324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.15, Y:-4.64, Z:-1.15 [[ 9.46866055e-01 3.18021467e-01 4.80314640e-02 2.81450064e+01] [-3.17503507e-01 9.48081324e-01 -1.82571946e-02 -4.64300257e+00] [-5.13439138e-02 2.03695956e-03 9.98678954e-01 -1.14862811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.552791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.18, Y:-4.65, Z:-1.15 [[ 9.46731189e-01 3.18543058e-01 4.72268578e-02 2.81759450e+01] [-3.18041707e-01 9.47906285e-01 -1.79762868e-02 -4.65349571e+00] [-5.04928567e-02 1.99860088e-03 9.98722422e-01 -1.14888341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.21, Y:-4.66, Z:-1.15 [[ 9.47242435e-01 3.17195911e-01 4.60274189e-02 2.82076461e+01] [-3.16717056e-01 9.48357843e-01 -1.75416166e-02 -4.66052870e+00] [-4.92145927e-02 2.03849504e-03 9.98786147e-01 -1.14893930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.612791605 meters Centerline goodness [0,1] 0.999950204162932 Centerline is valid? [True, True] Translation: X:28.24, Y:-4.67, Z:-1.15 [[ 9.47151252e-01 3.17447358e-01 4.61701245e-02 2.82392000e+01] [-3.16964672e-01 9.48273672e-01 -1.76193091e-02 -4.67038255e+00] [-4.93751166e-02 2.05385229e-03 9.98778193e-01 -1.14989698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642791605 meters Centerline goodness [0,1] 0.9999002941323097 Centerline is valid? [True, True] Translation: X:28.27, Y:-4.68, Z:-1.15 [[ 9.46543781e-01 3.19281163e-01 4.59827158e-02 2.82713814e+01] [-3.18803340e-01 9.47657978e-01 -1.75723148e-02 -4.67723172e+00] [-4.91863966e-02 1.97352191e-03 9.98787667e-01 -1.15147904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.672791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.30, Y:-4.69, Z:-1.15 [[ 9.46016902e-01 3.20859008e-01 4.58423157e-02 2.83028909e+01] [-3.20384860e-01 9.47125051e-01 -1.75408055e-02 -4.68540074e+00] [-4.90465311e-02 1.90671458e-03 9.98794675e-01 -1.15362007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.33, Y:-4.70, Z:-1.16 [[ 9.45624566e-01 3.21919237e-01 4.64992941e-02 2.83337221e+01] [-3.21431723e-01 9.46765234e-01 -1.78111915e-02 -4.69542685e+00] [-4.97576802e-02 1.89635196e-03 9.98759519e-01 -1.15512260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.732791605 meters Centerline goodness [0,1] 0.9999501843180233 Centerline is valid? [True, True] Translation: X:28.36, Y:-4.70, Z:-1.16 [[ 9.44791205e-01 3.24284353e-01 4.70025320e-02 2.83645025e+01] [-3.23788517e-01 9.45957932e-01 -1.80163346e-02 -4.70467528e+00] [-5.03048333e-02 1.80279438e-03 9.98732283e-01 -1.15662700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762791605 meters Centerline goodness [0,1] 0.9999502438053538 Centerline is valid? [True, True] Translation: X:28.40, Y:-4.71, Z:-1.16 [[ 9.43929082e-01 3.26666640e-01 4.78204447e-02 2.83958008e+01] [-3.26155365e-01 9.45138049e-01 -1.83506621e-02 -4.71425407e+00] [-5.11914709e-02 1.72482906e-03 9.98687368e-01 -1.15696114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.792791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.43, Y:-4.72, Z:-1.16 [[ 9.43517368e-01 3.27817239e-01 4.80711355e-02 2.84275200e+01] [-3.27301501e-01 9.44739662e-01 -1.84579942e-02 -4.72231851e+00] [-5.14655570e-02 1.68168331e-03 9.98673354e-01 -1.15715684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822791605000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.46, Y:-4.73, Z:-1.16 [[ 9.42612555e-01 3.30297252e-01 4.88394997e-02 2.84583249e+01] [-3.29767836e-01 9.43875646e-01 -1.87600210e-02 -4.73081711e+00] [-5.22947978e-02 1.57773520e-03 9.98630445e-01 -1.15765451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.852791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.49, Y:-4.74, Z:-1.16 [[ 9.40803532e-01 3.35524881e-01 4.80808480e-02 2.84903118e+01] [-3.35018279e-01 9.42030484e-01 -1.84748340e-02 -4.73642633e+00] [-5.14923910e-02 1.27322608e-03 9.98672575e-01 -1.15768301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.52, Y:-4.74, Z:-1.16 [[ 9.39089202e-01 3.40510887e-01 4.65167469e-02 2.85232504e+01] [-3.40042563e-01 9.40240071e-01 -1.78791677e-02 -4.74081604e+00] [-4.98249606e-02 9.72459470e-04 9.98757492e-01 -1.15878213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.912791605000002 meters Centerline goodness [0,1] 0.999900492561819 Centerline is valid? [True, True] Translation: X:28.55, Y:-4.75, Z:-1.16 [[ 9.38337439e-01 3.42646357e-01 4.60035254e-02 2.85548475e+01] [-3.42190554e-01 9.39464072e-01 -1.76885070e-02 -4.74885655e+00] [-4.92795617e-02 8.55816502e-04 9.98784658e-01 -1.16045585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.59, Y:-4.76, Z:-1.16 [[ 9.37962117e-01 3.44020110e-01 4.33270194e-02 2.85868708e+01] [-3.43616970e-01 9.38961985e-01 -1.66663966e-02 -4.75680710e+00] [-4.64159998e-02 7.44549512e-04 9.98921919e-01 -1.16036724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.972791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.62, Y:-4.76, Z:-1.16 [[ 9.36463837e-01 3.48218853e-01 4.21795194e-02 2.86190596e+01] [-3.47840605e-01 9.37413115e-01 -1.62347150e-02 -4.76211499e+00] [-4.51928685e-02 5.31473995e-04 9.98978139e-01 -1.16148403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.65, Y:-4.77, Z:-1.16 [[ 9.35957931e-01 3.49339280e-01 4.41000947e-02 2.86503451e+01] [-3.48926704e-01 9.36996164e-01 -1.69806777e-02 -4.76917425e+00] [-4.72536373e-02 5.05499265e-04 9.98882795e-01 -1.16265829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.032791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.68, Y:-4.77, Z:-1.16 [[ 9.34583112e-01 3.52395525e-01 4.87011386e-02 2.86843367e+01] [-3.51896040e-01 9.35851077e-01 -1.87600535e-02 -4.77098514e+00] [-5.21879719e-02 3.95091329e-04 9.98637201e-01 -1.16397464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.72, Y:-4.78, Z:-1.17 [[ 9.34142969e-01 3.53476891e-01 4.93051726e-02 2.87164865e+01] [-3.52966045e-01 9.35443193e-01 -1.90000779e-02 -4.77764005e+00] [-5.28382766e-02 3.45737448e-04 9.98603023e-01 -1.16525344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.092791605000002 meters Centerline goodness [0,1] 0.9999503006808806 Centerline is valid? [True, True] Translation: X:28.75, Y:-4.78, Z:-1.17 [[ 9.34125658e-01 3.53514710e-01 4.93619743e-02 2.87484930e+01] [-3.53002355e-01 9.35428900e-01 -1.90292071e-02 -4.78383575e+00] [-5.29017220e-02 3.50777431e-04 9.98599662e-01 -1.16759593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.78, Y:-4.78, Z:-1.17 [[ 9.34561338e-01 3.52971036e-01 4.47945685e-02 2.87821797e+01] [-3.52548284e-01 9.35634183e-01 -1.72737718e-02 -4.78389729e+00] [-4.80084707e-02 3.51151038e-04 9.98846867e-01 -1.16765793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.152791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.81, Y:-4.79, Z:-1.17 [[ 9.35216390e-01 3.51376645e-01 4.36435143e-02 2.88095139e+01] [-3.50973765e-01 9.36234093e-01 -1.68267239e-02 -4.78915115e+00] [-4.67730639e-02 4.18899443e-04 9.98905453e-01 -1.16880977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.84, Y:-4.79, Z:-1.17 [[ 9.36601792e-01 3.47664252e-01 4.36652183e-02 2.88385990e+01] [-3.47258097e-01 9.37618915e-01 -1.68102455e-02 -4.79247659e+00] [-4.67856560e-02 5.81405459e-04 9.98904782e-01 -1.17063078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.212791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.87, Y:-4.80, Z:-1.17 [[ 9.37074303e-01 3.46364724e-01 4.38546374e-02 2.88667134e+01] [-3.45954663e-01 9.38099719e-01 -1.68608545e-02 -4.79966027e+00] [-4.69800283e-02 6.28157210e-04 9.98895631e-01 -1.17167991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.90, Y:-4.81, Z:-1.17 [[ 9.37323505e-01 3.45520457e-01 4.51692436e-02 2.88953165e+01] [-3.45085573e-01 9.38410979e-01 -1.73430453e-02 -4.80651576e+00] [-4.83796910e-02 6.68789709e-04 9.98828793e-01 -1.17349914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.93, Y:-4.81, Z:-1.17 [[ 9.37420763e-01 3.45289962e-01 4.49127561e-02 2.89253649e+01] [-3.44860859e-01 9.38495825e-01 -1.72213489e-02 -4.80711148e+00] [-4.80967930e-02 6.54998400e-04 9.98842465e-01 -1.17257483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.95, Y:-4.81, Z:-1.17 [[ 9.37190895e-01 3.45928191e-01 4.47985820e-02 2.89530360e+01] [-3.45503237e-01 9.38260801e-01 -1.71517364e-02 -4.81361127e+00] [-4.79660226e-02 5.96396136e-04 9.98848790e-01 -1.17369744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.332791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.98, Y:-4.82, Z:-1.17 [[ 9.37207920e-01 3.45863906e-01 4.49385471e-02 2.89800813e+01] [-3.45437465e-01 9.38284512e-01 -1.71794268e-02 -4.82035973e+00] [-4.81068864e-02 5.77237112e-04 9.98842027e-01 -1.17494890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.01, Y:-4.82, Z:-1.18 [[ 9.36783911e-01 3.46355853e-01 4.97345612e-02 2.90090503e+01] [-3.45835726e-01 9.38103023e-01 -1.89833651e-02 -4.82446684e+00] [-5.32311418e-02 5.83322905e-04 9.98582047e-01 -1.17801461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.392791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.04, Y:-4.83, Z:-1.18 [[ 9.36673851e-01 3.46624649e-01 4.99344620e-02 2.90377377e+01] [-3.46102113e-01 9.38003761e-01 -1.90334474e-02 -4.82750171e+00] [-5.34361752e-02 5.45709608e-04 9.98571118e-01 -1.17936825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.06, Y:-4.84, Z:-1.18 [[ 9.36845556e-01 3.46158930e-01 4.99439568e-02 2.90631787e+01] [-3.45637062e-01 9.38175729e-01 -1.90085063e-02 -4.83756030e+00] [-5.34361722e-02 5.45552157e-04 9.98571118e-01 -1.18037266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.452791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.09, Y:-4.84, Z:-1.18 [[ 9.36485572e-01 3.47072110e-01 5.03559647e-02 2.90906553e+01] [-3.46544462e-01 9.37838328e-01 -1.91365299e-02 -4.84491855e+00] [-5.38675096e-02 4.70503426e-04 9.98547981e-01 -1.18203430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.12, Y:-4.85, Z:-1.18 [[ 9.36828125e-01 3.46307461e-01 4.92362286e-02 2.91184497e+01] [-3.45803435e-01 9.38120949e-01 -1.86834074e-02 -4.85113800e+00] [-5.26597408e-02 4.77084537e-04 9.98612399e-01 -1.18172032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.512791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.15, Y:-4.85, Z:-1.18 [[ 9.36465287e-01 3.47229752e-01 4.96413792e-02 2.91482392e+01] [-3.46720197e-01 9.37780005e-01 -1.88087071e-02 -4.85221558e+00] [-5.30836355e-02 4.02032544e-04 9.98589989e-01 -1.18232249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.18, Y:-4.86, Z:-1.18 [[ 9.36075735e-01 3.48160358e-01 5.04636937e-02 2.91754206e+01] [-3.47636689e-01 9.37434935e-01 -1.90912089e-02 -4.85766398e+00] [-5.39532315e-02 3.27785960e-04 9.98543410e-01 -1.18421662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.572791605000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.20, Y:-4.86, Z:-1.19 [[ 9.35725383e-01 3.49145331e-01 5.01552085e-02 2.92034928e+01] [-3.48630995e-01 9.37068556e-01 -1.89459826e-02 -4.86169461e+00] [-5.36137702e-02 2.42576595e-04 9.98561718e-01 -1.18779220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.23, Y:-4.87, Z:-1.19 [[ 9.35610842e-01 3.49214269e-01 5.17855812e-02 2.92313770e+01] [-3.48667634e-01 9.37042873e-01 -1.95329207e-02 -4.87021886e+00] [-5.53464844e-02 2.19256316e-04 9.98467185e-01 -1.19034665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.632791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.26, Y:-4.87, Z:-1.19 [[ 9.36344544e-01 3.47116264e-01 5.26231324e-02 2.92610847e+01] [-3.46549969e-01 9.37822048e-01 -1.98223284e-02 -4.87392024e+00] [-5.62317864e-02 3.23984151e-04 9.98417689e-01 -1.19128782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.29, Y:-4.88, Z:-1.19 [[ 9.36880476e-01 3.45675235e-01 5.25700003e-02 2.92889150e+01] [-3.45109355e-01 9.38354136e-01 -1.97749627e-02 -4.87932120e+00] [-5.61649920e-02 3.84377568e-04 9.98421427e-01 -1.19124001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.692791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.32, Y:-4.88, Z:-1.19 [[ 9.37641415e-01 3.43645297e-01 5.23114452e-02 2.93175467e+01] [-3.43083452e-01 9.39099400e-01 -1.96484481e-02 -4.88125728e+00] [-5.58777436e-02 4.76007455e-04 9.98437505e-01 -1.19054819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.35, Y:-4.89, Z:-1.19 [[ 9.37955391e-01 3.42672042e-01 5.30618068e-02 2.93451174e+01] [-3.42094027e-01 9.39454952e-01 -1.99015121e-02 -4.88864733e+00] [-5.66688689e-02 5.14603388e-04 9.98392896e-01 -1.19295080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.752791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.37, Y:-4.90, Z:-1.19 [[ 9.38097930e-01 3.42314371e-01 5.28502105e-02 2.93717638e+01] [-3.41741931e-01 9.39585341e-01 -1.97949404e-02 -4.89612608e+00] [-5.64333756e-02 5.08459594e-04 9.98406238e-01 -1.19417523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.40, Y:-4.90, Z:-1.20 [[ 9.38172961e-01 3.42276256e-01 5.17538363e-02 2.94003789e+01] [-3.41728795e-01 9.39599244e-01 -1.93569335e-02 -4.90059444e+00] [-5.52532842e-02 4.74375496e-04 9.98472258e-01 -1.19689072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.812791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.43, Y:-4.91, Z:-1.20 [[ 9.37851170e-01 3.43082012e-01 5.22486034e-02 2.94273362e+01] [-3.42526790e-01 9.39305365e-01 -1.95148516e-02 -4.90845634e+00] [-5.57725880e-02 4.05479969e-04 9.98443416e-01 -1.19797530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.46, Y:-4.91, Z:-1.20 [[ 9.37463326e-01 3.43843607e-01 5.41672056e-02 2.94559556e+01] [-3.43249813e-01 9.39026866e-01 -2.02017740e-02 -4.91294202e+00] [-5.78107121e-02 3.45539086e-04 9.98327502e-01 -1.19787259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.872791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.48, Y:-4.92, Z:-1.20 [[ 9.37478502e-01 3.43548015e-01 5.57567947e-02 2.94844372e+01] [-3.42919955e-01 9.39135049e-01 -2.07669126e-02 -4.91927317e+00] [-5.94975917e-02 3.48416631e-04 9.98228388e-01 -1.19833449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.902791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.51, Y:-4.92, Z:-1.20 [[ 9.37134557e-01 3.43826103e-01 5.96861216e-02 2.95139214e+01] [-3.43108289e-01 9.39033279e-01 -2.22081664e-02 -4.92096788e+00] [-6.36830018e-02 3.33237163e-04 9.97970122e-01 -1.19834767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.932791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.54, Y:-4.93, Z:-1.20 [[ 9.36976860e-01 3.44054604e-01 6.08341512e-02 2.95418763e+01] [-3.43310057e-01 9.38949589e-01 -2.26246288e-02 -4.92695315e+00] [-6.49043090e-02 3.13777749e-04 9.97891443e-01 -1.19938094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.57, Y:-4.93, Z:-1.20 [[ 9.36849231e-01 3.43914160e-01 6.35340032e-02 2.95716276e+01] [-3.43102429e-01 9.39001035e-01 -2.36173722e-02 -4.92775480e+00] [-6.77808434e-02 3.27246133e-04 9.97700181e-01 -1.20119021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.992791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.60, Y:-4.93, Z:-1.20 [[ 9.37430052e-01 3.42283178e-01 6.37740105e-02 2.96006636e+01] [-3.41462909e-01 9.39596745e-01 -2.36862576e-02 -4.93280616e+00] [-6.80292602e-02 4.27750515e-04 9.97683235e-01 -1.20283153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.63, Y:-4.93, Z:-1.20 [[ 9.38140435e-01 3.40830476e-01 6.10500761e-02 2.96312892e+01] [-3.40077604e-01 9.40124647e-01 -2.26466478e-02 -4.93411751e+00] [-6.51133490e-02 4.83972343e-04 9.97877757e-01 -1.20379690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.052791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.66, Y:-4.94, Z:-1.20 [[ 9.38472981e-01 3.40159244e-01 5.96670120e-02 2.96592079e+01] [-3.39440521e-01 9.40367718e-01 -2.21062729e-02 -4.93998219e+00] [-6.36285850e-02 4.92738202e-04 9.97973527e-01 -1.20417020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.69, Y:-4.94, Z:-1.20 [[ 9.39920239e-01 3.36511315e-01 5.75332910e-02 2.96890947e+01] [-3.35837957e-01 9.41679171e-01 -2.12886189e-02 -4.94125120e+00] [-6.13417629e-02 6.87740902e-04 9.98116584e-01 -1.20441416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.112791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.72, Y:-4.95, Z:-1.21 [[ 9.40774080e-01 3.34053405e-01 5.79003666e-02 2.97171811e+01] [-3.33368482e-01 9.42553785e-01 -2.13966677e-02 -4.94765246e+00] [-6.17218394e-02 8.27273057e-04 9.98093047e-01 -1.20567563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.75, Y:-4.95, Z:-1.21 [[ 9.41766066e-01 3.31252524e-01 5.78657343e-02 2.97460074e+01] [-3.30564835e-01 9.43541624e-01 -2.13563400e-02 -4.95333322e+00] [-6.16730704e-02 9.84299369e-04 9.98095919e-01 -1.20664969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.172791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.78, Y:-4.95, Z:-1.21 [[ 9.43539573e-01 3.26460123e-01 5.61859708e-02 2.97769100e+01] [-3.25804884e-01 9.45210168e-01 -2.07102681e-02 -4.95309146e+00] [-5.98686275e-02 1.23529380e-03 9.98205501e-01 -1.20588640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.81, Y:-4.96, Z:-1.21 [[ 9.44991882e-01 3.22321078e-01 5.56728469e-02 2.98060170e+01] [-3.21671739e-01 9.46629270e-01 -2.05016400e-02 -4.95596943e+00] [-5.93096571e-02 1.46550196e-03 9.98238557e-01 -1.20626152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.232791605000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.83, Y:-4.96, Z:-1.21 [[ 9.45586736e-01 3.20844564e-01 5.40785621e-02 2.98323063e+01] [-3.20230434e-01 9.47130678e-01 -1.98984392e-02 -4.96390795e+00] [-5.76037713e-02 1.49809874e-03 9.98338400e-01 -1.20629274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.86, Y:-4.97, Z:-1.21 [[ 9.45549326e-01 3.20833932e-01 5.47910655e-02 2.98590539e+01] [-3.20204762e-01 9.47134280e-01 -2.01386540e-02 -4.97302917e+00] [-5.83556599e-02 1.49773063e-03 9.98294733e-01 -1.20707871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.292791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.89, Y:-4.98, Z:-1.21 [[ 9.45398289e-01 3.21181326e-01 5.53591027e-02 2.98857156e+01] [-3.20540629e-01 9.47016567e-01 -2.03304358e-02 -4.98223414e+00] [-5.89557437e-02 1.47551758e-03 9.98259507e-01 -1.20673200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322791605000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.91, Y:-4.99, Z:-1.21 [[ 9.45349091e-01 3.21302095e-01 5.54982870e-02 2.99120518e+01] [-3.20660142e-01 9.46975649e-01 -2.03517253e-02 -4.99079498e+00] [-5.90945784e-02 1.44339642e-03 9.98251345e-01 -1.20744424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.352791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.94, Y:-5.00, Z:-1.21 [[ 9.44539033e-01 3.23587480e-01 5.60103340e-02 2.99399678e+01] [-3.22939340e-01 9.46197385e-01 -2.05107689e-02 -4.99705746e+00] [-5.96338595e-02 1.28528152e-03 9.98219490e-01 -1.20720750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.97, Y:-5.00, Z:-1.21 [[ 9.44116791e-01 3.24564333e-01 5.74584919e-02 2.99665961e+01] [-3.23885779e-01 9.45862826e-01 -2.10122952e-02 -5.00462222e+00] [-6.11676931e-02 1.22807227e-03 9.98126748e-01 -1.20964280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.412791605000002 meters Centerline goodness [0,1] 0.9999507389162562 Centerline is valid? [True, True] Translation: X:29.99, Y:-5.01, Z:-1.21 [[ 9.43945665e-01 3.25076929e-01 5.73722194e-02 2.99937230e+01] [-3.24403140e-01 9.45686857e-01 -2.09516279e-02 -5.01287515e+00] [-6.10670447e-02 1.16547026e-03 9.98132986e-01 -1.20997978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.02, Y:-5.02, Z:-1.21 [[ 9.42952588e-01 3.27728011e-01 5.86068851e-02 3.00215634e+01] [-3.27031716e-01 9.44771598e-01 -2.13748564e-02 -5.01897729e+00] [-6.23752597e-02 9.89165950e-04 9.98052277e-01 -1.20955796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.472791605 meters Centerline goodness [0,1] 0.9999507801348624 Centerline is valid? [True, True] Translation: X:30.05, Y:-5.03, Z:-1.21 [[ 9.42854573e-01 3.28236297e-01 5.73252804e-02 3.00498136e+01] [-3.27572707e-01 9.44595207e-01 -2.08809941e-02 -5.02504902e+00] [-6.10030853e-02 9.09543484e-04 9.98137163e-01 -1.21080231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.08, Y:-5.03, Z:-1.21 [[ 9.42300938e-01 3.30540118e-01 5.30299228e-02 3.00784307e+01] [-3.29976956e-01 9.43791692e-01 -1.92989551e-02 -5.02998833e+00] [-5.64282795e-02 6.86770936e-04 9.98406419e-01 -1.21315812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.532791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.11, Y:-5.04, Z:-1.21 [[ 9.42296848e-01 3.30605274e-01 5.26953765e-02 3.01050715e+01] [-3.30050118e-01 9.43768886e-01 -1.91626770e-02 -5.03791921e+00] [-5.60675389e-02 6.64814882e-04 9.98426757e-01 -1.21473834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.13, Y:-5.04, Z:-1.22 [[ 9.41688573e-01 3.32295522e-01 5.29369258e-02 3.01335747e+01] [-3.31739479e-01 9.43175166e-01 -1.92230266e-02 -5.04291450e+00] [-5.63165194e-02 5.40836279e-04 9.98412819e-01 -1.21529686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.592791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.16, Y:-5.05, Z:-1.21 [[ 9.41864128e-01 3.31799829e-01 5.29229395e-02 3.01606931e+01] [-3.31244778e-01 9.43349657e-01 -1.91916883e-02 -5.04869144e+00] [-5.62926358e-02 5.45515443e-04 9.98414163e-01 -1.21414904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.622791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.19, Y:-5.05, Z:-1.22 [[ 9.42022633e-01 3.31324435e-01 5.30799105e-02 3.01881796e+01] [-3.30766968e-01 9.43516729e-01 -1.92196376e-02 -5.05483426e+00] [-5.64497191e-02 5.48252561e-04 9.98405293e-01 -1.21573409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.652791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.22, Y:-5.06, Z:-1.22 [[ 9.42283271e-01 3.30822824e-01 5.15606143e-02 3.02175682e+01] [-3.30297541e-01 9.43692731e-01 -1.86430637e-02 -5.05827067e+00] [-5.48249279e-02 5.36702949e-04 9.98495838e-01 -1.21532969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.24, Y:-5.06, Z:-1.22 [[ 9.42279839e-01 3.30904049e-01 5.11000539e-02 3.02447133e+01] [-3.30389602e-01 9.43664271e-01 -1.84513930e-02 -5.06489035e+00] [-5.43269358e-02 5.03449148e-04 9.98523075e-01 -1.21665122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.712791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.27, Y:-5.07, Z:-1.22 [[ 9.42589557e-01 3.30430411e-01 4.83804788e-02 3.02737726e+01] [-3.29969922e-01 9.43830235e-01 -1.74452676e-02 -5.06934301e+00] [-5.14274057e-02 4.79624264e-04 9.98676620e-01 -1.21717076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.30, Y:-5.08, Z:-1.22 [[ 9.42462924e-01 3.30820175e-01 4.81834880e-02 3.03005415e+01] [-3.30365154e-01 9.43693713e-01 -1.73505508e-02 -5.07651783e+00] [-5.12103669e-02 4.34105411e-04 9.98687794e-01 -1.21872565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.772791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.33, Y:-5.08, Z:-1.22 [[ 9.42609773e-01 3.30484082e-01 4.76139467e-02 3.03278171e+01] [-3.30040636e-01 9.43811471e-01 -1.71197414e-02 -5.08303550e+00] [-5.05963911e-02 4.22698248e-04 9.98719093e-01 -1.21848123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.36, Y:-5.09, Z:-1.22 [[ 9.42798487e-01 3.29682502e-01 4.94010227e-02 3.03569315e+01] [-3.29205424e-01 9.44091753e-01 -1.77355835e-02 -5.08719404e+00] [-5.24862097e-02 4.57996650e-04 9.98621544e-01 -1.21929017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.832791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.38, Y:-5.09, Z:-1.22 [[ 9.43243163e-01 3.28401010e-01 4.94480782e-02 3.03841860e+01] [-3.27922552e-01 9.44538257e-01 -1.77279476e-02 -5.09316256e+00] [-5.25274776e-02 5.06625383e-04 9.98619351e-01 -1.22074276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.41, Y:-5.09, Z:-1.22 [[ 9.42510909e-01 