+ python -m lidar_slam --no-model /working/4a984dbe-f120-4dac-b5e9-3dc93af9ef31 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/4a984dbe-f120-4dac-b5e9-3dc93af9ef31 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 0.00432 Adjusted end_distance from 9.223372036854776e+18 to 48.62432 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00432 meters Centerline goodness [0,1] 0.9997848305540613 Centerline is valid? [0, True] SLAMing on 0.034319999999999996 meters Centerline goodness [0,1] 0.9999784867585999 Centerline is valid? [True, True] Translation: X:0.03, Y:0.00, Z:0.00 [[ 9.99998900e-01 1.41395014e-03 4.48372131e-04 3.04144155e-02] [-1.41394451e-03 9.99999000e-01 -1.28663302e-05 8.80970396e-04] [-4.48389875e-04 1.22323428e-05 9.99999899e-01 2.35124865e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06431999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.06, Y:0.00, Z:0.00 [[ 9.99994380e-01 2.96967921e-03 1.55599128e-03 6.21958467e-02] [-2.96961449e-03 9.99995590e-01 -4.39040213e-05 4.75552446e-03] [-1.55611480e-03 3.92830803e-05 9.99998788e-01 3.06479830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09431999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.09, Y:0.01, Z:0.01 [[ 9.99980109e-01 5.99089478e-03 1.97254110e-03 9.33928924e-02] [-5.99079615e-03 9.99982053e-01 -5.59056009e-05 9.47094963e-03] [-1.97284063e-03 4.40873972e-05 9.99998053e-01 6.14841648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12431999999999999 meters Centerline goodness [0,1] 0.9999785227980499 Centerline is valid? [True, True] Translation: X:0.12, Y:0.01, Z:0.01 [[ 9.99970988e-01 7.49616351e-03 1.35336209e-03 1.24310742e-01] [-7.49612463e-03 9.99971903e-01 -3.37962927e-05 7.62593665e-03] [-1.35357740e-03 2.36503413e-05 9.99999084e-01 5.13157666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15431999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.16, Y:0.01, Z:0.00 [[ 9.99948783e-01 1.01204547e-02 8.58147442e-05 1.56797933e-01] [-1.01204550e-02 9.99948787e-01 3.23262586e-06 8.99029211e-03] [-8.57776337e-05 -4.10094455e-06 9.99999996e-01 4.59507322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18431999999999996 meters Centerline goodness [0,1] 0.9998711478578332 Centerline is valid? [True, True] Translation: X:0.19, Y:0.01, Z:0.00 [[ 9.99934573e-01 1.14383724e-02 -1.18985795e-04 1.87786765e-01] [-1.14383714e-02 9.99934580e-01 8.80167114e-06 9.98337401e-03] [ 1.19078687e-04 -7.44009156e-06 9.99999993e-01 3.42940399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21431999999999995 meters Centerline goodness [0,1] 0.9998501487808533 Centerline is valid? [True, True] Translation: X:0.22, Y:0.01, Z:-0.00 [[ 9.99924215e-01 1.23092370e-02 2.16767005e-04 2.18565840e-01] [-1.23092371e-02 9.99924238e-01 -1.24269167e-06 8.00137750e-03] [-2.16765879e-04 -1.42563896e-06 9.99999977e-01 -1.14821115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24431999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.25, Y:0.01, Z:0.00 [[ 9.99916969e-01 1.28788124e-02 4.37708411e-04 2.51983738e-01] [-1.28788107e-02 9.99917065e-01 -6.59787969e-06 1.22241951e-02] [-4.37757082e-04 9.60168087e-07 9.99999904e-01 2.95757031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27431999999999995 meters Centerline goodness [0,1] 0.9999357890456112 Centerline is valid? [True, True] Translation: X:0.28, Y:0.01, Z:0.00 [[ 9.99918470e-01 1.27064367e-02 1.26506306e-03 2.84362874e-01] [-1.27064064e-02 9.99919270e-01 -3.19554818e-05 1.12562209e-02] [-1.26536697e-03 1.58784711e-05 9.99999199e-01 1.37765050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3043199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.32, Y:0.01, Z:0.00 [[ 9.99925820e-01 1.20677569e-02 1.65017916e-03 3.16872312e-01] [-1.20676998e-02 9.99927182e-01 -4.45816348e-05 1.13935903e-02] [-1.65059700e-03 2.46644610e-05 9.99998637e-01 3.11770833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33431999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.35, Y:0.01, Z:0.00 [[ 9.99937271e-01 1.11258396e-02 1.29236494e-03 3.49246527e-01] [-1.11258046e-02 9.99938106e-01 -3.43245629e-05 9.57535112e-03] [-1.29266684e-03 1.99438099e-05 9.99999164e-01 2.92024925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3643199999999999 meters Centerline goodness [0,1] 0.9999573132990417 Centerline is valid? [True, True] Translation: X:0.38, Y:0.00, Z:0.00 [[ 9.99971011e-01 7.41294896e-03 1.73931849e-03 3.79885798e-01] [-7.41286776e-03 9.99972523e-01 -5.31232244e-05 4.87711022e-03] [-1.73966449e-03 4.02283465e-05 9.99998486e-01 2.25767773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39431999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.41, Y:0.00, Z:0.00 [[ 9.99979868e-01 5.91534601e-03 2.29617675e-03 4.11595989e-01] [-5.91520936e-03 9.99982503e-01 -6.63009172e-05 2.84676584e-03] [-2.29652877e-03 5.27172163e-05 9.99997362e-01 2.14925213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4243199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.44, Y:0.00, Z:0.00 [[ 9.99986759e-01 4.51278271e-03 2.47333650e-03 4.43730971e-01] [-4.51261786e-03 9.99989815e-01 -7.22277941e-05 4.00055684e-03] [-2.47363726e-03 6.10656152e-05 9.99996939e-01 3.37414137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45431999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.47, Y:0.00, Z:0.00 [[ 9.99993173e-01 2.10372227e-03 3.03789686e-03 4.74991892e-01] [-2.10345473e-03 9.99997784e-01 -9.12589268e-05 3.35611082e-03] [-3.03808211e-03 8.48682253e-05 9.99995381e-01 2.78973382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4843199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.00, Z:0.00 [[ 9.99992929e-01 1.61430128e-03 3.39643980e-03 5.06223197e-01] [-1.61395885e-03 9.99998692e-01 -1.03558959e-04 -3.65894847e-04] [-3.39660253e-03 9.80765124e-05 9.99994227e-01 9.99422806e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5143199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.54, Y:0.00, Z:0.00 [[ 9.99989656e-01 7.67461205e-04 4.48309811e-03 5.38093397e-01] [-7.66844579e-04 9.99999696e-01 -1.39261929e-04 1.67181193e-03] [-4.48320362e-03 1.35822649e-04 9.99989941e-01 2.87585020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5443199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.57, Y:0.00, Z:0.00 [[ 9.99989052e-01 6.94414700e-04 4.62758858e-03 5.71434137e-01] [-6.93753849e-04 9.99999749e-01 -1.44410370e-04 2.26455804e-03] [-4.62768770e-03 1.41198382e-04 9.99989282e-01 2.69749763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5743199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.60, Y:0.00, Z:0.00 [[ 9.99991208e-01 6.21346145e-04 4.14696564e-03 6.03773153e-01] [-6.20809576e-04 9.99999799e-01 -1.30674222e-04 2.14089659e-03] [-4.14704600e-03 1.28098597e-04 9.99991393e-01 1.31448728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6043199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.64, Y:0.00, Z:-0.00 [[ 9.99992396e-01 9.43619182e-04 3.78391915e-03 6.35197976e-01] [-9.43171849e-04 9.99999548e-01 -1.20001966e-04 1.88840095e-03] [-3.78403067e-03 1.16432167e-04 9.99992834e-01 -4.47203870e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6343199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.67, Y:0.00, Z:-0.00 [[ 9.99987644e-01 2.60320470e-03 4.23494064e-03 6.66615798e-01] [-2.60264390e-03 9.99996604e-01 -1.37929025e-04 4.05122127e-03] [-4.23528532e-03 1.26905279e-04 9.99991023e-01 -1.10712633e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6643199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.70, Y:0.01, Z:-0.00 [[ 9.99978393e-01 4.06092389e-03 5.16932741e-03 6.97959586e-01] [-4.06010132e-03 9.99991743e-01 -1.69608852e-04 5.07939782e-03] [-5.16997350e-03 1.48617194e-04 9.99986625e-01 -2.86247957e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6943199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.73, Y:0.01, Z:0.00 [[ 9.99966388e-01 5.72024283e-03 5.87376960e-03 7.30923779e-01] [-5.71919727e-03 9.99983626e-01 -1.94785992e-04 1.17206235e-02] [-5.87478764e-03 1.61186198e-04 9.99982730e-01 1.68931444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7243199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.76, Y:0.01, Z:-0.00 [[ 9.99943241e-01 8.68538297e-03 6.17086354e-03 7.62402137e-01] [-8.68427729e-03 9.99962270e-01 -2.05950672e-04 1.35158163e-02] [-6.17241947e-03 1.52349492e-04 9.99980939e-01 -2.59955796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7543199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.79, Y:0.02, Z:-0.00 [[ 9.99926586e-01 9.91339787e-03 6.96750740e-03 7.94458660e-01] [-9.91203527e-03 9.99950848e-01 -2.30070762e-04 1.88612654e-02] [-6.96944571e-03 1.60991693e-04 9.99975700e-01 -4.04688189e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7843199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.83, Y:0.02, Z:0.00 [[ 9.99901325e-01 1.10952233e-02 8.61606914e-03 8.25376852e-01] [-1.10931491e-02 9.99938428e-01 -2.88489122e-04 1.92321377e-02] [-8.61873947e-03 1.92881315e-04 9.99962839e-01 8.17601016e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8143199999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.86, Y:0.02, Z:0.00 [[ 9.99889101e-01 1.15623821e-02 9.38599503e-03 8.57477536e-01] [-1.15599178e-02 9.99933132e-01 -3.16757517e-04 2.12060006e-02] [-9.38902988e-03 2.08221058e-04 9.99955900e-01 1.87494221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8443199999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.89, Y:0.02, Z:0.00 [[ 9.99880929e-01 1.18082912e-02 9.93440969e-03 8.89352919e-01] [-1.18055137e-02 9.99930255e-01 -3.38183131e-04 2.17324139e-02] [-9.93771018e-03 2.20862053e-04 9.99950595e-01 6.11494137e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8743199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.92, Y:0.02, Z:-0.00 [[ 9.99877213e-01 1.21189282e-02 9.93431430e-03 9.21763650e-01] [-1.21161386e-02 9.99926539e-01 -3.40949894e-04 2.04446030e-02] [-9.93771646e-03 2.20542501e-04 9.99950595e-01 -7.89209493e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9043199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.95, Y:0.02, Z:-0.00 [[ 9.99872731e-01 1.16724630e-02 1.08754871e-02 9.53399052e-01] [-1.16690364e-02 9.99931843e-01 -3.78478127e-04 2.27791602e-02] [-1.08791636e-02 2.51523504e-04 9.99940789e-01 -1.82715467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9343199999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.99, Y:0.02, Z:-0.00 [[ 9.99874243e-01 1.16894202e-02 1.07171166e-02 9.86216912e-01] [-1.16860668e-02 9.99931645e-01 -3.75476984e-04 2.23396070e-02] [-1.07207731e-02 2.50188826e-04 9.99942500e-01 -3.47197725e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9643199999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.02, Y:0.02, Z:-0.00 [[ 9.99874721e-01 1.21195505e-02 1.01813038e-02 1.01927028e+00] [-1.21165541e-02 9.99926529e-01 -3.55938406e-04 2.29601885e-02] [-1.01848696e-02 2.32531496e-04 9.99948106e-01 -4.51585233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9943199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.05, Y:0.03, Z:-0.00 [[ 9.99878744e-01 1.13981862e-02 1.06102856e-02 1.05007847e+00] [-1.13948290e-02 9.99935006e-01 -3.76802424e-04 2.68935597e-02] [-1.06138909e-02 2.55854345e-04 9.99943638e-01 -4.75902766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.02432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.08, Y:0.02, Z:-0.01 [[ 9.99869688e-01 1.09034132e-02 1.19047688e-02 1.08322977e+00] [-1.08991361e-02 9.99940513e-01 -4.24101197e-04 2.38227694e-02] [-1.19086847e-02 2.94294236e-04 9.99929046e-01 -5.73454019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.05432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.12, Y:0.03, Z:-0.00 [[ 9.99868530e-01 1.06255183e-02 1.22482704e-02 1.11535463e+00] [-1.06209312e-02 9.99943500e-01 -4.39498111e-04 2.59799414e-02] [-1.22522482e-02 3.09352293e-04 9.99924891e-01 -4.79624429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.08432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.15, Y:0.02, Z:-0.01 [[ 9.99865354e-01 1.03979528e-02 1.26947476e-02 1.14797442e+00] [-1.03929733e-02 9.99945887e-01 -4.58156866e-04 2.33644284e-02] [-1.26988245e-02 3.26159004e-04 9.99919313e-01 -6.66197759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.11432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.18, Y:0.03, Z:-0.01 [[ 9.99855801e-01 1.08868161e-02 1.30328219e-02 1.18103419e+00] [-1.08815812e-02 9.99940682e-01 -4.72516525e-04 2.85071709e-02] [-1.30371930e-02 3.30630679e-04 9.99914958e-01 -7.69485036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.14432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.21, Y:0.03, Z:-0.01 [[ 9.99851917e-01 1.10451756e-02 1.31965289e-02 1.21257758e+00] [-1.10397604e-02 9.99938943e-01 -4.83128756e-04 2.70091436e-02] [-1.32010594e-02 3.37370696e-04 9.99912805e-01 -9.41142417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.17432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.24, Y:0.03, Z:-0.01 [[ 9.99855944e-01 1.06271545e-02 1.32345895e-02 1.24438657e+00] [-1.06216148e-02 9.99943470e-01 -4.88799415e-04 2.89389963e-02] [-1.32390358e-02 3.48156290e-04 9.99912300e-01 -9.65983040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2043199999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.28, Y:0.03, Z:-0.01 [[ 9.99867732e-01 9.10519226e-03 1.34764490e-02 1.27680079e+00] [-9.09925593e-03 9.99958475e-01 -5.01748337e-04 2.86819311e-02] [-1.34804579e-02 3.79056313e-04 9.99909063e-01 -1.06889859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2343199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.31, Y:0.03, Z:-0.01 [[ 9.99874905e-01 8.30082270e-03 1.34636800e-02 1.30790584e+00] [-8.29477066e-03 9.99965470e-01 -5.05289183e-04 2.65307187e-02] [-1.34674094e-02 3.93547836e-04 9.99909233e-01 -1.13684880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2643199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.34, Y:0.03, Z:-0.01 [[ 9.99883585e-01 6.64139568e-03 1.37370960e-02 1.33965118e+00] [-6.63488936e-03 9.99977854e-01 -5.19152264e-04 2.62671221e-02] [-1.37402396e-02 4.27947715e-04 9.99905507e-01 -1.16837175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.29432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.37, Y:0.03, Z:-0.01 [[ 9.99880721e-01 6.15242587e-03 1.41665450e-02 1.37214886e+00] [-6.14539840e-03 9.99980971e-01 -5.39539079e-04 2.66543135e-02] [-1.41695949e-02 4.52415661e-04 9.99899504e-01 -1.14100282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.32432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.40, Y:0.03, Z:-0.01 [[ 9.99868248e-01 5.91116823e-03 1.51177241e-02 1.40495899e+00] [-5.90306991e-03 9.99982408e-01 -5.80250952e-04 2.66668907e-02] [-1.51208881e-02 4.90933521e-04 9.99885552e-01 -1.12539785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.35432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.44, Y:0.03, Z:-0.01 [[ 9.99849018e-01 6.55323033e-03 1.60933424e-02 1.43662841e+00] [-6.54403858e-03 9.99978393e-01 -6.23747905e-04 2.67104701e-02] [-1.60970823e-02 5.18338277e-04 9.99870299e-01 -1.12925589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.38432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.47, Y:0.03, Z:-0.01 [[ 9.99820912e-01 9.32449508e-03 1.64680985e-02 1.46880969e+00] [-9.31516542e-03 9.99956406e-01 -6.43147124e-04 3.29782191e-02] [-1.64733776e-02 4.89628882e-04 9.99864185e-01 -1.11882438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4143199999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.50, Y:0.03, Z:-0.01 [[ 9.99789241e-01 1.15351127e-02 1.69827558e-02 1.49971362e+00] [-1.15254189e-02 9.99933357e-01 -6.68570118e-04 3.43807272e-02] [-1.69893361e-02 4.72695836e-04 9.99855559e-01 -1.23000295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4443199999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.53, Y:0.04, Z:-0.01 [[ 9.99758431e-01 1.40090434e-02 1.69359610e-02 1.53095734e+00] [-1.39996790e-02 9.99901774e-01 -6.71364962e-04 3.53932607e-02] [-1.69437026e-02 4.34104764e-04 9.99856351e-01 -1.32707954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4743199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.56, Y:0.04, Z:-0.01 [[ 9.99693542e-01 1.77358363e-02 1.72702524e-02 1.56390998e+00] [-1.77265629e-02 9.99842634e-01 -6.89904468e-04 4.06017015e-02] [-1.72797707e-02 3.83550825e-04 9.99850620e-01 -1.31468382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5043199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.60, Y:0.04, Z:-0.01 [[ 9.99624093e-01 2.01697076e-02 1.85703120e-02 1.59596782e+00] [-2.01593758e-02 9.99796503e-01 -7.43410001e-04 4.25272785e-02] [-1.85815274e-02 3.68764648e-04 9.99827281e-01 -1.25044333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.53432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.63, Y:0.05, Z:-0.01 [[ 9.99563641e-01 2.37485829e-02 1.75650806e-02 1.62775339e+00] [-2.37398056e-02 9.99717920e-01 -7.08075051e-04 4.53366622e-02] [-1.75769416e-02 2.90774478e-04 9.99845471e-01 -1.42198274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.56432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.66, Y:0.05, Z:-0.02 [[ 9.99520060e-01 2.56212231e-02 1.74127307e-02 1.65965560e+00] [-2.56127923e-02 9.99671689e-01 -7.07051125e-04 4.70210691e-02] [-1.74251294e-02 2.60723129e-04 9.99848137e-01 -1.52371739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.59432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.69, Y:0.05, Z:-0.02 [[ 9.99476884e-01 2.68148147e-02 1.80810656e-02 1.69145747e+00] [-2.68058215e-02 9.99640386e-01 -7.39599424e-04 4.88357901e-02] [-1.80943956e-02 2.54534711e-04 9.99836251e-01 -1.62017543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6243199999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.72, Y:0.05, Z:-0.02 [[ 9.99435472e-01 2.78332054e-02 1.88162005e-02 1.72231464e+00] [-2.78235368e-02 9.99612550e-01 -7.75491105e-04 4.81856183e-02] [-1.88304945e-02 2.51520073e-04 9.99822659e-01 -1.63672465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6543199999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.75, Y:0.05, Z:-0.02 [[ 9.99418821e-01 2.80247139e-02 1.94070973e-02 1.75476315e+00] [-2.80143616e-02 9.99607196e-01 -8.05141242e-04 4.54377265e-02] [-1.94220380e-02 2.60995868e-04 9.99811340e-01 -1.58877347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6843199999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.79, Y:0.04, Z:-0.02 [[ 9.99407306e-01 2.77588460e-02 2.03588818e-02 1.78762064e+00] [-2.77472552e-02 9.99614608e-01 -8.51641430e-04 4.24195562e-02] [-2.03746762e-02 2.86233578e-04 9.99792374e-01 -1.50230577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7143199999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.82, Y:0.04, Z:-0.01 [[ 9.99431076e-01 2.61102130e-02 2.13490095e-02 1.81903022e+00] [-2.60969306e-02 9.99659011e-01 -9.00567256e-04 3.71882441e-02] [-2.13652437e-02 3.42911284e-04 9.99771678e-01 -1.41847852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7443199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.85, Y:0.04, Z:-0.02 [[ 9.99452892e-01 2.54040288e-02 2.11790631e-02 1.85146310e+00] [-2.53906779e-02 9.99677200e-01 -8.99090880e-04 3.59117163e-02] [-2.11950671e-02 3.60848210e-04 9.99775294e-01 -1.54415577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.77432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.88, Y:0.03, Z:-0.02 [[ 9.99495965e-01 2.42587031e-02 2.04775723e-02 1.88195525e+00] [-2.42458632e-02 9.99705643e-01 -8.75101515e-04 3.33118462e-02] [-2.04927734e-02 3.78164016e-04 9.99789930e-01 -1.73240308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.80432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.91, Y:0.03, Z:-0.02 [[ 9.99572177e-01 2.13668901e-02 1.99729360e-02 1.91315007e+00] [-2.13540105e-02 9.99771609e-01 -8.57925416e-04 2.82716474e-02] [-1.99867056e-02 4.31056091e-04 9.99800153e-01 -1.88485301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8343199999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.94, Y:0.02, Z:-0.02 [[ 9.99607396e-01 1.95106947e-02 2.01093783e-02 1.94463641e+00] [-1.94971555e-02 9.99809535e-01 -8.69136500e-04 2.37940480e-02] [-2.01225056e-02 4.76719598e-04 9.99797408e-01 -1.93022071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8643199999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.98, Y:0.02, Z:-0.02 [[ 9.99672991e-01 1.58856729e-02 2.00388592e-02 1.97649980e+00] [-1.58713908e-02 9.99873662e-01 -8.71567067e-04 1.60792344e-02] [-2.00501729e-02 5.53237492e-04 9.99798822e-01 -1.93501046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8943199999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.01, Y:0.01, Z:-0.02 [[ 9.99692303e-01 1.47854228e-02 1.99171029e-02 2.00805356e+00] [-1.47710683e-02 9.99890525e-01 -8.67640274e-04 1.21710269e-02] [-1.99277509e-02 5.73176417e-04 9.99801258e-01 -2.00938049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9243199999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.04, Y:0.01, Z:-0.02 [[ 9.99712154e-01 1.38197716e-02 1.96118288e-02 2.03989230e+00] [-1.38055595e-02 9.99904329e-01 -8.59877940e-04 8.65620630e-03] [-1.96218358e-02 5.88878158e-04 9.99807300e-01 -2.07536925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9543199999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.07, Y:0.01, Z:-0.02 [[ 9.99718727e-01 1.34034781e-02 1.95656296e-02 2.07127549e+00] [-1.33891429e-02 9.99909989e-01 -8.63490043e-04 5.77947559e-03] [-1.95754423e-02 6.01280155e-04 9.99808202e-01 -2.11942186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9843199999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.10, Y:0.01, Z:-0.02 [[ 9.99734567e-01 1.32008719e-02 1.88820639e-02 2.10342560e+00] [-1.31873957e-02 9.99912691e-01 -8.38046772e-04 5.92703288e-03] [-1.88914783e-02 5.88819078e-04 9.99821367e-01 -2.28050816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0143199999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.14, Y:0.00, Z:-0.02 [[ 9.99739953e-01 1.34120126e-02 1.84430217e-02 2.13647361e+00] [-1.33990966e-02 9.99909889e-01 -8.23718857e-04 4.68907195e-03] [-1.84524075e-02 5.76384822e-04 9.99829574e-01 -2.40883314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0443199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.00, Z:-0.03 [[ 9.99741609e-01 1.39680964e-02 1.79334107e-02 2.16848119e+00] [-1.39558664e-02 9.99902287e-01 -8.06941832e-04 -1.16302618e-03] [-1.79429298e-02 5.56457042e-04 9.99838858e-01 -2.53413858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0743199999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.20, Y:0.00, Z:-0.03 [[ 9.99737031e-01 1.48278648e-02 1.74929726e-02 2.20036026e+00] [-1.48162644e-02 9.99889919e-01 -7.92566429e-04 1.01464296e-04] [-1.75027990e-02 5.33177500e-04 9.99846672e-01 -2.59536148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1043199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.00, Z:-0.03 [[ 9.99723283e-01 1.63079081e-02 1.69531570e-02 2.23091645e+00] [-1.62971352e-02 9.99866894e-01 -7.73419107e-04 -4.53221689e-03] [-1.69635133e-02 4.96917196e-04 9.99855986e-01 -2.74833227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1343199999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.26, Y:0.00, Z:-0.03 [[ 9.99667866e-01 1.97192515e-02 1.65924453e-02 2.26302965e+00] [-1.97093669e-02 9.99805463e-01 -7.59060465e-04 6.97806176e-04] [-1.66041856e-02 4.31781762e-04 9.99862048e-01 -2.78484972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1643199999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.29, Y:0.00, Z:-0.03 [[ 9.99607997e-01 2.20701586e-02 1.72267087e-02 2.29411189e+00] [-2.20597520e-02 9.99756339e-01 -7.93907818e-04 8.72938692e-04] [-1.72400329e-02 4.13579682e-04 9.99851294e-01 -2.81635674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1943199999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.00, Z:-0.03 [[ 9.99548576e-01 2.45285932e-02 1.73491420e-02 2.32502003e+00] [-2.45183640e-02 9.99699058e-01 -8.02097031e-04 -3.94723035e-04] [-1.73635952e-02 3.76362366e-04 9.99849171e-01 -2.89889440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2243199999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.36, Y:0.00, Z:-0.03 [[ 9.99415592e-01 2.98519739e-02 1.66533323e-02 2.35758792e+00] [-2.98432190e-02 9.99554292e-01 -7.74034337e-04 3.84354346e-03] [-1.66690162e-02 2.76592942e-04 9.99861024e-01 -3.00673311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2543199999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.39, Y:0.00, Z:-0.03 [[ 9.99345980e-01 3.22016729e-02 1.64519038e-02 2.38967069e+00] [-3.21933711e-02 9.99481363e-01 -7.69267203e-04 2.80563450e-03] [-1.64681430e-02 2.39121841e-04 9.99864362e-01 -3.02610418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2843199999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.42, Y:0.00, Z:-0.03 [[ 9.99272968e-01 3.40437214e-02 1.71627437e-02 2.42176352e+00] [-3.40348684e-02 9.99420320e-01 -8.07736318e-04 9.66547477e-04] [-1.71802932e-02 2.23017345e-04 9.99852383e-01 -2.98268368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3143199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.45, Y:0.00, Z:-0.03 [[ 9.99136657e-01 3.71141925e-02 1.86675322e-02 2.45271292e+00] [-3.71041387e-02 9.99311013e-01 -8.84753189e-04 1.21844796e-03] [-1.86875074e-02 1.91346639e-04 9.99825355e-01 -2.94631058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3443199999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.00, Z:-0.03 [[ 9.99104084e-01 3.79893204e-02 1.86504725e-02 2.48440073e+00] [-3.79793873e-02 9.99278129e-01 -8.86629075e-04 -7.30619988e-04] [-1.86706917e-02 1.77501211e-04 9.99825672e-01 -3.05576242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3743199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.00, Z:-0.03 [[ 9.99075683e-01 3.84132091e-02 1.92926106e-02 2.51703065e+00] [-3.84025436e-02 9.99261924e-01 -9.23139911e-04 -2.36060831e-03] [-1.93138320e-02 1.81401316e-04 9.99813454e-01 -3.07367095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4043199999999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.01, Z:-0.03 [[ 9.99067808e-01 3.84780054e-02 1.95693082e-02 2.54840737e+00] [-3.84669156e-02 9.99259429e-01 -9.42942322e-04 -7.83493129e-03] [-1.95910983e-02 1.89292393e-04 9.99808058e-01 -3.06886748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4343199999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.01, Z:-0.03 [[ 9.99077528e-01 3.81923679e-02 1.96325379e-02 2.58073642e+00] [-3.81810336e-02 9.99270385e-01 -9.51964582e-04 -1.10892689e-02] [-1.96545714e-02 2.01495833e-04 9.99806810e-01 -3.16036390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4643199999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.02, Z:-0.03 [[ 9.99126389e-01 3.66622018e-02 2.00584402e-02 2.61118685e+00] [-3.66499234e-02 9.99327686e-01 -9.79522559e-04 -1.79261569e-02] [-2.00808661e-02 2.43526539e-04 9.99798329e-01 -3.19537102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4943199999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.02, Z:-0.03 [[ 9.99148847e-01 3.59596460e-02 2.02110283e-02 2.64377235e+00] [-3.59469272e-02 9.99353208e-01 -9.92367388e-04 -2.18564952e-02] [-2.02336411e-02 2.64998371e-04 9.99795244e-01 -3.22644839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5243199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.03, Z:-0.03 [[ 9.99158967e-01 3.54159590e-02 2.06656138e-02 2.67665792e+00] [-3.54024019e-02 9.99372616e-01 -1.02161245e-03 -2.55497857e-02] [-2.06888299e-02 2.89140872e-04 9.99785921e-01 -3.27475658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5543199999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.03, Z:-0.03 [[ 9.99197207e-01 3.43320488e-02 2.06458879e-02 2.70730669e+00] [-3.43181433e-02 9.99410431e-01 -1.02755684e-03 -3.18175323e-02] [-2.06689939e-02 3.18203381e-04 9.99786323e-01 -3.35060047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5843199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.04, Z:-0.03 [[ 9.99271048e-01 3.16590337e-02 2.13325436e-02 2.73959247e+00] [-3.16434526e-02 9.99498650e-01 -1.06763572e-03 -3.72252099e-02] [-2.13556488e-02 3.91822137e-04 9.99771865e-01 -3.31197368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6143199999999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.04, Z:-0.03 [[ 9.99308387e-01 3.02212221e-02 2.16662207e-02 2.77016224e+00] [-3.02046732e-02 9.99543140e-01 -1.09072485e-03 -4.25280382e-02] [-2.16892853e-02 4.35549373e-04 9.99764665e-01 -3.36054643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6443199999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.05, Z:-0.03 [[ 9.99415286e-01 2.71566984e-02 2.07749800e-02 2.80168361e+00] [-2.71407104e-02 9.99631070e-01 -1.05119852e-03 -4.96204009e-02] [-2.07958626e-02 4.86736150e-04 9.99783624e-01 -3.46040609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6743199999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.05, Z:-0.04 [[ 9.99456794e-01 2.61106689e-02 2.01084494e-02 2.83314806e+00] [-2.60953618e-02 9.99658934e-01 -1.02329310e-03 -5.35604700e-02] [-2.01283100e-02 4.97999977e-04 9.99797281e-01 -3.63033853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7043199999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.06, Z:-0.04 [[ 9.99494900e-01 2.54475022e-02 1.90360178e-02 2.86395271e+00] [-2.54336137e-02 9.99676041e-01 -9.71373544e-04 -5.80233985e-02] [-1.90545700e-02 4.86728179e-04 9.99818327e-01 -3.80410544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7343199999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.06, Z:-0.04 [[ 9.99532863e-01 2.48548944e-02 1.77845413e-02 2.89540036e+00] [-2.48425922e-02 9.99690959e-01 -9.12360477e-04 -6.22030397e-02] [-1.78017218e-02 4.70120173e-04 9.99841426e-01 -3.95029327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7643199999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.06, Z:-0.04 [[ 9.99524423e-01 2.51921229e-02 1.77844242e-02 2.92778038e+00] [-2.51798336e-02 9.99682519e-01 -9.14638280e-04 -6.40972760e-02] [-1.78018197e-02 4.66394457e-04 9.99841426e-01 -4.01924906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7943199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.07, Z:-0.04 [[ 9.99511023e-01 2.55746017e-02 1.79904046e-02 2.95951728e+00] [-2.55619753e-02 9.99672805e-01 -9.31478038e-04 -6.78255480e-02] [-1.80083404e-02 4.71152287e-04 9.99837726e-01 -4.06556614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8243199999999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.07, Z:-0.04 [[ 9.99494488e-01 2.63566863e-02 1.77790393e-02 2.99209093e+00] [-2.63443709e-02 9.99652497e-01 -9.26586054e-04 -6.98801466e-02] [-1.77972828e-02 4.57740047e-04 9.99841511e-01 -4.14432460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8543199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.07, Z:-0.04 [[ 9.99445890e-01 2.90719955e-02 1.62090221e-02 3.02396960e+00] [-2.90620913e-02 9.99577250e-01 -8.46294708e-04 -6.95464298e-02] [-1.62267733e-02 3.74757685e-04 9.99868267e-01 -4.35650738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8843199999999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.07, Z:-0.04 [[ 9.99420325e-01 3.02936482e-02 1.55341240e-02 3.05547009e+00] [-3.02846309e-02 9.99540983e-01 -8.15442064e-04 -7.22602017e-02] [-1.55516963e-02 3.44524159e-04 9.99879006e-01 -4.49608441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9143199999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.07, Z:-0.04 [[ 9.99402047e-01 3.08283817e-02 1.56575885e-02 3.08819219e+00] [-3.08191960e-02 9.99524633e-01 -8.27667784e-04 -7.16298680e-02] [-1.56756611e-02 3.44618587e-04 9.99877070e-01 -4.45726828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9443199999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.08, Z:-0.04 [[ 9.99382288e-01 3.14348600e-02 1.57127821e-02 3.12111392e+00] [-3.14256764e-02 9.99505746e-01 -8.31096319e-04 -7.70229012e-02] [-1.57311414e-02 3.36798134e-04 9.99876201e-01 -4.41358905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9743199999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.08, Z:-0.04 [[ 9.99388170e-01 3.13928520e-02 1.54199610e-02 3.15417141e+00] [-3.13839298e-02 9.99507067e-01 -8.20313209e-04 -7.95661560e-02] [-1.54381120e-02 3.35872342e-04 9.99880769e-01 -4.49668684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0043199999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.08, Z:-0.05 [[ 9.99410949e-01 3.08235808e-02 1.50884521e-02 3.18571889e+00] [-3.08148989e-02 9.99524782e-01 -8.07607386e-04 -8.25850005e-02] [-1.51061752e-02 3.42182537e-04 9.99885837e-01 -4.59355422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0343199999999992 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.09, Z:-0.05 [[ 9.99438351e-01 2.99386429e-02 1.50552383e-02 3.21609462e+00] [-2.99298235e-02 9.99551674e-01 -8.10826345e-04 -9.00119472e-02] [-1.50727637e-02 3.59770321e-04 9.99886335e-01 -4.67481457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0643199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.09, Z:-0.05 [[ 9.99434489e-01 2.99127327e-02 1.53600537e-02 3.24874907e+00] [-2.99035260e-02 9.99552446e-01 -8.28764725e-04 -9.39833886e-02] [-1.53779699e-02 3.68976283e-04 9.99881684e-01 -4.68065676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0943199999999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.09, Z:-0.05 [[ 9.99427078e-01 2.98460425e-02 1.59602262e-02 3.28134425e+00] [-2.98360143e-02 9.99554432e-01 -8.66116435e-04 -9.47519147e-02] [-1.59789650e-02 3.89430679e-04 9.99872252e-01 -4.64920313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1243199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.10, Z:-0.05 [[ 9.99418849e-01 2.96274658e-02 1.68575540e-02 3.31266548e+00] [-2.96161396e-02 9.99560921e-01 -9.21179302e-04 -9.82287157e-02] [-1.68774444e-02 4.21388285e-04 9.99857477e-01 -4.65142968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1543199999999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.10, Z:-0.05 [[ 9.99402558e-01 2.99118948e-02 1.73148944e-02 3.34398767e+00] [-2.98999408e-02 9.99552446e-01 -9.48909517e-04 -1.04108394e-01] [-1.73355288e-02 4.30628280e-04 9.99849636e-01 -4.70426786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1843199999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.10, Z:-0.05 [[ 9.99384128e-01 3.03708329e-02 1.75777678e-02 3.37688314e+00] [-3.03584933e-02 9.99538606e-01 -9.68473105e-04 -1.03896599e-01] [-1.75990708e-02 4.34242104e-04 9.99845030e-01 -4.69315830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2143199999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.11, Z:-0.05 [[ 9.99365482e-01 3.11032467e-02 1.73557494e-02 3.40862030e+00] [-3.10912313e-02 9.99516088e-01 -9.61763165e-04 -1.07324312e-01] [-1.73772647e-02 4.21541291e-04 9.99848915e-01 -4.74593302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.244319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.11, Z:-0.05 [[ 9.99350493e-01 3.15285324e-02 1.74512045e-02 3.44036958e+00] [-3.15163603e-02 9.99502763e-01 -9.72143748e-04 -1.10134741e-01] [-1.74731774e-02 4.21513884e-04 9.99847244e-01 -4.79516395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2743199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.11, Z:-0.05 [[ 9.99361484e-01 3.10082175e-02 1.77514488e-02 3.47151060e+00] [-3.09954819e-02 9.99519032e-01 -9.92186890e-04 -1.13800625e-01] [-1.77736769e-02 4.41338653e-04 9.99841938e-01 -4.85683260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3043199999999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.12, Z:-0.05 [[ 9.99371842e-01 3.05670246e-02 1.79326106e-02 3.50341504e+00] [-3.05538768e-02 9.99532614e-01 -1.00675976e-03 -1.17460505e-01] [-1.79550028e-02 4.58216585e-04 9.99838691e-01 -4.93272063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3343199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.12, Z:-0.05 [[ 9.99408790e-01 2.94432809e-02 1.77528507e-02 3.53572759e+00] [-2.94301356e-02 9.99566338e-01 -1.00131917e-03 -1.21844299e-01] [-1.77746341e-02 4.78258371e-04 9.99841904e-01 -4.99667035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3643199999999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.13, Z:-0.05 [[ 9.99471933e-01 2.70293714e-02 1.80351823e-02 3.56724509e+00] [-2.70153245e-02 9.99634497e-01 -1.02208798e-03 -1.28717238e-01] [-1.80562168e-02 5.34321946e-04 9.99836830e-01 -4.99207876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3943199999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.13, Z:-0.05 [[ 9.99501493e-01 2.59052320e-02 1.80467447e-02 3.59903797e+00] [-2.58908978e-02 9.99664246e-01 -1.02751287e-03 -1.31905034e-01] [-1.80673034e-02 5.59754223e-04 9.99836616e-01 -4.96470385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4243199999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.14, Z:-0.05 [[ 9.99511518e-01 2.53710456e-02 1.82492632e-02 3.62986946e+00] [-2.53562061e-02 9.99677934e-01 -1.04412167e-03 -1.38536032e-01] [-1.82698762e-02 5.80879559e-04 9.99832923e-01 -5.01854917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.454319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.14, Z:-0.05 [[ 9.99511612e-01 2.52622085e-02 1.83945287e-02 3.66271785e+00] [-2.52470307e-02 9.99680684e-01 -1.05691994e-03 -1.38570213e-01] [-1.84153552e-02 5.91996517e-04 9.99830248e-01 -5.02874641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4843199999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.14, Z:-0.05 [[ 9.99486985e-01 2.64343279e-02 1.80829567e-02 3.69536687e+00] [-2.64197403e-02 9.99650391e-01 -1.04516375e-03 -1.39992656e-01] [-1.81042629e-02 5.66880548e-04 9.99835944e-01 -5.13170170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5143199999999992 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.15, Z:-0.05 [[ 9.99440154e-01 2.80810240e-02 1.81888567e-02 3.72600152e+00] [-2.80665080e-02 9.99605503e-01 -1.05289838e-03 -1.45082550e-01] [-1.82112477e-02 5.41811227e-04 9.99834015e-01 -5.27043684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5443199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.14, Z:-0.05 [[ 9.99332306e-01 3.17376900e-02 1.81013987e-02 3.75821915e+00] [-3.17238685e-02 9.99496120e-01 -1.05026789e-03 -1.43126903e-01] [-1.81256109e-02 4.75320236e-04 9.99835605e-01 -5.30139891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5743199999999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.14, Z:-0.05 [[ 9.99269799e-01 3.39438805e-02 1.75408455e-02 3.79053793e+00] [-3.39311616e-02 9.99423650e-01 -1.02229295e-03 -1.43748055e-01] [-1.75654364e-02 4.26365212e-04 9.99845625e-01 -5.39005204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6043199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.15, Z:-0.06 [[ 9.99201976e-01 3.60946774e-02 1.71051381e-02 3.82128429e+00] [-3.60828169e-02 9.99348301e-01 -1.00160554e-03 -1.47014994e-01] [-1.71301433e-02 3.83604671e-04 9.99853195e-01 -5.54683450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6343199999999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.15, Z:-0.06 [[ 9.99075061e-01 3.96293645e-02 1.66893911e-02 3.85371633e+00] [-3.96184986e-02 9.99214397e-01 -9.81324096e-04 -1.46227909e-01] [-1.67151692e-02 3.19207812e-04 9.99860241e-01 -5.66249503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.664319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.15, Z:-0.06 [[ 9.98996942e-01 4.13237520e-02 1.72469521e-02 3.88479696e+00] [-4.13123130e-02 9.99145762e-01 -1.01915609e-03 -1.49640877e-01] [-1.72743344e-02 3.05622331e-04 9.99850741e-01 -5.71460304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6943199999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.15, Z:-0.06 [[ 9.98936941e-01 4.26052358e-02 1.76006140e-02 3.91691818e+00] [-4.25934424e-02 9.99091942e-01 -1.04454893e-03 -1.50018183e-01] [-1.76291349e-02 2.93767772e-04 9.99844552e-01 -5.73091532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.724319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.15, Z:-0.06 [[ 9.98894798e-01 4.35470079e-02 1.76873114e-02 3.94786084e+00] [-4.35351557e-02 9.99051339e-01 -1.05476445e-03 -1.53631574e-01] [-1.77164640e-02 2.83578864e-04 9.99843011e-01 -5.79662018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7543199999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.16, Z:-0.06 [[ 9.98838257e-01 4.42343958e-02 1.91168774e-02 3.97991689e+00] [-4.42205727e-02 9.99021135e-01 -1.14540632e-03 -1.57770426e-01] [-1.91488309e-02 2.98716389e-04 9.99816600e-01 -5.75751732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7843199999999992 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.16, Z:-0.06 [[ 9.98808973e-01 4.46334945e-02 1.97100860e-02 4.01121692e+00] [-4.46187694e-02 9.99003382e-01 -1.18643418e-03 -1.62356300e-01] [-1.97433973e-02 3.05581324e-04 9.99805033e-01 -5.72683810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8143199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.17, Z:-0.06 [[ 9.98829577e-01 4.39033652e-02 2.02970631e-02 4.04293039e+00] [-4.38874765e-02 9.99035726e-01 -1.22780203e-03 -1.66860575e-01] [-2.03313958e-02 3.35578100e-04 9.99793239e-01 -5.80099253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8443199999999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.17, Z:-0.06 [[ 9.98848612e-01 4.32528021e-02 2.07519772e-02 4.07487562e+00] [-4.32359346e-02 9.99064094e-01 -1.26099779e-03 -1.70718203e-01] [-2.07870970e-02 3.62314764e-04 9.99783859e-01 -5.87931649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.874319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.17, Z:-0.06 [[ 9.98872644e-01 4.24912787e-02 2.11644233e-02 4.10658413e+00] [-4.24734402e-02 9.99096761e-01 -1.29185654e-03 -1.74940113e-01] [-2.12001994e-02 3.91474294e-04 9.99775174e-01 -5.90518017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9043199999999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.18, Z:-0.06 [[ 9.98877614e-01 4.22069242e-02 2.14962135e-02 4.13914515e+00] [-4.21883304e-02 9.99108807e-01 -1.31794437e-03 -1.78317296e-01] [-2.15326826e-02 4.09575767e-04 9.99768061e-01 -5.91541359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.934319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.18, Z:-0.06 [[ 9.98940802e-01 4.07866400e-02 2.13008123e-02 4.16944574e+00] [-4.07679203e-02 9.99167781e-01 -1.31251254e-03 -1.84250534e-01] [-2.13366183e-02 4.42732517e-04 9.99772250e-01 -6.03106171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9643199999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.19, Z:-0.06 [[ 9.98959191e-01 4.03706782e-02 2.12307029e-02 4.20058241e+00] [-4.03518919e-02 9.99184668e-01 -1.31269260e-03 -1.88325185e-01] [-2.12663871e-02 4.54627306e-04 9.99773741e-01 -6.11890547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.994319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.19, Z:-0.06 [[ 9.99005470e-01 3.91667728e-02 2.13081050e-02 4.23208309e+00] [-3.91474629e-02 9.99232569e-01 -1.32275786e-03 -1.93620441e-01] [-2.13435607e-02 4.87284089e-04 9.99772082e-01 -6.09654471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0243199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.20, Z:-0.06 [[ 9.99012043e-01 3.89710803e-02 2.13586745e-02 4.26525581e+00] [-3.89515111e-02 9.99240215e-01 -1.33163979e-03 -1.96461117e-01] [-2.13943419e-02 4.98371542e-04 9.99770991e-01 -6.13327241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.05432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.20, Z:-0.06 [[ 9.99020400e-01 3.87771882e-02 2.13206506e-02 4.29698424e+00] [-3.87575011e-02 9.99247753e-01 -1.33597816e-03 -2.02998955e-01] [-2.13564177e-02 5.08334296e-04 9.99771796e-01 -6.22240572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.084319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.20, Z:-0.06 [[ 9.99055750e-01 3.86195712e-02 1.99031994e-02 4.32983935e+00] [-3.86022762e-02 9.99253869e-01 -1.25255793e-03 -2.04792623e-01] [-1.99367223e-02 4.83066399e-04 9.99801127e-01 -6.44592890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.114319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.21, Z:-0.07 [[ 9.99048889e-01 3.89173579e-02 1.96661360e-02 4.36173611e+00] [-3.89004101e-02 9.99242319e-01 -1.24373636e-03 -2.10260638e-01] [-1.96996383e-02 4.77532675e-04 9.99805829e-01 -6.55698702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.14432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.21, Z:-0.07 [[ 9.99024555e-01 3.96345784e-02 1.94688998e-02 4.39376397e+00] [-3.96179951e-02 9.99214133e-01 -1.23689470e-03 -2.10296811e-01] [-1.95026237e-02 4.64369403e-04 9.99809698e-01 -6.62805736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.174319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.21, Z:-0.07 [[ 9.98994629e-01 4.03873570e-02 1.94574382e-02 4.42590835e+00] [-4.03708337e-02 9.99183994e-01 -1.24141064e-03 -2.13199354e-01] [-1.94916982e-02 4.54649561e-04 9.99809915e-01 -6.71857709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.204319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.21, Z:-0.07 [[ 9.98885243e-01 4.33699048e-02 1.86365773e-02 4.45784318e+00] [-4.33551767e-02 9.99059009e-01 -1.19377684e-03 -2.13646293e-01] [-1.86708144e-02 3.84453971e-04 9.99825611e-01 -6.86460501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.234319999999999 meters Centerline goodness [0,1] 0.9999785793848 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.21, Z:-0.07 [[ 9.98827227e-01 4.47815428e-02 1.84060664e-02 4.48960592e+00] [-4.47673251e-02 9.98996739e-01 -1.18395926e-03 -2.14663767e-01] [-1.84406198e-02 3.58580385e-04 9.99829893e-01 -6.96866017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.26432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.22, Z:-0.07 [[ 9.98770757e-01 4.60038651e-02 1.84558988e-02 4.52134011e+00] [-4.59896835e-02 9.98941203e-01 -1.19231853e-03 -2.17070754e-01] [-1.84912090e-02 3.42071934e-04 9.99828964e-01 -7.06139945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.294319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.22, Z:-0.07 [[ 9.98696288e-01 4.76713965e-02 1.82527205e-02 4.55192824e+00] [-4.76577114e-02 9.98863024e-01 -1.18424574e-03 -2.20056202e-01] [-1.82884223e-02 3.12818936e-04 9.99832704e-01 -7.12880757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.324319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.22, Z:-0.07 [[ 9.98660701e-01 4.84813776e-02 1.80654315e-02 4.58476774e+00] [-4.84680252e-02 9.98824042e-01 -1.17647446e-03 -2.22502061e-01] [-1.81012244e-02 2.99303014e-04 9.99836115e-01 -7.21797216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3543199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.22, Z:-0.07 [[ 9.98643436e-01 4.87303101e-02 1.83478760e-02 4.61717819e+00] [-4.87164728e-02 9.98811926e-01 -1.20063395e-03 -2.24520625e-01] [-1.83845846e-02 3.05161412e-04 9.99830943e-01 -7.30138739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.23, Z:-0.07 [[ 9.98619048e-01 4.90009867e-02 1.89446393e-02 4.64873301e+00] [-4.89861635e-02 9.98798680e-01 -1.24599004e-03 -2.30884682e-01] [-1.89829354e-02 3.16244194e-04 9.99819758e-01 -7.24625512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.414319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.23, Z:-0.07 [[ 9.98612478e-01 4.89811097e-02 1.93383180e-02 4.68187975e+00] [-4.89655470e-02 9.98799651e-01 -1.27772263e-03 -2.34944502e-01] [-1.93776895e-02 3.29038441e-04 9.99812181e-01 -7.24338672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.444319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.24, Z:-0.07 [[ 9.98625587e-01 4.87218062e-02 1.93163558e-02 4.71341267e+00] [-4.87061111e-02 9.98812330e-01 -1.28243228e-03 -2.38762608e-01] [-1.93558967e-02 3.39845118e-04 9.99812599e-01 -7.32382790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.47432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.24, Z:-0.07 [[ 9.98685699e-01 4.73588215e-02 1.95963524e-02 4.74540530e+00] [-4.73423334e-02 9.98877871e-01 -1.30470792e-03 -2.43100352e-01] [-1.96361522e-02 3.75256091e-04 9.99807122e-01 -7.42358377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.25, Z:-0.07 [[ 9.98706605e-01 4.66512740e-02 2.02181832e-02 4.77774403e+00] [-4.66334650e-02 9.98911154e-01 -1.35167564e-03 -2.46884682e-01] [-2.02592261e-02 4.07083449e-04 9.99794678e-01 -7.44581892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.534319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.25, Z:-0.07 [[ 9.98767540e-01 4.51394069e-02 2.06357811e-02 4.80918552e+00] [-4.51204141e-02 9.98980595e-01 -1.38529321e-03 -2.51942782e-01] [-2.06772762e-02 4.52490899e-04 9.99786100e-01 -7.46395124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5643199999999995 meters Centerline goodness [0,1] 0.9999783380989515 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.26, Z:-0.07 [[ 9.98886165e-01 4.20775601e-02 2.13520007e-02 4.84092966e+00] [-4.20563988e-02 9.99114201e-01 -1.43934414e-03 -2.59484845e-01] [-2.13936512e-02 5.39752690e-04 9.99770984e-01 -7.41022823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.594319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.26, Z:-0.07 [[ 9.98916651e-01 4.11298218e-02 2.17683961e-02 4.87261935e+00] [-4.11074714e-02 9.99153644e-01 -1.47340450e-03 -2.63263231e-01] [-2.18105732e-02 5.76964562e-04 9.99761955e-01 -7.39440760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.27, Z:-0.07 [[ 9.98949984e-01 4.03625804e-02 2.16746556e-02 4.90425472e+00] [-4.03401125e-02 9.99184921e-01 -1.47300904e-03 -2.67986718e-01] [-2.17164435e-02 5.97104307e-04 9.99763992e-01 -7.41368188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.654319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.27, Z:-0.08 [[ 9.98965800e-01 4.01850624e-02 2.12718529e-02 4.93547249e+00] [-4.01632595e-02 9.99192077e-01 -1.45136627e-03 -2.73557915e-01] [-2.13129901e-02 5.95518319e-04 9.99772675e-01 -7.52997395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.68432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.28, Z:-0.08 [[ 9.98953805e-01 4.04823624e-02 2.12714299e-02 4.96780705e+00] [-4.04604956e-02 9.99180076e-01 -1.45753901e-03 -2.75947660e-01] [-2.13129936e-02 5.95361544e-04 9.99772675e-01 -7.59902454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.714319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.28, Z:-0.08 [[ 9.98935090e-01 4.11458732e-02 2.08735110e-02 5.00022549e+00] [-4.11248334e-02 9.99152984e-01 -1.43640402e-03 -2.75305461e-01] [-2.09149329e-02 5.76454718e-04 9.99781093e-01 -7.80641120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.28, Z:-0.08 [[ 9.98900209e-01 4.18576826e-02 2.11259794e-02 5.03211242e+00] [-4.18361678e-02 9.99123418e-01 -1.45953622e-03 -2.76052345e-01] [-2.11685535e-02 5.74101018e-04 9.99775756e-01 -7.92388922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7743199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.28, Z:-0.08 [[ 9.98883004e-01 4.21971250e-02 2.12637390e-02 5.06472391e+00] [-4.21752805e-02 9.99109138e-01 -1.47492201e-03 -2.78062935e-01] [-2.13070334e-02 5.76470373e-04 9.99772813e-01 -8.03018464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804319999999999 meters Centerline goodness [0,1] 0.9999784077904692 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.28, Z:-0.08 [[ 9.98897479e-01 4.24302895e-02 2.00872472e-02 5.09738973e+00] [-4.24107217e-02 9.99099281e-01 -1.39933258e-03 -2.82516082e-01] [-2.01285283e-02 5.45875136e-04 9.99797252e-01 -8.15298329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.834319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.29, Z:-0.08 [[ 9.98911200e-01 4.23831041e-02 1.94958301e-02 5.12832837e+00] [-4.23645408e-02 9.99101288e-01 -1.36437420e-03 -2.90507857e-01] [-1.95361354e-02 5.36956781e-04 9.99809007e-01 -8.29134225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.29, Z:-0.08 [[ 9.98894453e-01 4.32827573e-02 1.83432654e-02 5.16106329e+00] [-4.32664251e-02 9.99062741e-01 -1.28647460e-03 -2.88521088e-01] [-1.83817552e-02 4.91404819e-04 9.99830921e-01 -8.46209623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.89432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.30, Z:-0.09 [[ 9.98860342e-01 4.43036389e-02 1.77540135e-02 5.19168624e+00] [-4.42884146e-02 9.99018005e-01 -1.24997019e-03 -2.95023805e-01] [-1.77919574e-02 4.62248543e-04 9.99841604e-01 -8.66324859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.29, Z:-0.09 [[ 9.98790586e-01 4.57203946e-02 1.80834527e-02 5.22422296e+00] [-4.57047471e-02 9.98954175e-01 -1.27785096e-03 -2.91609854e-01] [-1.81229644e-02 4.49805880e-04 9.99835664e-01 -8.67057062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.954319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.29, Z:-0.09 [[ 9.98645734e-01 4.86099688e-02 1.85410266e-02 5.25646434e+00] [-4.85939206e-02 9.98817751e-01 -1.31536693e-03 -2.90223427e-01] [-1.85830464e-02 4.12604400e-04 9.99827235e-01 -8.73485208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.984319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.29, Z:-0.09 [[ 9.98577252e-01 4.99162273e-02 1.87574723e-02 5.28789824e+00] [-4.98999275e-02 9.98753329e-01 -1.33630511e-03 -2.92709194e-01] [-1.88007912e-02 3.98407381e-04 9.99823170e-01 -8.82712102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.014319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.30, Z:-0.09 [[ 9.98537001e-01 5.07151260e-02 1.87572532e-02 5.32003721e+00] [-5.06989169e-02 9.98713085e-01 -1.33898227e-03 -2.95293012e-01] [-1.88010209e-02 3.86050917e-04 9.99823171e-01 -8.89730126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.30, Z:-0.09 [[ 9.98481515e-01 5.15212535e-02 1.94993350e-02 5.35189426e+00] [-5.15037827e-02 9.98671822e-01 -1.39743610e-03 -2.99024380e-01] [-1.95454341e-02 3.91024596e-04 9.99808893e-01 -8.82413252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.074319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.30, Z:-0.09 [[ 9.98472714e-01 5.16200927e-02 1.96876780e-02 5.38459144e+00] [-5.16021954e-02 9.98666715e-01 -1.41632814e-03 -3.02637909e-01] [-1.97345397e-02 3.98237598e-04 9.99805176e-01 -8.82597572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1043199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.31, Z:-0.09 [[ 9.98466424e-01 5.16874569e-02 1.98294315e-02 5.41693000e+00] [-5.16691904e-02 9.98663228e-01 -1.43275340e-03 -3.05822961e-01] [-1.98769795e-02 4.05985495e-04 9.99802351e-01 -8.90154062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.134319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.31, Z:-0.09 [[ 9.98469590e-01 5.12160908e-02 2.08659782e-02 5.44816699e+00] [-5.11956185e-02 9.98687496e-01 -1.51448442e-03 -3.10649549e-01] [-2.09161574e-02 4.43919984e-04 9.99781135e-01 -8.87064602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.31, Z:-0.09 [[ 9.98454412e-01 5.11925902e-02 2.16357652e-02 5.48045671e+00] [-5.11704520e-02 9.98688691e-01 -1.57596990e-03 -3.13826774e-01] [-2.16880720e-02 4.66422217e-04 9.99764677e-01 -8.84331578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.194319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.32, Z:-0.09 [[ 9.98441000e-01 5.13690889e-02 2.18354417e-02 5.51343422e+00] [-5.13464452e-02 9.98679625e-01 -1.59678029e-03 -3.16775426e-01] [-2.18886358e-02 4.73118605e-04 9.99760303e-01 -8.86539165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.32, Z:-0.09 [[ 9.98415781e-01 5.18059978e-02 2.19560024e-02 5.54579755e+00] [-5.17830622e-02 9.98657056e-01 -1.61225810e-03 -3.19528131e-01] [-2.20100413e-02 4.72754899e-04 9.99757638e-01 -8.95682633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.254319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.32, Z:-0.09 [[ 9.98414492e-01 5.19536228e-02 2.16638671e-02 5.57782690e+00] [-5.19311904e-02 9.98649388e-01 -1.59715359e-03 -3.22324970e-01] [-2.17175855e-02 4.69590883e-04 9.99764035e-01 -9.12439034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.32, Z:-0.09 [[ 9.98409020e-01 5.21548879e-02 2.14312254e-02 5.61059556e+00] [-5.21328957e-02 9.98638900e-01 -1.58397576e-03 -3.24564844e-01] [-2.14846675e-02 4.64183843e-04 9.99769070e-01 -9.22087032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3143199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.33, Z:-0.09 [[ 9.98406344e-01 5.21774723e-02 2.15007971e-02 5.64329285e+00] [-5.21552033e-02 9.98637717e-01 -1.59556666e-03 -3.25693625e-01] [-2.15547596e-02 4.71645427e-04 9.99767558e-01 -9.35928426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344319999999999 meters Centerline goodness [0,1] 0.999978321663162 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.33, Z:-0.09 [[ 9.98416584e-01 5.19647045e-02 2.15405137e-02 5.67639393e+00] [-5.19421600e-02 9.98648805e-01 -1.60516530e-03 -3.28859272e-01] [-2.15948202e-02 4.83762842e-04 9.99766688e-01 -9.43352615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.374319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.33, Z:-0.10 [[ 9.98470362e-01 5.11435969e-02 2.10064201e-02 5.70746025e+00] [-5.11218412e-02 9.98691187e-01 -1.57171985e-03 -3.34792690e-01] [-2.10593101e-02 4.95428813e-04 9.99778105e-01 -9.56577835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.404319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.34, Z:-0.10 [[ 9.98508400e-01 5.02870974e-02 2.12646033e-02 5.73968205e+00] [-5.02644949e-02 9.98734665e-01 -1.59640768e-03 -3.35909149e-01] [-2.13179751e-02 5.25171935e-04 9.99772608e-01 -9.66090946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.434319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.34, Z:-0.10 [[ 9.98626596e-01 4.79148670e-02 2.11916789e-02 5.77006205e+00] [-4.78917651e-02 9.98851255e-01 -1.59659802e-03 -3.40536807e-01] [-2.12438358e-02 5.79498335e-04 9.99774156e-01 -9.78426714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.34, Z:-0.10 [[ 9.98640213e-01 4.76514232e-02 2.11439515e-02 5.80243553e+00] [-4.76283068e-02 9.98863853e-01 -1.59581287e-03 -3.43041339e-01] [-2.11959717e-02 5.86592293e-04 9.99775168e-01 -9.89389140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.494319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.35, Z:-0.10 [[ 9.98653806e-01 4.76976984e-02 2.03839399e-02 5.83498359e+00] [-4.76761190e-02 9.98861655e-01 -1.54357944e-03 -3.45953616e-01] [-2.04343611e-02 5.69674341e-04 9.99791034e-01 -1.00963447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5243199999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.35, Z:-0.10 [[ 9.98644653e-01 4.80774073e-02 1.99353961e-02 5.86711574e+00] [-4.80567233e-02 9.98843458e-01 -1.51559353e-03 -3.50644219e-01] [-1.99852058e-02 5.55509554e-04 9.99800122e-01 -1.02158269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.554319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.35, Z:-0.10 [[ 9.98611161e-01 4.87042912e-02 2.00908065e-02 5.89865247e+00] [-4.86832848e-02 9.98813088e-01 -1.53363029e-03 -3.53197044e-01] [-2.01416549e-02 5.53413872e-04 9.99796983e-01 -1.02754424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.35, Z:-0.10 [[ 9.98564428e-01 4.94878500e-02 2.04947849e-02 5.93061360e+00] [-4.94660453e-02 9.98774572e-01 -1.56981368e-03 -3.54978516e-01] [-2.05473567e-02 5.53764141e-04 9.99788727e-01 -1.03370899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.614319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.35, Z:-0.10 [[ 9.98438633e-01 5.20341742e-02 2.03160433e-02 5.96331556e+00] [-5.20131709e-02 9.98645179e-01 -1.56122458e-03 -3.51002456e-01] [-2.03697557e-02 5.02085102e-04 9.99792389e-01 -1.04773950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.36, Z:-0.11 [[ 9.98374050e-01 5.35076534e-02 1.96516742e-02 5.99451456e+00] [-5.34881802e-02 9.98567333e-01 -1.51557784e-03 -3.56221287e-01] [-1.97046149e-02 4.61981291e-04 9.99805738e-01 -1.06729869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.674319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.36, Z:-0.11 [[ 9.98301409e-01 5.49677914e-02 1.93090480e-02 6.02687376e+00] [-5.49492105e-02 9.98488036e-01 -1.49193597e-03 -3.56218268e-01] [-1.93618618e-02 4.28384834e-04 9.99812450e-01 -1.07634525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.36, Z:-0.11 [[ 9.98233898e-01 5.61504331e-02 1.93962230e-02 6.05905829e+00] [-5.61318085e-02 9.98422235e-01 -1.50373688e-03 -3.57461952e-01] [-1.94500558e-02 4.12336050e-04 9.99810745e-01 -1.07696269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.734319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.36, Z:-0.11 [[ 9.98119555e-01 5.79980503e-02 1.98388362e-02 6.09096234e+00] [-5.79788207e-02 9.98316620e-01 -1.54358104e-03 -3.61101368e-01] [-1.98949646e-02 3.90446100e-04 9.99801999e-01 -1.06453880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764319999999999 meters Centerline goodness [0,1] 0.9999782073354109 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.36, Z:-0.11 [[ 9.98057699e-01 5.88948793e-02 2.03032669e-02 6.12241195e+00] [-5.88748081e-02 9.98264115e-01 -1.58541081e-03 -3.63766850e-01] [-2.03613953e-02 3.86980521e-04 9.99792610e-01 -1.07011011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.794319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.37, Z:-0.11 [[ 9.98006926e-01 6.01523203e-02 1.90754663e-02 6.15379501e+00] [-6.01347399e-02 9.98189150e-01 -1.49441333e-03 -3.65144055e-01] [-1.91308159e-02 3.44336650e-04 9.99816930e-01 -1.09360609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.37, Z:-0.11 [[ 9.98015057e-01 6.02171568e-02 1.84347465e-02 6.18581200e+00] [-6.02006638e-02 9.98185244e-01 -1.44881240e-03 -3.68131891e-01] [-1.84885353e-02 3.36152619e-04 9.99829016e-01 -1.10945029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.854319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.37, Z:-0.11 [[ 9.97998316e-01 6.04646398e-02 1.85307381e-02 6.21900380e+00] [-6.04479565e-02 9.98170283e-01 -1.45961557e-03 -3.71309565e-01] [-1.85850872e-02 3.36548633e-04 9.99827226e-01 -1.11766860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.38, Z:-0.11 [[ 9.98037323e-01 5.95577589e-02 1.93487783e-02 6.24938603e+00] [-5.95392764e-02 9.98224791e-01 -1.53040224e-03 -3.78088146e-01] [-1.94055775e-02 3.75386296e-04 9.99811624e-01 -1.10838453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.914319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.38, Z:-0.11 [[ 9.98086402e-01 5.87027470e-02 1.94299380e-02 6.28156899e+00] [-5.86838534e-02 9.98275427e-01 -1.54163329e-03 -3.82624138e-01] [-1.94869278e-02 3.98459589e-04 9.99810032e-01 -1.11253414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.944319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.39, Z:-0.11 [[ 9.98110362e-01 5.81026416e-02 1.99946943e-02 6.31209505e+00] [-5.80824046e-02 9.98310523e-01 -1.59185086e-03 -3.86722178e-01] [-2.00534044e-02 4.27502920e-04 9.99798819e-01 -1.11936951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.974319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.39, Z:-0.11 [[ 9.98208076e-01 5.60580427e-02 2.09316409e-02 6.34404719e+00] [-5.60353046e-02 9.98427388e-01 -1.67170695e-03 -3.89161071e-01] [-2.09924362e-02 4.95800498e-04 9.99779512e-01 -1.11774520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.39, Z:-0.11 [[ 9.98249459e-01 5.51969980e-02 2.12440265e-02 6.37511674e+00] [-5.51732557e-02 9.98475344e-01 -1.70254768e-03 -3.93362693e-01] [-2.13056122e-02 5.27465196e-04 9.99772871e-01 -1.12502515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.034319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.40, Z:-0.11 [[ 9.98305882e-01 5.40406318e-02 2.15632988e-02 6.40657247e+00] [-5.40157815e-02 9.98538577e-01 -1.73364500e-03 -3.95758478e-01] [-2.16254730e-02 5.65949562e-04 9.99765982e-01 -1.12669328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.41, Z:-0.11 [[ 9.98354616e-01 5.30921089e-02 2.16630584e-02 6.43665133e+00] [-5.30666817e-02 9.98589442e-01 -1.74734198e-03 -4.05346290e-01] [-2.17252715e-02 5.94880308e-04 9.99763801e-01 -1.13212283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.094319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.41, Z:-0.11 [[ 9.98417511e-01 5.19198944e-02 2.16055014e-02 6.46806603e+00] [-5.18942073e-02 9.98651058e-01 -1.74826593e-03 -4.10696307e-01] [-2.16671266e-02 6.24298952e-04 9.99765045e-01 -1.13346513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.41, Z:-0.11 [[ 9.98414115e-01 5.20043178e-02 2.15593766e-02 6.50168312e+00] [-5.19786433e-02 9.98646663e-01 -1.74992736e-03 -4.09030502e-01] [-2.16212033e-02 6.26525031e-04 9.99766038e-01 -1.13874098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.154319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.42, Z:-0.11 [[ 9.98375506e-01 5.26925311e-02 2.16759447e-02 6.53275311e+00] [-5.26665920e-02 9.98610590e-01 -1.76620455e-03 -4.16492173e-01] [-2.17388937e-02 6.21737229e-04 9.99763489e-01 -1.14366159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.42, Z:-0.12 [[ 9.98310193e-01 5.45805158e-02 1.99430588e-02 6.56417603e+00] [-5.45588350e-02 9.98509227e-01 -1.63002015e-03 -4.16568679e-01] [-2.00022956e-02 5.39195670e-04 9.99799789e-01 -1.17489298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.214319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.41, Z:-0.12 [[ 9.98224066e-01 5.63414246e-02 1.93483399e-02 6.59684588e+00] [-5.63212680e-02 9.98411439e-01 -1.58554500e-03 -4.11497182e-01] [-1.94069357e-02 4.93006137e-04 9.99811546e-01 -1.19184952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.42, Z:-0.12 [[ 9.98054105e-01 5.93785158e-02 1.90314537e-02 6.62810229e+00] [-5.93594678e-02 9.98235446e-01 -1.56470593e-03 -4.17100326e-01] [-1.90907816e-02 4.31964211e-04 9.99817661e-01 -1.20989104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.274319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.41, Z:-0.12 [[ 9.97956283e-01 6.10578605e-02 1.88466270e-02 6.66098910e+00] [-6.10393846e-02 9.98134148e-01 -1.55456357e-03 -4.12832735e-01] [-1.89063803e-02 4.00999970e-04 9.99821178e-01 -1.21040696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.41, Z:-0.12 [[ 9.97865148e-01 6.27295333e-02 1.81700943e-02 6.69276351e+00] [-6.27125490e-02 9.98030498e-01 -1.50358631e-03 -4.14827290e-01] [-1.82286275e-02 3.60883447e-04 9.99833780e-01 -1.22286807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.334319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.41, Z:-0.12 [[ 9.97707464e-01 6.54332077e-02 1.72717209e-02 6.72437363e+00] [-6.54181889e-02 9.97856906e-01 -1.43371962e-03 -4.14499158e-01] [-1.73285189e-02 3.00548067e-04 9.99849805e-01 -1.24476755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.42, Z:-0.13 [[ 9.97631974e-01 6.67440168e-02 1.66036100e-02 6.75620361e+00] [-6.67302472e-02 9.97770095e-01 -1.38257621e-03 -4.15559615e-01] [-1.66588642e-02 2.71339238e-04 9.99861195e-01 -1.25887169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.394319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.42, Z:-0.13 [[ 9.97553863e-01 6.79353117e-02 1.64646197e-02 6.78816893e+00] [-6.79218613e-02 9.97689696e-01 -1.37539515e-03 -4.17507250e-01] [-1.65200193e-02 2.53723135e-04 9.99863503e-01 -1.27101933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.42, Z:-0.13 [[ 9.97498004e-01 6.86764083e-02 1.67714805e-02 6.82034283e+00] [-6.86624800e-02 9.97638957e-01 -1.40557563e-03 -4.20641973e-01] [-1.68284122e-02 2.50487445e-04 9.99858361e-01 -1.27640251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.454319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.42, Z:-0.13 [[ 9.97453994e-01 6.88539963e-02 1.85649324e-02 6.85231150e+00] [-6.88368489e-02 9.97626708e-01 -1.56185794e-03 -4.24267912e-01] [-1.86284125e-02 2.79929997e-04 9.99826437e-01 -1.26056786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4843199999999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.43, Z:-0.13 [[ 9.97462900e-01 6.85934805e-02 1.90446072e-02 6.88399571e+00] [-6.85752817e-02 9.97644649e-01 -1.60777714e-03 -4.27738457e-01] [-1.91100334e-02 2.97708747e-04 9.99817342e-01 -1.25996206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.514319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.43, Z:-0.13 [[ 9.97505694e-01 6.78360221e-02 1.95106205e-02 6.91566527e+00] [-6.78166668e-02 9.97696431e-01 -1.65272884e-03 -4.30530671e-01] [-1.95777910e-02 3.25461183e-04 9.99808284e-01 -1.26331552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.43, Z:-0.13 [[ 9.97617934e-01 6.60583449e-02 1.98683952e-02 6.94709996e+00] [-6.60378124e-02 9.97815693e-01 -1.68847104e-03 -4.34630529e-01] [-1.99365342e-02 3.72383636e-04 9.99801178e-01 -1.26202411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.574319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.44, Z:-0.13 [[ 9.97597153e-01 6.63715545e-02 1.98679700e-02 6.97937894e+00] [-6.63509847e-02 9.97794908e-01 -1.69345961e-03 -4.37543692e-01] [-1.99365568e-02 3.71131117e-04 9.99801178e-01 -1.26892383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.44, Z:-0.13 [[ 9.97688258e-01 6.47784404e-02 2.05400569e-02 7.00953939e+00] [-6.47559770e-02 9.97899581e-01 -1.75757608e-03 -4.43782769e-01] [-2.06107672e-02 4.23421566e-04 9.99787486e-01 -1.27375730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.634319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.45, Z:-0.13 [[ 9.97772328e-01 6.32523269e-02 2.12019803e-02 7.04124527e+00] [-6.32279836e-02 9.97997455e-01 -1.81722518e-03 -4.46189998e-01] [-2.12744661e-02 4.72618539e-04 9.99773561e-01 -1.27599696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664319999999999 meters Centerline goodness [0,1] 0.999978283058614 