3.30392632e-01 5.01387634e-02 3.04126278e+01] [-3.29904982e-01 9.43843508e-01 -1.79481124e-02 -5.09455720e+00] [-5.32530704e-02 3.75263911e-04 9.98580978e-01 -1.22329243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.892791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.44, Y:-5.10, Z:-1.22 [[ 9.42372129e-01 3.30779803e-01 5.01945389e-02 3.04398433e+01] [-3.30293071e-01 9.43707907e-01 -1.79408080e-02 -5.09974580e+00] [-5.33034402e-02 3.28009011e-04 9.98578307e-01 -1.22421571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.47, Y:-5.11, Z:-1.23 [[ 9.42272768e-01 3.31163219e-01 4.95273042e-02 3.04670911e+01] [-3.30691274e-01 9.43573445e-01 -1.76758595e-02 -5.10594576e+00] [-5.25862436e-02 2.77233745e-04 9.98616348e-01 -1.22586253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.952791605 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:30.50, Y:-5.11, Z:-1.23 [[ 9.41926993e-01 3.32599011e-01 4.63835862e-02 3.04956062e+01] [-3.32187991e-01 9.43068328e-01 -1.65307994e-02 -5.11061360e+00] [-4.92410186e-02 1.62735835e-04 9.98786912e-01 -1.22861520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982791605000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.52, Y:-5.11, Z:-1.23 [[ 9.41513705e-01 3.33856943e-01 4.57327505e-02 3.05245130e+01] [-3.33459946e-01 9.42623751e-01 -1.62766119e-02 -5.11208311e+00] [-4.85428367e-02 7.46126590e-05 9.98821099e-01 -1.22978983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.012791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.55, Y:-5.12, Z:-1.23 [[ 9.40911013e-01 3.35424041e-01 4.66602398e-02 3.05513376e+01] [-3.35013964e-01 9.42067254e-01 -1.65810754e-02 -5.11854957e+00] [-4.95187753e-02 -3.05154467e-05 9.98773192e-01 -1.23151741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.58, Y:-5.13, Z:-1.23 [[ 9.40386887e-01 3.36876222e-01 4.67644535e-02 3.05784686e+01] [-3.36467374e-01 9.41548933e-01 -1.65925571e-02 -5.12624765e+00] [-4.96206593e-02 -1.31289789e-04 9.98768128e-01 -1.23266343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.072791605000003 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:30.61, Y:-5.13, Z:-1.23 [[ 9.39556445e-01 3.38788065e-01 4.95614201e-02 3.06073129e+01] [-3.38332653e-01 9.40862676e-01 -1.75624601e-02 -5.12924647e+00] [-5.25804422e-02 -2.67324156e-04 9.98616656e-01 -1.23434691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102791605 meters Centerline goodness [0,1] 0.9999508792612241 Centerline is valid? [True, True] Translation: X:30.64, Y:-5.14, Z:-1.24 [[ 9.39018738e-01 3.39969768e-01 5.16175071e-02 3.06352161e+01] [-3.39478320e-01 9.40436296e-01 -1.82768423e-02 -5.13511594e+00] [-5.47565510e-02 -3.60727279e-04 9.98499670e-01 -1.23559206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.132791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.67, Y:-5.14, Z:-1.24 [[ 9.35947404e-01 3.47893268e-01 5.45227619e-02 3.06652290e+01] [-3.47359367e-01 9.37533725e-01 -1.92868833e-02 -5.13992832e+00] [-5.78267049e-02 -8.87483663e-04 9.98326242e-01 -1.23823450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.69, Y:-5.15, Z:-1.24 [[ 9.34022904e-01 3.52733921e-01 5.63914474e-02 3.06934253e+01] [-3.52171834e-01 9.35722856e-01 -1.99433252e-02 -5.14708425e+00] [-5.98014535e-02 -1.23195694e-03 9.98209531e-01 -1.23942183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.192791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.72, Y:-5.15, Z:-1.24 [[ 9.31683042e-01 3.58603558e-01 5.80533962e-02 3.07224934e+01] [-3.58019490e-01 9.33488474e-01 -2.05259437e-02 -5.15379138e+00] [-6.15528526e-02 -1.66057363e-03 9.98102444e-01 -1.24029312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222791605 meters Centerline goodness [0,1] 0.9999022100528066 Centerline is valid? [True, True] Translation: X:30.75, Y:-5.15, Z:-1.24 [[ 9.27515300e-01 3.68961472e-01 5.98564919e-02 3.07529421e+01] [-3.68362177e-01 9.29441533e-01 -2.11599586e-02 -5.15328678e+00] [-6.34403190e-02 -2.42268236e-03 9.97982694e-01 -1.24014725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.252791605000002 meters Centerline goodness [0,1] 0.9999509827949611 Centerline is valid? [True, True] Translation: X:30.78, Y:-5.15, Z:-1.24 [[ 9.23794181e-01 3.78271897e-01 5.92847652e-02 3.07845573e+01] [-3.77703258e-01 9.25689561e-01 -2.09543684e-02 -5.15332940e+00] [-6.28057370e-02 -3.03452535e-03 9.98021158e-01 -1.24350783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.81, Y:-5.16, Z:-1.25 [[ 9.22093727e-01 3.82330378e-01 5.97213636e-02 3.08142894e+01] [-3.81762069e-01 9.24019660e-01 -2.11042878e-02 -5.15835171e+00] [-6.32525244e-02 -3.33921993e-03 9.97991968e-01 -1.24593849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.312791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.84, Y:-5.17, Z:-1.25 [[ 9.22275354e-01 3.81891263e-01 5.97263280e-02 3.08398883e+01] [-3.81322945e-01 9.24201284e-01 -2.10902290e-02 -5.16770209e+00] [-6.32533232e-02 -3.32402088e-03 9.97991968e-01 -1.24693601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.87, Y:-5.17, Z:-1.25 [[ 9.20381580e-01 3.86293138e-01 6.06247298e-02 3.08705555e+01] [-3.85718346e-01 9.22368650e-01 -2.13876259e-02 -5.17129459e+00] [-6.41802433e-02 -3.69929359e-03 9.97931466e-01 -1.24853813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.372791605 meters Centerline goodness [0,1] 0.9999023246727876 Centerline is valid? [True, True] Translation: X:30.90, Y:-5.17, Z:-1.25 [[ 9.17814251e-01 3.92378402e-01 6.04664395e-02 3.09044436e+01] [-3.91819897e-01 9.19794677e-01 -2.13288567e-02 -5.16565289e+00] [-6.39856919e-02 -4.11602549e-03 9.97942328e-01 -1.24868998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.93, Y:-5.17, Z:-1.25 [[ 9.17188962e-01 3.93814891e-01 6.06155110e-02 3.09339174e+01] [-3.93257651e-01 9.19179992e-01 -2.13673339e-02 -5.16745431e+00] [-6.41313391e-02 -4.23963069e-03 9.97932461e-01 -1.24975066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.432791605000002 meters Centerline goodness [0,1] 0.9999028465947731 Centerline is valid? [True, True] Translation: X:30.97, Y:-5.16, Z:-1.25 [[ 9.16193967e-01 3.96024851e-01 6.12611847e-02 3.09670097e+01] [-3.95461744e-01 9.18228972e-01 -2.15769221e-02 -5.16247355e+00] [-6.47967920e-02 -4.45780916e-03 9.97888523e-01 -1.25214329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.00, Y:-5.16, Z:-1.25 [[ 9.15740286e-01 3.96987213e-01 6.18132757e-02 3.09972832e+01] [-3.96417063e-01 9.17812710e-01 -2.17564165e-02 -5.16226761e+00] [-6.53700292e-02 -4.58061006e-03 9.97850579e-01 -1.25313768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.492791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.03, Y:-5.15, Z:-1.25 [[ 9.14821780e-01 3.98980302e-01 6.25765928e-02 3.10319953e+01] [-3.98401856e-01 9.16946939e-01 -2.20061772e-02 -5.15169211e+00] [-6.61594465e-02 -4.79890052e-03 9.97797524e-01 -1.25356798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.06, Y:-5.15, Z:-1.26 [[ 9.14921623e-01 3.98686495e-01 6.29881112e-02 3.10619538e+01] [-3.98100833e-01 9.17074589e-01 -2.21342354e-02 -5.15209804e+00] [-6.65894170e-02 -4.82452897e-03 9.97768798e-01 -1.25535554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.552791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.10, Y:-5.14, Z:-1.26 [[ 9.16547672e-01 3.94740264e-01 6.41910338e-02 3.10964781e+01] [-3.94124217e-01 9.18780989e-01 -2.25298886e-02 -5.14315962e+00] [-6.78709557e-02 -4.64952402e-03 9.97683274e-01 -1.25795972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.13, Y:-5.15, Z:-1.26 [[ 9.17744611e-01 3.92026216e-01 6.37202807e-02 3.11265140e+01] [-3.91414357e-01 9.19943336e-01 -2.23396444e-02 -5.14511912e+00] [-6.73767739e-02 -4.43894440e-03 9.97717729e-01 -1.26049973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.612791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.16, Y:-5.15, Z:-1.26 [[ 9.19776012e-01 3.87716087e-01 6.07315763e-02 3.11567852e+01] [-3.87152462e-01 9.21770379e-01 -2.12682937e-02 -5.14682861e+00] [-6.42266277e-02 -3.95031292e-03 9.97927520e-01 -1.26177066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.642791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.19, Y:-5.14, Z:-1.26 [[ 9.22785855e-01 3.80981667e-01 5.76127978e-02 3.11897830e+01] [-3.80462178e-01 9.24576655e-01 -2.01628524e-02 -5.14086245e+00] [-6.09491250e-02 -3.31349557e-03 9.98135374e-01 -1.26243062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.672791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.22, Y:-5.14, Z:-1.26 [[ 9.23815503e-01 3.78442428e-01 5.78467429e-02 3.12199299e+01] [-3.77914075e-01 9.25619425e-01 -2.02393673e-02 -5.14205521e+00] [-6.12035042e-02 -3.16365701e-03 9.98120295e-01 -1.26356276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.25, Y:-5.14, Z:-1.27 [[ 9.25594303e-01 3.73976074e-01 5.84558113e-02 3.12528484e+01] [-3.73428509e-01 9.27433782e-01 -2.04384206e-02 -5.13669068e+00] [-6.18573744e-02 -2.91138078e-03 9.98080753e-01 -1.26570638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732791605000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.28, Y:-5.14, Z:-1.27 [[ 9.26655684e-01 3.71046035e-01 6.02833579e-02 3.12815374e+01] [-3.70459134e-01 9.28610176e-01 -2.10516047e-02 -5.14069682e+00] [-6.37908541e-02 -2.82493141e-03 9.97959291e-01 -1.26951351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.31, Y:-5.14, Z:-1.27 [[ 9.29792735e-01 3.63197209e-01 5.97767248e-02 3.13140733e+01] [-3.62605525e-01 9.31709474e-01 -2.08492241e-02 -5.13739206e+00] [-6.32669208e-02 -2.28991351e-03 9.97994015e-01 -1.27192048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.792791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.34, Y:-5.14, Z:-1.27 [[ 9.31322478e-01 3.59274884e-01 5.96657393e-02 3.13440778e+01] [-3.58678416e-01 9.33229562e-01 -2.07937092e-02 -5.13908742e+00] [-6.31524892e-02 -2.03516401e-03 9.98001814e-01 -1.27353247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822791605000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.37, Y:-5.14, Z:-1.27 [[ 9.32653997e-01 3.55784281e-01 5.97834946e-02 3.13744057e+01] [-3.55178931e-01 9.34566350e-01 -2.08245951e-02 -5.14038791e+00] [-6.32807059e-02 -1.81169584e-03 9.97994123e-01 -1.27481208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.852791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.41, Y:-5.14, Z:-1.28 [[ 9.34100932e-01 3.52101269e-01 5.89927499e-02 3.14052345e+01] [-3.51505664e-01 9.35960612e-01 -2.05305071e-02 -5.13867127e+00] [-6.24437079e-02 -1.55871988e-03 9.98047270e-01 -1.27919014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.43, Y:-5.14, Z:-1.28 [[ 9.34480298e-01 3.51014283e-01 5.94604478e-02 3.14332440e+01] [-3.50408695e-01 9.36368866e-01 -2.06662418e-02 -5.14203942e+00] [-6.29310581e-02 -1.52326213e-03 9.98016714e-01 -1.28122419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.912791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.46, Y:-5.14, Z:-1.28 [[ 9.35559758e-01 3.48528274e-01 5.70612128e-02 3.14648456e+01] [-3.47967068e-01 9.37297341e-01 -1.98144906e-02 -5.13767182e+00] [-6.03892332e-02 -1.31778290e-03 9.98174035e-01 -1.28126720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.49, Y:-5.14, Z:-1.28 [[ 9.36906152e-01 3.45032105e-01 5.62112918e-02 3.14946335e+01] [-3.44481973e-01 9.38590253e-01 -1.95065979e-02 -5.13889394e+00] [-5.94897731e-02 -1.08792509e-03 9.98228322e-01 -1.28136428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.972791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.53, Y:-5.13, Z:-1.28 [[ 9.40518896e-01 3.35318182e-01 5.46436107e-02 3.15274660e+01] [-3.34782813e-01 9.42104820e-01 -1.89466564e-02 -5.13205621e+00] [-5.78331674e-02 -4.74053367e-04 9.98326149e-01 -1.28031810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002791605000002 meters Centerline goodness [0,1] 0.999904493577193 Centerline is valid? [True, True] Translation: X:31.56, Y:-5.13, Z:-1.28 [[ 9.42860355e-01 3.28709045e-01 5.44491910e-02 3.15567273e+01] [-3.28167152e-01 9.44431235e-01 -1.88669850e-02 -5.13456457e+00] [-5.76252653e-02 -7.95037025e-05 9.98338281e-01 -1.28063347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.032791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.59, Y:-5.14, Z:-1.28 [[ 9.45295145e-01 3.21938740e-01 5.26548872e-02 3.15861705e+01] [-3.21422664e-01 9.46760453e-01 -1.82240375e-02 -5.13715340e+00] [-5.57185885e-02 3.02620027e-04 9.98446467e-01 -1.27953121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062791605 meters Centerline goodness [0,1] 0.9998566376756188 Centerline is valid? [True, True] Translation: X:31.62, Y:-5.13, Z:-1.28 [[ 9.49158537e-01 3.11021402e-01 4.86185035e-02 3.16174467e+01] [-3.10568062e-01 9.50402524e-01 -1.68083710e-02 -5.13312220e+00] [-5.14349116e-02 8.54454415e-04 9.98675983e-01 -1.27779792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.092791605000002 meters Centerline goodness [0,1] 0.999952228538671 Centerline is valid? [True, True] Translation: X:31.65, Y:-5.14, Z:-1.28 [[ 9.50557152e-01 3.07250635e-01 4.51458647e-02 3.16465634e+01] [-3.06856403e-01 9.51628139e-01 -1.55895012e-02 -5.13711468e+00] [-4.77519594e-02 9.65414245e-04 9.98858758e-01 -1.27749425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122791605 meters Centerline goodness [0,1] 0.9993776330907698 Centerline is valid? [True, True] Translation: X:31.68, Y:-5.14, Z:-1.28 [[ 9.53009854e-01 3.00279209e-01 4.00576455e-02 3.16758122e+01] [-2.99963320e-01 9.53850653e-01 -1.38180577e-02 -5.13887428e+00] [-4.23582868e-02 1.15292077e-03 9.99101820e-01 -1.27813091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.152791605 meters Centerline goodness [0,1] 0.9990840725028924 Centerline is valid? [True, True] Translation: X:31.70, Y:-5.15, Z:-1.28 [[ 9.54042527e-01 2.97032844e-01 3.96780319e-02 3.17037219e+01] [-2.96720523e-01 9.54866411e-01 -1.36772877e-02 -5.14588797e+00] [-4.19498236e-02 1.27542776e-03 9.99118905e-01 -1.27875037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182791605000002 meters Centerline goodness [0,1] 0.9989523809523809 Centerline is valid? [True, True] Translation: X:31.73, Y:-5.15, Z:-1.28 [[ 9.55504133e-01 2.92751625e-01 3.61709583e-02 3.17313282e+01] [-2.92489547e-01 9.56187608e-01 -1.24548565e-02 -5.15256701e+00] [-3.82324015e-02 1.32103962e-03 9.99268001e-01 -1.27706614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.212791605 meters Centerline goodness [0,1] 0.9983754598881934 Centerline is valid? [True, True] Translation: X:31.76, Y:-5.16, Z:-1.28 [[ 9.56728894e-01 2.88900844e-01 3.47293146e-02 3.17586263e+01] [-2.88656990e-01 9.57357988e-01 -1.19509462e-02 -5.16431509e+00] [-3.67010252e-02 1.40895612e-03 9.99325297e-01 -1.27796557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242791605 meters Centerline goodness [0,1] 0.9988501341510158 Centerline is valid? [True, True] Translation: X:31.79, Y:-5.17, Z:-1.28 [[ 9.59043648e-01 2.81464049e-01 3.18318963e-02 3.17864975e+01] [-2.81255460e-01 9.59570535e-01 -1.09432760e-02 -5.17479014e+00] [-3.36250885e-02 1.54218467e-03 9.99433327e-01 -1.27780460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.272791605000002 meters Centerline goodness [0,1] 0.9975144591558721 Centerline is valid? [True, True] Translation: X:31.81, Y:-5.18, Z:-1.28 [[ 9.60030953e-01 2.78208588e-01 3.06684135e-02 3.18144215e+01] [-2.78013375e-01 9.60519360e-01 -1.05414513e-02 -5.18408709e+00] [-3.23903272e-02 1.59389040e-03 9.99474025e-01 -1.27792802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302791605 meters Centerline goodness [0,1] 0.9972128784238347 Centerline is valid? [True, True] Translation: X:31.84, Y:-5.19, Z:-1.28 [[ 9.60919292e-01 2.75228501e-01 2.97218032e-02 3.18419850e+01] [-2.75043846e-01 9.61377443e-01 -1.02125316e-02 -5.19417409e+00] [-3.13846509e-02 1.63861954e-03 9.99506037e-01 -1.27845068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.332791605 meters Centerline goodness [0,1] 0.9973679173047473 Centerline is valid? [True, True] Translation: X:31.87, Y:-5.21, Z:-1.28 [[ 9.62226121e-01 2.70708874e-01 2.89412618e-02 3.18684022e+01] [-2.70531881e-01 9.62659698e-01 -9.94014363e-03 -5.20687358e+00] [-3.05514714e-02 1.73513186e-03 9.99531689e-01 -1.27892075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362791605 meters Centerline goodness [0,1] 0.9976948566488979 Centerline is valid? [True, True] Translation: X:31.90, Y:-5.22, Z:-1.28 [[ 9.62473174e-01 2.69701552e-01 3.01075141e-02 3.18952715e+01] [-2.69509652e-01 9.62942215e-01 -1.03362630e-02 -5.21704427e+00] [-3.17795025e-02 1.83411023e-03 9.99493221e-01 -1.28060029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.392791605000003 meters Centerline goodness [0,1] 0.9982294109202278 Centerline is valid? [True, True] Translation: X:31.92, Y:-5.23, Z:-1.28 [[ 9.62291382e-01 2.70485492e-01 2.88599209e-02 3.19211030e+01] [-2.70309870e-01 9.62722511e-01 -9.89654489e-03 -5.23056863e+00] [-3.04609673e-02 1.72223841e-03 9.99534473e-01 -1.27852195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.422791605 meters Centerline goodness [0,1] 0.998559631265604 Centerline is valid? [True, True] Translation: X:31.95, Y:-5.24, Z:-1.28 [[ 9.62687710e-01 2.69168158e-01 2.79441577e-02 3.19475069e+01] [-2.69003328e-01 9.63091702e-01 -9.56987081e-03 -5.24086024e+00] [-2.94886909e-02 1.69572560e-03 9.99563676e-01 -1.27869515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.452791605 meters Centerline goodness [0,1] 0.9973958333333334 Centerline is valid? [True, True] Translation: X:31.97, Y:-5.25, Z:-1.28 [[ 9.63196962e-01 2.67364779e-01 2.77071920e-02 3.19723749e+01] [-2.67202053e-01 9.63593830e-01 -9.48653977e-03 -5.25489782e+00] [-2.92348458e-02 1.73398771e-03 9.99571067e-01 -1.28111526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.482791605000003 meters Centerline goodness [0,1] 0.9965991282272357 Centerline is valid? [True, True] Translation: X:32.00, Y:-5.27, Z:-1.28 [[ 9.63424496e-01 2.66452265e-01 2.85732604e-02 3.19984210e+01] [-2.66279171e-01 9.63846426e-01 -9.77091628e-03 -5.26520295e+00] [-3.01437177e-02 1.80507598e-03 9.99543945e-01 -1.28382787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.512791605 meters Centerline goodness [0,1] 0.9956271023546371 Centerline is valid? [True, True] Translation: X:32.03, Y:-5.28, Z:-1.28 [[ 9.63879852e-01 2.64884249e-01 2.77842537e-02 3.20250670e+01] [-2.64720260e-01 9.64278550e-01 -9.49004326e-03 -5.27543855e+00] [-2.93055229e-02 1.79220661e-03 9.99568894e-01 -1.28445163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.542791605 meters Centerline goodness [0,1] 0.9965766634522661 Centerline is valid? [True, True] Translation: X:32.05, Y:-5.29, Z:-1.29 [[ 9.64713264e-01 2.62114830e-01 2.49826852e-02 3.20526051e+01] [-2.61981625e-01 9.65035236e-01 -8.52183155e-03 -5.28613317e+00] [-2.63428699e-02 1.67611947e-03 9.99651561e-01 -1.28522755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.572791605000003 meters Centerline goodness [0,1] 0.996097889970132 Centerline is valid? [True, True] Translation: X:32.08, Y:-5.30, Z:-1.29 [[ 9.65069117e-01 2.60866723e-01 2.42930525e-02 3.20770517e+01] [-2.60740385e-01 9.65373393e-01 -8.28636332e-03 -5.30139581e+00] [-2.56135030e-02 1.66273347e-03 9.99670538e-01 -1.28678967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.602791605 meters Centerline goodness [0,1] 0.9953801732435034 Centerline is valid? [True, True] Translation: X:32.10, Y:-5.31, Z:-1.29 [[ 9.65207547e-01 2.60296256e-01 2.49048403e-02 3.21024621e+01] [-2.60163542e-01 9.65527282e-01 -8.48519448e-03 -5.31136188e+00] [-2.62549671e-02 1.71064227e-03 9.99653815e-01 -1.28815806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.632791605 meters Centerline goodness [0,1] 0.9953636627064619 Centerline is valid? [True, True] Translation: X:32.13, Y:-5.32, Z:-1.29 [[ 9.65423899e-01 2.59407148e-01 2.57803745e-02 3.21290100e+01] [-2.59264983e-01 9.65766407e-01 -8.77016180e-03 -5.32326010e+00] [-2.71728623e-02 1.78297543e-03 9.99629160e-01 -1.28824482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662791605000002 meters Centerline goodness [0,1] 0.9951683818910954 Centerline is valid? [True, True] Translation: X:32.15, Y:-5.34, Z:-1.29 [[ 9.65522239e-01 2.58872782e-01 2.74169433e-02 3.21539916e+01] [-2.58712106e-01 9.65909555e-01 -9.31548480e-03 -5.33587740e+00] [-2.88938130e-02 1.90121261e-03 9.99580679e-01 -1.28896430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.692791605 meters Centerline goodness [0,1] 0.9946678195705433 Centerline is valid? [True, True] Translation: X:32.18, Y:-5.35, Z:-1.29 [[ 9.65449805e-01 2.59171334e-01 2.71457782e-02 3.21787594e+01] [-2.59014306e-01 9.65829569e-01 -9.21050451e-03 -5.35030018e+00] [-2.86052940e-02 1.86113488e-03 9.99589052e-01 -1.28996300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722791605 meters Centerline goodness [0,1] 0.996509767802608 Centerline is valid? [True, True] Translation: X:32.20, Y:-5.36, Z:-1.29 [[ 9.65457600e-01 2.59047903e-01 2.80322468e-02 3.22048703e+01] [-2.58880745e-01 9.65862578e-01 -9.49951052e-03 -5.36318506e+00] [-2.95361265e-02 1.91436568e-03 9.99561880e-01 -1.29150601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.752791605000002 meters Centerline goodness [0,1] 0.9959523924251915 Centerline is valid? [True, True] Translation: X:32.23, Y:-5.38, Z:-1.29 [[ 9.64546236e-01 2.62459219e-01 2.76715930e-02 3.22315208e+01] [-2.62298113e-01 9.64941455e-01 -9.36422652e-03 -5.37567646e+00] [-2.91591948e-02 1.77402280e-03 9.99573206e-01 -1.29188302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782791605 meters Centerline goodness [0,1] 0.9974825716498839 Centerline is valid? [True, True] Translation: X:32.26, Y:-5.39, Z:-1.29 [[ 9.63560914e-01 2.66133323e-01 2.68964729e-02 3.22582091e+01] [-2.65982612e-01 9.63934878e-01 -9.09948052e-03 -5.39020059e+00] [-2.83481233e-02 1.61390965e-03 9.99596808e-01 -1.29284150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.812791605 meters Centerline goodness [0,1] 0.997638326585695 Centerline is valid? [True, True] Translation: X:32.28, Y:-5.40, Z:-1.29 [[ 9.63207262e-01 2.67473629e-01 2.62607642e-02 3.22843878e+01] [-2.67330379e-01 9.63563950e-01 -8.88718571e-03 -5.40233816e+00] [-2.76810135e-02 1.53990178e-03 9.99615621e-01 -1.29388646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842791605000002 meters Centerline goodness [0,1] 0.9979263117283951 Centerline is valid? [True, True] Translation: X:32.31, Y:-5.42, Z:-1.30 [[ 9.61944693e-01 2.71836726e-01 2.76984171e-02 3.23102080e+01] [-2.71679577e-01 9.62342252e-01 -9.35936882e-03 -5.41752867e+00] [-2.91995773e-02 1.47810093e-03 9.99572509e-01 -1.29733965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.872791605 meters Centerline goodness [0,1] 0.9984588711230977 Centerline is valid? [True, True] Translation: X:32.34, Y:-5.43, Z:-1.30 [[ 9.60866540e-01 2.75449006e-01 2.93826069e-02 3.23370251e+01] [-2.75273918e-01 9.61314592e-01 -9.92598175e-03 -5.42952069e+00] [-3.09800305e-02 1.44927842e-03 9.99518953e-01 -1.29943782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902791605 meters Centerline goodness [0,1] 0.9995173512235146 Centerline is valid? [True, True] Translation: X:32.36, Y:-5.44, Z:-1.30 [[ 9.59136731e-01 2.81093760e-01 3.22959735e-02 3.23640325e+01] [-2.80885483e-01 9.59679303e-01 -1.09078437e-02 -5.44204950e+00] [-3.40599041e-02 1.39064339e-03 9.99418826e-01 -1.30256370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.932791605000002 meters Centerline goodness [0,1] 0.999182888728671 Centerline is valid? [True, True] Translation: X:32.39, Y:-5.45, Z:-1.30 [[ 9.58193148e-01 2.84232351e-01 3.28308159e-02 3.23903350e+01] [-2.84019361e-01 9.58754562e-01 -1.10766951e-02 -5.45279363e+00] [-3.46250496e-02 1.28902598e-03 9.99399542e-01 -1.30449450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962791605 meters Centerline goodness [0,1] 0.999373886239946 Centerline is valid? [True, True] Translation: X:32.42, Y:-5.46, Z:-1.31 [[ 9.57404239e-01 2.86963400e-01 3.20800690e-02 3.24165234e+01] [-2.86761674e-01 9.57940844e-01 -1.08204257e-02 -5.46344064e+00] [-3.38358745e-02 1.16018717e-03 9.99426729e-01 -1.30650499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.992791605 meters Centerline goodness [0,1] 0.9997109826589595 Centerline is valid? [True, True] Translation: X:32.44, Y:-5.47, Z:-1.31 [[ 9.55350588e-01 2.93648208e-01 3.28022057e-02 3.24444343e+01] [-2.93441727e-01 9.55913105e-01 -1.10493727e-02 -5.47253669e+00] [-3.46006868e-02 9.30488795e-04 9.99400784e-01 -1.30726250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022791605000002 meters Centerline goodness [0,1] 0.9996618030727606 Centerline is valid? [True, True] Translation: X:32.47, Y:-5.48, Z:-1.31 [[ 9.54146151e-01 2.97547520e-01 3.27199749e-02 3.24718785e+01] [-2.97344422e-01 9.54706686e-01 -1.10199020e-02 -5.48021080e+00] [-3.45169233e-02 7.85495100e-04 9.99403805e-01 -1.30586021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.052791605 meters Centerline goodness [0,1] 0.9999036005205572 Centerline is valid? [True, True] Translation: X:32.50, Y:-5.49, Z:-1.31 [[ 9.51899628e-01 3.04275252e-01 3.61063606e-02 3.25003069e+01] [-3.04033387e-01 9.52583976e-01 -1.21436045e-02 -5.48691907e+00] [-3.80893389e-02 5.81953457e-04 9.99274168e-01 -1.30846833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.53, Y:-5.50, Z:-1.31 [[ 9.50887950e-01 3.07268490e-01 3.73922663e-02 3.25277042e+01] [-3.07012003e-01 9.51622751e-01 -1.25606733e-02 -5.49529063e+00] [-3.94428305e-02 4.63918284e-04 9.99221721e-01 -1.31125031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.112791605 meters Centerline goodness [0,1] 0.999855734551575 Centerline is valid? [True, True] Translation: X:32.56, Y:-5.50, Z:-1.31 [[ 9.49053831e-01 3.12815906e-01 3.79872948e-02 3.25562157e+01] [-3.12556270e-01 9.49813750e-01 -1.27443549e-02 -5.49941181e+00] [-4.00674918e-02 2.21911677e-04 9.99196951e-01 -1.31296253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142791605000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.58, Y:-5.51, Z:-1.31 [[ 9.47997232e-01 3.15834085e-01 3.93710423e-02 3.25830798e+01] [-3.15558467e-01 9.48814431e-01 -1.31920274e-02 -5.50555498e+00] [-4.15223050e-02 8.21397104e-05 9.99137574e-01 -1.31432929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.172791605 meters Centerline goodness [0,1] 0.9998561220085368 Centerline is valid? [True, True] Translation: X:32.61, Y:-5.51, Z:-1.32 [[ 9.47365793e-01 3.17627962e-01 4.01314342e-02 3.26100228e+01] [-3.17343761e-01 9.48215417e-01 -1.34335127e-02 -5.51171526e+00] [-4.23201039e-02 -9.00984641e-06 9.99104103e-01 -1.31585331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202791605 meters Centerline goodness [0,1] 0.9998081810770633 Centerline is valid? [True, True] Translation: X:32.64, Y:-5.52, Z:-1.32 [[ 9.45989731e-01 3.21701232e-01 4.01465531e-02 3.26387064e+01] [-3.21421295e-01 9.46841208e-01 -1.34193198e-02 -5.51691996e+00] [-4.23294225e-02 -2.09418367e-04 9.99103686e-01 -1.31633340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.232791605000003 meters Centerline goodness [0,1] 0.9998557969621227 Centerline is valid? [True, True] Translation: X:32.67, Y:-5.52, Z:-1.32 [[ 9.45123043e-01 3.24065097e-01 4.15240524e-02 3.26659601e+01] [-3.23768669e-01 9.46034722e-01 -1.38619504e-02 -5.52412722e+00] [-4.37753697e-02 -3.42938406e-04 9.99041340e-01 -1.31850495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262791605 meters Centerline goodness [0,1] 0.9998557969621227 Centerline is valid? [True, True] Translation: X:32.69, Y:-5.53, Z:-1.32 [[ 9.45261962e-01 3.23658979e-01 4.15293750e-02 3.26915621e+01] [-3.23362861e-01 9.46173741e-01 -1.38459877e-02 -5.53306429e+00] [-4.37753823e-02 -3.40972039e-04 9.99041340e-01 -1.31950756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.292791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.72, Y:-5.53, Z:-1.32 [[ 9.44295192e-01 3.26673487e-01 3.98876220e-02 3.27211892e+01] [-3.26403772e-01 9.45137135e-01 -1.32805810e-02 -5.53420841e+00] [-4.20376865e-02 -4.78681446e-04 9.99115911e-01 -1.31928623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322791605000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.75, Y:-5.54, Z:-1.32 [[ 9.44072854e-01 3.27465814e-01 3.86340110e-02 3.27485192e+01] [-3.27214098e-01 9.44862889e-01 -1.28474101e-02 -5.53973824e+00] [-4.07109309e-02 -5.12701967e-04 9.99170835e-01 -1.31967330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.352791605 meters Centerline goodness [0,1] 0.9999522786924362 Centerline is valid? [True, True] Translation: X:32.78, Y:-5.54, Z:-1.32 [[ 9.43474370e-01 3.28965678e-01 4.04684657e-02 3.27775219e+01] [-3.28691691e-01 9.44341672e-01 -1.34379219e-02 -5.54426993e+00] [-4.26366737e-02 -6.23313521e-04 9.99090449e-01 -1.32006393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.80, Y:-5.55, Z:-1.32 [[ 9.43302224e-01 3.29251963e-01 4.21195820e-02 3.28048888e+01] [-3.28956225e-01 9.44241857e-01 -1.39684745e-02 -5.55182821e+00] [-4.43702199e-02 -6.79005631e-04 9.99014926e-01 -1.32311673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.412791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.83, Y:-5.56, Z:-1.33 [[ 9.43148703e-01 3.29519042e-01 4.34479578e-02 3.28323922e+01] [-3.29205457e-01 9.44148647e-01 -1.43909563e-02 -5.55836671e+00] [-4.57634247e-02 -7.30493046e-04 9.98952039e-01 -1.32528468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.86, Y:-5.56, Z:-1.33 [[ 9.43625016e-01 3.28015546e-01 4.44705678e-02 3.28617219e+01] [-3.27686231e-01 9.44672072e-01 -1.47108872e-02 -5.55762018e+00] [-4.68355031e-02 -6.90831541e-04 9.98902377e-01 -1.32674469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.472791605 meters Centerline goodness [0,1] 0.9999522057066387 Centerline is valid? [True, True] Translation: X:32.89, Y:-5.56, Z:-1.33 [[ 9.44305959e-01 3.26250837e-01 4.29726361e-02 3.28898499e+01] [-3.25942342e-01 9.45283043e-01 -1.41971248e-02 -5.56278073e+00] [-4.52531280e-02 -6.00172136e-04 9.98975372e-01 -1.32680158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.92, Y:-5.57, Z:-1.33 [[ 9.47034176e-01 3.18182179e-01 4.34323670e-02 3.29193399e+01] [-3.17859297e-01 9.48029560e-01 -1.43324814e-02 -5.56528838e+00] [-4.57355079e-02 -2.32031958e-04 9.98953557e-01 -1.32802849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.532791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.95, Y:-5.57, Z:-1.33 [[ 9.48381859e-01 3.14182171e-01 4.31440848e-02 3.29460610e+01] [-3.13859944e-01 9.49362713e-01 -1.42258504e-02 -5.57099006e+00] [-4.54288940e-02 -4.96616314e-05 9.98967574e-01 -1.32910091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.97, Y:-5.57, Z:-1.33 [[ 9.50905425e-01 3.06713050e-01 4.13034839e-02 3.29745854e+01] [-3.06411506e-01 9.51801990e-01 -1.36000249e-02 -5.57342935e+00] [-4.34840433e-02 2.76474728e-04 9.99054083e-01 -1.32779441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.592791605000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.00, Y:-5.58, Z:-1.33 [[ 9.51718575e-01 3.04280401e-01 4.05609640e-02 3.30017041e+01] [-3.03988175e-01 9.52582440e-01 -1.33372925e-02 -5.57930585e+00] [-4.26959388e-02 3.63295609e-04 9.99088047e-01 -1.32751816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.03, Y:-5.59, Z:-1.33 [[ 9.52594124e-01 3.01618224e-01 3.98858478e-02 3.30293900e+01] [-3.01334100e-01 9.53428675e-01 -1.30966440e-02 -5.58618459e+00] [-4.19784975e-02 4.56820042e-04 9.99118410e-01 -1.32690452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.652791605 meters Centerline goodness [0,1] 0.9999522422274225 Centerline is valid? [True, True] Translation: X:33.06, Y:-5.59, Z:-1.33 [[ 9.53407565e-01 2.99069164e-01 3.96440440e-02 3.30571837e+01] [-2.98786917e-01 9.54231278e-01 -1.30017922e-02 -5.59338473e+00] [-4.17180219e-02 5.50885363e-04 9.99129273e-01 -1.32777810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682791605000002 meters Centerline goodness [0,1] 0.99976225571775 Centerline is valid? [True, True] Translation: X:33.08, Y:-5.60, Z:-1.33 [[ 9.53761560e-01 2.98223265e-01 3.74402255e-02 3.30838189e+01] [-2.97971452e-01 9.54495988e-01 -1.22646867e-02 -5.60168715e+00] [-3.93941599e-02 5.41468388e-04 9.99223602e-01 -1.32850623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.712791605 meters Centerline goodness [0,1] 0.9997617232176896 Centerline is valid? [True, True] Translation: X:33.11, Y:-5.61, Z:-1.33 [[ 9.53945673e-01 2.97820126e-01 3.59280564e-02 3.31101363e+01] [-2.97588610e-01 9.54621864e-01 -1.17522912e-02 -5.60860371e+00] [-3.77977770e-02 5.19266991e-04 9.99285274e-01 -1.32827848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742791605 meters Centerline goodness [0,1] 0.9998097593455721 Centerline is valid? [True, True] Translation: X:33.14, Y:-5.61, Z:-1.33 [[ 9.53832924e-01 2.98208418e-01 3.57000299e-02 3.31376788e+01] [-2.97980739e-01 9.54500657e-01 -1.16608053e-02 -5.61451331e+00] [-3.75530523e-02 4.84538713e-04 9.99294518e-01 -1.32723640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772791605000002 meters Centerline goodness [0,1] 0.9996196634021108 Centerline is valid? [True, True] Translation: X:33.17, Y:-5.62, Z:-1.33 [[ 9.54657569e-01 2.95885771e-01 3.28715133e-02 3.31654373e+01] [-2.95691883e-01 9.55223191e-01 -1.07222532e-02 -5.62126715e+00] [-3.45721939e-02 5.16240510e-04 9.99402070e-01 -1.32583416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802791605000003 meters Centerline goodness [0,1] 0.9998093694895868 Centerline is valid? [True, True] Translation: X:33.19, Y:-5.63, Z:-1.33 [[ 9.55333195e-01 2.93768619e-01 3.22255388e-02 3.31925016e+01] [-2.93581484e-01 9.55876391e-01 -1.04994239e-02 -5.63030811e+00] [-3.38880329e-02 5.69626642e-04 9.99425473e-01 -1.32715550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.832791605 meters Centerline goodness [0,1] 0.9986690117412178 Centerline is valid? [True, True] Translation: X:33.22, Y:-5.64, Z:-1.32 [[ 9.56605977e-01 2.89920195e-01 2.91767784e-02 3.32205878e+01] [-2.89765347e-01 9.57050618e-01 -9.49519178e-03 -5.63539896e+00] [-3.06765017e-02 6.28737889e-04 9.99529168e-01 -1.32402906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862791605 meters Centerline goodness [0,1] 0.99842902027992 Centerline is valid? [True, True] Translation: X:33.25, Y:-5.64, Z:-1.32 [[ 9.56987369e-01 2.88802450e-01 2.77185923e-02 3.32480447e+01] [-2.88662547e-01 9.57388510e-01 -9.00967406e-03 -5.64215693e+00] [-2.91394777e-02 6.20824813e-04 9.99575162e-01 -1.32422635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.892791605000003 meters Centerline goodness [0,1] 0.9963849117633069 Centerline is valid? [True, True] Translation: X:33.28, Y:-5.65, Z:-1.32 [[ 9.59121838e-01 2.81961243e-01 2.41486517e-02 3.32763227e+01] [-2.81853177e-01 9.59425532e-01 -7.83802746e-03 -5.65114045e+00] [-2.53788530e-02 7.11249081e-04 9.99677652e-01 -1.32440585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922791605 meters Centerline goodness [0,1] 0.9956033452807647 Centerline is valid? [True, True] Translation: X:33.30, Y:-5.66, Z:-1.32 [[ 9.60446110e-01 2.77472023e-01 2.35063068e-02 3.33039819e+01] [-2.77368374e-01 9.60733381e-01 -7.62599602e-03 -5.66015671e+00] [-2.46992941e-02 8.04452117e-04 9.99694602e-01 -1.32475777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.952791605 meters Centerline goodness [0,1] 0.9935747941554424 Centerline is valid? [True, True] Translation: X:33.33, Y:-5.67, Z:-1.32 [[ 9.61218640e-01 2.74907915e-01 2.20082652e-02 3.33307967e+01] [-2.74816409e-01 9.61470216e-01 -7.13900150e-03 -5.66955330e+00] [-2.31228595e-02 8.13908908e-04 9.99732300e-01 -1.32332889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982791605000003 meters Centerline goodness [0,1] 0.9926748695360751 Centerline is valid? [True, True] Translation: X:33.36, Y:-5.68, Z:-1.32 [[ 9.62537298e-01 2.70300754e-01 2.14348284e-02 3.33584557e+01] [-2.70212896e-01 9.62775518e-01 -6.94934348e-03 -5.68018817e+00] [-2.25153408e-02 8.97035246e-04 9.99746095e-01 -1.32299109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.012791605000004 meters Centerline goodness [0,1] 0.9921319917981976 Centerline is valid? [True, True] Translation: X:33.38, Y:-5.69, Z:-1.32 [[ 9.62674635e-01 2.69847811e-01 2.09691925e-02 3.33838622e+01] [-2.69763552e-01 9.62902573e-01 -6.80152668e-03 -5.69033590e+00] [-2.20266665e-02 8.90933378e-04 9.99756987e-01 -1.32314404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042791605 meters Centerline goodness [0,1] 0.9923128342245989 Centerline is valid? [True, True] Translation: X:33.41, Y:-5.70, Z:-1.33 [[ 9.63286084e-01 2.67529972e-01 2.25307285e-02 3.34097565e+01] [-2.67432357e-01 9.63549018e-01 -7.29552356e-03 -5.70367972e+00] [-2.36612326e-02 1.00223049e-03 9.99719531e-01 -1.32605296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.072791605 meters Centerline goodness [0,1] 0.9910077964318171 Centerline is valid? [True, True] Translation: X:33.44, Y:-5.72, Z:-1.33 [[ 9.63475300e-01 2.66877239e-01 2.21784822e-02 3.34353940e+01] [-2.66782687e-01 9.63730020e-01 -7.17260823e-03 -5.71570845e+00] [-2.32882749e-02 9.93795804e-04 9.99728297e-01 -1.32678755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102791605 meters Centerline goodness [0,1] 0.9905732605991004 Centerline is valid? [True, True] Translation: X:33.46, Y:-5.73, Z:-1.33 [[ 9.63680196e-01 2.66122823e-01 2.23410750e-02 3.34607741e+01] [-2.66026896e-01 9.63938599e-01 -7.21585810e-03 -5.72989393e+00] [-2.34557291e-02 1.01045270e-03 9.99724366e-01 -1.32842724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.132791605 meters Centerline goodness [0,1] 0.9906224582555858 Centerline is valid? [True, True] Translation: X:33.49, Y:-5.74, Z:-1.33 [[ 9.63970121e-01 2.65217854e-01 2.05206147e-02 3.34871772e+01] [-2.65136877e-01 9.64188054e-01 -6.62058671e-03 -5.74083249e+00] [-2.15416293e-02 9.41276080e-04 9.99767509e-01 -1.32896893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162791605 meters Centerline goodness [0,1] 0.9916758360044012 Centerline is valid? [True, True] Translation: X:33.51, Y:-5.75, Z:-1.33 [[ 9.63784874e-01 2.65843276e-01 2.11203402e-02 3.35126971e+01] [-2.65757847e-01 9.64015798e-01 -6.80502154e-03 -5.75465916e+00] [-2.21694108e-02 9.45680694e-04 9.99753781e-01 -1.32978580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.192791605000004 meters Centerline goodness [0,1] 0.9905136067458796 Centerline is valid? [True, True] Translation: X:33.54, Y:-5.76, Z:-1.33 [[ 9.63965244e-01 2.65375683e-01 1.86213464e-02 3.35398560e+01] [-2.65309306e-01 9.64144722e-01 -5.99389730e-03 -5.76410785e+00] [-1.95443075e-02 8.37492175e-04 9.99808641e-01 -1.32849067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222791605000005 meters Centerline goodness [0,1] 0.990978886756238 Centerline is valid? [True, True] Translation: X:33.57, Y:-5.77, Z:-1.33 [[ 9.63723900e-01 2.66294526e-01 1.79852832e-02 3.35665108e+01] [-2.66232897e-01 9.63891389e-01 -5.78222030e-03 -5.77426220e+00] [-1.88756332e-02 7.84189863e-04 9.99821532e-01 -1.32803762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.252791605 meters Centerline goodness [0,1] 0.9928471988862753 Centerline is valid? [True, True] Translation: X:33.59, Y:-5.79, Z:-1.33 [[ 9.62471916e-01 2.70743880e-01 1.85892910e-02 3.35919335e+01] [-2.70679115e-01 9.62651157e-01 -5.96379900e-03 -5.78985022e+00] [-1.95096645e-02 7.08256228e-04 9.99809418e-01 -1.33039185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282791605 meters Centerline goodness [0,1] 0.9944883776659478 Centerline is valid? [True, True] Translation: X:33.62, Y:-5.80, Z:-1.33 [[ 9.61425623e-01 2.74382516e-01 1.93650616e-02 3.36182018e+01] [-2.74313027e-01 9.61620404e-01 -6.20980677e-03 -5.80243696e+00] [-2.03257007e-02 6.58178689e-04 9.99793195e-01 -1.33253949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.312791605 meters Centerline goodness [0,1] 0.996826617944033 Centerline is valid? [True, True] Translation: X:33.64, Y:-5.82, Z:-1.33 [[ 9.58662152e-01 2.83885054e-01 1.93947254e-02 3.36446434e+01] [-2.83817257e-01 9.58858209e-01 -6.22085667e-03 -5.81665425e+00] [-2.03627999e-02 4.59142080e-04 9.99792551e-01 -1.33230909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342791605 meters Centerline goodness [0,1] 0.9972699841946453 Centerline is valid? [True, True] Translation: X:33.67, Y:-5.83, Z:-1.33 [[ 9.57037388e-01 2.89343030e-01 1.89749531e-02 3.36711609e+01] [-2.89279326e-01 9.57225419e-01 -6.08024976e-03 -5.82725211e+00] [-1.99225853e-02 3.29964707e-04 9.99801471e-01 -1.33185664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372791605 meters Centerline goodness [0,1] 0.9979928315412187 Centerline is valid? [True, True] Translation: X:33.70, Y:-5.84, Z:-1.33 [[ 9.55644676e-01 2.93903750e-01 1.90745804e-02 3.36971896e+01] [-2.93840448e-01 9.55834993e-01 -6.10390844e-03 -5.83833907e+00] [-2.00261130e-02 2.28284356e-04 9.99799431e-01 -1.33351743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402791605000004 meters Centerline goodness [0,1] 0.9990874159462055 Centerline is valid? [True, True] Translation: X:33.72, Y:-5.85, Z:-1.33 [[ 9.53226781e-01 3.01614161e-01 1.96876146e-02 3.37228745e+01] [-3.01548539e-01 9.53430068e-01 -6.29162312e-03 -5.85044178e+00] [-2.06684063e-02 6.05722418e-05 9.99786384e-01 -1.33460324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.432791605 meters Centerline goodness [0,1] 0.9996174079387853 Centerline is valid? [True, True] Translation: X:33.75, Y:-5.86, Z:-1.34 [[ 9.50927469e-01 3.08588904e-01 2.25795739e-02 3.37497977e+01] [-3.08504818e-01 9.51195498e-01 -7.20434880e-03 -5.86053589e+00] [-2.37007712e-02 -1.15094170e-04 9.99719091e-01 -1.33675308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462791605 meters Centerline goodness [0,1] 0.999904338259913 Centerline is valid? [True, True] Translation: X:33.78, Y:-5.87, Z:-1.34 [[ 9.50296427e-01 3.10418802e-01 2.40180786e-02 3.37753751e+01] [-3.10324497e-01 9.50599882e-01 -7.65320057e-03 -5.86991094e+00] [-2.52072800e-02 -1.80589001e-04 9.99682230e-01 -1.34020926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.492791605 meters Centerline goodness [0,1] 0.9996656476881925 Centerline is valid? [True, True] Translation: X:33.80, Y:-5.88, Z:-1.34 [[ 9.49520974e-01 3.12665254e-01 2.55021508e-02 3.38007389e+01] [-3.12560085e-01 9.49863342e-01 -8.11329085e-03 -5.88007368e+00] [-2.67603023e-02 -2.67214599e-04 9.99641843e-01 -1.34339499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522791605 meters Centerline goodness [0,1] 0.9999522946283752 Centerline is valid? [True, True] Translation: X:33.83, Y:-5.89, Z:-1.34 [[ 9.48270056e-01 3.16372766e-01 2.63091917e-02 3.38281949e+01] [-3.16262626e-01 9.48634870e-01 -8.35675565e-03 -5.88859945e+00] [-2.76016666e-02 -3.96152910e-04 9.99618923e-01 -1.34461304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.552791605 meters Centerline goodness [0,1] 0.9997136174884254 Centerline is valid? [True, True] Translation: X:33.86, Y:-5.89, Z:-1.34 [[ 9.47694328e-01 3.18060576e-01 2.67007655e-02 3.38562874e+01] [-3.17948108e-01 9.48070280e-01 -8.47019541e-03 -5.89473754e+00] [-2.80082375e-02 -4.62301736e-04 9.99607585e-01 -1.34402052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582791605000004 meters Centerline goodness [0,1] 0.999904671115348 Centerline is valid? [True, True] Translation: X:33.88, Y:-5.90, Z:-1.34 [[ 9.46010149e-01 3.23043124e-01 2.66071033e-02 3.38842967e+01] [-3.22933706e-01 9.46384044e-01 -8.42989600e-03 -5.90066510e+00] [-2.79037579e-02 -6.17563284e-04 9.99610424e-01 -1.34306994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.612791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.91, Y:-5.91, Z:-1.35 [[ 9.45337051e-01 3.24954126e-01 2.72520822e-02 3.39109192e+01] [-3.24840449e-01 9.45729520e-01 -8.62310622e-03 -5.90993271e+00] [-2.85752125e-02 -7.00836801e-04 9.99591400e-01 -1.34586724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.642791605 meters Centerline goodness [0,1] 0.9999524601854053 Centerline is valid? [True, True] Translation: X:33.94, Y:-5.92, Z:-1.35 [[ 9.44331841e-01 3.27875661e-01 2.71095042e-02 3.39391484e+01] [-3.27764675e-01 9.44720550e-01 -8.56736023e-03 -5.91536458e+00] [-2.84199346e-02 -7.95106748e-04 9.99595756e-01 -1.34796354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.672791605 meters Centerline goodness [0,1] 0.9999523423723967 Centerline is valid? [True, True] Translation: X:33.97, Y:-5.92, Z:-1.35 [[ 9.43827870e-01 3.29393220e-01 2.62499157e-02 3.39672352e+01] [-3.29290017e-01 9.44192474e-01 -8.28589843e-03 -5.92043009e+00] [-2.75142916e-02 -8.23373304e-04 9.99621071e-01 -1.34721467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.00, Y:-5.93, Z:-1.35 [[ 9.45807249e-01 3.23658107e-01 2.63453294e-02 3.39958857e+01] [-3.23552218e-01 9.46173865e-01 -8.30541514e-03 -5.92592720e+00] [-2.76153770e-02 -6.68767901e-04 9.99618399e-01 -1.34922520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.732791605 meters Centerline goodness [0,1] 0.9999524262607041 Centerline is valid? [True, True] Translation: X:34.02, Y:-5.93, Z:-1.35 [[ 9.47403923e-01 3.19017560e-01 2.55656567e-02 3.40241927e+01] [-3.18916387e-01 9.47748659e-01 -8.05096616e-03 -5.93174193e+00] [-2.67982164e-02 -5.25789959e-04 9.99640725e-01 -1.34846210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762791605000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.05, Y:-5.94, Z:-1.35 [[ 9.48217540e-01 3.16587984e-01 2.56036169e-02 3.40529285e+01] [-3.16485901e-01 9.48563034e-01 -8.05259293e-03 -5.93704839e+00] [-2.68359987e-02 -4.67573901e-04 9.99639740e-01 -1.34805800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.792791605 meters Centerline goodness [0,1] 0.9999045755999809 Centerline is valid? [True, True] Translation: X:34.08, Y:-5.94, Z:-1.35 [[ 9.50011026e-01 3.11235578e-01 2.47278118e-02 3.40810662e+01] [-3.11138762e-01 9.50332740e-01 -7.76876580e-03 -5.94337824e+00] [-2.59175654e-02 -3.13367580e-04 9.99664034e-01 -1.34731873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.11, Y:-5.95, Z:-1.35 [[ 9.50242748e-01 3.10435910e-01 2.58508230e-02 3.41084583e+01] [-3.10330110e-01 9.50594260e-01 -8.11027476e-03 -5.95173521e+00] [-2.70913645e-02 -3.15558979e-04 9.99632912e-01 -1.34901259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.852791605 meters Centerline goodness [0,1] 0.9999524353120244 Centerline is valid? [True, True] Translation: X:34.14, Y:-5.96, Z:-1.35 [[ 9.50016128e-01 3.11180773e-01 2.52167363e-02 3.41353480e+01] [-3.11080598e-01 9.50350679e-01 -7.90244437e-03 -5.96223191e+00] [-2.64238312e-02 -3.36987801e-04 9.99650773e-01 -1.35143423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882791605 meters Centerline goodness [0,1] 0.9999522581877208 Centerline is valid? [True, True] Translation: X:34.16, Y:-5.97, Z:-1.35 [[ 9.50076713e-01 3.11111819e-01 2.37418515e-02 3.41619917e+01] [-3.11023221e-01 9.50373259e-01 -7.43134679e-03 -5.97294194e+00] [-2.48756006e-02 -3.23917599e-04 9.99690502e-01 -1.35144588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.912791605 meters Centerline goodness [0,1] 0.9999523128278494 Centerline is valid? [True, True] Translation: X:34.19, Y:-5.98, Z:-1.35 [[ 9.50087286e-01 3.11198150e-01 2.21328049e-02 3.41881283e+01] [-3.11121445e-01 9.50344996e-01 -6.91623370e-03 -5.98378693e+00] [-2.31861195e-02 -3.14964534e-04 9.99731116e-01 -1.35220430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942791605000004 meters Centerline goodness [0,1] 0.9999523173755483 Centerline is valid? [True, True] Translation: X:34.21, Y:-5.99, Z:-1.35 [[ 9.50206718e-01 3.10810667e-01 2.24482249e-02 3.42139500e+01] [-3.10731637e-01 9.50471795e-01 -7.01540383e-03 -5.99264911e+00] [-2.35168669e-02 -3.09289815e-04 9.99723392e-01 -1.35374692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.972791605000005 meters Centerline goodness [0,1] 0.9999522673031026 Centerline is valid? [True, True] Translation: X:34.24, Y:-6.00, Z:-1.36 [[ 9.50218339e-01 3.10800922e-01 2.20883565e-02 3.42399441e+01] [-3.10724629e-01 9.50474981e-01 -6.89320229e-03 -6.00321294e+00] [-2.31368438e-02 -3.13349132e-04 9.99732258e-01 -1.35505176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002791605 meters Centerline goodness [0,1] 0.9999045801526718 Centerline is valid? [True, True] Translation: X:34.27, Y:-6.01, Z:-1.36 [[ 9.50149127e-01 3.10867746e-01 2.40391377e-02 3.42665283e+01] [-3.10777729e-01 9.50453112e-01 -7.48898798e-03 -6.01438367e+00] [-2.51761581e-02 -3.55173233e-04 9.99682967e-01 -1.35775965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.032791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.29, Y:-6.03, Z:-1.36 [[ 9.49861143e-01 3.11627715e-01 2.55338306e-02 3.42912772e+01] [-3.11526716e-01 9.50204189e-01 -7.94387182e-03 -6.02691982e+00] [-2.67378834e-02 -4.08895206e-04 9.99642395e-01 -1.35956002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.062791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.32, Y:-6.04, Z:-1.36 [[ 9.49958195e-01 3.11279890e-01 2.61583215e-02 3.43180548e+01] [-3.11174104e-01 9.50318185e-01 -8.12551377e-03 -6.03542866e+00] [-2.73880377e-02 -4.20893870e-04 9.99624789e-01 -1.36031604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.092791605 meters Centerline goodness [0,1] 0.9999522262564494 Centerline is valid? [True, True] Translation: X:34.34, Y:-6.04, Z:-1.36 [[ 9.50232864e-01 3.10445485e-01 2.60979912e-02 3.43442071e+01] [-3.10340169e-01 9.50591098e-01 -8.09590794e-03 -6.04292179e+00] [-2.73218562e-02 -4.06257220e-04 9.99626606e-01 -1.36001012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.37, Y:-6.05, Z:-1.36 [[ 9.50186299e-01 3.10558435e-01 2.64472350e-02 3.43706949e+01] [-3.10450671e-01 9.50554194e-01 -8.19172006e-03 -6.05232922e+00] [-2.76835379e-02 -4.26901684e-04 9.99616646e-01 -1.36125809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.152791605000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.40, Y:-6.06, Z:-1.36 [[ 9.50315574e-01 3.10162330e-01 2.64506773e-02 3.43964875e+01] [-3.10054723e-01 9.50683516e-01 -8.18058722e-03 -6.06069155e+00] [-2.76835328e-02 -4.27017961e-04 9.99616646e-01 -1.36226252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.42, Y:-6.07, Z:-1.36 [[ 9.50389277e-01 3.09891964e-01 2.69665090e-02 3.44221431e+01] [-3.09780366e-01 9.50771675e-01 -8.32751267e-03 -6.07005134e+00] [-2.82196222e-02 -4.39316286e-04 9.99601651e-01 -1.36418881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.212791605 meters Centerline goodness [0,1] 0.9998569862230061 Centerline is valid? [True, True] Translation: X:34.45, Y:-6.08, Z:-1.37 [[ 9.50334981e-01 3.09894845e-01 2.87855725e-02 3.44481707e+01] [-3.09768109e-01 9.50770715e-01 -8.87502492e-03 -6.08048441e+00] [-3.01188038e-02 -4.82605730e-04 9.99546209e-01 -1.36640021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.48, Y:-6.09, Z:-1.37 [[ 9.50613597e-01 3.08951219e-01 2.97142023e-02 3.44750205e+01] [-3.08816162e-01 9.51077764e-01 -9.14687311e-03 -6.09100423e+00] [-3.10864546e-02 -4.81083961e-04 9.99516584e-01 -1.36921999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.272791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.50, Y:-6.10, Z:-1.37 [[ 9.50723687e-01 3.08455055e-01 3.13041535e-02 3.45006674e+01] [-3.08305312e-01 9.51238786e-01 -9.62327660e-03 -6.10144496e+00] [-3.27460733e-02 -5.02159816e-04 9.99463577e-01 -1.37170643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302791605 meters Centerline goodness [0,1] 0.999952274137355 Centerline is valid? [True, True] Translation: X:34.53, Y:-6.11, Z:-1.37 [[ 9.50903710e-01 3.07888517e-01 3.14132921e-02 3.45261483e+01] [-3.07737895e-01 9.51422310e-01 -9.64237545e-03 -6.11147540e+00] [-3.28560837e-02 -4.98089798e-04 9.99459969e-01 -1.37269562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.332791605000004 meters Centerline goodness [0,1] 0.9999046892870759 Centerline is valid? [True, True] Translation: X:34.55, Y:-6.12, Z:-1.37 [[ 9.50522557e-01 3.08802360e-01 3.38817135e-02 3.45534652e+01] [-3.08628309e-01 9.51126047e-01 -1.03831348e-02 -6.12098996e+00] [-3.54321168e-02 -5.87452143e-04 9.99371913e-01 -1.37281436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.58, Y:-6.13, Z:-1.37 [[ 9.50590758e-01 3.08652888e-01 3.33257616e-02 3.45800658e+01] [-3.08484862e-01 9.51174565e-01 -1.01998277e-02 -6.12997102e+00] [-3.48468230e-02 -5.84631070e-04 9.99392494e-01 -1.37252916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.392791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.61, Y:-6.14, Z:-1.37 [[ 9.50323082e-01 3.09579087e-01 3.23547314e-02 3.46059798e+01] [-3.09421740e-01 9.50873499e-01 -9.88811767e-03 -6.14344663e+00] [-3.38264111e-02 -6.14350819e-04 9.99427534e-01 -1.37445605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.63, Y:-6.15, Z:-1.38 [[ 9.50444897e-01 3.09213561e-01 3.22718299e-02 3.46312946e+01] [-3.09057238e-01 9.50992428e-01 -9.85012106e-03 -6.15371780e+00] [-3.37360569e-02 -6.11845295e-04 9.99430590e-01 -1.37626754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.452791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.66, Y:-6.16, Z:-1.38 [[ 9.49914005e-01 3.10736029e-01 3.32641354e-02 3.46579408e+01] [-3.10571419e-01 9.50495991e-01 -1.01373021e-02 -6.16456942e+00] [-3.47674523e-02 -7.01324540e-04 9.99395183e-01 -1.37525595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.69, Y:-6.17, Z:-1.38 [[ 9.49923886e-01 3.10849581e-01 3.18927793e-02 3.46852274e+01] [-3.10698737e-01 9.50458871e-01 -9.70723342e-03 -6.17445631e+00] [-3.33302645e-02 -6.87913356e-04 9.99444156e-01 -1.37602222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.512791605000004 meters Centerline goodness [0,1] 0.9999523809523809 Centerline is valid? [True, True] Translation: X:34.71, Y:-6.19, Z:-1.38 [[ 9.50240519e-01 3.10239842e-01 2.81815062e-02 3.47112705e+01] [-3.10122080e-01 9.50658132e-01 -8.56809418e-03 -6.18791169e+00] [-2.94491422e-02 -5.97957072e-04 9.99566101e-01 -1.37705021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542791605 meters Centerline goodness [0,1] 0.9999521324972476 Centerline is valid? [True, True] Translation: X:34.74, Y:-6.20, Z:-1.38 [[ 9.50881084e-01 3.08364413e-01 2.71394996e-02 3.47376038e+01] [-3.08254727e-01 9.51268158e-01 -8.24106242e-03 -6.19853453e+00] [-2.83581922e-02 -5.29608678e-04 9.99597685e-01 -1.37665896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.572791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.76, Y:-6.21, Z:-1.38 [[ 9.51597909e-01 3.06127718e-01 2.73356829e-02 3.47645898e+01] [-3.06015830e-01 9.51990332e-01 -8.28967263e-03 -6.20841897e+00] [-2.85610044e-02 -4.76716555e-04 9.99591938e-01 -1.37674930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602791605 meters Centerline goodness [0,1] 0.9999523968201076 Centerline is valid? [True, True] Translation: X:34.79, Y:-6.22, Z:-1.38 [[ 9.52577735e-01 3.02919583e-01 2.89030358e-02 3.47912087e+01] [-3.02793390e-01 9.53016031e-01 -8.75258794e-03 -6.22080116e+00] [-3.01963867e-02 -4.14127791e-04 9.99543899e-01 -1.37681576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.632791605 meters Centerline goodness [0,1] 0.9998086215970527 Centerline is valid? [True, True] Translation: X:34.82, Y:-6.23, Z:-1.38 [[ 9.53097558e-01 3.01275920e-01 2.89458815e-02 3.48176440e+01] [-3.01148913e-01 9.53536932e-01 -8.75507001e-03 -6.23209310e+00] [-3.02386588e-02 -3.72584882e-04 9.99542638e-01 -1.37780989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662791605 meters Centerline goodness [0,1] 0.9995642279571975 Centerline is valid? [True, True] Translation: X:34.84, Y:-6.24, Z:-1.38 [[ 9.54022926e-01 2.98394567e-01 2.83008809e-02 3.48439459e+01] [-2.98272214e-01 9.54442560e-01 -8.54900694e-03 -6.24434901e+00] [-2.95625424e-02 -2.85417778e-04 9.99562892e-01 -1.37670405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.692791605000004 meters Centerline goodness [0,1] 0.9998082086689681 Centerline is valid? [True, True] Translation: X:34.87, Y:-6.26, Z:-1.38 [[ 9.53995232e-01 2.98595092e-01 2.70936979e-02 3.48709033e+01] [-2.98483328e-01 9.54379844e-01 -8.17408708e-03 -6.25552370e+00] [-2.82984215e-02 -2.88977005e-04 9.99599478e-01 -1.37566864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722791605000005 meters Centerline goodness [0,1] 0.9998072196250422 Centerline is valid? [True, True] Translation: X:34.90, Y:-6.27, Z:-1.38 [[ 9.53655291e-01 2.99692549e-01 2.69436727e-02 3.48963249e+01] [-2.99582758e-01 9.54035779e-01 -8.11814781e-03 -6.27154481e+00] [-2.81381762e-02 -3.29945157e-04 9.99603989e-01 -1.37657115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.752791605 meters Centerline goodness [0,1] 0.9999520452692658 Centerline is valid? [True, True] Translation: X:34.92, Y:-6.28, Z:-1.38 [[ 9.53136031e-01 3.01342178e-01 2.69183763e-02 3.49219000e+01] [-3.01233553e-01 9.53515989e-01 -8.09973822e-03 -6.28434685e+00] [-2.81078950e-02 -3.88565792e-04 9.99604820e-01 -1.37731711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782791605 meters Centerline goodness [0,1] 0.9999039892467957 Centerline is valid? [True, True] Translation: X:34.95, Y:-6.29, Z:-1.38 [[ 9.52416841e-01 3.03750430e-01 2.52554289e-02 3.49488325e+01] [-3.03655900e-01 9.52751533e-01 -7.59022464e-03 -6.29427260e+00] [-2.63676826e-02 -4.39902230e-04 9.99652215e-01 -1.37620498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.812791605 meters Centerline goodness [0,1] 0.9999520176575021 Centerline is valid? [True, True] Translation: X:34.98, Y:-6.30, Z:-1.38 [[ 9.51735523e-01 3.05836701e-01 2.57566633e-02 3.49753947e+01] [-3.05739428e-01 9.52083843e-01 -7.73033929e-03 -6.30390047e+00] [-2.68867244e-02 -5.17588973e-04 9.99638353e-01 -1.37562393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.00, Y:-6.32, Z:-1.38 [[ 9.49818511e-01 3.11575893e-01 2.76633318e-02 3.50007420e+01] [-3.11466543e-01 9.50220979e-01 -8.28755705e-03 -6.31775899e+00] [-2.88684812e-02 -7.44527229e-04 9.99582941e-01 -1.37765945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.872791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.03, Y:-6.33, Z:-1.38 [[ 9.48591322e-01 3.15145366e-01 2.92899568e-02 3.50266882e+01] [-3.15024667e-01 9.49042977e-01 -8.76855556e-03 -6.33007645e+00] [-3.05607974e-02 -9.09283172e-04 9.99532496e-01 -1.38030575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902791605000004 meters Centerline goodness [0,1] 0.9999037304452467 Centerline is valid? [True, True] Translation: X:35.05, Y:-6.34, Z:-1.38 [[ 9.48003318e-01 3.16857871e-01 2.98462574e-02 3.50532180e+01] [-3.16733812e-01 9.48472508e-01 -8.92154783e-03 -6.33999504e+00] [-3.11352173e-02 -9.95661950e-04 9.99514686e-01 -1.38041812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.932791605 meters Centerline goodness [0,1] 0.9999522490688568 Centerline is valid? [True, True] Translation: X:35.08, Y:-6.35, Z:-1.38 [[ 9.45998633e-01 3.22863809e-01 2.90783090e-02 3.50802061e+01] [-3.22749317e-01 9.46444704e-01 -8.67758781e-03 -6.34942936e+00] [-3.03226906e-02 -1.17601815e-03 9.99539470e-01 -1.38026407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.962791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.11, Y:-6.36, Z:-1.38 [[ 9.45305606e-01 3.24917820e-01 2.87353708e-02 3.51070769e+01] [-3.24807071e-01 9.45741453e-01 -8.57153148e-03 -6.35778632e+00] [-2.99612746e-02 -1.23073486e-03 9.99550303e-01 -1.38099878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.992791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.13, Y:-6.37, Z:-1.38 [[ 9.44754841e-01 3.26628896e-01 2.74199764e-02 3.51337363e+01] [-3.26528890e-01 9.45151867e-01 -8.17509387e-03 -6.36690187e+00] [-2.85862638e-02 -1.22995496e-03 9.99590573e-01 -1.38194962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022791605 meters Centerline goodness [0,1] 0.9999522673031026 Centerline is valid? [True, True] Translation: X:35.16, Y:-6.38, Z:-1.38 [[ 9.44437550e-01 3.27463917e-01 2.83742309e-02 3.51604758e+01] [-3.27357286e-01 9.44862789e-01 -8.45683873e-03 -6.37553046e+00] [-2.95790645e-02 -1.30155515e-03 9.99561596e-01 -1.38223764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.052791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.19, Y:-6.38, Z:-1.38 [[ 9.44351194e-01 3.27731950e-01 2.81530009e-02 3.51879969e+01] [-3.27627460e-01 9.44769839e-01 -8.37843729e-03 -6.38211441e+00] [-2.93439878e-02 -1.31150893e-03 9.99568512e-01 -1.38146999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082791605000004 meters Centerline goodness [0,1] 0.9999045026977987 Centerline is valid? [True, True] Translation: X:35.21, Y:-6.39, Z:-1.38 [[ 9.44367541e-01 3.27514969e-01 3.00648025e-02 3.52145677e+01] [-3.27396139e-01 9.44844943e-01 -8.93322177e-03 -6.39030569e+00] [-3.13323405e-02 -1.40685558e-03 9.99508032e-01 -1.38317378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.112791605 meters Centerline goodness [0,1] 0.9999043199540736 Centerline is valid? [True, True] Translation: X:35.24, Y:-6.40, Z:-1.39 [[ 9.44183004e-01 3.27955274e-01 3.10450250e-02 3.52418871e+01] [-3.27829344e-01 9.44692086e-01 -9.20781337e-03 -6.39914711e+00] [-3.23477404e-02 -1.48360931e-03 9.99475574e-01 -1.38625508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142791605 meters Centerline goodness [0,1] 0.9998569043644169 Centerline is valid? [True, True] Translation: X:35.27, Y:-6.41, Z:-1.39 [[ 9.44025955e-01 3.28518538e-01 2.98423731e-02 3.52685849e+01] [-3.28402850e-01 9.44496400e-01 -8.83850766e-03 -6.40852982e+00] [-3.10896276e-02 -1.45653976e-03 9.99515539e-01 -1.38737367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.172791605 meters Centerline goodness [0,1] 0.9999042924821745 Centerline is valid? [True, True] Translation: X:35.30, Y:-6.42, Z:-1.39 [[ 9.43693301e-01 3.29497187e-01 2.95729192e-02 3.52954815e+01] [-3.29384460e-01 9.44155385e-01 -8.74567731e-03 -6.41749293e+00] [-3.08031070e-02 -1.48762293e-03 9.99524365e-01 -1.38765575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202791605 meters Centerline goodness [0,1] 0.9997603068072867 Centerline is valid? [True, True] Translation: X:35.32, Y:-6.43, Z:-1.39 [[ 9.43674031e-01 3.29662110e-01 2.83234256e-02 3.53224143e+01] [-3.29559132e-01 9.44097885e-01 -8.36431107e-03 -6.42605088e+00] [-2.94974827e-02 -1.44106042e-03 9.99563816e-01 -1.38736012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.232791605 meters Centerline goodness [0,1] 0.9996631862579993 Centerline is valid? [True, True] Translation: X:35.35, Y:-6.43, Z:-1.39 [[ 9.43381403e-01 3.30541364e-01 2.78196991e-02 3.53493708e+01] [-3.30442748e-01 9.43790386e-01 -8.20349082e-03 -6.43439981e+00] [-2.89675576e-02 -1.45379717e-03 9.99579295e-01 -1.38654526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262791605000004 meters Centerline goodness [0,1] 0.9996181019667749 Centerline is valid? [True, True] Translation: X:35.38, Y:-6.44, Z:-1.39 [[ 9.42778271e-01 3.32158741e-01 2.89776357e-02 3.53763831e+01] [-3.32052966e-01 9.43222176e-01 -8.52963982e-03 -6.44303497e+00] [-3.01655431e-02 -1.58055083e-03 9.99543667e-01 -1.38525053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.292791605 meters Centerline goodness [0,1] 0.9996655198776758 Centerline is valid? [True, True] Translation: X:35.40, Y:-6.45, Z:-1.39 [[ 9.42716698e-01 3.32220216e-01 3.02482152e-02 3.54034776e+01] [-3.32105109e-01 9.43200396e-01 -8.89994662e-03 -6.45151369e+00] [-3.14868708e-02 -1.65545852e-03 9.99502795e-01 -1.38602867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322791605 meters Centerline goodness [0,1] 0.999856128908498 Centerline is valid? [True, True] Translation: X:35.43, Y:-6.46, Z:-1.39 [[ 9.42220057e-01 3.33537421e-01 3.12114198e-02 3.54300069e+01] [-3.33416054e-01 9.42735204e-01 -9.16893455e-03 -6.46325527e+00] [-3.24822870e-02 -1.76723438e-03 9.99470749e-01 -1.38717903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.352791605 meters Centerline goodness [0,1] 0.9999521897112259 Centerline is valid? [True, True] Translation: X:35.46, Y:-6.47, Z:-1.39 [[ 9.42009028e-01 3.33989012e-01 3.27159294e-02 3.54565797e+01] [-3.33856452e-01 9.42575086e-01 -9.59563612e-03 -6.47447847e+00] [-3.40420570e-02 -1.88324826e-03 9.99418627e-01 -1.38919941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.382791605 meters Centerline goodness [0,1] 0.999856018429641 Centerline is valid? [True, True] Translation: X:35.48, Y:-6.49, Z:-1.39 [[ 9.41122484e-01 3.36369117e-01 3.38273239e-02 3.54838089e+01] [-3.36229479e-01 9.41727992e-01 -9.90593586e-03 -6.48560513e+00] [-3.51881887e-02 -2.05104452e-03 9.99378599e-01 -1.38833000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.412791605 meters Centerline goodness [0,1] 0.9999042879019908 Centerline is valid? [True, True] Translation: X:35.51, Y:-6.49, Z:-1.39 [[ 9.40809351e-01 3.37214373e-01 3.41208356e-02 3.55109746e+01] [-3.37073252e-01 9.41425520e-01 -9.98068627e-03 -6.49415700e+00] [-3.54878562e-02 -2.11129802e-03 9.99367877e-01 -1.38871660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442791605000004 meters Centerline goodness [0,1] 0.9997603182973012 Centerline is valid? [True, True] Translation: X:35.54, Y:-6.51, Z:-1.39 [[ 9.39601685e-01 3.40384729e-01 3.58735140e-02 3.55381408e+01] [-3.40231649e-01 9.40283287e-01 -1.04768655e-02 -6.50520945e+00] [-3.72974306e-02 -2.36122435e-03 9.99301419e-01 -1.38797329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.472791605000005 meters Centerline goodness [0,1] 0.9994735582675282 Centerline is valid? [True, True] Translation: X:35.56, Y:-6.52, Z:-1.39 [[ 9.39102126e-01 3.41494166e-01 3.83266472e-02 3.55643248e+01] [-3.41320511e-01 9.39880370e-01 -1.11892298e-02 -6.51583430e+00] [-3.98435200e-02 -2.57384130e-03 9.99202617e-01 -1.39009243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.502791605 meters Centerline goodness [0,1] 0.9997122716155948 Centerline is valid? [True, True] Translation: X:35.59, Y:-6.53, Z:-1.39 [[ 9.38711582e-01 3.42344741e-01 4.02572247e-02 3.55906478e+01] [-3.42154204e-01 9.39570395e-01 -1.17462022e-02 -6.52619294e+00] [-4.18457471e-02 -2.74788261e-03 9.99120304e-01 -1.39009586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.532791605 meters Centerline goodness [0,1] 0.9996173896408245 Centerline is valid? [True, True] Translation: X:35.62, Y:-6.54, Z:-1.39 [[ 9.36901026e-01 3.46865792e-01 4.35957499e-02 3.56180459e+01] [-3.46647494e-01 9.37909312e-01 -1.27136942e-02 -6.53759774e+00] [-4.52988054e-02 -3.20088429e-03 9.98968354e-01 -1.39095838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.562791605 meters Centerline goodness [0,1] 0.9995213707940459 Centerline is valid? [True, True] Translation: X:35.65, Y:-6.55, Z:-1.39 [[ 9.35688752e-01 3.50042679e-01 4.42343912e-02 3.56452391e+01] [-3.49821621e-01 9.36727556e-01 -1.28964708e-02 -6.54801678e+00] [-4.59498884e-02 -3.40706376e-03 9.98937936e-01 -1.39290683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.592791605 meters Centerline goodness [0,1] 0.9982195274529618 Centerline is valid? [True, True] Translation: X:35.67, Y:-6.56, Z:-1.39 [[ 9.32978750e-01 3.57145706e-01 4.46944761e-02 3.56730030e+01] [-3.56928292e-01 9.34040957e-01 -1.30263240e-02 -6.55801048e+00] [-4.63987669e-02 -3.79943955e-03 9.98915772e-01 -1.39353478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622791605 meters Centerline goodness [0,1] 0.9982748706152962 Centerline is valid? [True, True] Translation: X:35.70, Y:-6.56, Z:-1.39 [[ 9.31567815e-01 3.60925497e-01 4.37514708e-02 3.57014090e+01] [-3.60721495e-01 9.32586466e-01 -1.27469874e-02 -6.56465786e+00] [-4.54027424e-02 -3.90741273e-03 9.98961122e-01 -1.39265430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.652791605000004 meters Centerline goodness [0,1] 0.9976591983948789 Centerline is valid? [True, True] Translation: X:35.73, Y:-6.57, Z:-1.39 [[ 9.30090766e-01 3.64821210e-01 4.28561813e-02 3.57306441e+01] [-3.64629768e-01 9.31068925e-01 -1.24815669e-02 -6.57022146e+00] [-4.44555989e-02 -4.01764932e-03 9.99003282e-01 -1.39066245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.682791605 meters Centerline goodness [0,1] 0.9941565284031038 Centerline is valid? [True, True] Translation: X:35.76, Y:-6.58, Z:-1.39 [[ 9.26326718e-01 3.73942615e-01 4.56698185e-02 3.57592945e+01] [-3.73736326e-01 9.27439673e-01 -1.32970240e-02 -6.57657884e+00] [-4.73283255e-02 -4.75108153e-03 9.98868088e-01 -1.39221447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.712791605 meters Centerline goodness [0,1] 0.9915346934893232 Centerline is valid? [True, True] Translation: X:35.79, Y:-6.58, Z:-1.39 [[ 9.23016430e-01 3.81943618e-01 4.64730269e-02 3.57880013e+01] [-3.81740248e-01 9.24170679e-01 -1.35255129e-02 -6.57856130e+00] [-4.81149921e-02 -5.25635415e-03 9.98827972e-01 -1.39424086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.742791605 meters Centerline goodness [0,1] 0.9879059137225026 Centerline is valid? [True, True] Translation: X:35.82, Y:-6.58, Z:-1.40 [[ 9.21677920e-01 3.85173499e-01 4.63809043e-02 3.58173898e+01] [-3.84975245e-01 9.22828264e-01 -1.34928032e-02 -6.58300004e+00] [-4.79986796e-02 -5.41948125e-03 9.98832697e-01 -1.39531693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.772791605 meters Centerline goodness [0,1] 0.9891314710649252 Centerline is valid? [True, True] Translation: X:35.85, Y:-6.59, Z:-1.40 [[ 9.20246748e-01 3.88511465e-01 4.69549256e-02 3.58473099e+01] [-3.88312973e-01 9.21426439e-01 -1.36510709e-02 -6.58637457e+00] [-4.85691074e-02 -5.67085311e-03 9.98803726e-01 -1.39681313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802791605 meters Centerline goodness [0,1] 0.9837989357658685 Centerline is valid? [True, True] Translation: X:35.88, Y:-6.59, Z:-1.40 [[ 9.18748672e-01 3.92084686e-01 4.65883745e-02 3.58773444e+01] [-3.91894649e-01 9.19910653e-01 -1.35267835e-02 -6.58794293e+00] [-4.81607867e-02 -5.83002028e-03 9.98822582e-01 -1.39840034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.832791605000004 meters Centerline goodness [0,1] 0.9879580903617314 Centerline is valid? [True, True] Translation: X:35.91, Y:-6.59, Z:-1.40 [[ 9.18755770e-01 3.92153234e-01 4.58658470e-02 3.59058716e+01] [-3.91969979e-01 9.19881879e-01 -1.32990811e-02 -6.59182527e+00] [-4.74064392e-02 -5.75942754e-03 9.98859078e-01 -1.39958569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.862791605 meters Centerline goodness [0,1] 0.9787082023435267 Centerline is valid? [True, True] Translation: X:35.93, Y:-6.60, Z:-1.40 [[ 9.18578870e-01 3.92605720e-01 4.55368880e-02 3.59335641e+01] [-3.92426566e-01 9.19688848e-01 -1.31838373e-02 -6.59747220e+00] [-4.70558180e-02 -5.75949023e-03 9.98875657e-01 -1.40184631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.892791605 meters Centerline goodness [0,1] 0.9884628114804482 Centerline is valid? [True, True] Translation: X:35.96, Y:-6.59, Z:-1.40 [[ 9.19262465e-01 3.91136571e-01 4.43700749e-02 3.59644625e+01] [-3.90965535e-01 9.20315894e-01 -1.28298579e-02 -6.59459811e+00] [-4.58527117e-02 -5.55316326e-03 9.98932776e-01 -1.40354735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.922791605 meters Centerline goodness [0,1] 0.9910054913842076 Centerline is valid? [True, True] Translation: X:35.99, Y:-6.59, Z:-1.40 [[ 9.20847437e-01 3.87332843e-01 4.48694337e-02 3.59945544e+01] [-3.87153735e-01 9.21923963e-01 -1.29688430e-02 -6.59485482e+00] [-4.63894650e-02 -5.42904307e-03 9.98908676e-01 -1.40310922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.952791605 meters Centerline goodness [0,1] 0.9891734630610006 Centerline is valid? [True, True] Translation: X:36.02, Y:-6.60, Z:-1.40 [[ 9.21758824e-01 3.85082414e-01 4.55214729e-02 3.60229236e+01] [-3.84895622e-01 9.22866400e-01 -1.31517201e-02 -6.60140326e+00] [-4.70747339e-02 -5.39830157e-03 9.98876783e-01 -1.40292497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982791605 meters Centerline goodness [0,1] 0.9922942372240344 Centerline is valid? [True, True] Translation: X:36.05, Y:-6.61, Z:-1.40 [[ 9.22967006e-01 3.82063050e-01 4.64729159e-02 3.60514225e+01] [-3.81864839e-01 9.24120722e-01 -1.34214620e-02 -6.60644358e+00] [-4.80744293e-02 -5.35880596e-03 9.98829381e-01 -1.40415706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.012791605000004 meters Centerline goodness [0,1] 0.9900634049399073 Centerline is valid? [True, True] Translation: X:36.08, Y:-6.61, Z:-1.41 [[ 9.25634238e-01 3.75851286e-01 4.40121373e-02 3.60804242e+01] [-3.75666768e-01 9.26667704e-01 -1.27061552e-02 -6.60994547e+00] [-4.55602510e-02 -4.77264511e-03 9.98950192e-01 -1.40599764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.042791605000005 meters Centerline goodness [0,1] 0.9928946994457866 Centerline is valid? [True, True] Translation: X:36.11, Y:-6.61, Z:-1.41 [[ 9.26446098e-01 3.73837224e-01 4.40835249e-02 3.61091292e+01] [-3.73650060e-01 9.27482494e-01 -1.27222421e-02 -6.61439118e+00] [-4.56427453e-02 -4.68534016e-03 9.98946839e-01 -1.40785876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.072791605 meters Centerline goodness [0,1] 0.9928946994457866 Centerline is valid? [True, True] Translation: X:36.14, Y:-6.62, Z:-1.41 [[ 9.26620085e-01 3.73405500e-01 4.40857164e-02 3.61352267e+01] [-3.73218210e-01 9.27656459e-01 -1.27146427e-02 -6.62214814e+00] [-4.56441171e-02 -4.67194887e-03 9.98946839e-01 -1.40885706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102791605 meters Centerline goodness [0,1] 0.9967343461593071 Centerline is valid? [True, True] Translation: X:36.16, Y:-6.63, Z:-1.41 [[ 9.28370962e-01 3.69025239e-01 4.41331030e-02 3.61646075e+01] [-3.68833506e-01 9.29408583e-01 -1.27094612e-02 -6.62518582e+00] [-4.57077967e-02 -4.47867236e-03 9.98944813e-01 -1.41014756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.132791605 meters Centerline goodness [0,1] 0.9922366863905325 Centerline is valid? [True, True] Translation: X:36.19, Y:-6.63, Z:-1.41 [[ 9.29018690e-01 3.67265784e-01 4.51676595e-02 3.61924402e+01] [-3.67063299e-01 9.30105136e-01 -1.29988251e-02 -6.63324077e+00] [-4.67846958e-02 -4.50323870e-03 9.98894846e-01 -1.41125609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.162791605 meters Centerline goodness [0,1] 0.996885617214043 Centerline is valid? [True, True] Translation: X:36.22, Y:-6.64, Z:-1.41 [[ 9.30347769e-01 3.63930286e-01 4.48082065e-02 3.62218132e+01] [-3.63727891e-01 9.31416194e-01 -1.28799967e-02 -6.63566975e+00] [-4.64225100e-02 -4.31511823e-03 9.98912574e-01 -1.40994169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.192791605000004 meters Centerline goodness [0,1] 0.9944258113278851 Centerline is valid? [True, True] Translation: X:36.25, Y:-6.64, Z:-1.41 [[ 9.30906426e-01 3.62318117e-01 4.62472424e-02 3.62492853e+01] [-3.62100969e-01 9.32044207e-01 -1.32847480e-02 -6.64360373e+00] [-4.79177792e-02 -4.37931404e-03 9.98841683e-01 -1.41136917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222791605000005 meters Centerline goodness [0,1] 0.9986310422960725 Centerline is valid? [True, True] Translation: X:36.28, Y:-6.65, Z:-1.41 [[ 9.32973784e-01 3.56902022e-01 4.66997333e-02 3.62794985e+01] [-3.56674835e-01 9.34132562e-01 -1.33947327e-02 -6.64549380e+00] [-4.84043487e-02 -4.15968519e-03 9.98819161e-01 -1.41077104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.252791605 meters Centerline goodness [0,1] 0.9991940836256755 Centerline is valid? [True, True] Translation: X:36.31, Y:-6.65, Z:-1.41 [[ 9.34418090e-01 3.53287335e-01 4.52867704e-02 3.63084595e+01] [-3.53070271e-01 9.35506868e-01 -1.29724424e-02 -6.65163092e+00] [-4.69490843e-02 -3.86772745e-03 9.98889796e-01 -1.41083046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282791605 meters Centerline goodness [0,1] 0.9991990954489777 Centerline is valid? [True, True] Translation: X:36.34, Y:-6.66, Z:-1.41 [[ 9.37040334e-01 3.46501409e-01 4.34992699e-02 3.63379169e+01] [-3.46294582e-01 9.38043281e-01 -1.24445355e-02 -6.65594426e+00] [-4.51162469e-02 -3.40252977e-03 9.98975949e-01 -1.41049699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.312791605 meters Centerline goodness [0,1] 0.999810695693327 Centerline is valid? [True, True] Translation: X:36.37, Y:-6.66, Z:-1.41 [[ 9.38381033e-01 3.42935795e-01 4.28494680e-02 3.63662116e+01] [-3.42732054e-01 9.39353407e-01 -1.22439833e-02 -6.66095669e+00] [-4.44496939e-02 -3.19636453e-03 9.99006510e-01 -1.41254598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342791605 meters Centerline goodness [0,1] 0.9999523173755483 Centerline is valid? [True, True] Translation: X:36.39, Y:-6.67, Z:-1.41 [[ 9.39401620e-01 3.40335926e-01 4.11831844e-02 3.63945982e+01] [-3.40145826e-01 9.40299238e-01 -1.17541203e-02 -6.66736025e+00] [-4.27248663e-02 -2.96644864e-03 9.99082472e-01 -1.41260166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.372791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.42, Y:-6.67, Z:-1.41 [[ 9.40750788e-01 3.36692563e-01 4.03245972e-02 3.64239436e+01] [-3.36507170e-01 9.41610627e-01 -1.15044166e-02 -6.67064591e+00] [-4.18435208e-02 -2.74672706e-03 9.99120401e-01 -1.41160783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402791605000004 meters Centerline goodness [0,1] 0.9998109104661057 Centerline is valid? [True, True] Translation: X:36.45, Y:-6.68, Z:-1.41 [[ 9.42188419e-01 3.32667509e-01 4.01660478e-02 3.64523337e+01] [-3.32480159e-01 9.43040699e-01 -1.14535810e-02 -6.67673380e+00] [-4.16884520e-02 -2.56298256e-03 9.99127371e-01 -1.41289213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.432791605 meters Centerline goodness [0,1] 0.9997642954791873 Centerline is valid? [True, True] Translation: X:36.48, Y:-6.69, Z:-1.41 [[ 9.42976180e-01 3.30353662e-01 4.07723140e-02 3.64798833e+01] [-3.30159141e-01 9.43853878e-01 -1.16102981e-02 -6.68506699e+00] [-4.23186112e-02 -2.51311760e-03 9.99101006e-01 -1.41491346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462791605 meters Centerline goodness [0,1] 0.9999050828152437 Centerline is valid? [True, True] Translation: X:36.51, Y:-6.69, Z:-1.42 [[ 9.43952380e-01 3.27539408e-01 4.08881428e-02 3.65071364e+01] [-3.27341783e-01 9.44834451e-01 -1.16283321e-02 -6.69319489e+00] [-4.24412629e-02 -2.40780578e-03 9.99096062e-01 -1.41619727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.492791605 meters Centerline goodness [0,1] 0.9999527767283718 Centerline is valid? [True, True] Translation: X:36.54, Y:-6.70, Z:-1.42 [[ 9.45722310e-01 3.22597908e-01 3.92415834e-02 3.65357287e+01] [-3.22411831e-01 9.46533766e-01 -1.11553076e-02 -6.69976782e+00] [-4.07421627e-02 -2.10212746e-03 9.99167482e-01 -1.41567555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.56, Y:-6.71, Z:-1.42 [[ 9.46693729e-01 3.19750684e-01 3.91213906e-02 3.65641001e+01] [-3.19563533e-01 9.47499650e-01 -1.11158653e-02 -6.70554660e+00] [-4.06218094e-02 -1.97844984e-03 9.99172635e-01 -1.41526308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.552791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.59, Y:-6.71, Z:-1.41 [[ 9.47535799e-01 3.17105544e-01 4.02490100e-02 3.65910784e+01] [-3.16905347e-01 9.48388300e-01 -1.14295083e-02 -6.71347482e+00] [-4.17960507e-02 -1.92525821e-03 9.99124308e-01 -1.41456834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582791605000004 meters Centerline goodness [0,1] 0.9999526873580621 Centerline is valid? [True, True] Translation: X:36.62, Y:-6.72, Z:-1.42 [[ 9.47506141e-01 3.17023576e-01 4.15711974e-02 3.66185199e+01] [-3.16810743e-01 9.48415542e-01 -1.17861033e-02 -6.72254961e+00] [-4.31632423e-02 -2.00279672e-03 9.99066026e-01 -1.41606096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.612791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.65, Y:-6.73, Z:-1.42 [[ 9.46391963e-01 3.20273733e-01 4.20355590e-02 3.66469953e+01] [-3.20060014e-01 9.47322510e-01 -1.19016232e-02 -6.73120438e+00] [-4.36330086e-02 -2.19030106e-03 9.99045226e-01 -1.41818753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.642791605 meters Centerline goodness [0,1] 0.9999055712936733 Centerline is valid? [True, True] Translation: X:36.67, Y:-6.74, Z:-1.42 [[ 9.45327715e-01 3.23299052e-01 4.28162761e-02 3.66749283e+01] [-3.23080600e-01 9.46293861e-01 -1.21183435e-02 -6.73955783e+00] [-4.44346282e-02 -2.37730222e-03 9.99009466e-01 -1.42001151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.672791605 meters Centerline goodness [0,1] 0.999858503914725 Centerline is valid? [True, True] Translation: X:36.70, Y:-6.75, Z:-1.42 [[ 9.44700506e-01 3.25104413e-01 4.29892322e-02 3.67024201e+01] [-3.24886349e-01 9.45674880e-01 -1.21606777e-02 -6.74566158e+00] [-4.46073270e-02 -2.47841630e-03 9.99001523e-01 -1.42089063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.702791605 meters Centerline goodness [0,1] 0.9994810341573882 Centerline is valid? [True, True] Translation: X:36.73, Y:-6.75, Z:-1.42 [[ 9.43315245e-01 3.29035061e-01 4.35003038e-02 3.67308141e+01] [-3.28816660e-01 9.44313814e-01 -1.22892264e-02 -6.75226861e+00] [-4.51215241e-02 -2.71100998e-03 9.98977827e-01 -1.42090872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.732791605 meters Centerline goodness [0,1] 0.999152063312606 Centerline is valid? [True, True] Translation: X:36.76, Y:-6.76, Z:-1.42 [[ 9.43025904e-01 3.29583563e-01 4.55721381e-02 3.67578571e+01] [-3.29344732e-01 9.44122038e-01 -1.28695248e-02 -6.75985439e+00] [-4.72672438e-02 -2.87264841e-03 9.98878149e-01 -1.42347338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762791605000004 meters Centerline goodness [0,1] 0.9984450831644913 Centerline is valid? [True, True] Translation: X:36.79, Y:-6.77, Z:-1.42 [[ 9.43684892e-01 3.27610204e-01 4.61560234e-02 3.67852541e+01] [-3.27363355e-01 9.44808767e-01 -1.30241143e-02 -6.76743737e+00] [-4.78754483e-02 -2.81913076e-03 9.98849335e-01 -1.42473516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.792791605000005 meters Centerline goodness [0,1] 0.9835259287556107 Centerline is valid? [True, True] Translation: X:36.81, Y:-6.79, Z:-1.43 [[ 9.45084835e-01 3.23781239e-01 4.45012839e-02 3.68104628e+01] [-3.23548389e-01 9.46128541e-01 -1.25388770e-02 -6.78529580e+00] [-4.61637879e-02 -2.54801619e-03 9.98930634e-01 -1.42538001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.822791605 meters Centerline goodness [0,1] 0.9946187913710177 Centerline is valid? [True, True] Translation: X:36.84, Y:-6.79, Z:-1.42 [[ 9.47493491e-01 3.17054389e-01 4.16244981e-02 3.68395620e+01] [-3.16844826e-01 9.48405054e-01 -1.17136579e-02 -6.78838877e+00] [-4.31907510e-02 -2.08989227e-03 9.99064658e-01 -1.42464103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.852791605 meters Centerline goodness [0,1] 0.998390989541432 Centerline is valid? [True, True] Translation: X:36.87, Y:-6.80, Z:-1.43 [[ 9.49200093e-01 3.12133280e-01 3.98998560e-02 3.68675548e+01] [-3.11936858e-01 9.50036620e-01 -1.12168764e-02 -6.79616806e+00] [-4.14074847e-02 -1.79917554e-03 9.99140722e-01 -1.42775381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882791605 meters Centerline goodness [0,1] 0.9988607775193431 Centerline is valid? [True, True] Translation: X:36.90, Y:-6.80, Z:-1.43 [[ 9.50661226e-01 3.07706039e-01 3.94997108e-02 3.68959110e+01] [-3.07509903e-01 9.51480137e-01 -1.10998798e-02 -6.80327913e+00] [-4.09986903e-02 -1.59432692e-03 9.99157928e-01 -1.42833220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.912791605 meters Centerline goodness [0,1] 0.999857509261898 Centerline is valid? [True, True] Translation: X:36.92, Y:-6.81, Z:-1.43 [[ 9.51877706e-01 3.03874587e-01 3.98631162e-02 3.69237522e+01] [-3.03671988e-01 9.52710932e-01 -1.11894227e-02 -6.81067891e+00] [-4.13782078e-02 -1.45434974e-03 9.99142497e-01 -1.42885067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942791605000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.95, Y:-6.82, Z:-1.43 [[ 9.54361738e-01 2.96159244e-01 3.85146081e-02 3.69519446e+01] [-2.95964000e-01 9.55137961e-01 -1.08067636e-02 -6.81740316e+00] [-3.99872872e-02 -1.08537577e-03 9.99199599e-01 -1.42795590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.972791605000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.98, Y:-6.83, Z:-1.43 [[ 9.55542288e-01 2.92459481e-01 3.75018373e-02 3.69789264e+01] [-2.92271725e-01 9.56277482e-01 -1.05174434e-02 -6.82680895e+00] [-3.89380886e-02 -9.10864768e-04 9.99241210e-01 -1.42916444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.002791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.01, Y:-6.84, Z:-1.43 [[ 9.56680947e-01 2.88670647e-01 3.78262342e-02 3.70062711e+01] [-2.88477262e-01 9.57428145e-01 -1.05932251e-02 -6.83640913e+00] [-3.92738544e-02 -7.77671829e-04 9.99228182e-01 -1.43220409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.032791605 meters Centerline goodness [0,1] 0.9998087954110899 Centerline is valid? [True, True] Translation: X:37.03, Y:-6.85, Z:-1.43 [[ 9.58948468e-01 2.81143047e-01 3.71001792e-02 3.70340623e+01] [-2.80951879e-01 9.59665756e-01 -1.03767837e-02 -6.84574667e+00] [-3.85211321e-02 -4.72564203e-04 9.99257674e-01 -1.43239860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062791605 meters Centerline goodness [0,1] 0.9998087771297447 Centerline is valid? [True, True] Translation: X:37.06, Y:-6.86, Z:-1.43 [[ 9.59687374e-01 2.78330835e-01 3.91419249e-02 3.70612088e+01] [-2.78115952e-01 9.60485189e-01 -1.09416337e-02 -6.85582905e+00] [-4.06406332e-02 -3.85445980e-04 9.99173754e-01 -1.43400683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.092791605 meters Centerline goodness [0,1] 0.999710046875755 Centerline is valid? [True, True] Translation: X:37.09, Y:-6.87, Z:-1.44 [[ 9.61322143e-01 2.72406144e-01 4.06771494e-02 3.70863106e+01] [-2.72169494e-01 9.62182347e-01 -1.13533402e-02 -6.87006400e+00] [-4.22315547e-02 -1.56861821e-04 9.99107838e-01 -1.43586383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122791605 meters Centerline goodness [0,1] 0.9991905147373935 Centerline is valid? [True, True] Translation: X:37.11, Y:-6.88, Z:-1.44 [[ 9.62111184e-01 2.69698647e-01 4.00588187e-02 3.71114650e+01] [-2.69467445e-01 9.62944774e-01 -1.11650862e-02 -6.88283721e+00] [-4.15856388e-02 -5.24931812e-05 9.99134942e-01 -1.43816843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.152791605000004 meters Centerline goodness [0,1] 0.9987558022682682 Centerline is valid? [True, True] Translation: X:37.14, Y:-6.89, Z:-1.44 [[ 9.62985861e-01 2.66814242e-01 3.83195989e-02 3.71372067e+01] [-2.66601106e-01 9.63747974e-01 -1.06626904e-02 -6.89404611e+00] [-3.97753935e-02 5.19726576e-05 9.99208645e-01 -1.43843736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.182791605 meters Centerline goodness [0,1] 0.9986564299424184 Centerline is valid? [True, True] Translation: X:37.16, Y:-6.91, Z:-1.44 [[ 9.64207185e-01 2.62637721e-01 3.64133511e-02 3.71622153e+01] [-2.62442906e-01 9.64894496e-01 -1.01159660e-02 -6.90617795e+00] [-3.77918763e-02 1.97461437e-04 9.99285612e-01 -1.43679412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.212791605 meters Centerline goodness [0,1] 0.9981733403835985 Centerline is valid? [True, True] Translation: X:37.19, Y:-6.92, Z:-1.44 [[ 9.64811596e-01 2.59953368e-01 3.95326471e-02 3.71877197e+01] [-2.59722288e-01 9.65621122e-01 -1.09627529e-02 -6.92117105e+00] [-4.10233636e-02 3.09481559e-04 9.99158140e-01 -1.43924811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.242791605 meters Centerline goodness [0,1] 0.9988021082894106 Centerline is valid? [True, True] Translation: X:37.21, Y:-6.93, Z:-1.44 [[ 9.64959624e-01 2.59201219e-01 4.08368948e-02 3.72129356e+01] [-2.58954709e-01 9.65823284e-01 -1.13067877e-02 -6.93453843e+00] [-4.23719570e-02 3.35687409e-04 9.99101849e-01 -1.44186222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.272791605 meters Centerline goodness [0,1] 0.9983600231526143 Centerline is valid? [True, True] Translation: X:37.24, Y:-6.95, Z:-1.44 [[ 9.65264248e-01 2.57949176e-01 4.15590471e-02 3.72393513e+01] [-2.57693542e-01 9.66158413e-01 -1.14873487e-02 -6.94741914e+00] [-4.31157752e-02 3.78828900e-04 9.99070011e-01 -1.44383468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302791605 meters Centerline goodness [0,1] 0.9988970411931137 Centerline is valid? [True, True] Translation: X:37.26, Y:-6.96, Z:-1.45 [[ 9.65731803e-01 2.55960321e-01 4.29697533e-02 3.72641029e+01] [-2.55685862e-01 9.66687176e-01 -1.18593032e-02 -6.96423082e+00] [-4.45738205e-02 4.66147864e-04 9.99005985e-01 -1.44730015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.332791605000004 meters Centerline goodness [0,1] 0.9990869335383729 Centerline is valid? [True, True] Translation: X:37.29, Y:-6.98, Z:-1.45 [[ 9.65593904e-01 2.56372740e-01 4.36053872e-02 3.72874758e+01] [-2.56091354e-01 9.66577895e-01 -1.20162633e-02 -6.98216180e+00] [-4.52286457e-02 4.35867940e-04 9.98976566e-01 -1.45007370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.362791605 meters Centerline goodness [0,1] 0.9994203738588611 Centerline is valid? [True, True] Translation: X:37.31, Y:-7.00, Z:-1.45 [[ 9.65567479e-01 2.56493902e-01 4.34778378e-02 3.73127872e+01] [-2.56215198e-01 9.66545762e-01 -1.19608344e-02 -6.99514156e+00] [-4.50912010e-02 4.09309910e-04 9.98982791e-01 -1.45068914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.392791605 meters Centerline goodness [0,1] 0.9994201778121377 Centerline is valid? [True, True] Translation: X:37.34, Y:-7.01, Z:-1.45 [[ 9.65584541e-01 2.56340533e-01 4.40002869e-02 3.73375340e+01] [-2.56055869e-01 9.66586452e-01 -1.20839665e-02 -7.00787392e+00] [-4.56276917e-02 4.01559578e-04 9.98958434e-01 -1.45198260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.422791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.36, Y:-7.03, Z:-1.45 [[ 9.65083471e-01 2.57776528e-01 4.65312386e-02 3.73612707e+01] [-2.57460884e-01 9.66204508e-01 -1.27570254e-02 -7.02758388e+00] [-4.82471543e-02 3.31620554e-04 9.98835373e-01 -1.45493064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.452791605 meters Centerline goodness [0,1] 0.9997110522513846 Centerline is valid? [True, True] Translation: X:37.39, Y:-7.04, Z:-1.46 [[ 9.64876075e-01 2.58361847e-01 4.75743185e-02 3.73864957e+01] [-2.58033601e-01 9.66048173e-01 -1.30226108e-02 -7.04117820e+00] [-4.93236292e-02 2.89432849e-04 9.98782807e-01 -1.45717335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482791605 meters Centerline goodness [0,1] 0.9999517397808986 Centerline is valid? [True, True] Translation: X:37.41, Y:-7.06, Z:-1.46 [[ 9.63768662e-01 2.61880002e-01 5.06836242e-02 3.74106836e+01] [-2.61513523e-01 9.65100438e-01 -1.38499735e-02 -7.05985704e+00] [-5.25418191e-02 9.37173504e-05 9.98618720e-01 -1.45977305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.512791605000004 meters Centerline goodness [0,1] 0.999903878502427 Centerline is valid? [True, True] Translation: X:37.44, Y:-7.07, Z:-1.46 [[ 9.63145342e-01 2.64077495e-01 5.11285371e-02 3.74356382e+01] [-2.63708791e-01 9.64501464e-01 -1.39498690e-02 -7.07281656e+00] [-5.29973953e-02 -4.72933239e-05 9.98594649e-01 -1.46109551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542791605000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.46, Y:-7.09, Z:-1.46 [[ 9.61520661e-01 2.70021682e-01 5.06587569e-02 3.74597954e+01] [-2.69669128e-01 9.62854162e-01 -1.37994331e-02 -7.09388208e+00] [-5.25031410e-02 -3.92662712e-04 9.98620682e-01 -1.46160577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.572791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.48, Y:-7.11, Z:-1.47 [[ 9.60651301e-01 2.72848917e-01 5.19860149e-02 3.74847496e+01] [-2.72482946e-01 9.62056718e-01 -1.41391265e-02 -7.10910102e+00] [-5.38713402e-02 -5.82532256e-04 9.98547715e-01 -1.46500396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.602791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.51, Y:-7.12, Z:-1.47 [[ 9.59765565e-01 2.75933258e-01 5.20662732e-02 3.75104572e+01] [-2.75571909e-01 9.61176483e-01 -1.41383131e-02 -7.12380848e+00] [-5.39461082e-02 -7.78536263e-04 9.98543545e-01 -1.46568463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.632791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.54, Y:-7.14, Z:-1.47 [[ 9.57863035e-01 2.81862107e-01 5.52463505e-02 3.75355601e+01] [-2.81466058e-01 9.59454178e-01 -1.49845860e-02 -7.14406326e+00] [-5.72299288e-02 -1.19679148e-03 9.98360307e-01 -1.46745821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.56, Y:-7.16, Z:-1.47 [[ 9.55847245e-01 2.88659799e-01 5.50596393e-02 3.75600907e+01] [-2.88277852e-01 9.57430393e-01 -1.49305988e-02 -7.16496674e+00] [-5.70256357e-02 -1.60110280e-03 9.98371431e-01 -1.46967724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.692791605000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.59, Y:-7.18, Z:-1.47 [[ 9.55194944e-01 2.90981130e-01 5.41535011e-02 3.75856319e+01] [-2.90615958e-01 9.56727245e-01 -1.46746014e-02 -7.17858769e+00] [-5.60801620e-02 -1.72076653e-03 9.98424787e-01 -1.47103841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722791605000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.61, Y:-7.20, Z:-1.47 [[ 9.52899119e-01 2.97949541e-01 5.66510422e-02 3.76103320e+01] [-2.97563123e-01 9.54578982e-01 -1.53347970e-02 -7.19935046e+00] [-5.86468899e-02 -2.24474643e-03 9.98276266e-01 -1.47364881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.752791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.64, Y:-7.21, Z:-1.48 [[ 9.52108764e-01 3.00346367e-01 5.72796796e-02 3.76363067e+01] [-2.99956281e-01 9.53827111e-01 -1.54942139e-02 -7.21381147e+00] [-5.92885422e-02 -2.42922289e-03 9.98237931e-01 -1.47535293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.66, Y:-7.23, Z:-1.48 [[ 9.51209632e-01 3.02804904e-01 5.92404140e-02 3.76635330e+01] [-3.02393463e-01 9.53048774e-01 -1.60071183e-02 -7.22730156e+00] [-6.13060379e-02 -2.68778885e-03 9.98115397e-01 -1.47649959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.812791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.69, Y:-7.24, Z:-1.48 [[ 9.49391377e-01 3.08407168e-01 5.95065728e-02 3.76894878e+01] [-3.08003248e-01 9.51249500e-01 -1.60744673e-02 -7.24409923e+00] [-6.15630785e-02 -3.06725702e-03 9.98098482e-01 -1.47703566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.72, Y:-7.26, Z:-1.48 [[ 9.48916024e-01 3.09949506e-01 5.90735338e-02 3.77155490e+01] [-3.09555274e-01 9.50747777e-01 -1.59435834e-02 -7.25583206e+00] [-6.11057367e-02 -3.15740219e-03 9.98126305e-01 -1.47777895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.872791605 meters Centerline goodness [0,1] 0.9999516113423014 Centerline is valid? [True, True] Translation: X:37.74, Y:-7.27, Z:-1.48 [[ 9.46912892e-01 3.15801111e-01 6.02132361e-02 3.77419976e+01] [-3.15404287e-01 9.48818510e-01 -1.62348802e-02 -7.27386873e+00] [-6.22584261e-02 -3.61849543e-03 9.98053503e-01 -1.48085319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902791605000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.77, Y:-7.29, Z:-1.48 [[ 9.45725825e-01 3.18842689e-01 6.27853854e-02 3.77687544e+01] [-3.18418076e-01 9.47799271e-01 -1.69254371e-02 -7.28624835e+00] [-6.49044944e-02 -3.98517868e-03 9.97883523e-01 -1.48262373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.932791605 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.79, Y:-7.29, Z:-1.48 [[ 9.45875706e-01 3.18396945e-01 6.27896039e-02 3.77949701e+01] [-3.17972391e-01 9.47949164e-01 -1.69097738e-02 -7.29360208e+00] [-6.49053729e-02 -3.97081633e-03 9.97883523e-01 -1.48362092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962791605 meters Centerline goodness [0,1] 0.9995631704120759 Centerline is valid? [True, True] Translation: X:37.82, Y:-7.31, Z:-1.48 [[ 9.43322527e-01 3.25131223e-01 6.65755142e-02 3.78214187e+01] [-3.24672032e-01 9.45657119e-01 -1.79076853e-02 -7.30802376e+00] [-6.87799566e-02 -4.72248455e-03 9.97620677e-01 -1.48483061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.992791605 meters Centerline goodness [0,1] 0.9996613777089783 Centerline is valid? [True, True] Translation: X:37.85, Y:-7.32, Z:-1.49 [[ 9.42249506e-01 3.28197025e-01 6.67276573e-02 3.78492623e+01] [-3.27743716e-01 9.44596257e-01 -1.79434908e-02 -7.31882024e+00] [-6.89196956e-02 -4.96232502e-03 9.97609869e-01 -1.48567051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022791605 meters Centerline goodness [0,1] 0.999466976789262 Centerline is valid? [True, True] Translation: X:37.88, Y:-7.33, Z:-1.49 [[ 9.40224657e-01 3.34324592e-01 6.48433561e-02 3.78762535e+01] [-3.33911138e-01 9.42443314e-01 -1.74341987e-02 -7.33285650e+00] [-6.69398688e-02 -5.25985530e-03 9.97743147e-01 -1.48595111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.052791605 meters Centerline goodness [0,1] 0.9987377415283037 Centerline is valid? [True, True] Translation: X:37.90, Y:-7.34, Z:-1.49 [[ 9.39301412e-01 3.36960828e-01 6.45775400e-02 3.79039602e+01] [-3.36557091e-01 9.41503024e-01 -1.73603392e-02 -7.34336113e+00] [-6.66497034e-02 -5.42743790e-03 9.97761675e-01 -1.48783650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082791605000004 meters Centerline goodness [0,1] 0.9977237504843084 Centerline is valid? [True, True] Translation: X:37.93, Y:-7.35, Z:-1.49 [[ 9.37666108e-01 3.41637162e-01 6.37677086e-02 3.79326539e+01] [-3.41254367e-01 9.39814705e-01 -1.71399283e-02 -7.35356776e+00] [-6.57854667e-02 -5.68947917e-03 9.97817570e-01 -1.48868052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.112791605 meters Centerline goodness [0,1] 0.9976609327030846 Centerline is valid? [True, True] Translation: X:37.96, Y:-7.36, Z:-1.49 [[ 9.36759096e-01 3.43943929e-01 6.46913482e-02 3.79607564e+01] [-3.43555637e-01 9.38971402e-01 -1.73847832e-02 -7.36184871e+00] [-6.67227166e-02 -5.93972351e-03 9.97753877e-01 -1.48889258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142791605 meters Centerline goodness [0,1] 0.9978194505015264 Centerline is valid? [True, True] Translation: X:37.99, Y:-7.37, Z:-1.49 [[ 9.35671199e-01 3.46761903e-01 6.53879894e-02 3.79889391e+01] [-3.46372430e-01 9.37932611e-01 -1.75657679e-02 -7.37105263e+00] [-6.74206667e-02 -6.21281364e-03 9.97705294e-01 -1.49024285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.172791605 meters Centerline goodness [0,1] 0.9961238432094578 Centerline is valid? [True, True] Translation: X:38.02, Y:-7.38, Z:-1.49 [[ 9.33599739e-01 3.52174007e-01 6.60681158e-02 3.80167945e+01] [-3.51790091e-01 9.35910729e-01 -1.77437241e-02 -7.38182885e+00] [-6.80827368e-02 -6.67657225e-03 9.97657338e-01 -1.49163984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202791605 meters Centerline goodness [0,1] 0.9958923307398637 Centerline is valid? [True, True] Translation: X:38.05, Y:-7.39, Z:-1.49 [[ 9.32365226e-01 3.55387150e-01 6.62952448e-02 3.80454709e+01] [-3.55008826e-01 9.34693447e-01 -1.78015067e-02 -7.38901232e+00] [-6.82921576e-02 -6.93789126e-03 9.97641242e-01 -1.49265221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.232791605 meters Centerline goodness [0,1] 0.9974171539961013 Centerline is valid? [True, True] Translation: X:38.08, Y:-7.39, Z:-1.49 [[ 9.30389968e-01 3.60437772e-01 6.67766478e-02 3.80751646e+01] [-3.60066911e-01 9.32754196e-01 -1.79284552e-02 -7.39352842e+00] [-6.87482909e-02 -7.36360650e-03 9.97606861e-01 -1.49244787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262791605000004 meters Centerline goodness [0,1] 0.9975795129980152 Centerline is valid? [True, True] Translation: X:38.10, Y:-7.40, Z:-1.49 [[ 9.29542397e-01 3.62878871e-01 6.53441517e-02 3.81041981e+01] [-3.62529850e-01 9.31807065e-01 -1.75414338e-02 -7.39970752e+00] [-6.72535579e-02 -7.38369908e-03 9.97708595e-01 -1.49310773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.292791605000005 meters Centerline goodness [0,1] 0.995755763480274 Centerline is valid? [True, True] Translation: X:38.13, Y:-7.40, Z:-1.49 [[ 9.28180878e-01 3.66591354e-01 6.39612189e-02 3.81335354e+01] [-3.66265862e-01 9.30351885e-01 -1.71664625e-02 -7.40479504e+00] [-6.57995173e-02 -7.49322874e-03 9.97804728e-01 -1.49459400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322791605 meters Centerline goodness [0,1] 0.9949814216088404 Centerline is valid? [True, True] Translation: X:38.16, Y:-7.41, Z:-1.50 [[ 9.27169751e-01 3.68807409e-01 6.58585387e-02 3.81630475e+01] [-3.68468080e-01 9.29472416e-01 -1.76720549e-02 -7.40946128e+00] [-6.77312799e-02 -7.88177448e-03 9.97672467e-01 -1.49691664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.352791605 meters Centerline goodness [0,1] 0.9927420525475396 Centerline is valid? [True, True] Translation: X:38.19, Y:-7.41, Z:-1.50 [[ 9.25209756e-01 3.72989213e-01 6.97563890e-02 3.81935738e+01] [-3.72620631e-01 9.27795079e-01 -1.87124492e-02 -7.41022660e+00] [-7.16991761e-02 -8.67972915e-03 9.97388535e-01 -1.49759708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382791605 meters Centerline goodness [0,1] 0.9904444766179239 Centerline is valid? [True, True] Translation: X:38.22, Y:-7.41, Z:-1.50 [[ 9.24507043e-01 3.74706531e-01 6.98694685e-02 3.82223564e+01] [-3.74342168e-01 9.27101375e-01 -1.87344973e-02 -7.41496036e+00] [-7.17960188e-02 -8.83491363e-03 9.97380206e-01 -1.49917279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.412791605 meters Centerline goodness [0,1] 0.9910796528821447 Centerline is valid? [True, True] Translation: X:38.25, Y:-7.41, Z:-1.50 [[ 9.23533093e-01 3.77249333e-01 6.90620441e-02 3.82536279e+01] [-3.76900894e-01 9.26068628e-01 -1.85097941e-02 -7.41328115e+00] [-7.09389999e-02 -8.93513875e-03 9.97440636e-01 -1.49982511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442791605000004 meters Centerline goodness [0,1] 0.9917128402794507 Centerline is valid? [True, True] Translation: X:38.28, Y:-7.41, Z:-1.50 [[ 9.23379020e-01 3.77918976e-01 6.74420662e-02 3.82827253e+01] [-3.77589020e-01 9.25797015e-01 -1.80670630e-02 -7.41373969e+00] [-6.92655496e-02 -8.78263677e-03 9.97559597e-01 -1.50030553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.472791605000005 meters Centerline goodness [0,1] 0.9894726722107389 Centerline is valid? [True, True] Translation: X:38.31, Y:-7.41, Z:-1.50 [[ 9.22444246e-01 3.80050935e-01 6.82488076e-02 3.83143116e+01] [-3.79719251e-01 9.24921222e-01 -1.82763170e-02 -7.41135861e+00] [-7.00707018e-02 -9.05650265e-03 9.97500916e-01 -1.50256901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502791605 meters Centerline goodness [0,1] 0.985002652264069 Centerline is valid? [True, True] Translation: X:38.34, Y:-7.41, Z:-1.50 [[ 9.22200167e-01 3.80654608e-01 6.81830033e-02 3.83429183e+01] [-3.80325639e-01 9.24672519e-01 -1.82521676e-02 -7.41350957e+00] [-6.99947211e-02 -9.09959230e-03 9.97505858e-01 -1.50395381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.532791605 meters Centerline goodness [0,1] 0.9853117649882398 Centerline is valid? [True, True] Translation: X:38.37, Y:-7.41, Z:-1.50 [[ 9.21836564e-01 3.81565073e-01 6.80106223e-02 3.83737292e+01] [-3.81241032e-01 9.24296626e-01 -1.81940131e-02 -7.41387665e+00] [-6.98041886e-02 -9.15653331e-03 9.97518688e-01 -1.50484451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562791605 meters Centerline goodness [0,1] 0.9849381646696501 Centerline is valid? [True, True] Translation: X:38.41, Y:-7.41, Z:-1.51 [[ 9.21615386e-01 3.82197602e-01 6.74542244e-02 3.84053272e+01] [-3.81881957e-01 9.24035336e-01 -1.80241060e-02 -7.40736128e+00] [-6.92188570e-02 -9.14825779e-03 9.97559552e-01 -1.50587746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.592791605 meters Centerline goodness [0,1] 0.9841536614645858 Centerline is valid? [True, True] Translation: X:38.43, Y:-7.41, Z:-1.51 [[ 9.22111697e-01 3.81167939e-01 6.64907524e-02 3.84348779e+01] [-3.80859925e-01 9.24462409e-01 -1.77474277e-02 -7.40878117e+00] [-6.82329516e-02 -8.95855225e-03 9.97629194e-01 -1.50685704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622791605 meters Centerline goodness [0,1] 0.9798786945219986 Centerline is valid? [True, True] Translation: X:38.47, Y:-7.41, Z:-1.51 [[ 9.23560893e-01 3.77823481e-01 6.54575762e-02 3.84657703e+01] [-3.77517757e-01 9.25837801e-01 -1.74559433e-02 -7.40628353e+00] [-6.71983637e-02 -8.58977079e-03 9.97702659e-01 -1.51017212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.652791605000004 meters Centerline goodness [0,1] 0.9798124760811328 Centerline is valid? [True, True] Translation: X:38.50, Y:-7.41, Z:-1.51 [[ 9.24287117e-01 3.76194099e-01 6.45858039e-02 3.84952334e+01] [-3.75894204e-01 9.26502972e-01 -1.71985179e-02 -7.40789952e+00] [-6.63089202e-02 -8.38106089e-03 9.97763942e-01 -1.51150889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682791605 meters Centerline goodness [0,1] 0.9714230824648191 Centerline is valid? [True, True] Translation: X:38.53, Y:-7.41, Z:-1.51 [[ 9.25526254e-01 3.73124962e-01 6.46445314e-02 3.85265158e+01] [-3.72818784e-01 9.27744937e-01 -1.71897233e-02 -7.40520896e+00] [-6.63875516e-02 -8.19115539e-03 9.97760291e-01 -1.51286450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.712791605 meters Centerline goodness [0,1] 0.9740582970372852 Centerline is valid? [True, True] Translation: X:38.56, Y:-7.41, Z:-1.51 [[ 9.26306131e-01 3.71261108e-01 6.42039061e-02 3.85562998e+01] [-3.70955637e-01 9.28493908e-01 -1.70580817e-02 -7.40675969e+00] [-6.59459380e-02 -8.01579519e-03 9.97791000e-01 -1.51324269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742791605 meters Centerline goodness [0,1] 0.9753257290125519 Centerline is valid? [True, True] Translation: X:38.59, Y:-7.41, Z:-1.51 [[ 9.27513831e-01 3.68622797e-01 6.19300196e-02 3.85857439e+01] [-3.68333546e-01 9.29548313e-01 -1.64417916e-02 -7.40960349e+00] [-6.36277644e-02 -7.56091459e-03 9.97945059e-01 -1.51359237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.772791605 meters Centerline goodness [0,1] 0.9746348962336664 Centerline is valid? [True, True] Translation: X:38.62, Y:-7.41, Z:-1.52 [[ 9.29002760e-01 3.65009624e-01 6.10069336e-02 3.86167351e+01] [-3.64722170e-01 9.30975769e-01 -1.61819815e-02 -7.40806458e+00] [-6.27025558e-02 -7.21747574e-03 9.98006161e-01 -1.51516721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802791605 meters Centerline goodness [0,1] 0.9748337400124396 Centerline is valid? [True, True] Translation: X:38.65, Y:-7.41, Z:-1.52 [[ 9.30503854e-01 3.61529191e-01 5.88151509e-02 3.86460305e+01] [-3.61255891e-01 9.32336412e-01 -1.55883208e-02 -7.41237446e+00] [-6.04711398e-02 -6.74232720e-03 9.98147175e-01 -1.51604049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.832791605000004 meters Centerline goodness [0,1] 0.978461831697322 Centerline is valid? [True, True] Translation: X:38.68, Y:-7.41, Z:-1.52 [[ 9.32881755e-01 3.55664910e-01 5.68691834e-02 3.86764127e+01] [-3.55399768e-01 9.34593183e-01 -1.50528000e-02 -7.41256134e+00] [-5.85033038e-02 -6.16881213e-03 9.98268155e-01 -1.51617727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862791605 meters Centerline goodness [0,1] 0.9778942353501667 Centerline is valid? [True, True] Translation: X:38.71, Y:-7.42, Z:-1.52 [[ 9.34081683e-01 3.52601047e-01 5.62486537e-02 3.87056399e+01] [-3.52336938e-01 9.35754995e-01 -1.48752261e-02 -7.41867522e+00] [-5.78799790e-02 -5.92380215e-03 9.98305973e-01 -1.51793144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.892791605 meters Centerline goodness [0,1] 0.9809750297265161 Centerline is valid? [True, True] Translation: X:38.73, Y:-7.42, Z:-1.52 [[ 9.36609085e-01 3.46326318e-01 5.31178185e-02 3.87345446e+01] [-3.46081261e-01 9.38099505e-01 -1.40385005e-02 -7.42493881e+00] [-5.46917014e-02 -5.23449452e-03 9.98489568e-01 -1.52036567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922791605 meters Centerline goodness [0,1] 0.9858926699075398 Centerline is valid? [True, True] Translation: X:38.76, Y:-7.43, Z:-1.52 [[ 9.37712787e-01 3.43421571e-01 5.25009859e-02 3.87634628e+01] [-3.43178310e-01 9.39167957e-01 -1.38634638e-02 -7.43121975e+00] [-5.40682562e-02 -5.01725240e-03 9.98524637e-01 -1.52102386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.952791605 meters Centerline goodness [0,1] 0.988381544346163 Centerline is valid? [True, True] Translation: X:38.79, Y:-7.44, Z:-1.52 [[ 9.40250555e-01 3.36579864e-01 5.14090342e-02 3.87917445e+01] [-3.36336720e-01 9.41644021e-01 -1.35701580e-02 -7.43928514e+00] [-5.29764516e-02 -4.53139728e-03 9.98585481e-01 -1.52056312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982791605 meters Centerline goodness [0,1] 0.991412213740458 Centerline is valid? [True, True] Translation: X:38.82, Y:-7.45, Z:-1.52 [[ 9.41829831e-01 3.32167538e-01 5.11985883e-02 3.88200470e+01] [-3.31920323e-01 9.43210724e-01 -1.35066643e-02 -7.44832553e+00] [-5.27775330e-02 -4.27287256e-03 9.98597153e-01 -1.52177376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.012791605000004 meters Centerline goodness [0,1] 0.9934204252884524 Centerline is valid? [True, True] Translation: X:38.85, Y:-7.46, Z:-1.52 [[ 9.43190135e-01 3.28488783e-01 4.98747290e-02 3.88478601e+01] [-3.28249946e-01 9.44499497e-01 -1.31405263e-02 -7.45779735e+00] [-5.14231719e-02 -3.97736233e-03 9.98669033e-01 -1.52186514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042791605000005 meters Centerline goodness [0,1] 0.9971316569461708 Centerline is valid? [True, True] Translation: X:38.88, Y:-7.47, Z:-1.52 [[ 9.45047682e-01 3.23398961e-01 4.79373678e-02 3.88758360e+01] [-3.23172607e-01 9.46255968e-01 -1.26138214e-02 -7.46917560e+00] [-4.94403171e-02 -3.57138151e-03 9.98770695e-01 -1.52137473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.072791605 meters Centerline goodness [0,1] 0.9973621103117506 Centerline is valid? [True, True] Translation: X:38.90, Y:-7.48, Z:-1.52 [[ 9.45740338e-01 3.21472640e-01 4.72287548e-02 3.89027854e+01] [-3.21251179e-01 9.46912649e-01 -1.24142671e-02 -7.47986449e+00] [-4.87123525e-02 -3.43161998e-03 9.98806954e-01 -1.52269993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102791605 meters Centerline goodness [0,1] 0.9980369625586517 Centerline is valid? [True, True] Translation: X:38.93, Y:-7.50, Z:-1.52 [[ 9.46815132e-01 3.18507237e-01 4.57629208e-02 3.89291135e+01] [-3.18296098e-01 9.47915090e-01 -1.20240070e-02 -7.49531583e+00] [-4.72090964e-02 -3.18164735e-03 9.98879962e-01 -1.52331133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.132791605 meters Centerline goodness [0,1] 0.9989972783268872 Centerline is valid? [True, True] Translation: X:38.96, Y:-7.51, Z:-1.52 [[ 9.47335190e-01 3.16910357e-01 4.60853975e-02 3.89561456e+01] [-3.16694680e-01 9.48450328e-01 -1.21018217e-02 -7.50607216e+00] [-4.75449030e-02 -3.13051860e-03 9.98864196e-01 -1.52397136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162791605 meters Centerline goodness [0,1] 0.9995205216724204 Centerline is valid? [True, True] Translation: X:38.98, Y:-7.52, Z:-1.52 [[ 9.47770493e-01 3.15597233e-01 4.61462727e-02 3.89815700e+01] [-3.15380397e-01 9.48888219e-01 -1.20976708e-02 -7.52085436e+00] [-4.76056459e-02 -3.08781439e-03 9.98861436e-01 -1.52345221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.192791605000004 meters Centerline goodness [0,1] 0.9997603527607362 Centerline is valid? [True, True] Translation: X:39.01, Y:-7.53, Z:-1.52 [[ 9.47629586e-01 3.15885398e-01 4.70593596e-02 3.90078561e+01] [-3.15661248e-01 9.48792012e-01 -1.23164612e-02 -7.53169962e+00] [-4.85401347e-02 -3.18337314e-03 9.98816160e-01 -1.52474055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222791605000005 meters Centerline goodness [0,1] 0.9992792965934753 Centerline is valid? [True, True] Translation: X:39.03, Y:-7.55, Z:-1.53 [[ 9.47030727e-01 3.17111766e-01 5.07240648e-02 3.90340216e+01] [-3.16854042e-01 9.48381652e-01 -1.32573534e-02 -7.54857801e+00] [-5.23098351e-02 -3.51700393e-03 9.98624710e-01 -1.52600178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.252791605 meters Centerline goodness [0,1] 0.9997105643994211 Centerline is valid? [True, True] Translation: X:39.06, Y:-7.56, Z:-1.53 [[ 9.47180264e-01 3.16467472e-01 5.19411816e-02 3.90600939e+01] [-3.16197050e-01 9.48596610e-01 -1.35608310e-02 -7.55949927e+00] [-5.35627907e-02 -3.57909692e-03 9.98558069e-01 -1.52644106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282791605 meters Centerline goodness [0,1] 0.9995187217249013 Centerline is valid? [True, True] Translation: X:39.09, Y:-7.57, Z:-1.53 [[ 9.47180147e-01 3.16298969e-01 5.29597162e-02 3.90857644e+01] [-3.16019034e-01 9.48652481e-01 -1.38000410e-02 -7.57221880e+00] [-5.46053049e-02 -3.66515349e-03 9.98501291e-01 -1.52732837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.312791605 meters Centerline goodness [0,1] 0.9998549813892783 Centerline is valid? [True, True] Translation: X:39.11, Y:-7.59, Z:-1.53 [[ 9.47450804e-01 3.15451740e-01 5.31711698e-02 3.91103873e+01] [-3.15169541e-01 9.48934588e-01 -1.38314193e-02 -7.59037186e+00] [-5.48191074e-02 -3.65334386e-03 9.98489619e-01 -1.52955888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342791605 meters Centerline goodness [0,1] 0.990660537140092 Centerline is valid? [True, True] Translation: X:39.13, Y:-7.62, Z:-1.54 [[ 9.47359660e-01 3.15110817e-01 5.66996222e-02 3.91315792e+01] [-3.14790437e-01 9.49046896e-01 -1.47299215e-02 -7.62022479e+00] [-5.84521580e-02 -3.89396540e-03 9.98282616e-01 -1.53579041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.372791605 meters Centerline goodness [0,1] 0.9900903949340165 Centerline is valid? [True, True] Translation: X:39.16, Y:-7.63, Z:-1.54 [[ 9.47279704e-01 3.15015676e-01 5.85344915e-02 3.91571201e+01] [-3.14674968e-01 9.49077916e-01 -1.51912317e-02 -7.63455541e+00] [-6.03392694e-02 -4.02899372e-03 9.98169795e-01 -1.53695387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402791605000004 meters Centerline goodness [0,1] 0.9920054266195067 Centerline is valid? [True, True] Translation: X:39.18, Y:-7.65, Z:-1.54 [[ 9.47430791e-01 3.14187516e-01 6.05070252e-02 3.91837429e+01] [-3.13823289e-01 9.49351945e-01 -1.56788841e-02 -7.64726318e+00] [-6.23685717e-02 -4.13385608e-03 9.98044625e-01 -1.53682445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.432791605 meters Centerline goodness [0,1] 0.9923442194011047 Centerline is valid? [True, True] Translation: X:39.21, Y:-7.67, Z:-1.54 [[ 9.47725536e-01 3.11871578e-01 6.74716740e-02 3.92075389e+01] [-3.11414760e-01 9.50113757e-01 -1.74555679e-02 -7.66887810e+00] [-6.95496611e-02 -4.46858770e-03 9.97568482e-01 -1.54163499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462791605 meters Centerline goodness [0,1] 0.9921133343069958 Centerline is valid? [True, True] Translation: X:39.23, Y:-7.68, Z:-1.55 [[ 9.47568949e-01 3.11739404e-01 7.02255769e-02 3.92326137e+01] [-3.11246282e-01 9.50156165e-01 -1.81387497e-02 -7.68455560e+00] [-7.23798278e-02 -4.66973374e-03 9.97366209e-01 -1.54513433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.492791605 meters Centerline goodness [0,1] 0.9899418973682925 Centerline is valid? [True, True] Translation: X:39.26, Y:-7.71, Z:-1.55 [[ 9.47836199e-01 3.10155059e-01 7.35552850e-02 3.92561867e+01] [-3.09611614e-01 9.50673893e-01 -1.89683542e-02 -7.70788250e+00] [-7.58102202e-02 -4.79467771e-03 9.97110737e-01 -1.54839126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522791605 meters Centerline goodness [0,1] 0.9929395724789405 Centerline is valid? [True, True] Translation: X:39.28, Y:-7.72, Z:-1.55 [[ 9.47966835e-01 3.08692686e-01 7.78954731e-02 3.92821097e+01] [-3.08080853e-01 9.51148760e-01 -2.00555172e-02 -7.72179025e+00] [-8.02811742e-02 -4.98613862e-03 9.96759786e-01 -1.55087224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.552791605 meters Centerline goodness [0,1] 0.9920328461801652 Centerline is valid? [True, True] Translation: X:39.31, Y:-7.74, Z:-1.55 [[ 9.46947685e-01 3.10615769e-01 8.25101552e-02 3.93079891e+01] [-3.09937661e-01 9.50519821e-01 -2.12300543e-02 -7.74378057e+00] [-8.50219276e-02 -5.46925371e-03 9.96364070e-01 -1.55309844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.582791605000004 meters Centerline goodness [0,1] 0.9918866080156403 Centerline is valid? [True, True] Translation: X:39.33, Y:-7.76, Z:-1.56 [[ 9.47002037e-01 3.09578723e-01 8.57213896e-02 3.93332191e+01] [-3.08844259e-01 9.50857294e-01 -2.20370241e-02 -7.75992669e+00] [-8.83310023e-02 -5.60545237e-03 9.96075405e-01 -1.55660386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.612791605000005 meters Centerline goodness [0,1] 0.98840338601556 Centerline is valid? [True, True] Translation: X:39.36, Y:-7.79, Z:-1.56 [[ 9.45541500e-01 3.09907223e-01 9.95428809e-02 3.93572125e+01] [-3.08920267e-01 9.50744094e-01 -2.55721893e-02 -7.78618548e+00] [-1.02564812e-01 -6.57124710e-03 9.94704618e-01 -1.56440804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642791605 meters Centerline goodness [0,1] 0.9901941557168072 Centerline is valid? [True, True] Translation: X:39.38, Y:-7.80, Z:-1.57 [[ 9.44388621e-01 3.11759912e-01 1.04574803e-01 3.93843641e+01] [-3.10681812e-01 9.50134245e-01 -2.68649896e-02 -7.80146401e+00] [-1.07735528e-01 -7.11849866e-03 9.94154104e-01 -1.56529589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.672791605 meters Centerline goodness [0,1] 0.985498668245043 Centerline is valid? [True, True] Translation: X:39.41, Y:-7.83, Z:-1.57 [[ 9.42596569e-01 3.14645564e-01 1.11847560e-01 3.94095007e+01] [-3.13432487e-01 9.49175736e-01 -2.87314927e-02 -7.82618318e+00] [-1.15203227e-01 -7.97445238e-03 9.93309934e-01 -1.56759929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702791605 meters Centerline goodness [0,1] 0.9838048684145558 Centerline is valid? [True, True] Translation: X:39.44, Y:-7.84, Z:-1.57 [[ 9.41398441e-01 3.16734875e-01 1.15965483e-01 3.94364884e+01] [-3.15446778e-01 9.48475666e-01 -2.97865972e-02 -7.84228003e+00] [-1.19424893e-01 -8.53988172e-03 9.92806510e-01 -1.56933280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.732791605 meters Centerline goodness [0,1] 0.9737273404519493 Centerline is valid? [True, True] Translation: X:39.46, Y:-7.86, Z:-1.57 [[ 9.40636597e-01 3.20077746e-01 1.12929308e-01 3.94610713e+01] [-3.18883748e-01 9.47350818e-01 -2.89755670e-02 -7.86121551e+00] [-1.16258106e-01 -8.75584226e-03 9.93180441e-01 -1.57113970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762791605000004 meters Centerline goodness [0,1] 0.9644888471239923 Centerline is valid? [True, True] Translation: X:39.49, Y:-7.88, Z:-1.57 [[ 9.36988672e-01 3.27150198e-01 1.22576414e-01 3.94857595e+01] [-3.25805235e-01 9.44914207e-01 -3.14339113e-02 -7.88486731e+00] [-1.26107805e-01 -1.04828185e-02 9.91961154e-01 -1.57386462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.792791605000005 meters Centerline goodness [0,1] 0.962526502637937 Centerline is valid? [True, True] Translation: X:39.51, Y:-7.90, Z:-1.58 [[ 9.34632827e-01 3.30683250e-01 1.30805455e-01 3.95138293e+01] [-3.29186046e-01 9.43669153e-01 -3.35421605e-02 -7.89883128e+00] [-1.34528903e-01 -1.17097260e-02 9.90840480e-01 -1.57602283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822791605 meters Centerline goodness [0,1] 0.9508761419799311 Centerline is valid? [True, True] Translation: X:39.54, Y:-7.92, Z:-1.57 [[ 9.29653767e-01 3.44850349e-01 1.29700081e-01 3.95380671e+01] [-3.43513634e-01 9.38558633e-01 -3.32577122e-02 -7.92154272e+00] [-1.33200064e-01 -1.36355887e-02 9.90995365e-01 -1.57319539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.852791605 meters Centerline goodness [0,1] 0.9508761419799311 Centerline is valid? [True, True] Translation: X:39.56, Y:-7.93, Z:-1.57 [[ 9.29801892e-01 3.44446825e-01 1.29710552e-01 3.95646690e+01] [-3.43111884e-01 9.38707024e-01 -3.32168403e-02 -7.92864497e+00] [-1.33201641e-01 -1.36201508e-02 9.90995365e-01 -1.57420206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882791605 meters Centerline goodness [0,1] 0.9548835147515146 Centerline is valid? [True, True] Translation: X:39.59, Y:-7.94, Z:-1.58 [[ 9.27773299e-01 3.43573285e-01 1.45581948e-01 3.95926214e+01] [-3.41884854e-01 9.39002825e-01 -3.72618085e-02 -7.94047415e+00] [-1.49504023e-01 -1.52017521e-02 9.88644250e-01 -1.57727847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.912791605 meters Centerline goodness [0,1] 0.9477400427626672 Centerline is valid? [True, False] Translation: X:39.91, Y:-8.10, Z:-1.61 [[ 9.59896017e-01 2.77190115e-01 4.20152026e-02 3.99129351e+01] [-2.78432262e-01 9.60069716e-01 2.72326323e-02 -8.09502352e+00] [-3.27889071e-02 -3.78388832e-02 9.98745767e-01 -1.60876905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942791605000004 meters Centerline goodness [0,1] 0.9455704963417045 Centerline is valid? [False, False] Translation: X:40.20, Y:-8.17, Z:-1.60 [[ 9.73740527e-01 2.24888412e-01 -3.54201718e-02 4.02036071e+01] [-2.23283753e-01 9.73751578e-01 4.41840557e-02 -8.17193774e+00] [ 4.44269303e-02 -3.51150568e-02 9.98395303e-01 -1.59779248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.972791605000005 meters Centerline goodness [0,1] 0.942665934175698 Centerline is valid? [False, False] Translation: X:40.45, Y:-8.22, Z:-1.57 [[ 9.81577070e-01 1.72605074e-01 -8.19386652e-02 4.04501030e+01] [-1.68835427e-01 9.84326523e-01 5.09499327e-02 -8.22355106e+00] [ 8.94486183e-02 -3.61771361e-02 9.95334195e-01 -1.56824903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002791605 meters Centerline goodness [0,1] 0.9339960238568589 Centerline is valid? [False, False] Translation: X:40.62, Y:-8.25, Z:-1.54 [[ 9.88283352e-01 1.24166131e-01 -8.87625413e-02 4.06157353e+01] [-1.21042379e-01 9.91850352e-01 3.97696182e-02 -8.24939464e+00] [ 9.29771975e-02 -2.85596224e-02 9.95258554e-01 -1.54061951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.032791605 meters Centerline goodness [0,1] 0.9269596199524941 Centerline is valid? [False, False] Translation: X:40.71, Y:-8.25, Z:-1.52 [[ 9.93699992e-01 8.24157473e-02 -7.59471587e-02 4.07121030e+01] [-8.08734576e-02 9.96455053e-01 2.31691836e-02 -8.25089404e+00] [ 7.75874356e-02 -1.68811082e-02 9.96842624e-01 -1.51728444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062791605 meters Centerline goodness [0,1] 0.909352660841938 Centerline is valid? [False, False] Translation: X:40.77, Y:-8.26, Z:-1.51 [[ 9.96721523e-01 5.54723846e-02 -5.88983800e-02 4.07738771e+01] [-5.46332015e-02 9.98382027e-01 1.57651870e-02 -8.26096451e+00] [ 5.96776166e-02 -1.24956942e-02 9.98139489e-01 -1.51001048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.092791605 meters Centerline goodness [0,1] 0.9015114096611676 Centerline is valid? [False, False] Translation: X:40.80, Y:-8.27, Z:-1.51 [[ 9.98408440e-01 3.52799223e-02 -4.39990169e-02 4.08032881e+01] [-3.47829319e-02 9.99322717e-01 1.20106098e-02 -8.26675342e+00] [ 4.43929505e-02 -1.04610794e-02 9.98959374e-01 -1.50739094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122791605 meters Centerline goodness [0,1] 0.8479216626698641 Centerline is valid? [False, False] Translation: X:40.84, Y:-8.27, Z:-1.51 [[ 9.98820258e-01 2.65548640e-02 -4.06562479e-02 4.08438353e+01] [-2.62819232e-02 9.99628401e-01 7.23330079e-03 -8.27497094e+00] [ 4.08332194e-02 -6.15624298e-03 9.99147011e-01 -1.50952859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.152791605000004 meters Centerline goodness [0,1] 0.8317314949932069 Centerline is valid? [False, False] Translation: X:40.88, Y:-8.27, Z:-1.50 [[ 9.99138708e-01 2.01849782e-02 -3.62547648e-02 4.08781985e+01] [-2.00825125e-02 9.99793243e-01 3.18825021e-03 -8.27459686e+00] [ 3.63116236e-02 -2.45741743e-03 9.99337494e-01 -1.50380979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182791605 meters Centerline goodness [0,1] 0.7253457606734817 Centerline is valid? [False, False] Translation: X:40.88, Y:-8.28, Z:-1.51 [[ 9.99743111e-01 1.76284978e-02 -1.42459747e-02 4.08767119e+01] [-1.75924314e-02 9.99841721e-01 2.65306429e-03 -8.28214402e+00] [ 1.42904894e-02 -2.40176142e-03 9.99895001e-01 -1.50979265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.212791605 meters Centerline goodness [0,1] 0.625567551205731 Centerline is valid? [False, False] Translation: X:40.89, Y:-8.29, Z:-1.51 [[ 9.99934991e-01 8.62963050e-03 -7.45269269e-03 4.08911379e+01] [-8.60628033e-03 9.99957974e-01 3.15952747e-03 -8.28710795e+00] [ 7.47964504e-03 -3.09518211e-03 9.99967237e-01 -1.51099830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242791605 meters Centerline goodness [0,1] 0.6258645240032547 Centerline is valid? [False, False] Translation: X:40.90, Y:-8.29, Z:-1.51 [[ 9.99998611e-01 2.14816911e-04 -1.65295552e-03 4.09049982e+01] [-2.07129239e-04 9.99989169e-01 4.64963125e-03 -8.29283984e+00] [ 1.65393643e-03 -4.64928242e-03 9.99987824e-01 -1.51125953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.272791605 meters Centerline goodness [0,1] 0.557864878803507 Centerline is valid? [False, False] Translation: X:40.92, Y:-8.29, Z:-1.51 [[ 9.99980422e-01 5.10242843e-03 3.62228675e-03 4.09242697e+01] [-5.10773102e-03 9.99985895e-01 1.45613988e-03 -8.28963363e+00] [-3.61480581e-03 -1.47461304e-03 9.99992379e-01 -1.51453456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302791605 meters Centerline goodness [0,1] 0.4748910562357336 Centerline is valid? [False, False] Translation: X:40.93, Y:-8.29, Z:-1.52 [[ 9.99991740e-01 3.29082999e-03 2.38548260e-03 4.09316000e+01] [-3.28900934e-03 9.99994297e-01 -7.66745605e-04 -8.28740375e+00] [-2.38799223e-03 7.58893397e-04 9.99996861e-01 -1.52325965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.332791605000004 meters Centerline goodness [0,1] 0.1853041765986112 Centerline is valid? [False, False] Translation: X:40.94, Y:-8.29, Z:-1.54 [[ 9.99991519e-01 3.87870897e-03 1.38451356e-03 4.09449875e+01] [-3.87776984e-03 9.99992250e-01 -6.80349632e-04 -8.28648718e+00] [-1.38714171e-03 6.74975038e-04 9.99998810e-01 -1.53880433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362791605000005 meters Centerline goodness [0,1] 0.1885541225001306 Centerline is valid? [False, False] Translation: X:40.96, Y:-8.29, Z:-1.55 [[ 9.99995768e-01 2.90655988e-03 -1.27597991e-04 4.09552088e+01] [-2.90677565e-03 9.99994288e-01 -1.72469961e-03 -8.28653047e+00] [ 1.22584319e-04 1.72506321e-03 9.99998505e-01 -1.55028686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.392791605 meters Centerline goodness [0,1] 0.17150826228818017 Centerline is valid? [False, False] Translation: X:40.97, Y:-8.29, Z:-1.56 [[ 9.99994580e-01 2.99908585e-03 1.35878875e-03 4.09654148e+01] [-2.99704898e-03 9.99994386e-01 -1.49859417e-03 -8.28848794e+00] [-1.36327553e-03 1.49451369e-03 9.99997954e-01 -1.56459351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422791605 meters Centerline goodness [0,1] 0.23453484012639925 Centerline is valid? [False, False] Translation: X:40.99, Y:-8.28, Z:-1.55 [[ 9.99985290e-01 2.07797299e-03 5.01011354e-03 4.09945726e+01] [-2.07005331e-03 9.99996601e-01 -1.58540547e-03 -8.28214022e+00] [-5.01339094e-03 1.57501095e-03 9.99986193e-01 -1.55135113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.452791605 meters Centerline goodness [0,1] 0.18107833163784337 Centerline is valid? [False, False] Translation: X:41.01, Y:-8.28, Z:-1.57 [[ 9.99992192e-01 2.62588471e-03 2.95315310e-03 4.10090960e+01] [-2.62135451e-03 9.99995383e-01 -1.53684940e-03 -8.28004771e+00] [-2.95717505e-03 1.52909614e-03 9.99994458e-01 -1.56769761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482791605 meters Centerline goodness [0,1] 0.16283880549514662 Centerline is valid? [False, False] Translation: X:41.02, Y:-8.28, Z:-1.58 [[ 9.99980867e-01 3.81898415e-03 4.86621819e-03 4.10220218e+01] [-3.81360017e-03 9.99992106e-01 -1.11519836e-03 -8.27678913e+00] [-4.87043871e-03 1.09661921e-03 9.99987538e-01 -1.58424165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.512791605000004 meters Centerline goodness [0,1] 0.1689272503082614 Centerline is valid? [False, False] Translation: X:41.04, Y:-8.27, Z:-1.59 [[ 9.99968662e-01 -2.28817398e-03 7.57882681e-03 4.10427391e+01] [ 2.27218993e-03 9.99995178e-01 2.11697944e-03 -8.27289624e+00] [-7.58363428e-03 -2.09969256e-03 9.99969039e-01 -1.58518569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542791605000005 meters Centerline goodness [0,1] 0.16906339203964027 Centerline is valid? [False, False] Translation: X:41.05, Y:-8.27, Z:-1.60 [[ 9.99980188e-01 -2.51204597e-03 5.77182383e-03 4.10545807e+01] [ 2.50524385e-03 9.99996159e-01 1.18543195e-03 -8.26804942e+00] [-5.77477952e-03 -1.17094864e-03 9.99982640e-01 -1.59884631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.572791605 meters Centerline goodness [0,1] 0.17267194484838688 Centerline is valid? [False, False] Translation: X:41.07, Y:-8.26, Z:-1.61 [[ 9.99990275e-01 -2.66952651e-03 3.51041203e-03 4.10679569e+01] [ 2.66798471e-03 9.99996342e-01 4.43815441e-04 -8.26423874e+00] [-3.51158397e-03 -4.34445399e-04 9.99993740e-01 -1.61401470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602791605 meters Centerline goodness [0,1] 0.1836327345309381 Centerline is valid? [False, False] Translation: X:41.11, Y:-8.25, Z:-1.61 [[ 9.99978050e-01 -4.49005187e-03 4.87217044e-03 4.11063772e+01] [ 4.49825633e-03 9.99988481e-01 -1.67429324e-03 -8.24980217e+00] [-4.86459666e-03 1.69617276e-03 9.99986729e-01 -1.60544618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.632791605 meters Centerline goodness [0,1] 0.18033674408532296 Centerline is valid? [False, False] Translation: X:41.12, Y:-8.24, Z:-1.62 [[ 9.99990924e-01 -3.06636841e-03 2.95806349e-03 4.11225113e+01] [ 3.06973166e-03 9.99994646e-01 -1.13310729e-03 -8.24384684e+00] [-2.95457313e-03 1.14217747e-03 9.99994983e-01 -1.62423145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662791605 meters Centerline goodness [0,1] 0.19253537802334109 Centerline is valid? [False, False] Translation: X:41.16, Y:-8.23, Z:-1.62 [[ 9.99977711e-01 -4.41649201e-03 5.00718109e-03 4.11603431e+01] [ 4.43275474e-03 9.99984922e-01 -3.24144833e-03 -8.22515314e+00] [-4.99278976e-03 3.26357169e-03 9.99982210e-01 -1.61614561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.692791605000004 meters Centerline goodness [0,1] 0.12096774193548387 Centerline is valid? [False, False] Translation: X:41.18, Y:-8.22, Z:-1.63 [[ 9.99991315e-01 -3.25570502e-03 2.60186645e-03 4.11773854e+01] [ 3.26276907e-03 9.99990990e-01 -2.71537499e-03 -8.21989143e+00] [-2.59300255e-03 2.72384070e-03 9.99992928e-01 -1.63462957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722791605000005 meters Centerline goodness [0,1] 0.12159375870716072 Centerline is valid? [False, False] Translation: X:41.20, Y:-8.22, Z:-1.63 [[ 9.99955753e-01 -9.36030668e-03 9.36851313e-04 4.12007822e+01] [ 9.35864531e-03 9.99954654e-01 1.76229941e-03 -8.22102393e+00] [-9.53304494e-04 -1.75345378e-03 9.99998008e-01 -1.63447303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.752791605 meters Centerline goodness [0,1] 0.13287153652392947 Centerline is valid? [False, False] Translation: X:41.24, Y:-8.20, Z:-1.63 [[ 9.99939101e-01 -1.04200533e-02 3.63548233e-03 4.12388370e+01] [ 1.04183441e-02 9.99945608e-01 4.88753787e-04 -8.20476415e+00] [-3.64037743e-03 -4.50848316e-04 9.99993272e-01 -1.62814973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782791605 meters Centerline goodness [0,1] 0.19062446922946275 Centerline is valid? [False, False] Translation: X:41.25, Y:-8.19, Z:-1.64 [[ 9.99953103e-01 -8.91820596e-03 3.77593681e-03 4.12535886e+01] [ 8.91355257e-03 9.99959495e-01 1.24742022e-03 -8.19443786e+00] [-3.78690862e-03 -1.21370471e-03 9.99992093e-01 -1.64168149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.812791605 meters Centerline goodness [0,1] 0.19251215925800247 Centerline is valid? [False, False] Translation: X:41.27, Y:-8.19, Z:-1.66 [[ 9.99966137e-01 -8.14799248e-03 1.15526725e-03 4.12696767e+01] [ 8.14694105e-03 9.99966397e-01 9.11918760e-04 -8.18832938e+00] [-1.16265874e-03 -9.02475986e-04 9.99998917e-01 -1.65788572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842791605 meters Centerline goodness [0,1] 0.19761242466388507 Centerline is valid? [False, False] Translation: X:41.29, Y:-8.19, Z:-1.66 [[ 9.99861608e-01 -1.66191186e-02 -7.54272626e-04 4.12912906e+01] [ 1.66207595e-02 9.99859392e-01 2.22394302e-03 -8.18702909e+00] [ 7.17206597e-04 -2.23617183e-03 9.99997243e-01 -1.65573085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872791605 meters Centerline goodness [0,1] 0.20573700653223514 Centerline is valid? [False, False] Translation: X:41.31, Y:-8.18, Z:-1.67 [[ 9.99871719e-01 -1.60148855e-02 2.63788642e-04 4.13067817e+01] [ 1.60142057e-02 9.99868874e-01 2.40410082e-03 -8.18007664e+00] [-3.02255451e-04 -2.39956805e-03 9.99997075e-01 -1.66913983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902791605000004 meters Centerline goodness [0,1] 0.1952391851682307 Centerline is valid? [False, False] Translation: X:41.33, Y:-8.17, Z:-1.67 [[ 9.99956332e-01 -9.02125532e-03 -2.43936477e-03 4.13324224e+01] [ 9.02230041e-03 9.99959211e-01 4.17759034e-04 -8.16902360e+00] [ 2.43549656e-03 -4.39749473e-04 9.99996937e-01 -1.66888052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.932791605 meters Centerline goodness [0,1] 0.2013187596530831 Centerline is valid? [False, False] Translation: X:41.37, Y:-8.16, Z:-1.66 [[ 9.99939726e-01 -1.04793222e-02 3.27535100e-03 4.13663269e+01] [ 1.04787412e-02 9.99945078e-01 1.94492005e-04 -8.15727768e+00] [-3.27720925e-03 -1.60158727e-04 9.99994617e-01 -1.66407305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962791605 meters Centerline goodness [0,1] 0.20072593190067411 Centerline is valid? [False, False] Translation: X:41.38, Y:-8.15, Z:-1.68 [[ 9.99950946e-01 -9.80472514e-03 1.40482144e-03 4.13823674e+01] [ 9.80473490e-03 9.99951932e-01 -5.94839669e-08 -8.15195899e+00] [-1.40475333e-03 1.38333828e-05 9.99999013e-01 -1.68098193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.992791605 meters Centerline goodness [0,1] 0.2078859460749225 Centerline is valid? [False, False] Translation: X:41.41, Y:-8.14, Z:-1.67 [[ 9.99897274e-01 -1.20842474e-02 7.70799454e-03 4.14103389e+01] [ 1.20862874e-02 9.99926934e-01 -2.18124599e-04 -8.14260218e+00] [-7.70479548e-03 3.11263229e-04 9.99970269e-01 -1.67016595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022791605 meters Centerline goodness [0,1] 0.20670655844540553 Centerline is valid? [False, False] Translation: X:41.43, Y:-8.14, Z:-1.69 [[ 9.99921907e-01 -1.13999045e-02 5.12078368e-03 4.14262756e+01] [ 1.14017475e-02 9.99934943e-01 -3.30857073e-04 -8.13749153e+00] [-5.11667880e-03 3.89217118e-04 9.99986834e-01 -1.68558003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052791605 meters Centerline goodness [0,1] 0.21068353540678264 Centerline is valid? [False, False] Translation: X:41.44, Y:-8.13, Z:-1.70 [[ 9.99918133e-01 -1.16153674e-02 5.36756838e-03 4.14413380e+01] [ 1.16172068e-02 9.99932469e-01 -3.11626183e-04 -8.13259583e+00] [-5.36358625e-03 3.73956823e-04 9.99985546e-01 -1.69936806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082791605000004 meters Centerline goodness [0,1] 0.21305228057639636 Centerline is valid? [False, False] Translation: X:41.48, Y:-8.13, Z:-1.69 [[ 9.99887237e-01 -1.49828842e-02 1.01342415e-03 4.14794538e+01] [ 1.49832835e-02 9.99887669e-01 -3.87633148e-04 -8.12934884e+00] [-1.00750245e-03 4.02773858e-04 9.99999411e-01 -1.69045302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.112791605000005 meters Centerline goodness [0,1] 0.21491280817799163 Centerline is valid? [False, False] Translation: X:41.50, Y:-8.12, Z:-1.69 [[ 9.99965510e-01 -8.28563910e-03 -5.71130869e-04 4.15021018e+01] [ 8.28441758e-03 9.99963460e-01 -2.10895560e-03 -8.12207005e+00] [ 5.88584045e-04 2.10415137e-03 9.99997613e-01 -1.68842043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142791605 meters Centerline goodness [0,1] 0.2151776557881402 Centerline is valid? [False, False] Translation: X:41.53, Y:-8.11, Z:-1.69 [[ 9.99998672e-01 -1.28971524e-03 -9.96046743e-04 4.15262229e+01] [ 1.28664275e-03 9.99994432e-01 -3.07919452e-03 -8.11315305e+00] [ 1.00001248e-03 3.07790887e-03 9.99994763e-01 -1.68653548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.172791605 meters Centerline goodness [0,1] 0.2160872935424244 Centerline is valid? [False, False] Translation: X:41.54, Y:-8.11, Z:-1.70 [[ 9.99993786e-01 -7.97034726e-04 -3.43407283e-03 4.15420533e+01] [ 7.87206211e-04 9.99995593e-01 -2.86245949e-03 -8.11071160e+00] [ 3.43633918e-03 2.85973838e-03 9.99990007e-01 -1.70169906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202791605 meters Centerline goodness [0,1] 0.21698057156437522 Centerline is valid? [False, False] Translation: X:41.56, Y:-8.11, Z:-1.72 [[ 9.99984611e-01 -8.04278828e-04 -5.48922956e-03 4.15580757e+01] [ 7.89705599e-04 9.99996160e-01 -2.65652836e-03 -8.11005727e+00] [ 5.49134506e-03 2.65215261e-03 9.99981405e-01 -1.71621449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.232791605 meters Centerline goodness [0,1] 0.2216268874817341 Centerline is valid? [False, False] Translation: X:41.58, Y:-8.11, Z:-1.70 [[ 9.99994343e-01 -2.21746573e-03 2.52923686e-03 4.15760783e+01] [ 2.22021540e-03 9.99996947e-01 -1.08486412e-03 -8.11014722e+00] [-2.52682348e-03 1.09047344e-03 9.99996213e-01 -1.69655101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262791605000004 meters Centerline goodness [0,1] 0.22243024519869548 Centerline is valid? [False, False] Translation: X:41.59, Y:-8.11, Z:-1.71 [[ 9.99997511e-01 -1.65534811e-03 1.49568402e-03 4.15924036e+01] [ 1.65581295e-03 9.99998581e-01 -3.09603345e-04 -8.10666234e+00] [-1.49516939e-03 3.12079148e-04 9.99998834e-01 -1.71132506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.292791605000005 meters Centerline goodness [0,1] 0.22191963205035103 Centerline is valid? [False, False] Translation: X:41.61, Y:-8.10, Z:-1.71 [[ 9.99988740e-01 4.74506023e-03 5.94193410e-05 4.16137791e+01] [-4.74491050e-03 9.99986081e-01 -2.30741494e-03 -8.10037692e+00] [-7.03673368e-05 2.30710702e-03 9.99997336e-01 -1.70816685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322791605 meters Centerline goodness [0,1] 0.22170928030303028 Centerline is valid? [False, False] Translation: X:41.63, Y:-8.10, Z:-1.72 [[ 9.99983943e-01 5.57337939e-03 -1.02495724e-03 4.16297979e+01] [-5.57505615e-03 9.99983114e-01 -1.64041329e-03 -8.09901160e+00] [ 1.01579729e-03 1.64610115e-03 9.99998129e-01 -1.72428257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.352791605 meters Centerline goodness [0,1] 0.22137674747832237 Centerline is valid? [False, False] Translation: X:41.65, Y:-8.10, Z:-1.73 [[ 9.99986917e-01 8.37755331e-05 -5.11457423e-03 4.16542055e+01] [-6.83085270e-05 9.99995425e-01 3.02420412e-03 -8.10266470e+00] [ 5.11480419e-03 -3.02381519e-03 9.99982348e-01 -1.72665204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382791605 meters Centerline goodness [0,1] 0.22035284495852314 Centerline is valid? [False, False] Translation: X:41.67, Y:-8.10, Z:-1.74 [[ 9.99977964e-01 -2.54764862e-04 -6.63374887e-03 4.16653153e+01] [ 2.70802504e-04 9.99997043e-01 2.41679756e-03 -8.09974163e+00] [ 6.63311354e-03 -2.41854074e-03 9.99975076e-01 -1.73674737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.412791605 meters Centerline goodness [0,1] 0.22208429390553885 Centerline is valid? [False, False] Translation: X:41.69, Y:-8.10, Z:-1.73 [[ 9.99998758e-01 -1.53033499e-03 3.78102263e-04 4.16928609e+01] [ 1.52885904e-03 9.99991329e-01 3.87350461e-03 -8.09681211e+00] [-3.84026744e-04 -3.87292173e-03 9.99992426e-01 -1.72756963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442791605000004 meters Centerline goodness [0,1] 0.21902340978954837 Centerline is valid? [False, False] Translation: X:41.72, Y:-8.09, Z:-1.73 [[ 9.99981829e-01 5.88295745e-03 -1.31635682e-03 4.17188646e+01] [-5.87880894e-03 9.99977810e-01 3.13349102e-03 -8.09099961e+00] [ 1.33476181e-03 -3.12569547e-03 9.99994224e-01 -1.72787892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.472791605000005 meters Centerline goodness [0,1] 0.21667635095874493 Centerline is valid? [False, False] Translation: X:41.73, Y:-8.09, Z:-1.74 [[ 9.99981639e-01 5.37089153e-03 -2.80643202e-03 4.17302186e+01] [-5.36332871e-03 9.99981985e-01 2.69542790e-03 -8.08924639e+00] [ 2.82085831e-03 -2.68032659e-03 9.99992429e-01 -1.73847556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502791605 meters Centerline goodness [0,1] 0.21759753349934785 Centerline is valid? [False, False] Translation: X:41.77, Y:-8.09, Z:-1.73 [[ 9.99953794e-01 3.56166953e-03 -8.92885268e-03 4.17737998e+01] [-3.53918152e-03 9.99990529e-01 2.53311435e-03 -8.08626616e+00] [ 8.93779023e-03 -2.50139648e-03 9.99956929e-01 -1.73337788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.532791605 meters Centerline goodness [0,1] 0.21293393707186814 Centerline is valid? [False, False] Translation: X:41.79, Y:-8.09, Z:-1.75 [[ 9.99940853e-01 4.47314887e-03 -9.91367062e-03 4.17893230e+01] [-4.43687267e-03 9.99983392e-01 3.67818785e-03 -8.08617837e+00] [ 9.92995906e-03 -3.63398460e-03 9.99944093e-01 -1.74832663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562791605 meters Centerline goodness [0,1] 0.21260779066309843 Centerline is valid? [False, False] Translation: X:41.81, Y:-8.08, Z:-1.74 [[ 9.99993481e-01 2.16059505e-03 -2.89312931e-03 4.18132046e+01] [-2.14842316e-03 9.99988857e-01 4.20369151e-03 -8.08495781e+00] [ 2.90217955e-03 -4.19744844e-03 9.99986979e-01 -1.73638342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.592791605 meters Centerline goodness [0,1] 0.20812720848056532 Centerline is valid? [False, False] Translation: X:41.82, Y:-8.08, Z:-1.75 [[ 9.99990644e-01 2.10482907e-03 -3.77903959e-03 4.18246720e+01] [-2.08848301e-03 9.99988470e-01 4.32420346e-03 -8.08416948e+00] [ 3.78809773e-03 -4.31627054e-03 9.99983510e-01 -1.74717016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622791605 meters Centerline goodness [0,1] 0.20540445072412572 Centerline is valid? [False, False] Translation: X:41.85, Y:-8.08, Z:-1.75 [[ 9.99970474e-01 5.78056193e-03 -5.06323928e-03 4.18480949e+01] [-5.78567315e-03 9.99982767e-01 -9.95411930e-04 -8.07649847e+00] [ 5.05739799e-03 1.02467679e-03 9.99986686e-01 -1.74571530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.652791605000004 meters Centerline goodness [0,1] 0.20471376513459505 Centerline is valid? [False, False] Translation: X:41.88, Y:-8.08, Z:-1.74 [[ 9.99992283e-01 3.85427088e-03 7.60392193e-04 4.18769750e+01] [-3.85463304e-03 9.99992458e-01 4.75390490e-04 -8.07755383e+00] [-7.58554175e-04 -4.78317855e-04 9.99999598e-01 -1.73751710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.682791605 meters Centerline goodness [0,1] 0.23237179487179482 Centerline is valid? [False, False] Translation: X:41.90, Y:-8.08, Z:-1.73 [[ 9.99979850e-01 8.78450163e-04 6.28714978e-03 4.19020991e+01] [-8.80647083e-04 9.99999552e-01 3.46670323e-04 -8.07618503e+00] [-6.28684243e-03 -3.52200097e-04 9.99980176e-01 -1.72553913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.712791605 meters Centerline goodness [0,1] 0.17087967644084934 Centerline is valid? [False, False] Translation: X:41.92, Y:-8.07, Z:-1.72 [[ 9.99957329e-01 5.61839129e-03 7.33308286e-03 4.19157800e+01] [-5.59199414e-03 9.99977829e-01 -3.61528722e-03 -8.07143663e+00] [-7.35323238e-03 3.57412639e-03 9.99966577e-01 -1.71572401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742791605 meters Centerline goodness [0,1] 0.6775207591933571 Centerline is valid? [False, False] Translation: X:41.93, Y:-8.08, Z:-1.71 [[ 9.99943248e-01 -2.59321944e-03 1.03332785e-02 4.19291180e+01] [ 2.58822441e-03 9.99996527e-01 4.96735631e-04 -8.07914193e+00] [-1.03345307e-02 -4.69962596e-04 9.99946487e-01 -1.71154739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.772791605 meters Centerline goodness [0,1] 0.6775207591933571 Centerline is valid? [False, False] Translation: X:41.93, Y:-8.08, Z:-1.71 [[ 9.99943387e-01 -2.59082262e-03 1.03203414e-02 4.19291438e+01] [ 2.58581338e-03 9.99996532e-01 4.98689863e-04 -8.07914255e+00] [-1.03215977e-02 -4.71975154e-04 9.99946620e-01 -1.71155812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802791605 meters Centerline goodness [0,1] 0.4127689429373246 Centerline is valid? [False, False] Translation: X:41.94, Y:-8.08, Z:-1.72 [[ 9.99954803e-01 -3.42243912e-03 8.87008501e-03 4.19397897e+01] [ 3.42082368e-03 9.99994130e-01 1.97288421e-04 -8.08038691e+00] [-8.87070815e-03 -1.66936507e-04 9.99960641e-01 -1.72178222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.832791605000004 meters Centerline goodness [0,1] 0.7456858985532508 Centerline is valid? [False, False] Translation: X:41.96, Y:-8.08, Z:-1.72 [[ 9.99941137e-01 -1.09755469e-03 1.07943741e-02 4.19576313e+01] [ 1.15158737e-03 9.99986833e-01 -5.00069251e-03 -8.08107914e+00] [-1.07887434e-02 5.01282882e-03 9.99929235e-01 -1.71787647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862791605000005 meters Centerline goodness [0,1] 0.8364132961413296 Centerline is valid? [False, False] Translation: X:41.96, Y:-8.09, Z:-1.72 [[ 9.99940494e-01 -1.23315290e-03 1.08391522e-02 4.19584462e+01] [ 1.27757146e-03 9.99990812e-01 -4.09200571e-03 -8.08579437e+00] [-1.08340065e-02 4.10561000e-03 9.99932882e-01 -1.71841612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.892791605 meters Centerline goodness [0,1] 0.8143021252153935 Centerline is valid? [False, False] Translation: X:41.96, Y:-8.09, Z:-1.72 [[ 9.99947452e-01 3.65695150e-05 1.02514631e-02 4.19640499e+01] [-2.16891919e-05 9.99998946e-01 -1.45163906e-03 -8.09143258e+00] [-1.02515054e-02 1.45134043e-03 9.99946399e-01 -1.72350965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.922791605 meters Centerline goodness [0,1] 0.8782668109092979 Centerline is valid? [False, False] Translation: X:41.97, Y:-8.10, Z:-1.73 [[ 9.99934955e-01 -2.56385959e-03 1.11135849e-02 4.19686627e+01] [ 2.58354239e-03 9.99995119e-01 -1.75706269e-03 -8.10172742e+00] [-1.11090258e-02 1.78566082e-03 9.99936698e-01 -1.72889859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.952791605 meters Centerline goodness [0,1] 0.8633307183682618 Centerline is valid? [False, False] Translation: X:41.97, Y:-8.11, Z:-1.73 [[ 9.99922897e-01 -5.09015602e-03 1.13265439e-02 4.19735325e+01] [ 5.11358781e-03 9.99984843e-01 -2.04075190e-03 -8.11203250e+00] [-1.13159845e-02 2.09851383e-03 9.99933770e-01 -1.73443118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982791605 meters Centerline goodness [0,1] 0.8565880721220527 Centerline is valid? [False, False] Translation: X:41.98, Y:-8.12, Z:-1.74 [[ 9.99938391e-01 -3.65979717e-03 1.04795502e-02 4.19791306e+01] [ 3.65141089e-03 9.99992998e-01 8.19273285e-04 -8.11817863e+00] [-1.04824752e-02 -7.80957666e-04 9.99944752e-01 -1.73984375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.012791605000004 meters Centerline goodness [0,1] 0.8726391718517703 Centerline is valid? [False, False] Translation: X:41.98, Y:-8.12, Z:-1.74 [[ 9.99938335e-01 -3.69477686e-03 1.04725746e-02 4.19798325e+01] [ 3.67485418e-03 9.99991403e-01 1.92097255e-03 -8.12345689e+00] [-1.04795822e-02 -1.88236891e-03 9.99943316e-01 -1.74038264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042791605000005 meters Centerline goodness [0,1] 0.7662423178226514 Centerline is valid? [False, False] Translation: X:42.00, Y:-8.13, Z:-1.74 [[ 9.99913247e-01 -5.20519169e-04 1.31615669e-02 4.19971035e+01] [ 5.52529309e-04 9.99996898e-01 -2.42857267e-03 -8.12652250e+00] [-1.31602620e-02 2.43563414e-03 9.99910434e-01 -1.73680144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.072791605 meters Centerline goodness [0,1] 0.7754782232789366 Centerline is valid? [False, False] Translation: X:42.00, Y:-8.13, Z:-1.74 [[ 9.99924822e-01 8.17569127e-04 1.22344290e-02 4.20025207e+01] [-8.25141661e-04 9.99999471e-01 6.13917891e-04 -8.13429192e+00] [-1.22339206e-02 -6.23966875e-04 9.99924968e-01 -1.74215482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.102791605 meters Centerline goodness [0,1] 0.7349565590475169 Centerline is valid? [False, False] Translation: X:42.01, Y:-8.14, Z:-1.75 [[ 9.99917286e-01 -1.15357105e-03 1.28097563e-02 4.20058068e+01] [ 1.14813669e-03 9.99999248e-01 4.31581952e-04 -8.14271760e+00] [-1.28102446e-02 -4.16838903e-04 9.99917859e-01 -1.74732031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.132791605 meters Centerline goodness [0,1] 0.727393687796051 Centerline is valid? [False, False] Translation: X:42.01, Y:-8.15, Z:-1.75 [[ 9.99931267e-01 2.68200359e-04 1.17212877e-02 4.20112649e+01] [-3.02321208e-04 9.99995722e-01 2.90934051e-03 -8.14745765e+00] [-1.17204572e-02 -2.91268414e-03 9.99927071e-01 -1.75258295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162791605 meters Centerline goodness [0,1] 0.7247370098820529 Centerline is valid? [False, False] Translation: X:42.01, Y:-8.15, Z:-1.75 [[ 9.99931504e-01 2.07299063e-04 1.17023028e-02 4.20116801e+01] [-2.50219448e-04 9.99993248e-01 3.66634212e-03 -8.15117801e+00] [-1.17014638e-02 -3.66901914e-03 9.99924804e-01 -1.75337994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.192791605000004 meters Centerline goodness [0,1] 0.7154922143045659 Centerline is valid? [False, False] Translation: X:42.02, Y:-8.15, Z:-1.76 [[ 9.99931287e-01 -1.77544651e-03 1.15874192e-02 4.20160510e+01] [ 1.74771539e-03 9.99995586e-01 2.40289630e-03 -8.15468198e+00] [-1.15916343e-02 -2.38247968e-03 9.99929976e-01 -1.75877538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222791605000005 meters Centerline goodness [0,1] 0.708728205665218 Centerline is valid? [False, False] Translation: X:42.03, Y:-8.15, Z:-1.76 [[ 9.99875221e-01 5.53457070e-03 1.47956400e-02 4.20324608e+01] [-5.54589673e-03 9.99984359e-01 7.24577300e-04 -8.15131183e+00] [-1.47913983e-02 -8.06541979e-04 9.99890276e-01 -1.75518366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.252791605 meters Centerline goodness [0,1] 0.7033099402953807 Centerline is valid? [False, False] Translation: X:42.03, Y:-8.15, Z:-1.76 [[ 9.99873293e-01 5.45379650e-03 1.49550642e-02 4.20326423e+01] [-5.47015577e-03 9.99984484e-01 1.05320726e-03 -8.15311496e+00] [-1.49490882e-02 -1.13488034e-03 9.99887612e-01 -1.75539288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.282791605 meters Centerline goodness [0,1] 0.7048199042265251 Centerline is valid? [False, False] Translation: X:42.04, Y:-8.15, Z:-1.76 [[ 9.99891118e-01 3.41463230e-03 1.43559233e-02 4.20371443e+01] [-3.40161056e-03 9.99993781e-01 -9.31384606e-04 -8.15262143e+00] [-1.43590143e-02 8.82449935e-04 9.99896515e-01 -1.75981820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.312791605 meters Centerline goodness [0,1] 0.7290712203248646 Centerline is valid? [False, False] Translation: X:42.06, Y:-8.16, Z:-1.76 [[ 9.99913531e-01 -3.29865487e-03 1.27299003e-02 4.20600287e+01] [ 3.23936120e-03 9.99983822e-01 4.67563869e-03 -8.15845441e+00] [-1.27451177e-02 -4.63399765e-03 9.99908040e-01 -1.76222690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342791605 meters Centerline goodness [0,1] 0.7433609850263474 Centerline is valid? [False, False] Translation: X:42.07, Y:-8.16, Z:-1.77 [[ 9.99916649e-01 -5.30157231e-03 1.17723638e-02 4.20653906e+01] [ 5.27493303e-03 9.99983459e-01 2.29276433e-03 -8.15606783e+00] [-1.17843243e-02 -2.23047479e-03 9.99928075e-01 -1.76726778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.372791605 meters Centerline goodness [0,1] 0.7260046668395126 Centerline is valid? [False, False] Translation: X:42.07, Y:-8.16, Z:-1.77 [[ 9.99914912e-01 -5.32762425e-03 1.19073345e-02 4.20661585e+01] [ 5.29605752e-03 9.99982382e-01 2.68099445e-03 -8.15806494e+00] [-1.19214081e-02 -2.61770440e-03 9.99925511e-01 -1.76767549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402791605000004 meters Centerline goodness [0,1] 0.714548802946593 Centerline is valid? [False, False] Translation: X:42.07, Y:-8.16, Z:-1.77 [[ 9.99916236e-01 -5.33218228e-03 1.17935596e-02 4.20669297e+01] [ 5.29563395e-03 9.99981086e-01 3.12806841e-03 -8.16020724e+00] [-1.18100159e-02 -3.06535202e-03 9.99925561e-01 -1.76827673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.432791605 meters Centerline goodness [0,1] 0.7196807969909526 Centerline is valid? [False, False] Translation: X:42.07, Y:-8.16, Z:-1.77 [[ 9.99916831e-01 -5.33420639e-03 1.17421586e-02 4.20676585e+01] [ 5.29124983e-03 9.99979207e-01 3.68635092e-03 -8.16291829e+00] [-1.17615782e-02 -3.62391363e-03 9.99924263e-01 -1.76908511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462791605 meters Centerline goodness [0,1] 0.7155019510464704 Centerline is valid? [False, False] Translation: X:42.09, Y:-8.16, Z:-1.77 [[ 9.99987423e-01 -2.12685197e-03 4.54200114e-03 4.20912809e+01] [ 2.12378379e-03 9.99997513e-01 6.80229170e-04 -8.15874514e+00] [-4.54343659e-03 -6.70574386e-04 9.99989454e-01 -1.76765064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.492791605 meters Centerline goodness [0,1] 0.7439011942431357 Centerline is valid? [False, False] Translation: X:42.11, Y:-8.15, Z:-1.76 [[ 9.99996849e-01 1.70787392e-03 -1.84003692e-03 4.21133590e+01] [-1.71152422e-03 9.99996567e-01 -1.98407506e-03 -8.15367775e+00] [ 1.83664205e-03 1.98721808e-03 9.99996339e-01 -1.76478982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522791605 meters Centerline goodness [0,1] 0.7469375255206206 Centerline is valid? [False, False] Translation: X:42.12, Y:-8.15, Z:-1.77 [[ 9.99997268e-01 -3.55937157e-04 -2.31024494e-03 4.21182916e+01] [ 3.46615822e-04 9.99991804e-01 -4.03392879e-03 -8.15372828e+00] [ 2.31166183e-03 4.03311700e-03 9.99989195e-01 -1.76897152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.552791605 meters Centerline goodness [0,1] 0.7381388719201791 Centerline is valid? [False, False] Translation: X:42.12, Y:-8.16, Z:-1.77 [[ 9.99994849e-01 9.92018364e-04 -3.05259471e-03 4.21234584e+01] [-9.97888484e-04 9.99997655e-01 -1.92207192e-03 -8.15811060e+00] [ 3.05068083e-03 1.92510817e-03 9.99993494e-01 -1.77316729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582791605000004 meters Centerline goodness [0,1] 0.7434517766497462 Centerline is valid? [False, False] Translation: X:42.13, Y:-8.16, Z:-1.78 [[ 9.99994290e-01 -1.36664381e-03 -3.09051329e-03 4.21285215e+01] [ 1.35638884e-03 9.99993576e-01 -3.31787420e-03 -8.16290135e+00] [ 3.09502779e-03 3.31366332e-03 9.99989720e-01 -1.77785060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.612791605000005 meters Centerline goodness [0,1] 0.7422472815142972 Centerline is valid? [False, False] Translation: X:42.13, Y:-8.16, Z:-1.78 [[ 9.99987297e-01 -3.50394635e-03 -3.62317174e-03 4.21339963e+01] [ 3.48452593e-03 9.99979604e-01 -5.35255127e-03 -8.16340587e+00] [ 3.64185289e-03 5.33985824e-03 9.99979111e-01 -1.78309499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642791605 meters Centerline goodness [0,1] 0.7741101308183754 Centerline is valid? [False, False] Translation: X:42.13, Y:-8.17, Z:-1.79 [[ 9.99936037e-01 -3.67206875e-03 1.06975881e-02 4.21322752e+01] [ 3.70987173e-03 9.99986937e-01 -3.51608780e-03 -8.16656216e+00] [-1.06845370e-02 3.55554958e-03 9.99936597e-01 -1.78737101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.672791605 meters Centerline goodness [0,1] 0.7730161150932845 Centerline is valid? [False, False] Translation: X:42.14, Y:-8.17, Z:-1.79 [[ 9.99952377e-01 -2.19626578e-03 9.50899077e-03 4.21376334e+01] [ 2.20942660e-03 9.99996616e-01 -1.37375608e-03 -8.17020447e+00] [-9.50594145e-03 1.39470007e-03 9.99953845e-01 -1.79157019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702791605 meters Centerline goodness [0,1] 0.7826865977270401 Centerline is valid? [False, False] Translation: X:42.14, Y:-8.17, Z:-1.79 [[ 9.99952824e-01 -2.18646123e-03 9.46404852e-03 4.21381325e+01] [ 2.19256605e-03 9.99997395e-01 -6.34726461e-04 -8.17362915e+00] [-9.46263606e-03 6.55447069e-04 9.99955013e-01 -1.79193929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.732791605 meters Centerline goodness [0,1] 0.752594713431157 Centerline is valid? [False, False] Translation: X:42.14, Y:-8.18, Z:-1.79 [[ 9.99955462e-01 -2.04124670e-03 9.21448468e-03 4.21399289e+01] [ 2.02940225e-03 9.99997103e-01 1.29458390e-03 -8.18270007e+00] [-9.21710055e-03 -1.27582635e-03 9.99956708e-01 -1.79389680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762791605000004 meters Centerline goodness [0,1] 0.7339646787816739 Centerline is valid? [False, False] Translation: X:42.14, Y:-8.19, Z:-1.80 [[ 9.99957632e-01 -2.01744256e-03 8.98137148e-03 4.21408816e+01] [ 1.99964884e-03 9.99996021e-01 1.98971981e-03 -8.18586374e+00] [-8.98534990e-03 -1.97167592e-03 9.99957687e-01 -1.79504902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.792791605000005 meters Centerline goodness [0,1] 0.7352880552406472 Centerline is valid? [False, False] Translation: X:42.16, Y:-8.18, Z:-1.79 [[ 9.99982964e-01 3.82845954e-03 4.40622343e-03 4.21627953e+01] [-3.83015694e-03 9.99992594e-01 3.76854168e-04 -8.18482596e+00] [-4.40474803e-03 -3.93724275e-04 9.99990222e-01 -1.79166740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822791605 meters Centerline goodness [0,1] 0.728616629493231 Centerline is valid? [False, False] Translation: X:42.16, Y:-8.19, Z:-1.79 [[ 9.99983509e-01 3.80802956e-03 4.29883411e-03 4.21637203e+01] [-3.81346918e-03 9.99991938e-01 1.25788370e-03 -8.18916999e+00] [-4.29400939e-03 -1.27425643e-03 9.99989969e-01 -1.79290121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.852791605 meters Centerline goodness [0,1] 0.7103344879284496 Centerline is valid? [False, False] Translation: X:42.17, Y:-8.19, Z:-1.80 [[ 9.99992279e-01 1.60361177e-03 3.58754175e-03 4.21691916e+01] [-1.60148290e-03 9.99998540e-01 -5.96200528e-04 -8.19133209e+00] [-3.58849258e-03 5.90450538e-04 9.99993387e-01 -1.79855284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882791605 meters Centerline goodness [0,1] 0.6859903381642511 Centerline is valid? [False, False] Translation: X:42.17, Y:-8.20, Z:-1.80 [[ 9.99989409e-01 3.43705511e-03 3.06087436e-03 4.21743940e+01] [-3.44202843e-03 9.99992762e-01 1.62102106e-03 -8.19529522e+00] [-3.05528067e-03 -1.63153951e-03 9.99994002e-01 -1.80432610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.912791605 meters Centerline goodness [0,1] 0.6847521047708138 Centerline is valid? [False, False] Translation: X:42.18, Y:-8.19, Z:-1.81 [[ 9.99995931e-01 1.61154128e-03 2.35399236e-03 4.21795948e+01] [-1.61008917e-03 9.99998512e-01 -6.18639354e-04 -8.19306585e+00] [-2.35498582e-03 6.14846699e-04 9.99997038e-01 -1.80949762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942791605000004 meters Centerline goodness [0,1] 0.6559748427672956 Centerline is valid? [False, False] Translation: X:42.19, Y:-8.20, Z:-1.82 [[ 9.99993149e-01 3.23411980e-03 1.80094651e-03 4.21850620e+01] [-3.23730960e-03 9.99993192e-01 1.77109503e-03 -8.19924004e+00] [-1.79520632e-03 -1.77691312e-03 9.99996810e-01 -1.81548839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.972791605000005 meters Centerline goodness [0,1] 0.6612010333737544 Centerline is valid? [False, False] Translation: X:42.19, Y:-8.20, Z:-1.82 [[ 9.99998630e-01 1.17717762e-03 1.16402891e-03 4.21905161e+01] [-1.17675942e-03 9.99999243e-01 -3.59889863e-04 -8.19954980e+00] [-1.16445169e-03 3.58519588e-04 9.99999258e-01 -1.82162756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002791605 meters Centerline goodness [0,1] 0.6571791344831235 Centerline is valid? [False, False] Translation: X:42.20, Y:-8.20, Z:-1.83 [[ 9.99999531e-01 -6.95432032e-04 6.73994257e-04 4.21959747e+01] [ 6.97209674e-04 9.99996270e-01 -2.64083692e-03 -8.19839370e+00] [-6.72155221e-04 2.64130560e-03 9.99996286e-01 -1.82789109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.032791605 meters Centerline goodness [0,1] 0.653651715607185 Centerline is valid? [False, False] Translation: X:42.20, Y:-8.20, Z:-1.83 [[ 9.99999054e-01 1.34924589e-03 2.65674784e-04 4.22019215e+01] [-1.34903380e-03 9.99998773e-01 -7.96865328e-04 -8.19927817e+00] [-2.66749626e-04 7.96506171e-04 9.99999647e-01 -1.83450030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062791605 meters Centerline goodness [0,1] 0.40133851468048354 Centerline is valid? [False, False] Translation: X:42.21, Y:-8.20, Z:-1.84 [[ 9.99998398e-01 9.45415193e-04 -1.51981750e-03 4.22121341e+01] [-9.47451772e-04 9.99998654e-01 -1.33985411e-03 -8.19883798e+00] [ 1.51854874e-03 1.34129192e-03 9.99997947e-01 -1.84409684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.092791605 meters Centerline goodness [0,1] 0.6486752253482655 Centerline is valid? [False, False] Translation: X:42.22, Y:-8.20, Z:-1.85 [[ 9.99994357e-01 2.78600831e-03 -1.87740042e-03 4.22179100e+01] [-2.78502790e-03 9.99995984e-01 5.24626205e-04 -8.20079357e+00] [ 1.87885449e-03 -5.19394632e-04 9.99998100e-01 -1.85040148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122791605 meters Centerline goodness [0,1] 0.18846237258729126 Centerline is valid? [False, False] Translation: X:42.23, Y:-8.20, Z:-1.86 [[ 9.99991966e-01 2.64626375e-03 -3.01086086e-03 4.22280587e+01] [-2.64581259e-03 9.99996488e-01 1.53817352e-04 -8.19940801e+00] [ 3.01125733e-03 -1.45849942e-04 9.99995456e-01 -1.86091255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.152791605000004 meters Centerline goodness [0,1] 0.1976024960315288 Centerline is valid? [False, False] Translation: X:42.25, Y:-8.20, Z:-1.86 [[ 9.99991014e-01 -4.22844786e-03 -3.04169709e-04 4.22490611e+01] [ 4.22956868e-03 9.99983897e-01 3.78372711e-03 -8.20224026e+00] [ 2.88165518e-04 -3.78497962e-03 9.99992795e-01 -1.86299532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182791605000006 meters Centerline goodness [0,1] 0.16338335607094134 Centerline is valid? [False, False] Translation: X:42.26, Y:-8.20, Z:-1.87 [[ 9.99990154e-01 -4.34995553e-03 -8.77183217e-04 4.22596876e+01] [ 4.35291568e-03 9.99984741e-01 3.40141348e-03 -8.20313947e+00] [ 8.62373834e-04 -3.40519829e-03 9.99993830e-01 -1.87365312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.212791605 meters Centerline goodness [0,1] 0.16781825216958712 Centerline is valid? [False, False] Translation: X:42.28, Y:-8.20, Z:-1.87 [[ 9.99988795e-01 -6.34369380e-04 -4.69114405e-03 4.22766905e+01] [ 6.35215747e-04 9.99999782e-01 1.78930114e-04 -8.19707122e+00] [ 4.69102952e-03 -1.81907998e-04 9.99988981e-01 -1.86807601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242791605 meters Centerline goodness [0,1] 0.17027846395688295 Centerline is valid? [False, False] Translation: X:42.30, Y:-8.19, Z:-1.87 [[ 9.99956127e-01 6.47128775e-03 -6.77246685e-03 4.23002764e+01] [-6.47720540e-03 9.99978660e-01 -8.52212387e-04 -8.19372807e+00] [ 6.76680741e-03 8.96041657e-04 9.99976703e-01 -1.86613914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.272791605 meters Centerline goodness [0,1] 0.16487653637470934 Centerline is valid? [False, False] Translation: X:42.31, Y:-8.19, Z:-1.88 [[ 9.99955386e-01 5.88210913e-03 -7.39102924e-03 4.23105004e+01] [-5.89085824e-03 9.99981973e-01 -1.16253514e-03 -8.19447976e+00] [ 7.38405784e-03 1.20602278e-03 9.99972010e-01 -1.87670510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302791605 meters Centerline goodness [0,1] 0.16357146840667003 Centerline is valid? [False, False] Translation: X:42.34, Y:-8.20, Z:-1.88 [[ 9.99964576e-01 -2.37827021e-03 -8.07411359e-03 4.23376451e+01] [ 2.38918957e-03 9.99996244e-01 1.34301524e-03 -8.19934964e+00] [ 8.07088921e-03 -1.36225825e-03 9.99966502e-01 -1.88116710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.332791605000004 meters Centerline goodness [0,1] 0.166609667122663 Centerline is valid? [False, False] Translation: X:42.36, Y:-8.20, Z:-1.88 [[ 9.99994183e-01 3.06937015e-03 -1.48774068e-03 4.23561172e+01] [-3.07148010e-03 9.99994278e-01 -1.41801890e-03 -8.19512560e+00] [ 1.48337975e-03 1.42258022e-03 9.99997888e-01 -1.88223638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362791605000005 meters Centerline goodness [0,1] 0.1724838840815378 Centerline is valid? [False, False] Translation: X:42.40, Y:-8.19, Z:-1.87 [[ 9.99991722e-01 6.23435930e-04 -4.02095565e-03 4.23963426e+01] [-6.32022944e-04 9.99997522e-01 -2.13464859e-03 -8.19149735e+00] [ 4.01961487e-03 2.13717225e-03 9.99989638e-01 -1.87391127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.392791605 meters Centerline goodness [0,1] 0.17500000000000004 Centerline is valid? [False, False] Translation: X:42.41, Y:-8.20, Z:-1.89 [[ 9.99991540e-01 1.61652429e-04 -4.11012254e-03 4.24068806e+01] [-1.68425164e-04 9.99998629e-01 -1.64752557e-03 -8.19663123e+00] [ 4.10985058e-03 1.64820388e-03 9.99990196e-01 -1.88533864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.422791605 meters Centerline goodness [0,1] 0.17719514341017073 Centerline is valid? [False, False] Translation: X:42.45, Y:-8.20, Z:-1.88 [[ 9.99965630e-01 -1.65758336e-03 -8.12345530e-03 4.24505522e+01] [ 1.64224470e-03 9.99996857e-01 -1.89449998e-03 -8.19599539e+00] [ 8.12657006e-03 1.88109416e-03 9.99965210e-01 -1.87895860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.452791605 meters Centerline goodness [0,1] 0.18095849629326954 Centerline is valid? [False, False] Translation: X:42.46, Y:-8.20, Z:-1.89 [[ 9.99959809e-01 -2.15726973e-03 -8.70212617e-03 4.24612281e+01] [ 2.14075963e-03 9.99995892e-01 -1.90611736e-03 -8.19945336e+00] [ 8.70620244e-03 1.88741159e-03 9.99960319e-01 -1.89038933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482791605 meters Centerline goodness [0,1] 0.1848704540052294 Centerline is valid? [False, False] Translation: X:42.50, Y:-8.20, Z:-1.89 [[ 9.99976406e-01 -1.98637721e-03 -6.57577547e-03 4.25013124e+01] [ 1.98572733e-03 9.99998023e-01 -1.05357010e-04 -8.19959380e+00] [ 6.57597175e-03 9.22968268e-05 9.99978374e-01 -1.88664812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 709.51 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%| | 0/1417 [00:00