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.45, Z:-0.13 [[ 9.97945121e-01 6.04456641e-02 2.12569321e-02 7.07222182e+00] [-6.04204339e-02 9.98171343e-01 -1.82775872e-03 -4.52951891e-01] [-2.13285406e-02 5.39649831e-04 9.99772375e-01 -1.28112842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6943199999999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.46, Z:-0.13 [[ 9.98002769e-01 5.95537658e-02 2.10670881e-02 7.10364262e+00] [-5.95286746e-02 9.98224943e-01 -1.81669395e-03 -4.56985290e-01] [-2.11378838e-02 5.58969765e-04 9.99776414e-01 -1.28937359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.46, Z:-0.13 [[ 9.98056662e-01 5.89702481e-02 2.01347532e-02 7.13480593e+00] [-5.89471056e-02 9.98259588e-01 -1.74147404e-03 -4.60419401e-01] [-2.02024056e-02 5.51204350e-04 9.99795759e-01 -1.29748176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.754319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.46, Z:-0.13 [[ 9.98038151e-01 5.94413469e-02 1.96615446e-02 7.16799819e+00] [-5.94192794e-02 9.98231657e-01 -1.70517794e-03 -4.60370894e-01] [-1.97281343e-02 5.33557823e-04 9.99805239e-01 -1.31008081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.46, Z:-0.13 [[ 9.98037628e-01 5.95432015e-02 1.93778178e-02 7.19957104e+00] [-5.95216633e-02 9.98225589e-01 -1.68686342e-03 -4.63094240e-01] [-1.94438749e-02 5.30153221e-04 9.99810809e-01 -1.32561629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.814319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.46, Z:-0.13 [[ 9.98024296e-01 5.99804866e-02 1.87041864e-02 7.23119584e+00] [-5.99604344e-02 9.98199421e-01 -1.63154474e-03 -4.64788022e-01] [-1.87683689e-02 5.06810146e-04 9.99823730e-01 -1.34293890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.47, Z:-0.14 [[ 9.98022637e-01 6.01560210e-02 1.82227504e-02 7.26388210e+00] [-6.01369230e-02 9.98188864e-01 -1.59469691e-03 -4.67801814e-01] [-1.82856771e-02 4.95683475e-04 9.99832680e-01 -1.35607356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.874319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.47, Z:-0.14 [[ 9.98033446e-01 6.01793504e-02 1.75410047e-02 7.29542306e+00] [-6.01615662e-02 9.98187464e-01 -1.54027221e-03 -4.72523980e-01] [-1.76019036e-02 4.81948863e-04 9.99844958e-01 -1.36723984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9043199999999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.48, Z:-0.14 [[ 9.98059615e-01 5.98391296e-02 1.72128992e-02 7.32756513e+00] [-5.98218692e-02 9.98207917e-01 -1.51637284e-03 -4.76479094e-01] [-1.72727907e-02 4.83722693e-04 9.99850697e-01 -1.37444486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.934319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.48, Z:-0.14 [[ 9.98055041e-01 5.98277588e-02 1.75149909e-02 7.36069573e+00] [-5.98098070e-02 9.98208592e-01 -1.54744566e-03 -4.76607096e-01] [-1.75761946e-02 4.96867719e-04 9.99845403e-01 -1.38024161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.48, Z:-0.14 [[ 9.98001708e-01 6.06818763e-02 1.76153397e-02 7.39332623e+00] [-6.06637504e-02 9.98157037e-01 -1.56200784e-03 -4.77072884e-01] [-1.76776608e-02 4.90273926e-04 9.99843618e-01 -1.38670122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.994319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.48, Z:-0.14 [[ 9.97880942e-01 6.25794322e-02 1.78168790e-02 7.42567628e+00] [-6.25611029e-02 9.98039877e-01 -1.58482267e-03 -4.79035939e-01] [-1.78811330e-02 4.66820735e-04 9.99840011e-01 -1.38943231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.024319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.48, Z:-0.14 [[ 9.97651658e-01 6.61635022e-02 1.77076487e-02 7.45843511e+00] [-6.61458656e-02 9.97808712e-01 -1.58047638e-03 -4.78514077e-01] [-1.77734160e-02 4.05477126e-04 9.99841958e-01 -1.39250630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.054319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.48, Z:-0.14 [[ 9.97525908e-01 6.79634646e-02 1.79730323e-02 7.49045157e+00] [-6.79455659e-02 9.97687738e-01 -1.60534520e-03 -4.77954354e-01] [-1.80405788e-02 3.80185577e-04 9.99837183e-01 -1.40009561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.48, Z:-0.14 [[ 9.97425926e-01 6.94787862e-02 1.77262679e-02 7.52111040e+00] [-6.94615265e-02 9.97583367e-01 -1.58826444e-03 -4.79891019e-01] [-1.77937807e-02 3.52882498e-04 9.99841616e-01 -1.40334730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.114319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.48, Z:-0.14 [[ 9.97256174e-01 7.17016642e-02 1.84118015e-02 7.55326960e+00] [-7.16833317e-02 9.97426069e-01 -1.65458705e-03 -4.80755845e-01] [-1.84830474e-02 3.30227878e-04 9.99829119e-01 -1.39970909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.48, Z:-0.14 [[ 9.97187185e-01 7.26604483e-02 1.83895964e-02 7.58475617e+00] [-7.26422270e-02 9.97356686e-01 -1.65778876e-03 -4.83417933e-01] [-1.84614426e-02 3.17264472e-04 9.99829523e-01 -1.40636820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.174319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.49, Z:-0.14 [[ 9.97183219e-01 7.24973210e-02 1.92293234e-02 7.61721141e+00] [-7.24772592e-02 9.97368549e-01 -1.73907605e-03 -4.85688288e-01] [-1.93048007e-02 3.40488798e-04 9.99813587e-01 -1.41359167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.49, Z:-0.14 [[ 9.97189034e-01 7.21299307e-02 2.02806305e-02 7.64932756e+00] [-7.21074004e-02 9.97395174e-01 -1.84096553e-03 -4.89108106e-01] [-2.03605917e-02 3.73407101e-04 9.99792632e-01 -1.41492299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2343199999999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.49, Z:-0.14 [[ 9.97239412e-01 7.11957389e-02 2.10884342e-02 7.68010730e+00] [-7.11710321e-02 9.97462277e-01 -1.92075288e-03 -4.94765351e-01] [-2.11716670e-02 4.14564844e-04 9.99775769e-01 -1.41207269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.50, Z:-0.14 [[ 9.97292887e-01 7.03430997e-02 2.14183599e-02 7.71232487e+00] [-7.03172995e-02 9.97522757e-01 -1.95627323e-03 -4.99061508e-01] [-2.15029118e-02 4.44896149e-04 9.99768687e-01 -1.41228391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.294319999999999 meters Centerline goodness [0,1] 0.9999351575671119 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.50, Z:-0.14 [[ 9.97485978e-01 6.78128745e-02 2.05703358e-02 7.74447138e+00] [-6.77884341e-02 9.97697940e-01 -1.88391201e-03 -5.03697628e-01] [-2.06507351e-02 4.84744968e-04 9.99786633e-01 -1.42492458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.51, Z:-0.14 [[ 9.97593972e-01 6.61924793e-02 2.06112064e-02 7.77531211e+00] [-6.61674778e-02 9.97806735e-01 -1.89337192e-03 -5.09204587e-01] [-2.06913275e-02 5.25024874e-04 9.99785774e-01 -1.43469949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.354319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.51, Z:-0.14 [[ 9.97666917e-01 6.51420793e-02 2.04262540e-02 7.80693684e+00] [-6.51172464e-02 9.97875850e-01 -1.87921876e-03 -5.11822879e-01] [-2.05052817e-02 5.44732977e-04 9.99789596e-01 -1.44271250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.52, Z:-0.15 [[ 9.97818360e-01 6.25679700e-02 2.10658515e-02 7.83722958e+00] [-6.25408567e-02 9.98040511e-01 -1.94408033e-03 -5.16662848e-01] [-2.11462104e-02 6.22362642e-04 9.99776200e-01 -1.45015297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.414319999999999 meters Centerline goodness [0,1] 0.999978458953536 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.52, Z:-0.15 [[ 9.97873067e-01 6.16245196e-02 2.12546755e-02 7.86839282e+00] [-6.15966410e-02 9.98099191e-01 -1.96446419e-03 -5.21062724e-01] [-2.13353336e-02 6.51069291e-04 9.99772164e-01 -1.45961930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4443199999999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.52, Z:-0.15 [[ 9.97991600e-01 5.98982103e-02 2.06147962e-02 7.89970433e+00] [-5.98715142e-02 9.98204264e-01 -1.91031275e-03 -5.24485824e-01] [-2.06922018e-02 6.72237010e-04 9.99785667e-01 -1.47323905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.474319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.53, Z:-0.15 [[ 9.98027298e-01 5.93123407e-02 2.05805524e-02 7.93132660e+00] [-5.92855023e-02 9.98239236e-01 -1.91229111e-03 -5.28272254e-01] [-2.06577374e-02 6.88390347e-04 9.99786369e-01 -1.48107821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.53, Z:-0.15 [[ 9.98065148e-01 5.86655788e-02 2.05987871e-02 7.96280256e+00] [-5.86384401e-02 9.98277441e-01 -1.91955369e-03 -5.32161634e-01] [-2.06759161e-02 7.07958894e-04 9.99785980e-01 -1.48855009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.534319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.54, Z:-0.15 [[ 9.98121936e-01 5.79190507e-02 1.99495522e-02 7.99452203e+00] [-5.78933431e-02 9.98321033e-01 -1.86424626e-03 -5.36078266e-01] [-2.00240329e-02 7.05798818e-04 9.99799250e-01 -1.49750257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.54, Z:-0.15 [[ 9.98121690e-01 5.81461484e-02 1.92903317e-02 8.02766600e+00] [-5.81220595e-02 9.98307848e-01 -1.80753679e-03 -5.37829682e-01] [-1.93627908e-02 6.82947866e-04 9.99812290e-01 -1.50930215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.594319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.54, Z:-0.15 [[ 9.98093261e-01 5.89595580e-02 1.82650777e-02 8.05847463e+00] [-5.89379916e-02 9.98260169e-01 -1.71726905e-03 -5.41977481e-01] [-1.83345490e-02 6.37487664e-04 9.99831705e-01 -1.52680614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.54, Z:-0.15 [[ 9.97917349e-01 6.21487866e-02 1.72769742e-02 8.09070528e+00] [-6.21299184e-02 9.98066744e-01 -1.62723152e-03 -5.39565301e-01] [-1.73447038e-02 5.50425565e-04 9.99849418e-01 -1.53604230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6543199999999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.54, Z:-0.15 [[ 9.97778250e-01 6.42723543e-02 1.75393181e-02 8.12328708e+00] [-6.42532203e-02 9.97932258e-01 -1.65285330e-03 -5.40676397e-01] [-1.76092841e-02 5.22223405e-04 9.99844808e-01 -1.53834613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.54, Z:-0.15 [[ 9.97614480e-01 6.67123635e-02 1.77428869e-02 8.15467126e+00] [-6.66931461e-02 9.97772130e-01 -1.67328037e-03 -5.42641783e-01] [-1.78149866e-02 4.85959774e-04 9.99841182e-01 -1.54609981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.714319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.54, Z:-0.16 [[ 9.97304283e-01 7.14679060e-02 1.66284520e-02 8.18698728e+00] [-7.14516082e-02 9.97442827e-01 -1.57292884e-03 -5.39124758e-01] [-1.66983441e-02 3.80559031e-04 9.99860501e-01 -1.56507199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.54, Z:-0.16 [[ 9.97166303e-01 7.34552153e-02 1.62386812e-02 8.21950937e+00] [-7.34399384e-02 9.97298459e-01 -1.53590854e-03 -5.40208798e-01] [-1.63076323e-02 3.38988495e-04 9.99866964e-01 -1.57190802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.774319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.54, Z:-0.16 [[ 9.97039559e-01 7.51364231e-02 1.63289962e-02 8.25130132e+00] [-7.51211260e-02 9.97173213e-01 -1.54903385e-03 -5.42450412e-01] [-1.63992265e-02 3.17795445e-04 9.99865473e-01 -1.57255338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804319999999999 meters Centerline goodness [0,1] 0.999978427354115 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.55, Z:-0.16 [[ 9.96873453e-01 7.70392618e-02 1.75576687e-02 8.28238784e+00] [-7.70217693e-02 9.97028010e-01 -1.67133857e-03 -5.48175301e-01] [-1.76342461e-02 3.13790346e-04 9.99844455e-01 -1.56528180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.834319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.55, Z:-0.16 [[ 9.96819978e-01 7.75099159e-02 1.84971569e-02 8.31508348e+00] [-7.74905316e-02 9.96991528e-01 -1.76349149e-03 -5.49403419e-01] [-1.85781968e-02 3.24529027e-04 9.99827358e-01 -1.55505904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.55, Z:-0.15 [[ 9.96773874e-01 7.79313465e-02 1.91976245e-02 8.34764596e+00] [-7.79104272e-02 9.96958672e-01 -1.83633574e-03 -5.51932004e-01] [-1.92823464e-02 3.34716358e-04 9.99814022e-01 -1.54710689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.894319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.56, Z:-0.15 [[ 9.96821234e-01 7.71348490e-02 1.99409699e-02 8.37814928e+00] [-7.71119838e-02 9.97020601e-01 -1.91418154e-03 -5.60299765e-01] [-2.00292079e-02 3.70409058e-04 9.99799327e-01 -1.54865407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.56, Z:-0.16 [[ 9.96869386e-01 7.65894971e-02 1.96335399e-02 8.41071335e+00] [-7.65671723e-02 9.97062639e-01 -1.88738457e-03 -5.60041185e-01] [-1.97204229e-02 3.78191267e-04 9.99805462e-01 -1.55108790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.954319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.57, Z:-0.16 [[ 9.96919981e-01 7.58014701e-02 2.01168611e-02 8.44171406e+00] [-7.57777552e-02 9.97122846e-01 -1.93962764e-03 -5.65761237e-01] [-2.02060085e-02 4.09242974e-04 9.99795754e-01 -1.55245784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9843199999999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.57, Z:-0.16 [[ 9.97074793e-01 7.36403953e-02 2.04682318e-02 8.47266791e+00] [-7.36152779e-02 9.97284751e-01 -1.97893520e-03 -5.72792357e-01] [-2.05583851e-02 4.66371831e-04 9.99788545e-01 -1.55217980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.014319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.58, Z:-0.16 [[ 9.97126895e-01 7.29388344e-02 2.04421558e-02 8.50444068e+00] [-7.29135753e-02 9.97336299e-01 -1.97925670e-03 -5.76647915e-01] [-2.05320687e-02 4.83059426e-04 9.99789078e-01 -1.55971277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.58, Z:-0.16 [[ 9.97178943e-01 7.23732124e-02 1.99066218e-02 8.53498841e+00] [-7.23490404e-02 9.97377502e-01 -1.93273102e-03 -5.81861325e-01] [-1.99942947e-02 4.87053688e-04 9.99799975e-01 -1.57518572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.074319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.59, Z:-0.16 [[ 9.97260148e-01 7.12958168e-02 1.97257069e-02 8.56687465e+00] [-7.12717744e-02 9.97455085e-01 -1.92007162e-03 -5.87081535e-01] [-1.98123998e-02 5.08924771e-04 9.99803586e-01 -1.58447321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.10432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.59, Z:-0.16 [[ 9.97301127e-01 7.06810157e-02 1.98659596e-02 8.59838962e+00] [-7.06563995e-02 9.97498828e-01 -1.93917542e-03 -5.89773142e-01] [-1.99533343e-02 5.30284655e-04 9.99800772e-01 -1.58871843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.134319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.60, Z:-0.16 [[ 9.97351354e-01 6.99801421e-02 1.98256616e-02 8.62880599e+00] [-6.99553841e-02 9.97548234e-01 -1.94042098e-03 -5.97636590e-01] [-1.99128447e-02 5.48369719e-04 9.99801569e-01 -1.59629519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.60, Z:-0.16 [[ 9.97495270e-01 6.80196276e-02 1.94040491e-02 8.66063541e+00] [-6.79954456e-02 9.97683815e-01 -1.90404307e-03 -6.01033478e-01] [-1.94886180e-02 5.79886989e-04 9.99809911e-01 -1.60645261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.19432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.61, Z:-0.16 [[ 9.97527462e-01 6.74530774e-02 1.97242097e-02 8.69122201e+00] [-6.74278697e-02 9.97722263e-01 -1.94103366e-03 -6.09228350e-01] [-1.98102119e-02 6.06272932e-04 9.99803575e-01 -1.61125163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.61, Z:-0.16 [[ 9.97586462e-01 6.66206250e-02 1.95689250e-02 8.72336418e+00] [-6.65955565e-02 9.97778184e-01 -1.93064786e-03 -6.10668419e-01] [-1.96540674e-02 6.22784725e-04 9.99806646e-01 -1.61462637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.254319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.62, Z:-0.16 [[ 9.97676068e-01 6.54463837e-02 1.89534513e-02 8.75530409e+00] [-6.54225596e-02 9.97855888e-01 -1.87497609e-03 -6.15997381e-01] [-1.90355234e-02 6.30635475e-04 9.99818609e-01 -1.63442483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.62, Z:-0.17 [[ 9.97687825e-01 6.54505216e-02 1.83093557e-02 8.78816497e+00] [-6.54282032e-02 9.97855627e-01 -1.81598652e-03 -6.20352020e-01] [-1.83889509e-02 6.13839396e-04 9.99830721e-01 -1.65172398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.314319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.62, Z:-0.17 [[ 9.97684993e-01 6.55674526e-02 1.80433792e-02 8.82132332e+00] [-6.55456966e-02 9.97847954e-01 -1.79514904e-03 -6.23766570e-01] [-1.81222524e-02 6.08327397e-04 9.99835593e-01 -1.66055156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.63, Z:-0.17 [[ 9.97672869e-01 6.56706780e-02 1.83359906e-02 8.85297065e+00] [-6.56481133e-02 9.97841157e-01 -1.83048542e-03 -6.29749629e-01] [-1.84166152e-02 6.22502452e-04 9.99830206e-01 -1.66708220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.374319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.63, Z:-0.17 [[ 9.97495271e-01 6.82986869e-02 1.83976637e-02 8.88492984e+00] [-6.82763538e-02 9.97664750e-01 -1.84003866e-03 -6.29204281e-01] [-1.84803728e-02 5.79304464e-04 9.99829056e-01 -1.65900282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.63, Z:-0.17 [[ 9.97348913e-01 7.04884582e-02 1.80699234e-02 8.91601523e+00] [-7.04671830e-02 9.97512452e-01 -1.81220274e-03 -6.34362845e-01] [-1.81527130e-02 5.34061832e-04 9.99835083e-01 -1.66882305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.434319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.63, Z:-0.17 [[ 9.97230954e-01 7.22968191e-02 1.74239854e-02 8.94840001e+00] [-7.22772404e-02 9.97383042e-01 -1.75160674e-03 -6.34889329e-01] [-1.75050231e-02 4.87398882e-04 9.99846657e-01 -1.67939632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.64, Z:-0.17 [[ 9.97043478e-01 7.49901426e-02 1.67565403e-02 8.98105013e+00] [-7.49723307e-02 9.97184183e-01 -1.68953356e-03 -6.35403110e-01] [-1.68360553e-02 4.28261534e-04 9.99858172e-01 -1.68895130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.494319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.64, Z:-0.17 [[ 9.97020151e-01 7.52996663e-02 1.67564703e-02 9.01328486e+00] [-7.52818864e-02 9.97160860e-01 -1.69022905e-03 -6.38822520e-01] [-1.68361701e-02 4.23733725e-04 9.99858172e-01 -1.69584080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.64, Z:-0.17 [[ 9.96928808e-01 7.64746436e-02 1.68694999e-02 9.04463277e+00] [-7.64566962e-02 9.97071441e-01 -1.70722735e-03 -6.42009899e-01] [-1.69506561e-02 4.12197906e-04 9.99856242e-01 -1.70226709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.554319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.64, Z:-0.17 [[ 9.96784566e-01 7.81528702e-02 1.76821289e-02 9.07724377e+00] [-7.81333331e-02 9.96941304e-01 -1.79411295e-03 -6.42088047e-01] [-1.77682597e-02 4.06780436e-04 9.99842049e-01 -1.69702514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584319999999998 meters Centerline goodness [0,1] 0.9999130018704598 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.64, Z:-0.17 [[ 9.96632679e-01 8.00082694e-02 1.79438270e-02 9.10803939e+00] [-7.99883589e-02 9.96794126e-01 -1.82572902e-03 -6.43402464e-01] [-1.80323747e-02 3.84283934e-04 9.99837330e-01 -1.71335008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.65, Z:-0.17 [[ 9.96634317e-01 7.99071776e-02 1.82997830e-02 9.14039545e+00] [-7.98863682e-02 9.96802229e-01 -1.86651620e-03 -6.47228982e-01] [-1.83904126e-02 3.98330891e-04 9.99830803e-01 -1.71728068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.65, Z:-0.17 [[ 9.96651009e-01 7.95404696e-02 1.89757750e-02 9.17101313e+00] [-7.95179068e-02 9.96831546e-01 -1.94180715e-03 -6.52355067e-01] [-1.90701034e-02 4.26390148e-04 9.99818058e-01 -1.71508879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.674319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.66, Z:-0.17 [[ 9.96732498e-01 7.79568809e-02 2.11436159e-02 9.20305210e+00] [-7.79284382e-02 9.96956600e-01 -2.16708984e-03 -6.55043165e-01] [-2.12482070e-02 5.12319907e-04 9.99774100e-01 -1.70444169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.70432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.66, Z:-0.17 [[ 9.96825703e-01 7.67827259e-02 2.10459084e-02 9.23419575e+00] [-7.67541654e-02 9.97047702e-01 -2.16267642e-03 -6.60174468e-01] [-2.11498308e-02 5.40450306e-04 9.99776171e-01 -1.71066778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.734319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.67, Z:-0.17 [[ 9.97004160e-01 7.43419258e-02 2.13537742e-02 9.26464533e+00] [-7.43118502e-02 9.97232626e-01 -2.19961828e-03 -6.65471453e-01] [-2.14582042e-02 6.06190102e-04 9.99769562e-01 -1.71312090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.67, Z:-0.17 [[ 9.97065021e-01 7.33615157e-02 2.18959140e-02 9.29696721e+00] [-7.33295895e-02 9.97305204e-01 -2.25853531e-03 -6.66661312e-01] [-2.20025986e-02 6.46288174e-04 9.99757705e-01 -1.71296464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.794319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.67, Z:-0.17 [[ 9.97122513e-01 7.23869320e-02 2.25128090e-02 9.32811625e+00] [-7.23527925e-02 9.97376384e-01 -2.32837336e-03 -6.70077899e-01] [-2.26222879e-02 6.92808897e-04 9.99743843e-01 -1.71117841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.67, Z:-0.17 [[ 9.97141015e-01 7.19889577e-02 2.29649091e-02 9.36041836e+00] [-7.19531926e-02 9.97405168e-01 -2.38097927e-03 -6.72899494e-01] [-2.30767232e-02 7.21773561e-04 9.99733436e-01 -1.71728260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.854319999999998 meters Centerline goodness [0,1] 0.9999783802481947 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.67, Z:-0.17 [[ 9.97241916e-01 7.03830301e-02 2.35539845e-02 9.39243114e+00] [-7.03448056e-02 9.97519731e-01 -2.44852507e-03 -6.74980628e-01] [-2.36678989e-02 7.84871373e-04 9.99719568e-01 -1.72804803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.68, Z:-0.17 [[ 9.97271170e-01 7.00278168e-02 2.33734610e-02 9.42383876e+00] [-6.99899290e-02 9.97544723e-01 -2.43612756e-03 -6.78424509e-01] [-2.34866694e-02 7.93572906e-04 9.99723835e-01 -1.73212449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.914319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.68, Z:-0.17 [[ 9.97288057e-01 6.98722272e-02 2.31171686e-02 9.45557800e+00] [-6.98349865e-02 9.97555633e-01 -2.41533887e-03 -6.80184696e-01] [-2.32294269e-02 7.94401450e-04 9.99729845e-01 -1.74291838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.94432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.68, Z:-0.18 [[ 9.97309042e-01 7.01252111e-02 2.13805706e-02 9.48753580e+00] [-7.00932945e-02 9.97537927e-01 -2.23947596e-03 -6.82482304e-01] [-2.14849738e-02 7.34814998e-04 9.99768901e-01 -1.77514443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.974319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.68, Z:-0.18 [[ 9.97301372e-01 7.06848476e-02 1.98400227e-02 9.52011419e+00] [-7.06573669e-02 9.97498469e-01 -2.08358524e-03 -6.84460416e-01] [-1.99376702e-02 6.76118651e-04 9.99800996e-01 -1.79949924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.69, Z:-0.18 [[ 9.97288434e-01 7.11134251e-02 1.89383358e-02 9.55255459e+00] [-7.10883544e-02 9.97468028e-01 -1.99459685e-03 -6.87099842e-01] [-1.90322271e-02 6.42893243e-04 9.99818664e-01 -1.81725540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.03432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.69, Z:-0.18 [[ 9.97252311e-01 7.17603662e-02 1.83923239e-02 9.58296634e+00] [-7.17367215e-02 9.97421710e-01 -1.94297542e-03 -6.91811240e-01] [-1.84843318e-02 6.18231713e-04 9.99828959e-01 -1.82581451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.69, Z:-0.18 [[ 9.97205161e-01 7.24362278e-02 1.82991845e-02 9.61463053e+00] [-7.24128501e-02 9.97372861e-01 -1.93778629e-03 -6.93480988e-01] [-1.83914759e-02 6.07274391e-04 9.99830678e-01 -1.83513301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.094319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.70, Z:-0.18 [[ 9.97154088e-01 7.32268642e-02 1.79318244e-02 9.64639092e+00] [-7.32044566e-02 9.97315137e-01 -1.90370703e-03 -6.96096332e-01] [-1.80230824e-02 5.85599790e-04 9.99837400e-01 -1.84383086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.70, Z:-0.19 [[ 9.97094116e-01 7.44889911e-02 1.59597551e-02 9.67676645e+00] [-7.44713409e-02 9.97221708e-01 -1.69821502e-03 -7.04160852e-01] [-1.60419125e-02 5.04735845e-04 9.99871193e-01 -1.87827662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.154319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.70, Z:-0.19 [[ 9.97025274e-01 7.54372185e-02 1.58060097e-02 9.70962984e+00] [-7.54199640e-02 9.97150434e-01 -1.68574489e-03 -7.02631920e-01] [-1.58881373e-02 4.88641577e-04 9.99873656e-01 -1.88105321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.70, Z:-0.19 [[ 9.96899755e-01 7.69547164e-02 1.63966762e-02 9.74207130e+00] [-7.69362781e-02 9.97034470e-01 -1.75329298e-03 -7.03339237e-01] [-1.64829756e-02 4.86358096e-04 9.99864028e-01 -1.87156774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.214319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.71, Z:-0.19 [[ 9.96853094e-01 7.73819062e-02 1.72031643e-02 9.77372212e+00] [-7.73615875e-02 9.97001396e-01 -1.84446291e-03 -7.07411321e-01] [-1.72943069e-02 5.07794458e-04 9.99850313e-01 -1.87219822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.71, Z:-0.19 [[ 9.96826248e-01 7.77677287e-02 1.70179618e-02 9.80606852e+00] [-7.77478186e-02 9.96971379e-01 -1.82943959e-03 -7.11331128e-01] [-1.71086922e-02 5.00524003e-04 9.99853510e-01 -1.87665895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.274319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.71, Z:-0.19 [[ 9.96823017e-01 7.77565600e-02 1.72566211e-02 9.83924786e+00] [-7.77359921e-02 9.96972243e-01 -1.86049975e-03 -7.14354477e-01] [-1.73490383e-02 5.13128409e-04 9.99849362e-01 -1.88117732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.72, Z:-0.19 [[ 9.96879430e-01 7.71168770e-02 1.68638545e-02 9.87024132e+00] [-7.70970511e-02 9.97021925e-01 -1.82359418e-03 -7.19814868e-01] [-1.69542625e-02 5.17750077e-04 9.99856132e-01 -1.89057623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.334319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.72, Z:-0.19 [[ 9.96898010e-01 7.68777697e-02 1.68572180e-02 9.90230910e+00] [-7.68578534e-02 9.97040386e-01 -1.82711248e-03 -7.24155566e-01] [-1.69477915e-02 5.25835202e-04 9.99856238e-01 -1.90005580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.73, Z:-0.19 [[ 9.96954758e-01 7.57821273e-02 1.83923690e-02 9.93423954e+00] [-7.57581321e-02 9.97124220e-01 -1.99888965e-03 -7.27977418e-01] [-1.84909567e-02 5.99431022e-04 9.99828848e-01 -1.89100672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.394319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.74, Z:-0.19 [[ 9.96965021e-01 7.55396439e-02 1.88284124e-02 9.96502190e+00] [-7.55143515e-02 9.97142604e-01 -2.05169653e-03 -7.35527489e-01] [-1.89295966e-02 6.23654316e-04 9.99820625e-01 -1.88995147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.74, Z:-0.19 [[ 9.96981503e-01 7.51085772e-02 1.96617293e-02 9.99567585e+00] [-7.50808081e-02 9.97175140e-01 -2.14777767e-03 -7.41625900e-01] [-1.97675042e-02 6.65076078e-04 9.99804383e-01 -1.89002865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.45432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.75, Z:-0.19 [[ 9.96981945e-01 7.50893453e-02 1.97127095e-02 1.00285793e+01] [-7.50613338e-02 9.97176584e-01 -2.15810954e-03 -7.45755432e-01] [-1.98191033e-02 6.71933981e-04 9.99803356e-01 -1.89270731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.75, Z:-0.19 [[ 9.96933568e-01 7.57285894e-02 1.97140005e-02 1.00604168e+01] [-7.57005805e-02 9.97128246e-01 -2.16423010e-03 -7.49332247e-01] [-1.98212808e-02 6.65232355e-04 9.99803318e-01 -1.90091607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.514319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.75, Z:-0.19 [[ 9.96891084e-01 7.62830355e-02 1.97247181e-02 1.00916030e+01] [-7.62550013e-02 9.97085986e-01 -2.17061407e-03 -7.53163972e-01] [-1.98328210e-02 6.59757416e-04 9.99803093e-01 -1.91146890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.75, Z:-0.19 [[ 9.96851125e-01 7.69271147e-02 1.92368000e-02 1.01239097e+01] [-7.69004838e-02 9.97036517e-01 -2.12138594e-03 -7.53385400e-01] [-1.93429841e-02 6.35386739e-04 9.99812705e-01 -1.92132042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.574319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.76, Z:-0.19 [[ 9.96728682e-01 7.88210844e-02 1.78653404e-02 1.01558177e+01] [-7.87983397e-02 9.96888621e-01 -1.97460041e-03 -7.55587641e-01] [-1.79653947e-02 5.60381705e-04 9.99838452e-01 -1.94092511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.76, Z:-0.20 [[ 9.96627477e-01 8.02357166e-02 1.72017952e-02 1.01860208e+01] [-8.02147527e-02 9.96775782e-01 -1.90634316e-03 -7.63714149e-01] [-1.72992897e-02 5.20076220e-04 9.99850221e-01 -1.96005908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.634319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.76, Z:-0.20 [[ 9.96525272e-01 8.16088298e-02 1.66547635e-02 1.02179715e+01] [-8.15893354e-02 9.96664320e-01 -1.84776803e-03 -7.63228280e-01] [-1.67500028e-02 4.82496455e-04 9.99859592e-01 -1.96729055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.77, Z:-0.20 [[ 9.96293902e-01 8.45068145e-02 1.60330851e-02 1.02497835e+01] [-8.44890561e-02 9.96422812e-01 -1.78296605e-03 -7.65664193e-01] [-1.61264046e-02 4.21737972e-04 9.99869872e-01 -1.97912788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.694319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.77, Z:-0.20 [[ 9.96180536e-01 8.58955161e-02 1.56939571e-02 1.02820927e+01] [-8.58786064e-02 9.96304072e-01 -1.74948427e-03 -7.68801252e-01] [-1.57862262e-02 3.95027013e-04 9.99875312e-01 -1.98877904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.77, Z:-0.20 [[ 9.96066290e-01 8.72031254e-02 1.57340362e-02 1.03139784e+01] [-8.71862231e-02 9.96190479e-01 -1.75831898e-03 -7.71724197e-01] [-1.58274280e-02 3.79611075e-04 9.99874666e-01 -1.99832477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.754319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.77, Z:-0.20 [[ 9.95823371e-01 8.98989398e-02 1.59372110e-02 1.03465620e+01] [-8.98818567e-02 9.95950832e-01 -1.78640893e-03 -7.73251050e-01] [-1.60332748e-02 3.46481648e-04 9.99871399e-01 -2.00637609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.78, Z:-0.20 [[ 9.95709332e-01 9.11767767e-02 1.58025693e-02 1.03785277e+01] [-9.11601322e-02 9.95834670e-01 -1.77192509e-03 -7.77002025e-01] [-1.58983048e-02 3.23758041e-04 9.99873562e-01 -2.01153297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.814319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.78, Z:-0.20 [[ 9.95550072e-01 9.28037292e-02 1.63560978e-02 1.04094969e+01] [-9.27860387e-02 9.95684373e-01 -1.83878888e-03 -7.82334052e-01] [-1.64561574e-02 3.12988876e-04 9.99864539e-01 -2.00908768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.79, Z:-0.20 [[ 9.95476595e-01 9.36076620e-02 1.62466652e-02 1.04425464e+01] [-9.35902528e-02 9.95609117e-01 -1.83025367e-03 -7.85788925e-01] [-1.63466538e-02 3.01445180e-04 9.99866339e-01 -2.01093246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.874319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.79, Z:-0.20 [[ 9.95414971e-01 9.42602214e-02 1.62495194e-02 1.04736275e+01] [-9.42427963e-02 9.95547549e-01 -1.83648773e-03 -7.89973769e-01] [-1.63502769e-02 2.96667232e-04 9.99866281e-01 -2.02074622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.79, Z:-0.20 [[ 9.95369162e-01 9.46890627e-02 1.65593971e-02 1.05069082e+01] [-9.46709869e-02 9.95506852e-01 -1.87385405e-03 -7.93326119e-01] [-1.66624267e-02 2.97482068e-04 9.99861128e-01 -2.02512401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.934319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.80, Z:-0.20 [[ 9.95377639e-01 9.43784010e-02 1.77784648e-02 1.05398715e+01] [-9.43574475e-02 9.95536343e-01 -2.01563245e-03 -7.97634560e-01] [-1.78893400e-02 3.28784907e-04 9.99839919e-01 -2.02200913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.80, Z:-0.20 [[ 9.95441466e-01 9.36036964e-02 1.82930361e-02 1.05718598e+01] [-9.35812709e-02 9.95609471e-01 -2.07998152e-03 -8.02722344e-01] [-1.84074140e-02 3.58614283e-04 9.99830505e-01 -2.02772263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.994319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.81, Z:-0.20 [[ 9.95547338e-01 9.24517656e-02 1.83893747e-02 1.06037433e+01] [-9.24288147e-02 9.95717089e-01 -2.09591192e-03 -8.07389175e-01] [-1.85043854e-02 3.86871429e-04 9.99828704e-01 -2.03257874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.82, Z:-0.20 [[ 9.95657071e-01 9.12624159e-02 1.83893630e-02 1.06340777e+01] [-9.12391667e-02 9.95826792e-01 -2.10107651e-03 -8.16108374e-01] [-1.85043697e-02 4.14121534e-04 9.99828694e-01 -2.03942352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.054319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.82, Z:-0.20 [[ 9.95899223e-01 8.84466020e-02 1.90246430e-02 1.06658789e+01] [-8.84211089e-02 9.96080800e-01 -2.17867423e-03 -8.22492002e-01] [-1.91427780e-02 4.87559940e-04 9.99816641e-01 -2.03119027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.82, Z:-0.20 [[ 9.95812352e-01 8.91554770e-02 2.02252249e-02 1.06983011e+01] [-8.91266919e-02 9.96017591e-01 -2.32198497e-03 -8.24918870e-01] [-2.03516975e-02 5.09653921e-04 9.99792753e-01 -2.02543530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.114319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.83, Z:-0.20 [[ 9.95799605e-01 8.91320982e-02 2.09431495e-02 1.07313550e+01] [-8.91011046e-02 9.96019670e-01 -2.41025612e-03 -8.28236196e-01] [-2.10746200e-02 5.34074342e-04 9.99777763e-01 -2.03609637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.83, Z:-0.20 [[ 9.95858541e-01 8.87405631e-02 1.97706407e-02 1.07629319e+01] [-8.87127508e-02 9.96054639e-01 -2.28110831e-03 -8.32328225e-01] [-1.98950652e-02 5.17753272e-04 9.99801940e-01 -2.04928389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.174319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.84, Z:-0.21 [[ 9.95903432e-01 8.83430634e-02 1.92836197e-02 1.07931467e+01] [-8.83164298e-02 9.96089973e-01 -2.23008687e-03 -8.37472856e-01] [-1.94052329e-02 5.17890724e-04 9.99811567e-01 -2.06353987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.20432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.84, Z:-0.21 [[ 9.95952908e-01 8.78561984e-02 1.89497397e-02 1.08254988e+01] [-8.78303189e-02 9.96133031e-01 -2.19526247e-03 -8.38633873e-01] [-1.90693291e-02 5.22016359e-04 9.99818028e-01 -2.07410573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.234319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.84, Z:-0.21 [[ 9.96084665e-01 8.63209750e-02 1.90795607e-02 1.08564732e+01] [-8.62943545e-02 9.96267221e-01 -2.21570094e-03 -8.43899083e-01] [-1.91996024e-02 5.60567357e-04 9.99815513e-01 -2.08304615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.85, Z:-0.21 [[ 9.96139405e-01 8.57041748e-02 1.90021129e-02 1.08879277e+01] [-8.56775659e-02 9.96320462e-01 -2.21152223e-03 -8.47665156e-01] [-1.91217306e-02 5.74929658e-04 9.99816998e-01 -2.09444448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.294319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.85, Z:-0.21 [[ 9.96166746e-01 8.54674374e-02 1.86314598e-02 1.09202891e+01] [-8.54417223e-02 9.96340799e-01 -2.17333371e-03 -8.51102178e-01] [-1.87490329e-02 5.73098747e-04 9.99824057e-01 -2.10773111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.86, Z:-0.21 [[ 9.96195932e-01 8.53097405e-02 1.77739568e-02 1.09511757e+01] [-8.52862308e-02 9.96354325e-01 -2.07791546e-03 -8.55063880e-01] [-1.78864252e-02 5.54137147e-04 9.99839872e-01 -2.12316907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.354319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.86, Z:-0.21 [[ 9.96159490e-01 8.56219560e-02 1.83071333e-02 1.09834969e+01] [-8.55969834e-02 9.96327535e-01 -2.14478796e-03 -8.58227348e-01] [-1.84235420e-02 5.69515490e-04 9.99830110e-01 -2.12288647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.86, Z:-0.21 [[ 9.96133393e-01 8.59251812e-02 1.83064785e-02 1.10156792e+01] [-8.59001575e-02 9.96301430e-01 -2.15036196e-03 -8.62176605e-01] [-1.84235409e-02 5.69517969e-04 9.99830110e-01 -2.12979259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.414319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.87, Z:-0.21 [[ 9.96103209e-01 8.61680407e-02 1.88006900e-02 1.10473093e+01] [-8.61415725e-02 9.96280445e-01 -2.21465796e-03 -8.66221417e-01] [-1.89215925e-02 5.86506904e-04 9.99820799e-01 -2.12739552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.87, Z:-0.21 [[ 9.96065489e-01 8.67181392e-02 1.82621194e-02 1.10805477e+01] [-8.66932025e-02 9.96232728e-01 -2.15425168e-03 -8.65292407e-01] [-1.83801337e-02 5.62574140e-04 9.99830913e-01 -2.13942012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.474319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.87, Z:-0.22 [[ 9.96046543e-01 8.70308874e-02 1.78019142e-02 1.11132683e+01] [-8.70071443e-02 9.96205463e-01 -2.10539629e-03 -8.67068882e-01] [-1.79175986e-02 5.48178984e-04 9.99839317e-01 -2.15539859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.87, Z:-0.22 [[ 9.96035812e-01 8.72856981e-02 1.71425943e-02 1.11459474e+01] [-8.72636288e-02 9.96183180e-01 -2.03265044e-03 -8.70717748e-01] [-1.72545854e-02 5.28667644e-04 9.99850989e-01 -2.16984054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.534319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.87, Z:-0.22 [[ 9.96095722e-01 8.65447947e-02 1.74158580e-02 1.11781362e+01] [-8.65218019e-02 9.96247805e-01 -2.07081812e-03 -8.74980156e-01] [-1.75297288e-02 5.55881658e-04 9.99846188e-01 -2.16846528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.88, Z:-0.22 [[ 9.96099209e-01 8.63793675e-02 1.80269625e-02 1.12112412e+01] [-8.63546139e-02 9.96262146e-01 -2.14853564e-03 -8.79239986e-01] [-1.81451695e-02 5.83443258e-04 9.99835193e-01 -2.16740551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.594319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.88, Z:-0.22 [[ 9.96093102e-01 8.64008811e-02 1.82598039e-02 1.12438935e+01] [-8.63753806e-02 9.96260273e-01 -2.18209971e-03 -8.82635158e-01] [-1.83800526e-02 5.96376949e-04 9.99830895e-01 -2.16789630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.89, Z:-0.22 [[ 9.96103342e-01 8.61391249e-02 1.89257506e-02 1.12754436e+01] [-8.61115632e-02 9.96282919e-01 -2.26796334e-03 -8.85671130e-01] [-1.90507624e-02 6.29399901e-04 9.99818320e-01 -2.16758018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.654319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.89, Z:-0.22 [[ 9.96125349e-01 8.56932818e-02 1.97724837e-02 1.13075279e+01] [-8.56629970e-02 9.96321339e-01 -2.37514297e-03 -8.87792331e-01] [-1.99032813e-02 6.72169901e-04 9.99801684e-01 -2.16804348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.89, Z:-0.22 [[ 9.96081171e-01 8.60486808e-02 2.04432178e-02 1.13405792e+01] [-8.60162620e-02 9.96290692e-01 -2.46148704e-03 -8.90087839e-01] [-2.05791954e-02 6.93391713e-04 9.99787985e-01 -2.16806543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.714319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.89, Z:-0.22 [[ 9.95995441e-01 8.67556845e-02 2.15993711e-02 1.13720241e+01] [-8.67195063e-02 9.96229354e-01 -2.60779283e-03 -8.92763406e-01] [-2.17441684e-02 7.24262967e-04 9.99763305e-01 -2.15740713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.89, Z:-0.22 [[ 9.95933171e-01 8.73691211e-02 2.19944466e-02 1.14038588e+01] [-8.73316767e-02 9.96175741e-01 -2.65909067e-03 -8.93985331e-01] [-2.21426565e-02 7.27464701e-04 9.99754557e-01 -2.15617369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.774319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.90, Z:-0.22 [[ 9.95887257e-01 8.78517555e-02 2.21503868e-02 1.14343311e+01] [-8.78137604e-02 9.96133294e-01 -2.68409015e-03 -8.98144774e-01] [-2.23005398e-02 7.27942424e-04 9.99751047e-01 -2.16063764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.90, Z:-0.22 [[ 9.95751020e-01 8.94152157e-02 2.20187612e-02 1.14663321e+01] [-8.93779734e-02 9.95994197e-01 -2.67171330e-03 -8.98328773e-01] [-2.21694502e-02 6.92368987e-04 9.99753988e-01 -2.17187553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.834319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.90, Z:-0.22 [[ 9.95655432e-01 9.06043360e-02 2.14736093e-02 1.14989578e+01] [-9.05690669e-02 9.95886753e-01 -2.61132486e-03 -8.99072829e-01] [-2.16218804e-02 6.55135023e-04 9.99766005e-01 -2.18086179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.90, Z:-0.22 [[ 9.95491674e-01 9.25103069e-02 2.09324932e-02 1.15301584e+01] [-9.24770917e-02 9.95711544e-01 -2.55132354e-03 -8.99883308e-01] [-2.10787488e-02 6.04045256e-04 9.99777636e-01 -2.19670434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.894319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.90, Z:-0.22 [[ 9.95440092e-01 9.30420853e-02 2.10284110e-02 1.15627771e+01] [-9.30085662e-02 9.95661995e-01 -2.56855374e-03 -9.01871682e-01] [-2.11761733e-02 6.01019013e-04 9.99775579e-01 -2.21226059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.90, Z:-0.22 [[ 9.95373087e-01 9.39238139e-02 2.02665873e-02 1.15944554e+01] [-9.38928253e-02 9.95579229e-01 -2.47731762e-03 -9.04758987e-01] [-2.04096724e-02 5.62968150e-04 9.99791542e-01 -2.21992901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.954319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.91, Z:-0.22 [[ 9.95265025e-01 9.50396255e-02 2.03715277e-02 1.16249754e+01] [-9.50084300e-02 9.95473339e-01 -2.49592577e-03 -9.08094619e-01] [-2.05165245e-02 5.48640759e-04 9.99789363e-01 -2.22386496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.91, Z:-0.22 [[ 9.94960932e-01 9.82124418e-02 2.01757064e-02 1.16560217e+01] [-9.81823879e-02 9.95165354e-01 -2.47719486e-03 -9.08885959e-01] [-2.03214554e-02 4.83813072e-04 9.99793381e-01 -2.22840199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.014319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.91, Z:-0.22 [[ 9.94762869e-01 1.00265789e-01 1.98395067e-02 1.16880378e+01] [-1.00237078e-01 9.94960592e-01 -2.43886233e-03 -9.09874102e-01] [-1.99840618e-02 4.37435519e-04 9.99800203e-01 -2.23913172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044319999999999 meters Centerline goodness [0,1] 0.9999575001593745 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.91, Z:-0.23 [[ 9.94587786e-01 1.02151438e-01 1.89794580e-02 1.17201536e+01] [-1.02125411e-01 9.94768784e-01 -2.33809218e-03 -9.10787941e-01] [-1.91190119e-02 3.87152975e-04 9.99817140e-01 -2.25299953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.074319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.91, Z:-0.23 [[ 9.94412233e-01 1.03884592e-01 1.87697389e-02 1.17521018e+01] [-1.03859350e-01 9.94589295e-01 -2.31733685e-03 -9.11088975e-01] [-1.89089170e-02 3.54975238e-04 9.99821147e-01 -2.27075979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.91, Z:-0.23 [[ 9.94352646e-01 1.04533321e-01 1.83193694e-02 1.17851967e+01] [-1.04509297e-01 9.94521327e-01 -2.26651610e-03 -9.14578929e-01] [-1.84559301e-02 3.39171862e-04 9.99829617e-01 -2.27992932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.134319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.92, Z:-0.23 [[ 9.94333221e-01 1.04757913e-01 1.80893695e-02 1.18175229e+01] [-1.04734425e-01 9.94497696e-01 -2.24362289e-03 -9.18420750e-01] [-1.82248735e-02 3.36329066e-04 9.99833857e-01 -2.28777883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.92, Z:-0.23 [[ 9.94425815e-01 1.03985757e-01 1.74430615e-02 1.18485901e+01] [-1.03963703e-01 9.94578727e-01 -2.16889708e-03 -9.23511192e-01] [-1.75740323e-02 3.43361984e-04 9.99845506e-01 -2.29615878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.194319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.93, Z:-0.23 [[ 9.94512562e-01 1.03072902e-01 1.79092421e-02 1.18799773e+01] [-1.03049422e-01 9.94673734e-01 -2.23144384e-03 -9.28569498e-01] [-1.80438541e-02 3.73661880e-04 9.99837127e-01 -2.29691607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.93, Z:-0.23 [[ 9.94608907e-01 1.02154485e-01 1.78208824e-02 1.19109000e+01] [-1.02131002e-01 9.94768469e-01 -2.22525674e-03 -9.33857745e-01] [-1.79549718e-02 3.93195595e-04 9.99838719e-01 -2.30577024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.254319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.94, Z:-0.23 [[ 9.94901265e-01 9.93296859e-02 1.74667192e-02 1.19422725e+01] [-9.93066179e-02 9.95054481e-01 -2.18525837e-03 -9.38171346e-01] [-1.75973982e-02 4.39555510e-04 9.99845057e-01 -2.32677407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.94, Z:-0.23 [[ 9.95058389e-01 9.77149867e-02 1.76233784e-02 1.19732041e+01] [-9.76911663e-02 9.95214326e-01 -2.20956618e-03 -9.43942816e-01] [-1.77549463e-02 4.76998981e-04 9.99842255e-01 -2.33127671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.314319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.95, Z:-0.23 [[ 9.95209595e-01 9.60249738e-02 1.83593940e-02 1.20045263e+01] [-9.59987914e-02 9.95378784e-01 -2.30418284e-03 -9.50456041e-01] [-1.84958103e-02 5.30665239e-04 9.99828797e-01 -2.33092095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.96, Z:-0.23 [[ 9.95595354e-01 9.17372984e-02 1.93431949e-02 1.20357170e+01] [-9.17073155e-02 9.95783032e-01 -2.43330714e-03 -9.56059519e-01] [-1.94848503e-02 6.48676801e-04 9.99809942e-01 -2.31280732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.374319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.96, Z:-0.23 [[ 9.95782788e-01 8.96375820e-02 1.95382662e-02 1.20676082e+01] [-8.96065790e-02 9.95974205e-01 -2.45827621e-03 -9.62075844e-01] [-1.96799631e-02 6.97151948e-04 9.99806088e-01 -2.31497663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.97, Z:-0.23 [[ 9.95964251e-01 8.73665707e-02 2.05497817e-02 1.20978869e+01] [-8.73316684e-02 9.96175920e-01 -2.59147625e-03 -9.68044167e-01] [-2.06976061e-02 7.86370982e-04 9.99785472e-01 -2.32058855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.434319999999998 meters Centerline goodness [0,1] 0.9999787016527517 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.97, Z:-0.23 [[ 9.96144272e-01 8.52298015e-02 2.07959154e-02 1.21294981e+01] [-8.51934789e-02 9.96360961e-01 -2.62796425e-03 -9.72356416e-01] [-2.09442191e-02 8.46155154e-04 9.99780288e-01 -2.32720099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.98, Z:-0.23 [[ 9.96439491e-01 8.16570519e-02 2.09872893e-02 1.21605486e+01] [-8.16192304e-02 9.96660052e-01 -2.65385271e-03 -9.77444805e-01] [-2.11338986e-02 9.31437245e-04 9.99776220e-01 -2.33366778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.494319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.98, Z:-0.23 [[ 9.96495032e-01 8.10315492e-02 2.07735415e-02 1.21911241e+01] [-8.09943425e-02 9.96711098e-01 -2.62759940e-03 -9.84497337e-01] [-2.09181378e-02 9.35850409e-04 9.99780754e-01 -2.34061596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524319999999998 meters Centerline goodness [0,1] 0.9999787152526499 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.99, Z:-0.24 [[ 9.96541168e-01 8.04640161e-02 2.07663668e-02 1.22212645e+01] [-8.04265977e-02 9.96757059e-01 -2.63216074e-03 -9.93805787e-01] [-2.09108169e-02 9.52888307e-04 9.99780891e-01 -2.35145831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.554319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.99, Z:-0.24 [[ 9.96437127e-01 8.19108898e-02 2.00912666e-02 1.22537651e+01] [-8.18760587e-02 9.96639253e-01 -2.55152479e-03 -9.93165205e-01] [-2.02327426e-02 8.97440310e-04 9.99794894e-01 -2.36085543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.28, Y:-1.00, Z:-0.24 [[ 9.96246942e-01 8.42483981e-02 1.98554370e-02 1.22847003e+01] [-8.42147342e-02 9.96444425e-01 -2.52703001e-03 -9.97121337e-01] [-1.99977378e-02 8.45425571e-04 9.99799668e-01 -2.37008646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.614319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.99, Z:-0.24 [[ 9.95722273e-01 9.04299582e-02 1.89625559e-02 1.23166957e+01] [-9.04002755e-02 9.95902576e-01 -2.41847804e-03 -9.92923780e-01] [-1.91035612e-02 6.93912172e-04 9.99817270e-01 -2.38688693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.35, Y:-1.00, Z:-0.24 [[ 9.95366611e-01 9.43337239e-02 1.86133887e-02 1.23466183e+01] [-9.43058036e-02 9.95540446e-01 -2.37406781e-03 -9.96459150e-01] [-1.87543359e-02 6.07717251e-04 9.99823937e-01 -2.40093795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.674319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.99, Z:-0.24 [[ 9.95044273e-01 9.77686815e-02 1.81157285e-02 1.23782208e+01] [-9.77427602e-02 9.95209025e-01 -2.31293032e-03 -9.93796717e-01] [-1.82550687e-02 5.30786760e-04 9.99833221e-01 -2.41396319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.41, Y:-1.00, Z:-0.24 [[ 9.94677353e-01 1.01521636e-01 1.76159448e-02 1.24081531e+01] [-1.01497700e-01 9.94833230e-01 -2.24988418e-03 -9.98750834e-01] [-1.77533392e-02 4.49930972e-04 9.99842296e-01 -2.42754116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.734319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.44, Y:-1.00, Z:-0.24 [[ 9.94071678e-01 1.07390807e-01 1.69915841e-02 1.24400891e+01] [-1.07369389e-01 9.94216829e-01 -2.17039463e-03 -9.95232309e-01] [-1.71263993e-02 3.33151817e-04 9.99853277e-01 -2.43138340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.47, Y:-1.00, Z:-0.24 [[ 9.93835402e-01 1.09586222e-01 1.67944328e-02 1.24720843e+01] [-1.09565617e-01 9.93977251e-01 -2.14487167e-03 -9.98074516e-01] [-1.69283326e-02 2.91556994e-04 9.99856663e-01 -2.43860310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.794319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.50, Y:-1.00, Z:-0.24 [[ 9.93537400e-01 1.12282436e-01 1.66159527e-02 1.25037033e+01] [-1.12262570e-01 9.93676302e-01 -2.12652109e-03 -1.00133736e+00] [-1.67496494e-02 2.47428676e-04 9.99859684e-01 -2.43915977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.54, Y:-1.01, Z:-0.24 [[ 9.93435942e-01 1.13045182e-01 1.74875899e-02 1.25360721e+01] [-1.13023194e-01 9.93589816e-01 -2.24379388e-03 -1.00547261e+00] [-1.76291413e-02 2.52562223e-04 9.99844563e-01 -2.43840579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.854319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.57, Y:-1.01, Z:-0.24 [[ 9.93413917e-01 1.13232291e-01 1.75281952e-02 1.25679911e+01] [-1.13210211e-01 9.93568511e-01 -2.25005512e-03 -1.01045135e+00] [-1.76702417e-02 2.50865401e-04 9.99843838e-01 -2.44645203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.60, Y:-1.01, Z:-0.25 [[ 9.93406980e-01 1.13302439e-01 1.74679585e-02 1.26004874e+01] [-1.13280433e-01 9.93560513e-01 -2.24737107e-03 -1.01388281e+00] [-1.76101064e-02 2.53776200e-04 9.99844898e-01 -2.45786317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.914319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.63, Y:-1.02, Z:-0.25 [[ 9.93545233e-01 1.11947504e-01 1.83200993e-02 1.26322565e+01] [-1.11922954e-01 9.93714077e-01 -2.36317133e-03 -1.02029168e+00] [-1.84694917e-02 2.97477982e-04 9.99829380e-01 -2.45717632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.66, Y:-1.03, Z:-0.25 [[ 9.93656528e-01 1.10962796e-01 1.82746506e-02 1.26628287e+01] [-1.10938106e-01 9.93824509e-01 -2.36244029e-03 -1.02852938e+00] [-1.84239386e-02 3.20099093e-04 9.99830214e-01 -2.46110550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.974319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.69, Y:-1.04, Z:-0.25 [[ 9.93817862e-01 1.09379265e-01 1.90324272e-02 1.26933166e+01] [-1.09352097e-01 9.94000020e-01 -2.46552527e-03 -1.03584463e+00] [-1.91879104e-02 3.69047235e-04 9.99815827e-01 -2.46309044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004319999999998 meters Centerline goodness [0,1] 0.9999573251397602 Centerline is valid? [True, True] Translation: X:12.72, Y:-1.04, Z:-0.25 [[ 9.94168058e-01 1.06075762e-01 1.94371977e-02 1.27245436e+01] [-1.06046699e-01 9.94357950e-01 -2.52276794e-03 -1.04197067e+00] [-1.95951365e-02 4.46804642e-04 9.99807897e-01 -2.46234043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.034319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.76, Y:-1.05, Z:-0.25 [[ 9.94297886e-01 1.04680858e-01 2.03379219e-02 1.27551521e+01] [-1.04648632e-01 9.94505740e-01 -2.64530551e-03 -1.04849962e+00] [-2.05030929e-02 5.01885972e-04 9.99789664e-01 -2.46553884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.79, Y:-1.06, Z:-0.25 [[ 9.94509730e-01 1.02500359e-01 2.10730535e-02 1.27851365e+01] [-1.02465202e-01 9.94732804e-01 -2.74420431e-03 -1.05835933e+00] [-2.12433395e-02 5.69883201e-04 9.99774172e-01 -2.47116596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.094319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.82, Y:-1.06, Z:-0.25 [[ 9.94521205e-01 1.02387083e-01 2.10821973e-02 1.28173115e+01] [-1.02351807e-01 9.94744467e-01 -2.74839023e-03 -1.06407553e+00] [-2.12527987e-02 5.75531382e-04 9.99773968e-01 -2.47674830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.85, Y:-1.07, Z:-0.25 [[ 9.94541052e-01 1.02238074e-01 2.08679655e-02 1.28506736e+01] [-1.02203349e-01 9.94759791e-01 -2.72661679e-03 -1.06607982e+00] [-2.10373770e-02 5.78956371e-04 9.99778522e-01 -2.48375852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.154319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.88, Y:-1.07, Z:-0.25 [[ 9.94508957e-01 1.02600501e-01 2.06172439e-02 1.28828490e+01] [-1.02566547e-01 9.94722480e-01 -2.70038815e-03 -1.07170330e+00] [-2.07854971e-02 5.70920684e-04 9.99783795e-01 -2.49437712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.91, Y:-1.08, Z:-0.25 [[ 9.94379880e-01 1.04026765e-01 1.96745282e-02 1.29138295e+01] [-1.03996005e-01 9.94574361e-01 -2.58295204e-03 -1.07742382e+00] [-1.98364774e-02 5.22363212e-04 9.99803101e-01 -2.51272453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.214319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.95, Y:-1.08, Z:-0.25 [[ 9.94262063e-01 1.05263926e-01 1.90382816e-02 1.29454424e+01] [-1.05235261e-01 9.94444201e-01 -2.50408818e-03 -1.08100539e+00] [-1.91960989e-02 4.86221354e-04 9.99815620e-01 -2.52512365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.98, Y:-1.08, Z:-0.25 [[ 9.94110481e-01 1.06722894e-01 1.88301770e-02 1.29772887e+01] [-1.06695017e-01 9.94288698e-01 -2.48178652e-03 -1.08423891e+00] [-1.89874956e-02 4.58083928e-04 9.99819616e-01 -2.53937422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.274319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.01, Y:-1.09, Z:-0.26 [[ 9.93814162e-01 1.09630076e-01 1.77385738e-02 1.30091535e+01] [-1.09605721e-01 9.93972384e-01 -2.34234387e-03 -1.08574304e+00] [-1.78884438e-02 3.83605338e-04 9.99839915e-01 -2.55658756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.04, Y:-1.09, Z:-0.26 [[ 9.93779611e-01 1.09942937e-01 1.77379462e-02 1.30412743e+01] [-1.09918548e-01 9.93937827e-01 -2.34708648e-03 -1.09015584e+00] [-1.78884613e-02 3.82757411e-04 9.99839915e-01 -2.56348935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.334319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.07, Y:-1.10, Z:-0.26 [[ 9.93613280e-01 1.11497251e-01 1.73497177e-02 1.30719734e+01] [-1.11474055e-01 9.93764680e-01 -2.30135757e-03 -1.09536607e+00] [-1.74981317e-02 3.52616052e-04 9.99846834e-01 -2.57346820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.10, Y:-1.10, Z:-0.26 [[ 9.93491502e-01 1.12565722e-01 1.74239647e-02 1.31027937e+01] [-1.12542406e-01 9.93644223e-01 -2.31609181e-03 -1.10098553e+00] [-1.75739344e-02 3.40082613e-04 9.99845509e-01 -2.57965398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.394319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.13, Y:-1.10, Z:-0.26 [[ 9.93300422e-01 1.14285086e-01 1.71228137e-02 1.31349172e+01] [-1.14262788e-01 9.93447948e-01 -2.27816587e-03 -1.10330756e+00] [-1.72709845e-02 3.06402676e-04 9.99850798e-01 -2.58286520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.17, Y:-1.11, Z:-0.26 [[ 9.93220862e-01 1.15096082e-01 1.62852791e-02 1.31675160e+01] [-1.15075954e-01 9.93354324e-01 -2.17079621e-03 -1.10869740e+00] [-1.64269026e-02 2.82036051e-04 9.99865030e-01 -2.59917043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.454319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.20, Y:-1.11, Z:-0.26 [[ 9.93153629e-01 1.15719726e-01 1.59629088e-02 1.32003980e+01] [-1.15700389e-01 9.93281869e-01 -2.13274264e-03 -1.11439070e+00] [-1.61024683e-02 2.71226337e-04 9.99870310e-01 -2.60374394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.23, Y:-1.12, Z:-0.26 [[ 9.93106073e-01 1.16156955e-01 1.57444801e-02 1.32327823e+01] [-1.16138121e-01 9.93230835e-01 -2.10845136e-03 -1.11982415e+00] [-1.58828144e-02 2.65381519e-04 9.99873825e-01 -2.61131173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.514319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.26, Y:-1.13, Z:-0.26 [[ 9.93118371e-01 1.16047707e-01 1.57743621e-02 1.32640663e+01] [-1.16028698e-01 9.93243603e-01 -2.11804710e-03 -1.12502418e+00] [-1.59135787e-02 2.73192788e-04 9.99873334e-01 -2.62545588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.30, Y:-1.13, Z:-0.26 [[ 9.93126566e-01 1.15986497e-01 1.57084891e-02 1.32961980e+01] [-1.15967600e-01 9.93250752e-01 -2.11166287e-03 -1.13070448e+00] [-1.58473930e-02 2.75472713e-04 9.99874384e-01 -2.63519572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.574319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.33, Y:-1.14, Z:-0.26 [[ 9.93217539e-01 1.15200689e-01 1.57391373e-02 1.33259889e+01] [-1.15181538e-01 9.93342194e-01 -2.12092482e-03 -1.13956667e+00] [-1.58786812e-02 2.93681685e-04 9.99873883e-01 -2.64286943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.36, Y:-1.15, Z:-0.26 [[ 9.93291539e-01 1.14555183e-01 1.57806382e-02 1.33576367e+01] [-1.14535789e-01 9.93416838e-01 -2.13032754e-03 -1.14601147e+00] [-1.59207918e-02 3.08588471e-04 9.99873209e-01 -2.64741059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.634319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.39, Y:-1.15, Z:-0.27 [[ 9.93399299e-01 1.13641129e-01 1.56053172e-02 1.33894553e+01] [-1.13621987e-01 9.93521811e-01 -2.11070495e-03 -1.15273271e+00] [-1.57440859e-02 3.23665671e-04 9.99876002e-01 -2.65239483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.42, Y:-1.16, Z:-0.27 [[ 9.93743267e-01 1.10563376e-01 1.58132350e-02 1.34197654e+01] [-1.10543262e-01 9.93869003e-01 -2.14313607e-03 -1.16279835e+00] [-1.59532365e-02 3.81680462e-04 9.99872666e-01 -2.65891206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.694319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.45, Y:-1.17, Z:-0.27 [[ 9.93901939e-01 1.09145775e-01 1.56886844e-02 1.34512055e+01] [-1.09125743e-01 9.94025672e-01 -2.12989724e-03 -1.16960306e+00] [-1.58274243e-02 4.04869670e-04 9.99874657e-01 -2.66956319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.48, Y:-1.18, Z:-0.27 [[ 9.94100181e-01 1.07338542e-01 1.55970433e-02 1.34813933e+01] [-1.07318456e-01 9.94222434e-01 -2.12154102e-03 -1.17696345e+00] [-1.57346534e-02 4.35173706e-04 9.99876108e-01 -2.67666738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.754319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.51, Y:-1.18, Z:-0.27 [[ 9.94254231e-01 1.05930698e-01 1.54016954e-02 1.35123191e+01] [-1.05910887e-01 9.94373411e-01 -2.09855420e-03 -1.18471473e+00] [-1.55373377e-02 4.55289159e-04 9.99879185e-01 -2.68192986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.54, Y:-1.20, Z:-0.27 [[ 9.94658724e-01 1.02114358e-01 1.50558873e-02 1.35407756e+01] [-1.02094917e-01 9.94772537e-01 -2.05628971e-03 -1.19745442e+00] [-1.51871599e-02 5.08176937e-04 9.99884539e-01 -2.68218269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.814319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.57, Y:-1.20, Z:-0.27 [[ 9.94751057e-01 1.01178304e-01 1.52736556e-02 1.35718193e+01] [-1.01158208e-01 9.94868168e-01 -2.08460182e-03 -1.20451368e+00] [-1.54061902e-02 5.28604229e-04 9.99881178e-01 -2.68909882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.60, Y:-1.21, Z:-0.27 [[ 9.94858065e-01 1.00101781e-01 1.53968905e-02 1.36035912e+01] [-1.00081170e-01 9.94977049e-01 -2.10529192e-03 -1.21056959e+00] [-1.55302962e-02 5.53527829e-04 9.99879244e-01 -2.69729598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.874319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.63, Y:-1.22, Z:-0.27 [[ 9.94934685e-01 9.92623469e-02 1.58732187e-02 1.36343279e+01] [-9.92402676e-02 9.95061124e-01 -2.17461389e-03 -1.21606679e+00] [-1.60106801e-02 5.88336316e-04 9.99871648e-01 -2.70664736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.67, Y:-1.21, Z:-0.27 [[ 9.94800996e-01 1.00513232e-01 1.63728087e-02 1.36673397e+01] [-1.00489850e-01 9.94935547e-01 -2.24668886e-03 -1.20987575e+00] [-1.65157113e-02 5.89707233e-04 9.99863432e-01 -2.69714870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.934319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.70, Y:-1.22, Z:-0.27 [[ 9.94694493e-01 1.01542375e-01 1.64927700e-02 1.36972743e+01] [-1.01518710e-01 9.94831045e-01 -2.26797272e-03 -1.21934352e+00] [-1.66378149e-02 5.81615233e-04 9.99861413e-01 -2.70730769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.73, Y:-1.22, Z:-0.27 [[ 9.94439223e-01 1.04018893e-01 1.64529870e-02 1.37291352e+01] [-1.03995610e-01 9.94575173e-01 -2.26677785e-03 -1.22101926e+00] [-1.65995201e-02 5.43134393e-04 9.99862071e-01 -2.70539481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.994319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.76, Y:-1.22, Z:-0.27 [[ 9.94011690e-01 1.08180238e-01 1.54206686e-02 1.37598604e+01] [-1.08160207e-01 9.94131196e-01 -2.12951156e-03 -1.22226385e+00] [-1.55605388e-02 4.48856670e-04 9.99878827e-01 -2.73036197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.79, Y:-1.23, Z:-0.27 [[ 9.93826563e-01 1.09954873e-01 1.47881314e-02 1.37907218e+01] [-1.09936659e-01 9.93936499e-01 -2.04143307e-03 -1.22622004e+00] [-1.49229291e-02 4.03072641e-04 9.99888566e-01 -2.74649197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.054319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.82, Y:-1.23, Z:-0.27 [[ 9.93592374e-01 1.12127543e-01 1.41989097e-02 1.38228708e+01] [-1.12110932e-01 9.93693758e-01 -1.96300472e-03 -1.22524578e+00] [-1.43294749e-02 3.58573514e-04 9.99897264e-01 -2.74763180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.85, Y:-1.23, Z:-0.28 [[ 9.93119738e-01 1.16278369e-01 1.38754410e-02 1.38540168e+01] [-1.16262856e-01 9.93216620e-01 -1.92215092e-03 -1.22714065e+00] [-1.40048232e-02 2.95727618e-04 9.99901884e-01 -2.77526508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.114319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.89, Y:-1.23, Z:-0.28 [[ 9.92887223e-01 1.18223426e-01 1.40778146e-02 1.38865852e+01] [-1.18207603e-01 9.92986982e-01 -1.95371949e-03 -1.22581223e+00] [-1.42100620e-02 2.75718394e-04 9.99898994e-01 -2.77214037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.92, Y:-1.23, Z:-0.28 [[ 9.92572159e-01 1.20736925e-01 1.49366458e-02 1.39174698e+01] [-1.20719327e-01 9.92684506e-01 -2.07750314e-03 -1.22860957e+00] [-1.50782082e-02 2.58929944e-04 9.99886284e-01 -2.77562507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.174319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.95, Y:-1.23, Z:-0.28 [[ 9.92455788e-01 1.21666027e-01 1.51290077e-02 1.39490316e+01] [-1.21648024e-01 9.92571063e-01 -2.10802283e-03 -1.23169687e+00] [-1.52730900e-02 2.51705570e-04 9.99883328e-01 -2.77267695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.98, Y:-1.24, Z:-0.28 [[ 9.92395724e-01 1.22051676e-01 1.59410049e-02 1.39803091e+01] [-1.22031664e-01 9.92523712e-01 -2.22580784e-03 -1.23723810e+00] [-1.60934889e-02 2.63574838e-04 9.99870457e-01 -2.77021044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.234319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.01, Y:-1.24, Z:-0.28 [[ 9.92415567e-01 1.21691734e-01 1.73915048e-02 1.40130683e+01] [-1.21667760e-01 9.92567898e-01 -2.43394576e-03 -1.24376724e+00] [-1.75584404e-02 2.99500240e-04 9.99845794e-01 -2.75703870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.05, Y:-1.25, Z:-0.28 [[ 9.92448679e-01 1.21311755e-01 1.81404937e-02 1.40451258e+01] [-1.21285495e-01 9.92614403e-01 -2.54488609e-03 -1.24979170e+00] [-1.83152399e-02 3.25490083e-04 9.99832209e-01 -2.75706073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.294319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.08, Y:-1.26, Z:-0.28 [[ 9.92536918e-01 1.20534855e-01 1.84882288e-02 1.40763916e+01] [-1.20507330e-01 9.92709033e-01 -2.59981184e-03 -1.25503240e+00] [-1.86667997e-02 3.52442143e-04 9.99825698e-01 -2.76024892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.11, Y:-1.26, Z:-0.28 [[ 9.92676816e-01 1.19338190e-01 1.87386334e-02 1.41064755e+01] [-1.19309599e-01 9.92853588e-01 -2.64037251e-03 -1.26230671e+00] [-1.89198166e-02 3.85337734e-04 9.99820930e-01 -2.76686498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.354319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.14, Y:-1.27, Z:-0.28 [[ 9.92739929e-01 1.18847919e-01 1.85096158e-02 1.41386782e+01] [-1.18819852e-01 9.92912391e-01 -2.61273257e-03 -1.26695453e+00] [-1.86889448e-02 3.94454139e-04 9.99825269e-01 -2.77397981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.17, Y:-1.27, Z:-0.28 [[ 9.92751301e-01 1.18826633e-01 1.80301356e-02 1.41714734e+01] [-1.18799911e-01 9.92914941e-01 -2.54979439e-03 -1.27296317e+00] [-1.82053745e-02 3.89333187e-04 9.99834193e-01 -2.78493680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.414319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.20, Y:-1.28, Z:-0.28 [[ 9.92803254e-01 1.18436161e-01 1.77362694e-02 1.42021199e+01] [-1.18410139e-01 9.92961590e-01 -2.51394894e-03 -1.27933433e+00] [-1.79091768e-02 3.95702562e-04 9.99839540e-01 -2.79509209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.23, Y:-1.29, Z:-0.28 [[ 9.92907453e-01 1.17542285e-01 1.78494164e-02 1.42333583e+01] [-1.17515704e-01 9.93067790e-01 -2.53450008e-03 -1.28593056e+00] [-1.80235914e-02 4.18937291e-04 9.99837474e-01 -2.79630420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.474319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.27, Y:-1.29, Z:-0.28 [[ 9.92930476e-01 1.17403418e-01 1.74787768e-02 1.42653402e+01] [-1.17377827e-01 9.93084218e-01 -2.48644103e-03 -1.29177244e+00] [-1.76498140e-02 4.17242245e-04 9.99844143e-01 -2.80545616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.30, Y:-1.30, Z:-0.28 [[ 9.92997619e-01 1.16903350e-01 1.70098773e-02 1.42959648e+01] [-1.16878940e-01 9.93143207e-01 -2.42557898e-03 -1.29743470e+00] [-1.71768024e-02 4.20497725e-04 9.99852379e-01 -2.81767348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.534319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.33, Y:-1.30, Z:-0.28 [[ 9.93091388e-01 1.16124065e-01 1.68729305e-02 1.43265505e+01] [-1.16099898e-01 9.93234622e-01 -2.40814708e-03 -1.30433961e+00] [-1.70384226e-02 4.32564607e-04 9.99854742e-01 -2.82487656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.36, Y:-1.31, Z:-0.28 [[ 9.93130333e-01 1.15805074e-01 1.67727823e-02 1.43585834e+01] [-1.15781080e-01 9.93271862e-01 -2.39788291e-03 -1.30783217e+00] [-1.69376197e-02 4.39439409e-04 9.99856452e-01 -2.82684501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.594319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.39, Y:-1.31, Z:-0.28 [[ 9.93246769e-01 1.14794091e-01 1.68277058e-02 1.43899802e+01] [-1.14769714e-01 9.93389200e-01 -2.41046724e-03 -1.31377145e+00] [-1.69931686e-02 4.62877812e-04 9.99855499e-01 -2.83592467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.42, Y:-1.32, Z:-0.28 [[ 9.93284239e-01 1.14479066e-01 1.67619800e-02 1.44215756e+01] [-1.14454755e-01 9.93425549e-01 -2.40573529e-03 -1.31968783e+00] [-1.69271855e-02 4.71090645e-04 9.99856614e-01 -2.84530839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.654319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.45, Y:-1.33, Z:-0.29 [[ 9.93315750e-01 1.14268009e-01 1.63292029e-02 1.44535766e+01] [-1.14244836e-01 9.93449850e-01 -2.34801925e-03 -1.32509900e+00] [-1.64905477e-02 4.66797393e-04 9.99863913e-01 -2.85035252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.49, Y:-1.33, Z:-0.29 [[ 9.93318678e-01 1.14226954e-01 1.64379468e-02 1.44858277e+01] [-1.14203392e-01 9.93454567e-01 -2.36808803e-03 -1.33027822e+00] [-1.66008528e-02 4.74996789e-04 9.99862084e-01 -2.85205173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.714319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.52, Y:-1.34, Z:-0.29 [[ 9.93273306e-01 1.14572591e-01 1.67708417e-02 1.45178680e+01] [-1.14548022e-01 9.93414761e-01 -2.42148811e-03 -1.33524785e+00] [-1.69378378e-02 4.84132761e-04 9.99856427e-01 -2.85762167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.55, Y:-1.34, Z:-0.29 [[ 9.93204838e-01 1.15142836e-01 1.69197512e-02 1.45484709e+01] [-1.15117808e-01 9.93348827e-01 -2.44905462e-03 -1.34075515e+00] [-1.70892061e-02 4.84648235e-04 9.99853851e-01 -2.86405016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.774319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.58, Y:-1.34, Z:-0.29 [[ 9.93103864e-01 1.16035550e-01 1.67471330e-02 1.45803443e+01] [-1.16011123e-01 9.93244951e-01 -2.42611983e-03 -1.34374943e+00] [-1.69155214e-02 4.66535278e-04 9.99856813e-01 -2.86377491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.61, Y:-1.35, Z:-0.29 [[ 9.92805781e-01 1.18574314e-01 1.66376919e-02 1.46127574e+01] [-1.18550484e-01 9.92945090e-01 -2.41480874e-03 -1.34507419e+00] [-1.68066488e-02 4.25029643e-04 9.99858668e-01 -2.87239001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.834319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.64, Y:-1.35, Z:-0.29 [[ 9.92592065e-01 1.20440967e-01 1.59676524e-02 1.46447521e+01] [-1.20419191e-01 9.92720418e-01 -2.32180053e-03 -1.34826750e+00] [-1.61310544e-02 3.81789006e-04 9.99869813e-01 -2.88339720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.68, Y:-1.35, Z:-0.29 [[ 9.92321402e-01 1.22709069e-01 1.55151282e-02 1.46770304e+01] [-1.22688721e-01 9.92442628e-01 -2.26018012e-03 -1.35133646e+00] [-1.56752192e-02 3.39293869e-04 9.99877079e-01 -2.89210696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.894319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.71, Y:-1.36, Z:-0.29 [[ 9.92218683e-01 1.23539682e-01 1.54929696e-02 1.47079747e+01] [-1.23519423e-01 9.92339578e-01 -2.26147446e-03 -1.35565307e+00] [-1.56536688e-02 3.30194542e-04 9.99877419e-01 -2.90058535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.74, Y:-1.36, Z:-0.29 [[ 9.92138159e-01 1.24169337e-01 1.56156890e-02 1.47404709e+01] [-1.24148773e-01 9.92260988e-01 -2.28320865e-03 -1.35980278e+00] [-1.57783435e-02 3.26589809e-04 9.99875461e-01 -2.90818631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.954319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.77, Y:-1.36, Z:-0.29 [[ 9.92083494e-01 1.24457511e-01 1.67531715e-02 1.47732680e+01] [-1.24433784e-01 9.92224876e-01 -2.45536282e-03 -1.36281372e+00] [-1.69285018e-02 3.51264407e-04 9.99856641e-01 -2.90614131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984319999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.81, Y:-1.37, Z:-0.29 [[ 9.92066509e-01 1.24492593e-01 1.74824527e-02 1.48051539e+01] [-1.24466654e-01 9.92220467e-01 -2.56827907e-03 -1.36831060e+00] [-1.76661791e-02 3.71921255e-04 9.99843872e-01 -2.90672944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.014319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.84, Y:-1.37, Z:-0.29 [[ 9.92070478e-01 1.24364793e-01 1.81539418e-02 1.48374416e+01] [-1.24336698e-01 9.92236485e-01 -2.67257923e-03 -1.37342026e+00] [-1.83453781e-02 3.94185772e-04 9.99831632e-01 -2.91259759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.87, Y:-1.38, Z:-0.29 [[ 9.92255726e-01 1.22635322e-01 1.97269345e-02 1.48674937e+01] [-1.22601667e-01 9.92451690e-01 -2.91107291e-03 -1.38009548e+00] [-1.99350299e-02 4.69973719e-04 9.99801167e-01 -2.90603622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.074319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.90, Y:-1.38, Z:-0.29 [[ 9.92351263e-01 1.21692466e-01 2.07343603e-02 1.48993978e+01] [-1.21654963e-01 9.92567718e-01 -3.06529912e-03 -1.38462687e+00] [-2.09532805e-02 5.19415624e-04 9.99780321e-01 -2.90393460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.93, Y:-1.39, Z:-0.29 [[ 9.92459485e-01 1.20680974e-01 2.14539715e-02 1.49312258e+01] [-1.20640454e-01 9.92691182e-01 -3.17777755e-03 -1.39075038e+00] [-2.16806656e-02 5.65598610e-04 9.99764787e-01 -2.90144038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.134319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.96, Y:-1.40, Z:-0.29 [[ 9.92701572e-01 1.18499396e-01 2.23938138e-02 1.49614570e+01] [-1.18454549e-01 9.92953914e-01 -3.32331516e-03 -1.39652060e+00] [-2.26298359e-02 6.46411074e-04 9.99743703e-01 -2.91125788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.99, Y:-1.40, Z:-0.29 [[ 9.92801909e-01 1.17671231e-01 2.23125644e-02 1.49925629e+01] [-1.17626374e-01 9.93052383e-01 -3.31683929e-03 -1.40148975e+00] [-2.25478418e-02 6.68418323e-04 9.99745542e-01 -2.92291247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.194319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.02, Y:-1.41, Z:-0.29 [[ 9.92766987e-01 1.17965655e-01 2.23117491e-02 1.50246095e+01] [-1.17920750e-01 9.93017452e-01 -3.32231471e-03 -1.40643762e+00] [-2.25478753e-02 6.67266176e-04 9.99745542e-01 -2.92981438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.06, Y:-1.41, Z:-0.29 [[ 9.92837277e-01 1.17321455e-01 2.25791375e-02 1.50569406e+01] [-1.17275144e-01 9.93093747e-01 -3.36900483e-03 -1.40891498e+00] [-2.28184568e-02 6.96901983e-04 9.99739382e-01 -2.94256374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.254319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.09, Y:-1.42, Z:-0.30 [[ 9.92887565e-01 1.16849070e-01 2.28161716e-02 1.50869241e+01] [-1.16801511e-01 9.93149422e-01 -3.41065502e-03 -1.41572254e+00] [-2.30583996e-02 7.21433631e-04 9.99733859e-01 -2.95067669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.12, Y:-1.42, Z:-0.30 [[ 9.93049389e-01 1.15406002e-01 2.31163347e-02 1.51185622e+01] [-1.15356655e-01 9.93318106e-01 -3.46143902e-03 -1.41836342e+00] [-2.33613447e-02 7.70756870e-04 9.99726789e-01 -2.96286239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.314319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.15, Y:-1.42, Z:-0.30 [[ 9.93083168e-01 1.15092418e-01 2.32283605e-02 1.51491688e+01] [-1.15042366e-01 9.93354476e-01 -3.48413351e-03 -1.42485711e+00] [-2.34749932e-02 7.87788798e-04 9.99724114e-01 -2.96965867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.18, Y:-1.43, Z:-0.30 [[ 9.93116148e-01 1.14848637e-01 2.30240516e-02 1.51810664e+01] [-1.14799262e-01 9.93382687e-01 -3.45928634e-03 -1.42561747e+00] [-2.32689885e-02 7.92328990e-04 9.99728926e-01 -2.98397331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.374319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.21, Y:-1.43, Z:-0.30 [[ 9.93141299e-01 1.14773393e-01 2.23031230e-02 1.52119882e+01] [-1.14726910e-01 9.93391397e-01 -3.35684749e-03 -1.43177251e+00] [-2.25410073e-02 7.75055493e-04 9.99745619e-01 -3.00351431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.24, Y:-1.43, Z:-0.30 [[ 9.93107777e-01 1.15142295e-01 2.18905210e-02 1.52446113e+01] [-1.15097511e-01 9.93348720e-01 -3.29907699e-03 -1.43416793e+00] [-2.21247843e-02 7.56794530e-04 9.99754931e-01 -3.02087841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.434319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.28, Y:-1.44, Z:-0.30 [[ 9.93013465e-01 1.16017612e-01 2.15446345e-02 1.52766603e+01] [-1.15974293e-01 9.93246886e-01 -3.25361603e-03 -1.43723959e+00] [-2.17766179e-02 7.32260779e-04 9.99762593e-01 -3.03605175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.31, Y:-1.44, Z:-0.31 [[ 9.92724213e-01 1.18506312e-01 2.13281815e-02 1.53078957e+01] [-1.18464307e-01 9.92953068e-01 -3.22673890e-03 -1.43770797e+00] [-2.15602722e-02 6.76633591e-04 9.99767321e-01 -3.05962052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.494319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.34, Y:-1.44, Z:-0.31 [[ 9.92523779e-01 1.20134903e-01 2.15441981e-02 1.53382954e+01] [-1.20092306e-01 9.92757361e-01 -3.26493841e-03 -1.44302477e+00] [-2.17803944e-02 6.53236582e-04 9.99762566e-01 -3.06931319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.37, Y:-1.44, Z:-0.31 [[ 9.92277085e-01 1.22122676e-01 2.17310502e-02 1.53710887e+01] [-1.22079693e-01 9.92514820e-01 -3.29864038e-03 -1.44465108e+00] [-2.19712282e-02 6.20245315e-04 9.99758411e-01 -3.07587079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.554319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.40, Y:-1.44, Z:-0.31 [[ 9.91769335e-01 1.26029158e-01 2.25884290e-02 1.54030366e+01] [-1.25983680e-01 9.92026381e-01 -3.43092301e-03 -1.44367147e+00] [-2.28407138e-02 5.56910829e-04 9.99738962e-01 -3.07529259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.43, Y:-1.45, Z:-0.31 [[ 9.91490869e-01 1.28153036e-01 2.28616570e-02 1.54349787e+01] [-1.28106984e-01 9.91754271e-01 -3.47375414e-03 -1.44668933e+00] [-2.31183181e-02 5.15457594e-04 9.99732603e-01 -3.08043220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.614319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.47, Y:-1.45, Z:-0.31 [[ 9.91252194e-01 1.29934804e-01 2.31524067e-02 1.54657069e+01] [-1.29887917e-01 9.91522421e-01 -3.52397893e-03 -1.45025775e+00] [-2.34140179e-02 4.85933967e-04 9.99725736e-01 -3.08435527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.50, Y:-1.45, Z:-0.31 [[ 9.91008841e-01 1.31676493e-01 2.37229312e-02 1.54971788e+01] [-1.31627669e-01 9.91292636e-01 -3.61482738e-03 -1.45368658e+00] [-2.39923548e-02 4.59731748e-04 9.99712036e-01 -3.08574133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.674319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.53, Y:-1.45, Z:-0.31 [[ 9.90698299e-01 1.33915576e-01 2.41556987e-02 1.55295098e+01] [-1.33865462e-01 9.90992655e-01 -3.68720187e-03 -1.45467678e+00] [-2.44318937e-02 4.19290857e-04 9.99701409e-01 -3.09149559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.56, Y:-1.46, Z:-0.31 [[ 9.90599705e-01 1.34603499e-01 2.43746445e-02 1.55618352e+01] [-1.34552518e-01 9.90899454e-01 -3.72719268e-03 -1.45880562e+00] [-2.46545151e-02 4.12486179e-04 9.99695946e-01 -3.10138384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.734319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.59, Y:-1.46, Z:-0.31 [[ 9.90554621e-01 1.34986613e-01 2.40864711e-02 1.55949613e+01] [-1.34936768e-01 9.90847339e-01 -3.69032382e-03 -1.46237979e+00] [-2.43641601e-02 4.05316739e-04 9.99703068e-01 -3.11439612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.63, Y:-1.47, Z:-0.31 [[ 9.90689612e-01 1.33692180e-01 2.57000877e-02 1.56261121e+01] [-1.33634778e-01 9.91022793e-01 -3.94594414e-03 -1.46958906e+00] [-2.59969145e-02 4.74780353e-04 9.99661910e-01 -3.10952103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.794319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.66, Y:-1.48, Z:-0.31 [[ 9.90846852e-01 1.32384344e-01 2.63988812e-02 1.56581103e+01] [-1.32323112e-01 9.91198317e-01 -4.06076720e-03 -1.47553242e+00] [-2.67041086e-02 5.30416285e-04 9.99643241e-01 -3.10893092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.69, Y:-1.48, Z:-0.31 [[ 9.91018862e-01 1.31038288e-01 2.66567647e-02 1.56885372e+01] [-1.30975166e-01 9.91377139e-01 -4.10788708e-03 -1.48216994e+00] [-2.69651976e-02 5.79619401e-04 9.99636205e-01 -3.11119283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.854319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.72, Y:-1.49, Z:-0.31 [[ 9.91484095e-01 1.27313325e-01 2.73971895e-02 1.57185983e+01] [-1.27245063e-01 9.91862299e-01 -4.22783639e-03 -1.48910754e+00] [-2.77124993e-02 7.05675429e-04 9.99615686e-01 -3.12038242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.75, Y:-1.50, Z:-0.31 [[ 9.91698929e-01 1.25570394e-01 2.76642511e-02 1.57496059e+01] [-1.25500046e-01 9.92084418e-01 -4.27155893e-03 -1.49574499e+00] [-2.79816538e-02 7.64235623e-04 9.99608145e-01 -3.12824574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.914319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.78, Y:-1.51, Z:-0.31 [[ 9.92178012e-01 1.21795596e-01 2.73610313e-02 1.57799441e+01] [-1.21725159e-01 9.92554824e-01 -4.23154251e-03 -1.50545179e+00] [-2.76727069e-02 8.67917530e-04 9.99616661e-01 -3.13772124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.81, Y:-1.51, Z:-0.32 [[ 9.92382056e-01 1.20179320e-01 2.71069222e-02 1.58119507e+01] [-1.20109394e-01 9.92751782e-01 -4.19916350e-03 -1.50979985e+00] [-2.74150979e-02 9.11378503e-04 9.99623720e-01 -3.15058483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.974319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.84, Y:-1.52, Z:-0.31 [[ 9.92503472e-01 1.19054857e-01 2.76188347e-02 1.58417509e+01] [-1.18981611e-01 9.92887206e-01 -4.28626874e-03 -1.52075403e+00] [-2.79326888e-02 9.68003150e-04 9.99609338e-01 -3.14293489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.87, Y:-1.52, Z:-0.32 [[ 9.92807443e-01 1.16589472e-01 2.72080111e-02 1.58738930e+01] [-1.16517303e-01 9.93179661e-01 -4.22840834e-03 -1.52419864e+00] [-2.75154311e-02 1.02779121e-03 9.99620850e-01 -3.16212385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.034319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.91, Y:-1.53, Z:-0.32 [[ 9.92874059e-01 1.16128656e-01 2.67439406e-02 1.59053523e+01] [-1.16058673e-01 9.93233649e-01 -4.15956588e-03 -1.52896872e+00] [-2.70460265e-02 1.02605879e-03 9.99633663e-01 -3.17966758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.94, Y:-1.53, Z:-0.32 [[ 9.92880537e-01 1.16162646e-01 2.63529683e-02 1.59383293e+01] [-1.16094506e-01 9.93229683e-01 -4.10630969e-03 -1.53407154e+00] [-2.66515502e-02 1.01764014e-03 9.99644266e-01 -3.19359597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.094319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.97, Y:-1.54, Z:-0.32 [[ 9.92844045e-01 1.16523604e-01 2.61333681e-02 1.59700183e+01] [-1.16456501e-01 9.93187411e-01 -4.08034257e-03 -1.54023386e+00] [-2.64307884e-02 1.00774322e-03 9.99650138e-01 -3.20125229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.00, Y:-1.55, Z:-0.32 [[ 9.92744850e-01 1.17542634e-01 2.53257250e-02 1.60019698e+01] [-1.17479759e-01 9.93067376e-01 -3.96153035e-03 -1.54602914e+00] [-2.56158000e-02 9.57528775e-04 9.99671403e-01 -3.21271957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.154319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.03, Y:-1.55, Z:-0.32 [[ 9.92724158e-01 1.17877982e-01 2.45667860e-02 1.60347855e+01] [-1.17818755e-01 9.93027654e-01 -3.84957202e-03 -1.55075350e+00] [-2.48492777e-02 9.27134992e-04 9.99690779e-01 -3.22433806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.07, Y:-1.56, Z:-0.32 [[ 9.92676666e-01 1.18289321e-01 2.45086328e-02 1.60674128e+01] [-1.18230304e-01 9.92978744e-01 -3.84832260e-03 -1.55713219e+00] [-2.47917669e-02 9.22476944e-04 9.99692211e-01 -3.23085300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.214319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.10, Y:-1.57, Z:-0.32 [[ 9.92712020e-01 1.18129412e-01 2.38387712e-02 1.60975776e+01] [-1.18073362e-01 9.92997793e-01 -3.75015351e-03 -1.56631939e+00] [-2.41148506e-02 9.08098607e-04 9.99708782e-01 -3.24050584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.13, Y:-1.57, Z:-0.33 [[ 9.92709459e-01 1.18177634e-01 2.37060306e-02 1.61306203e+01] [-1.18122122e-01 9.92992057e-01 -3.73337393e-03 -1.56932219e+00] [-2.39811014e-02 9.05948967e-04 9.99712002e-01 -3.25185556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.274319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.16, Y:-1.57, Z:-0.33 [[ 9.92718806e-01 1.18049817e-01 2.39502126e-02 1.61623306e+01] [-1.17992935e-01 9.93007242e-01 -3.77942348e-03 -1.57378141e+00] [-2.42288948e-02 9.25948889e-04 9.99706008e-01 -3.25496509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.19, Y:-1.58, Z:-0.33 [[ 9.92773716e-01 1.17516209e-01 2.42958761e-02 1.61925643e+01] [-1.17457343e-01 9.93070501e-01 -3.84084982e-03 -1.58056167e+00] [-2.45788799e-02 9.59365690e-04 9.99697433e-01 -3.26056931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.334319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.22, Y:-1.59, Z:-0.33 [[ 9.92816052e-01 1.17173239e-01 2.42222846e-02 1.62238150e+01] [-1.17114472e-01 9.93111015e-01 -3.83556235e-03 -1.58697128e+00] [-2.45048429e-02 9.71227789e-04 9.99699239e-01 -3.26296279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.25, Y:-1.59, Z:-0.33 [[ 9.92912193e-01 1.16189625e-01 2.50069403e-02 1.62546030e+01] [-1.16126499e-01 9.93226510e-01 -3.96684568e-03 -1.59473403e+00] [-2.52984624e-02 1.03476101e-03 9.99679407e-01 -3.25925853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.394319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.29, Y:-1.60, Z:-0.33 [[ 9.92888758e-01 1.16389732e-01 2.50068958e-02 1.62872816e+01] [-1.16326501e-01 9.93203079e-01 -3.97353298e-03 -1.60138000e+00] [-2.52994043e-02 1.03631154e-03 9.99679382e-01 -3.26080833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.32, Y:-1.61, Z:-0.33 [[ 9.92885605e-01 1.16396765e-01 2.50991568e-02 1.63202877e+01] [-1.16332865e-01 9.93202243e-01 -3.99616613e-03 -1.60640502e+00] [-2.53936797e-02 1.04787900e-03 9.99676979e-01 -3.26936063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.454319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.35, Y:-1.61, Z:-0.33 [[ 9.92853519e-01 1.16660020e-01 2.51461498e-02 1.63513552e+01] [-1.16595773e-01 9.93171353e-01 -4.01118128e-03 -1.61323832e+00] [-2.54423801e-02 1.05058067e-03 9.99675738e-01 -3.27394185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.38, Y:-1.62, Z:-0.33 [[ 9.92784812e-01 1.17116405e-01 2.57306217e-02 1.63840424e+01] [-1.17049140e-01 9.93117619e-01 -4.11015838e-03 -1.61614830e+00] [-2.60349007e-02 1.06875568e-03 9.99660463e-01 -3.28031644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.514319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.41, Y:-1.62, Z:-0.33 [[ 9.92667590e-01 1.18176234e-01 2.54053724e-02 1.64146636e+01] [-1.18110810e-01 9.92992098e-01 -4.06581781e-03 -1.62132349e+00] [-2.57078171e-02 1.03535646e-03 9.99668963e-01 -3.28810343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.45, Y:-1.62, Z:-0.33 [[ 9.92567404e-01 1.19020902e-01 2.53766173e-02 1.64465702e+01] [-1.18955734e-01 9.92891226e-01 -4.06772443e-03 -1.62428051e+00] [-2.56803649e-02 1.01879654e-03 9.99669686e-01 -3.30022207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.574319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.48, Y:-1.63, Z:-0.33 [[ 9.92378736e-01 1.20466701e-01 2.59271731e-02 1.64781367e+01] [-1.20398974e-01 9.92716855e-01 -4.16330584e-03 -1.62813684e+00] [-2.62398815e-02 1.00997114e-03 9.99655165e-01 -3.29804191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.51, Y:-1.63, Z:-0.33 [[ 9.92273149e-01 1.21285245e-01 2.61512358e-02 1.65103668e+01] [-1.21216430e-01 9.92617188e-01 -4.20668788e-03 -1.63129720e+00] [-2.64683753e-02 1.00422400e-03 9.99649147e-01 -3.30074303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.634319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.54, Y:-1.64, Z:-0.33 [[ 9.92109822e-01 1.22627397e-01 2.60887403e-02 1.65411731e+01] [-1.22559181e-01 9.92452303e-01 -4.20393970e-03 -1.63661279e+00] [-2.64073486e-02 9.73355215e-04 9.99650791e-01 -3.30964743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.57, Y:-1.64, Z:-0.33 [[ 9.91788049e-01 1.25489114e-01 2.46768930e-02 1.65731148e+01] [-1.25428831e-01 9.92094629e-01 -3.98185676e-03 -1.63865715e+00] [-2.49814926e-02 8.53964109e-04 9.99687549e-01 -3.33177810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.694319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.60, Y:-1.64, Z:-0.33 [[ 9.91560546e-01 1.27297694e-01 2.45556571e-02 1.66045649e+01] [-1.27238500e-01 9.91864228e-01 -3.96453493e-03 -1.64266387e+00] [-2.48605540e-02 8.06651433e-04 9.99690603e-01 -3.33965255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.64, Y:-1.64, Z:-0.33 [[ 9.91076103e-01 1.31071253e-01 2.42587071e-02 1.66360408e+01] [-1.31014468e-01 9.91372697e-01 -3.92244036e-03 -1.64251347e+00] [-2.45635391e-02 7.09195302e-04 9.99698019e-01 -3.34742734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.754319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.67, Y:-1.65, Z:-0.34 [[ 9.90828493e-01 1.33077047e-01 2.34392408e-02 1.66673121e+01] [-1.33024565e-01 9.91105490e-01 -3.79116548e-03 -1.64600077e+00] [-2.37352773e-02 6.38399953e-04 9.99718075e-01 -3.36242007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.70, Y:-1.65, Z:-0.34 [[ 9.90544014e-01 1.35289114e-01 2.27906040e-02 1.66982557e+01] [-1.35240000e-01 9.90805999e-01 -3.68983352e-03 -1.64939845e+00] [-2.30802614e-02 5.72741242e-04 9.99733451e-01 -3.37670077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.814319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.73, Y:-1.65, Z:-0.34 [[ 9.90033603e-01 1.39178208e-01 2.15149292e-02 1.67299538e+01] [-1.39135287e-01 9.90267245e-01 -3.48648386e-03 -1.65152065e+00] [-2.17907722e-02 4.58250347e-04 9.99762448e-01 -3.39309943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.76, Y:-1.66, Z:-0.34 [[ 9.89798511e-01 1.40914393e-01 2.10247866e-02 1.67617654e+01] [-1.40873770e-01 9.90021699e-01 -3.40829256e-03 -1.65642220e+00] [-2.12952724e-02 4.11681958e-04 9.99773145e-01 -3.39966225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.874319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.79, Y:-1.66, Z:-0.34 [[ 9.89651191e-01 1.42002123e-01 2.06377497e-02 1.67934307e+01] [-1.41963102e-01 9.89866278e-01 -3.35112207e-03 -1.66155588e+00] [-2.09044790e-02 3.86642972e-04 9.99781403e-01 -3.40714508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.82, Y:-1.67, Z:-0.34 [[ 9.89524103e-01 1.42910706e-01 2.04592456e-02 1.68244814e+01] [-1.42872435e-01 9.89735517e-01 -3.32774199e-03 -1.66730999e+00] [-2.07248120e-02 3.69818662e-04 9.99785150e-01 -3.41475232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.934319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.86, Y:-1.67, Z:-0.34 [[ 9.89449098e-01 1.43486253e-01 2.00543782e-02 1.68568644e+01] [-1.43449492e-01 9.89652246e-01 -3.26723829e-03 -1.67253810e+00] [-2.03156642e-02 3.55975619e-04 9.99793552e-01 -3.42414208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.89, Y:-1.68, Z:-0.34 [[ 9.89430320e-01 1.43702787e-01 1.94203707e-02 1.68892409e+01] [-1.43668240e-01 9.89620831e-01 -3.16980384e-03 -1.67823460e+00] [-1.96743130e-02 3.46209551e-04 9.99806382e-01 -3.43418177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.994319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.92, Y:-1.69, Z:-0.34 [[ 9.89449464e-01 1.43597854e-01 1.92201623e-02 1.69198925e+01] [-1.43563878e-01 9.89636061e-01 -3.14314819e-03 -1.68569478e+00] [-1.94723150e-02 3.50665250e-04 9.99810335e-01 -3.44492864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.95, Y:-1.69, Z:-0.35 [[ 9.89697308e-01 1.41878579e-01 1.92277932e-02 1.69508767e+01] [-1.41844142e-01 9.89883991e-01 -3.15006764e-03 -1.69422999e+00] [-1.94802118e-02 3.90263632e-04 9.99810167e-01 -3.45107460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.054319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.98, Y:-1.70, Z:-0.34 [[ 9.89840330e-01 1.40819418e-01 1.96472203e-02 1.69809061e+01] [-1.40783141e-01 9.90035207e-01 -3.22439232e-03 -1.70195082e+00] [-1.99054969e-02 4.25636166e-04 9.99801775e-01 -3.44703499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.01, Y:-1.71, Z:-0.34 [[ 9.89984852e-01 1.39777226e-01 1.98070456e-02 1.70113598e+01] [-1.39740092e-01 9.90182873e-01 -3.25344312e-03 -1.70987332e+00] [-2.00673546e-02 4.53021027e-04 9.99798528e-01 -3.44580714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.114319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.04, Y:-1.72, Z:-0.35 [[ 9.89943597e-01 1.40069221e-01 1.98062707e-02 1.70433258e+01] [-1.40032051e-01 9.90141611e-01 -3.25815365e-03 -1.71531151e+00] [-2.00673798e-02 4.51875637e-04 9.99798528e-01 -3.45270793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144319999999997 meters Centerline goodness [0,1] 0.9999142532530172 Centerline is valid? [True, True] Translation: X:17.07, Y:-1.72, Z:-0.35 [[ 9.90083450e-01 1.39042660e-01 2.00474781e-02 1.70749315e+01] [-1.39004243e-01 9.90286274e-01 -3.30401756e-03 -1.72248070e+00] [-2.03121417e-02 4.84568595e-04 9.99793570e-01 -3.46008586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.174319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.11, Y:-1.73, Z:-0.35 [[ 9.90319347e-01 1.37426721e-01 1.95316935e-02 1.71050821e+01] [-1.37389841e-01 9.90511806e-01 -3.22405841e-03 -1.73179963e+00] [-1.97894448e-02 5.09391147e-04 9.99804040e-01 -3.47173282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.20432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.14, Y:-1.74, Z:-0.35 [[ 9.90398678e-01 1.36896681e-01 1.92290684e-02 1.71361772e+01] [-1.36860747e-01 9.90585197e-01 -3.17868949e-03 -1.73904220e+00] [-1.94831826e-02 5.16465208e-04 9.99810051e-01 -3.48023278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.234319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.17, Y:-1.75, Z:-0.35 [[ 9.90571509e-01 1.35653930e-01 1.91336313e-02 1.71675374e+01] [-1.35618025e-01 9.90756134e-01 -3.16781512e-03 -1.74663496e+00] [-1.93864891e-02 5.43082117e-04 9.99811917e-01 -3.48348673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.20, Y:-1.75, Z:-0.35 [[ 9.90628607e-01 1.35299973e-01 1.86783398e-02 1.71999836e+01] [-1.35265605e-01 9.90804534e-01 -3.09707694e-03 -1.74929824e+00] [-1.89256182e-02 5.41516078e-04 9.99820748e-01 -3.49162080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.29432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.23, Y:-1.76, Z:-0.35 [[ 9.90709923e-01 1.34776931e-01 1.81390846e-02 1.72317696e+01] [-1.34744342e-01 9.90875818e-01 -3.01256890e-03 -1.75642527e+00] [-1.83796051e-02 5.40442884e-04 9.99830935e-01 -3.50168564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.26, Y:-1.77, Z:-0.35 [[ 9.90893149e-01 1.33580219e-01 1.69438140e-02 1.72620388e+01] [-1.33551532e-01 9.91037862e-01 -2.81850953e-03 -1.76542726e+00] [-1.71684583e-02 5.29969471e-04 9.99852471e-01 -3.51461940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.354319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.77, Z:-0.35 [[ 9.90935017e-01 1.33313325e-01 1.65936723e-02 1.72938815e+01] [-1.33285706e-01 9.91073801e-01 -2.76432711e-03 -1.77098766e+00] [-1.68140755e-02 5.27569205e-04 9.99858494e-01 -3.52589825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.32, Y:-1.78, Z:-0.35 [[ 9.90994749e-01 1.32885649e-01 1.64563489e-02 1.73247112e+01] [-1.32858341e-01 9.91131231e-01 -2.74661511e-03 -1.77775270e+00] [-1.66753871e-02 5.35517942e-04 9.99860813e-01 -3.53655355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.414319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.35, Y:-1.79, Z:-0.36 [[ 9.91031454e-01 1.32747539e-01 1.53214770e-02 1.73544566e+01] [-1.32723823e-01 9.91149756e-01 -2.55897033e-03 -1.78526146e+00] [-1.55255752e-02 5.02495079e-04 9.99879345e-01 -3.55252883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.39, Y:-1.79, Z:-0.36 [[ 9.90942312e-01 1.33506565e-01 1.44683096e-02 1.73862146e+01] [-1.33485462e-01 9.91047819e-01 -2.41898208e-03 -1.79110432e+00] [-1.46617366e-02 4.65762708e-04 9.99892402e-01 -3.56310645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.47432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.42, Y:-1.80, Z:-0.36 [[ 9.90831548e-01 1.34377340e-01 1.39847891e-02 1.74176115e+01] [-1.34357658e-01 9.90930137e-01 -2.34184161e-03 -1.79760452e+00] [-1.41726394e-02 4.41407045e-04 9.99899466e-01 -3.57215773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.45, Y:-1.80, Z:-0.36 [[ 9.90669664e-01 1.35617798e-01 1.34695487e-02 1.74484810e+01] [-1.35599604e-01 9.90761143e-01 -2.25924069e-03 -1.80383973e+00] [-1.36514988e-02 4.11695739e-04 9.99906729e-01 -3.58161934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.534319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.48, Y:-1.81, Z:-0.36 [[ 9.90245528e-01 1.38663725e-01 1.36442722e-02 1.74788550e+01] [-1.38645295e-01 9.90339451e-01 -2.29211184e-03 -1.80907862e+00] [-1.38302938e-02 3.78039356e-04 9.99904285e-01 -3.58816474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.51, Y:-1.82, Z:-0.36 [[ 9.89945615e-01 1.40787282e-01 1.36609160e-02 1.75090479e+01] [-1.40768961e-01 9.90039806e-01 -2.29838955e-03 -1.81554021e+00] [-1.38484346e-02 3.52247712e-04 9.99904044e-01 -3.60304203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.594319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.54, Y:-1.82, Z:-0.36 [[ 9.89650363e-01 1.42839905e-01 1.37448130e-02 1.75410422e+01] [-1.42821509e-01 9.89745752e-01 -2.31582041e-03 -1.81817626e+00] [-1.39346619e-02 3.28797569e-04 9.99902854e-01 -3.60365928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.57, Y:-1.82, Z:-0.36 [[ 9.89136841e-01 1.46263472e-01 1.46733394e-02 1.75715067e+01] [-1.46242816e-01 9.89245624e-01 -2.47675717e-03 -1.82321303e+00] [-1.48777959e-02 3.03981298e-04 9.99889273e-01 -3.60427265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.65432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.60, Y:-1.83, Z:-0.36 [[ 9.88897165e-01 1.47862732e-01 1.47989434e-02 1.76030850e+01] [-1.47841847e-01 9.89007852e-01 -2.50149901e-03 -1.82679622e+00] [-1.50061497e-02 2.85822151e-04 9.99887361e-01 -3.59578378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.63, Y:-1.83, Z:-0.36 [[ 9.88487207e-01 1.50583751e-01 1.47504207e-02 1.76340967e+01] [-1.50563243e-01 9.88597225e-01 -2.49745423e-03 -1.83397659e+00] [-1.49583010e-02 2.47830382e-04 9.99888088e-01 -3.59499204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.714319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.67, Y:-1.84, Z:-0.36 [[ 9.88343524e-01 1.51545493e-01 1.45273108e-02 1.76657110e+01] [-1.51525646e-01 9.88450256e-01 -2.46367460e-03 -1.84015080e+00] [-1.47328829e-02 2.33696680e-04 9.99891438e-01 -3.60005833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.74432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.70, Y:-1.85, Z:-0.36 [[ 9.88236757e-01 1.52198974e-01 1.49527112e-02 1.76980138e+01] [-1.52177959e-01 9.88349846e-01 -2.53998269e-03 -1.84669755e+00] [-1.51650926e-02 2.34631174e-04 9.99884976e-01 -3.60533287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.774319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.73, Y:-1.85, Z:-0.36 [[ 9.88144287e-01 1.52778139e-01 1.51560979e-02 1.77300944e+01] [-1.52756540e-01 9.88260485e-01 -2.57952112e-03 -1.85321768e+00] [-1.53722671e-02 2.33745986e-04 9.99881812e-01 -3.60930034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.76, Y:-1.86, Z:-0.36 [[ 9.88242881e-01 1.52134774e-01 1.51992888e-02 1.77599094e+01] [-1.52112895e-01 9.88359726e-01 -2.59211753e-03 -1.86136786e+00] [-1.54167161e-02 2.49633870e-04 9.99881124e-01 -3.61535300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.834319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.79, Y:-1.87, Z:-0.36 [[ 9.88076398e-01 1.53094933e-01 1.63393121e-02 1.77918428e+01] [-1.53069705e-01 9.88211453e-01 -2.79106270e-03 -1.86612410e+00] [-1.65739929e-02 2.56729502e-04 9.99862609e-01 -3.60948234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.82, Y:-1.87, Z:-0.36 [[ 9.88097189e-01 1.52834346e-01 1.74816355e-02 1.78244221e+01] [-1.52805335e-01 9.88251780e-01 -2.99131408e-03 -1.87296110e+00] [-1.77334330e-02 2.84421857e-04 9.99842710e-01 -3.60021919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.894319999999997 meters Centerline goodness [0,1] 0.9999562640775 Centerline is valid? [True, True] Translation: X:17.86, Y:-1.88, Z:-0.36 [[ 9.88045716e-01 1.53164459e-01 1.75017645e-02 1.78569616e+01] [-1.53135332e-01 9.88200672e-01 -3.00042041e-03 -1.87955211e+00] [-1.77548133e-02 2.84414018e-04 9.99842330e-01 -3.60614457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.89, Y:-1.88, Z:-0.36 [[ 9.88038951e-01 1.53228581e-01 1.73214770e-02 1.78891240e+01] [-1.53199965e-01 9.88190731e-01 -2.97496744e-03 -1.88463830e+00] [-1.75727731e-02 2.85734035e-04 9.99845546e-01 -3.61356566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.954319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.92, Y:-1.89, Z:-0.36 [[ 9.88095332e-01 1.52854623e-01 1.74091793e-02 1.79207519e+01] [-1.52825556e-01 9.88248640e-01 -2.99582214e-03 -1.89123202e+00] [-1.76625230e-02 2.99590380e-04 9.99843961e-01 -3.62554852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.95, Y:-1.90, Z:-0.36 [[ 9.88068126e-01 1.53030630e-01 1.74070158e-02 1.79531402e+01] [-1.53001505e-01 9.88221400e-01 -3.00066253e-03 -1.89503389e+00] [-1.76611788e-02 3.01559380e-04 9.99843984e-01 -3.63392654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.014319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.98, Y:-1.90, Z:-0.36 [[ 9.88199509e-01 1.52309996e-01 1.62294602e-02 1.79849534e+01] [-1.52284500e-01 9.88332725e-01 -2.80266114e-03 -1.90168492e+00] [-1.64669800e-02 2.98093123e-04 9.99864366e-01 -3.64947318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.91, Z:-0.37 [[ 9.88259906e-01 1.52020190e-01 1.52387455e-02 1.80152704e+01] [-1.51997614e-01 9.88377346e-01 -2.63567666e-03 -1.90926656e+00] [-1.54623069e-02 2.88480623e-04 9.99880410e-01 -3.66627152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.074319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.92, Z:-0.37 [[ 9.88533286e-01 1.50328086e-01 1.42621397e-02 1.80470918e+01] [-1.50308087e-01 9.88636120e-01 -2.47011917e-03 -1.91516041e+00] [-1.44713947e-02 2.98080092e-04 9.99895239e-01 -3.68524392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.92, Z:-0.37 [[ 9.88736134e-01 1.49042634e-01 1.36802970e-02 1.80778019e+01] [-1.49024061e-01 9.88830723e-01 -2.37291058e-03 -1.92205937e+00] [-1.38811628e-02 3.07489029e-04 9.99903605e-01 -3.69560238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.13432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.11, Y:-1.93, Z:-0.37 [[ 9.88918243e-01 1.47834063e-01 1.36307769e-02 1.81097887e+01] [-1.47815466e-01 9.89012125e-01 -2.36741710e-03 -1.92635645e+00] [-1.38309885e-02 3.26342317e-04 9.99904294e-01 -3.69910390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.14, Y:-1.93, Z:-0.37 [[ 9.89235821e-01 1.45742033e-01 1.31053605e-02 1.81412940e+01] [-1.45724613e-01 9.89322567e-01 -2.27957323e-03 -1.93262706e+00] [-1.32976586e-02 3.45261895e-04 9.99911523e-01 -3.70403677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.194319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.17, Y:-1.94, Z:-0.37 [[ 9.89288240e-01 1.45386413e-01 1.30984257e-02 1.81730489e+01] [-1.45368933e-01 9.89374886e-01 -2.28197041e-03 -1.93780403e+00] [-1.32910210e-02 3.53422315e-04 9.99911608e-01 -3.70968379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.20, Y:-1.94, Z:-0.37 [[ 9.89305540e-01 1.45271098e-01 1.30712002e-02 1.82047518e+01] [-1.45253634e-01 9.89391823e-01 -2.28069958e-03 -1.94360691e+00] [-1.32638583e-02 3.57669392e-04 9.99911967e-01 -3.71421071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.254319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.24, Y:-1.95, Z:-0.37 [[ 9.89387788e-01 1.44685833e-01 1.33347324e-02 1.82352865e+01] [-1.44667546e-01 9.89477573e-01 -2.33106807e-03 -1.95200354e+00] [-1.35316912e-02 3.77227282e-04 9.99908371e-01 -3.71801550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.27, Y:-1.95, Z:-0.37 [[ 9.89357445e-01 1.44835204e-01 1.39502574e-02 1.82687692e+01] [-1.44815158e-01 9.89455712e-01 -2.44192645e-03 -1.95156353e+00] [-1.41568388e-02 3.95729385e-04 9.99899709e-01 -3.70299620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.31432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.30, Y:-1.96, Z:-0.37 [[ 9.89292190e-01 1.45285828e-01 1.38920916e-02 1.82999103e+01] [-1.45265927e-01 9.89389647e-01 -2.43639341e-03 -1.95963863e+00] [-1.40986650e-02 3.92257403e-04 9.99900532e-01 -3.71012480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.33, Y:-1.96, Z:-0.37 [[ 9.89159674e-01 1.46173241e-01 1.40186420e-02 1.83318968e+01] [-1.46153001e-01 9.89258931e-01 -2.46312818e-03 -1.96288194e+00] [-1.42281102e-02 3.87560482e-04 9.99898700e-01 -3.70409139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.374319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.36, Y:-1.97, Z:-0.37 [[ 9.89011188e-01 1.47190944e-01 1.38454176e-02 1.83636019e+01] [-1.47171250e-01 9.89108026e-01 -2.43629125e-03 -1.96670765e+00] [-1.40532137e-02 3.71871884e-04 9.99901180e-01 -3.70280367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.40432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.39, Y:-1.97, Z:-0.37 [[ 9.88817214e-01 1.48437294e-01 1.43835716e-02 1.83944120e+01] [-1.48416109e-01 9.88921752e-01 -2.53520368e-03 -1.97212889e+00] [-1.46005456e-02 3.72099306e-04 9.99893337e-01 -3.71023162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.434319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.43, Y:-1.97, Z:-0.37 [[ 9.88641706e-01 1.49565381e-01 1.47571847e-02 1.84273337e+01] [-1.49543153e-01 9.88751769e-01 -2.60465106e-03 -1.97229203e+00] [-1.49807581e-02 3.68230738e-04 9.99887714e-01 -3.70215061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.46, Y:-1.97, Z:-0.37 [[ 9.88410364e-01 1.51079758e-01 1.48276169e-02 1.84592106e+01] [-1.51057426e-01 9.88521514e-01 -2.62120318e-03 -1.97427332e+00] [-1.50534291e-02 3.51002752e-04 9.99886629e-01 -3.69799597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.49432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.49, Y:-1.98, Z:-0.37 [[ 9.88303175e-01 1.51784653e-01 1.47734269e-02 1.84918082e+01] [-1.51762503e-01 9.88413528e-01 -2.61555851e-03 -1.97946533e+00] [-1.49992566e-02 3.42912540e-04 9.99887446e-01 -3.70060297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.52, Y:-1.98, Z:-0.37 [[ 9.88235096e-01 1.52230875e-01 1.47361980e-02 1.85244270e+01] [-1.52208815e-01 9.88344902e-01 -2.61369816e-03 -1.98373476e+00] [-1.49623317e-02 3.39969017e-04 9.99888000e-01 -3.70166773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.554319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.99, Z:-0.37 [[ 9.88190242e-01 1.52501510e-01 1.49444247e-02 1.85551090e+01] [-1.52478775e-01 9.88303177e-01 -2.65580027e-03 -1.99088387e+00] [-1.51746360e-02 3.45728343e-04 9.99884799e-01 -3.70627878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.59, Y:-2.00, Z:-0.37 [[ 9.88246732e-01 1.52156570e-01 1.47232508e-02 1.85867481e+01] [-1.52134396e-01 9.88356340e-01 -2.62110544e-03 -1.99637408e+00] [-1.49506367e-02 3.50386019e-04 9.99888172e-01 -3.70168225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.614319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.62, Y:-2.00, Z:-0.37 [[ 9.88356244e-01 1.51461568e-01 1.45371189e-02 1.86180297e+01] [-1.51439806e-01 9.88463081e-01 -2.59268713e-03 -2.00108102e+00] [-1.47620978e-02 3.61000041e-04 9.99890969e-01 -3.70962258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.65, Y:-2.01, Z:-0.37 [[ 9.88407847e-01 1.51118368e-01 1.46002493e-02 1.86498729e+01] [-1.51096357e-01 9.88515606e-01 -2.60541141e-03 -2.00644644e+00] [-1.48262998e-02 3.69164589e-04 9.99890016e-01 -3.71730523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.674319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.68, Y:-2.01, Z:-0.37 [[ 9.88648967e-01 1.49512232e-01 1.48092264e-02 1.86804490e+01] [-1.49489341e-01 9.88759794e-01 -2.64709000e-03 -2.01173945e+00] [-1.50385400e-02 4.03221300e-04 9.99886833e-01 -3.72572895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.71, Y:-2.02, Z:-0.37 [[ 9.88771087e-01 1.48720747e-01 1.46245306e-02 1.87104350e+01] [-1.48698271e-01 9.88879147e-01 -2.61855088e-03 -2.01799564e+00] [-1.48513262e-02 4.14504990e-04 9.99889627e-01 -3.73782346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.734319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.74, Y:-2.02, Z:-0.38 [[ 9.88915042e-01 1.47835576e-01 1.38449496e-02 1.87415015e+01] [-1.47815332e-01 9.89011869e-01 -2.47990779e-03 -2.02387197e+00] [-1.40594381e-02 4.05922290e-04 9.99901079e-01 -3.75224638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.77, Y:-2.03, Z:-0.38 [[ 9.89210604e-01 1.45910852e-01 1.31302865e-02 1.87729178e+01] [-1.45892437e-01 9.89297656e-01 -2.35476749e-03 -2.02943430e+00] [-1.33333478e-02 4.13751480e-04 9.99911021e-01 -3.76684069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.794319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.80, Y:-2.03, Z:-0.38 [[ 9.89329140e-01 1.45122839e-01 1.29311308e-02 1.88040939e+01] [-1.45104863e-01 9.89413556e-01 -2.32268295e-03 -2.03433459e+00] [-1.31313104e-02 4.21527971e-04 9.99913692e-01 -3.77601574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.83, Y:-2.04, Z:-0.38 [[ 9.89569834e-01 1.43530097e-01 1.22741338e-02 1.88341323e+01] [-1.43513718e-01 9.89645861e-01 -2.20953106e-03 -2.04047302e+00] [-1.24641799e-02 4.24978706e-04 9.99922229e-01 -3.79039659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.854319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.87, Y:-2.05, Z:-0.38 [[ 9.89629361e-01 1.43149392e-01 1.19155426e-02 1.88652621e+01] [-1.43133947e-01 9.89701005e-01 -2.14347973e-03 -2.04594347e+00] [-1.20996623e-02 4.15731825e-04 9.99926710e-01 -3.80312020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.90, Y:-2.05, Z:-0.38 [[ 9.89625381e-01 1.43172501e-01 1.19683037e-02 1.88967587e+01] [-1.43156887e-01 9.89697660e-01 -2.15574855e-03 -2.05205449e+00] [-1.21536460e-02 4.20038381e-04 9.99926053e-01 -3.81697658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.914319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.93, Y:-2.06, Z:-0.38 [[ 9.89649821e-01 1.42939169e-01 1.27131854e-02 1.89277945e+01] [-1.42921477e-01 9.89731372e-01 -2.29410959e-03 -2.05947739e+00] [-1.29105566e-02 4.53377913e-04 9.99916553e-01 -3.82675760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.96, Y:-2.06, Z:-0.38 [[ 9.89610776e-01 1.43150255e-01 1.33610388e-02 1.89608688e+01] [-1.43130679e-01 9.89700852e-01 -2.41499040e-03 -2.05997569e+00] [-1.35691380e-02 4.77525959e-04 9.99907821e-01 -3.81371262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.97432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.99, Y:-2.07, Z:-0.38 [[ 9.89544585e-01 1.43549397e-01 1.39672726e-02 1.89921403e+01] [-1.43527975e-01 9.89643028e-01 -2.52948440e-03 -2.06777202e+00] [-1.41857199e-02 4.98343245e-04 9.99899253e-01 -3.81216948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.02, Y:-2.07, Z:-0.38 [[ 9.89501702e-01 1.43844766e-01 1.39665576e-02 1.90240229e+01] [-1.43823317e-01 9.89600139e-01 -2.53342454e-03 -2.07373409e+00] [-1.41857272e-02 4.98111248e-04 9.99899253e-01 -3.81907598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.034319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.05, Y:-2.08, Z:-0.38 [[ 9.89502009e-01 1.43840531e-01 1.39884003e-02 1.90547797e+01] [-1.43818952e-01 9.89600752e-01 -2.54185823e-03 -2.08267843e+00] [-1.42085537e-02 5.03376761e-04 9.99898927e-01 -3.82960321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.09, Y:-2.09, Z:-0.38 [[ 9.89327583e-01 1.44979730e-01 1.45537635e-02 1.90872043e+01] [-1.44956426e-01 9.89434493e-01 -2.64920930e-03 -2.08547246e+00] [-1.47840772e-02 5.11274301e-04 9.99890579e-01 -3.82856428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.094319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.12, Y:-2.08, Z:-0.38 [[ 9.89186373e-01 1.45909519e-01 1.48570647e-02 1.91198076e+01] [-1.45885281e-01 9.89297807e-01 -2.70815591e-03 -2.08337706e+00] [-1.50932073e-02 5.11443856e-04 9.99885960e-01 -3.81924292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.15, Y:-2.09, Z:-0.38 [[ 9.89012423e-01 1.46983024e-01 1.58245660e-02 1.91512434e+01] [-1.46955585e-01 9.89138872e-01 -2.88937180e-03 -2.08815475e+00] [-1.60773819e-02 5.32116251e-04 9.99870609e-01 -3.81445810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.15432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.18, Y:-2.09, Z:-0.38 [[ 9.88632771e-01 1.49354990e-01 1.72722454e-02 1.91832460e+01] [-1.49322568e-01 9.88783490e-01 -3.15908314e-03 -2.09068369e+00] [-1.75503359e-02 5.44037081e-04 9.99845833e-01 -3.80351821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.21, Y:-2.10, Z:-0.38 [[ 9.88325046e-01 1.51347977e-01 1.75326198e-02 1.92137310e+01] [-1.51314792e-01 9.88480409e-01 -3.21179938e-03 -2.09512171e+00] [-1.78167505e-02 5.21357062e-04 9.99841133e-01 -3.80587056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.214319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.25, Y:-2.10, Z:-0.38 [[ 9.87754966e-01 1.54952622e-01 1.81607138e-02 1.92455256e+01] [-1.54917523e-01 9.87921787e-01 -3.33236079e-03 -2.09531987e+00] [-1.84577229e-02 4.78143110e-04 9.99829527e-01 -3.79555535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.24432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.28, Y:-2.10, Z:-0.38 [[ 9.87467701e-01 1.56760684e-01 1.82654670e-02 1.92781300e+01] [-1.56725478e-01 9.87636516e-01 -3.35216049e-03 -2.09853863e+00] [-1.85651292e-02 4.47486160e-04 9.99827553e-01 -3.79902616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.274319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.31, Y:-2.10, Z:-0.38 [[ 9.87190414e-01 1.58519388e-01 1.80745808e-02 1.93092275e+01] [-1.58485184e-01 9.87355779e-01 -3.31847394e-03 -2.10177317e+00] [-1.83720843e-02 4.11412397e-04 9.99831134e-01 -3.80758151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.34, Y:-2.11, Z:-0.38 [[ 9.86900678e-01 1.60338769e-01 1.78474273e-02 1.93411131e+01] [-1.60305635e-01 9.87061972e-01 -3.28123825e-03 -2.10510825e+00] [-1.81426265e-02 3.77213101e-04 9.99835338e-01 -3.82248982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.334319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.37, Y:-2.11, Z:-0.38 [[ 9.86460096e-01 1.63060758e-01 1.75404992e-02 1.93729873e+01] [-1.63029099e-01 9.86615975e-01 -3.22954705e-03 -2.10714186e+00] [-1.78323491e-02 3.26207505e-04 9.99840938e-01 -3.83345215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.40, Y:-2.11, Z:-0.38 [[ 9.86272419e-01 1.64189801e-01 1.75620419e-02 1.94039399e+01] [-1.64158155e-01 9.86428716e-01 -3.23845180e-03 -2.11279560e+00] [-1.78554232e-02 3.11043295e-04 9.99840531e-01 -3.83597477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.394319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.44, Y:-2.12, Z:-0.38 [[ 9.86140218e-01 1.64907119e-01 1.82513951e-02 1.94370971e+01] [-1.64872976e-01 9.86309051e-01 -3.37025035e-03 -2.11610902e+00] [-1.85572945e-02 3.14377586e-04 9.99827749e-01 -3.83443579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.47, Y:-2.12, Z:-0.38 [[ 9.86129093e-01 1.64963558e-01 1.83422002e-02 1.94680549e+01] [-1.64928972e-01 9.86299611e-01 -3.39299881e-03 -2.12282458e+00] [-1.86506261e-02 3.20774609e-04 9.99826010e-01 -3.84443032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.454319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.50, Y:-2.13, Z:-0.39 [[ 9.86128345e-01 1.64946707e-01 1.85329576e-02 1.95007066e+01] [-1.64911291e-01 9.86302426e-01 -3.43385224e-03 -2.12685834e+00] [-1.88455037e-02 3.29925063e-04 9.99822353e-01 -3.85321342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.53, Y:-2.13, Z:-0.39 [[ 9.86216120e-01 1.64464784e-01 1.81411257e-02 1.95308681e+01] [-1.64430662e-01 9.86382898e-01 -3.36694334e-03 -2.13348275e+00] [-1.84478398e-02 3.37576473e-04 9.99829767e-01 -3.86663941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.514319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.56, Y:-2.14, Z:-0.39 [[ 9.86335586e-01 1.63736476e-01 1.82339776e-02 1.95629217e+01] [-1.63701796e-01 9.86504049e-01 -3.38870414e-03 -2.13764678e+00] [-1.85427472e-02 3.57464600e-04 9.99828005e-01 -3.87327250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.59, Y:-2.15, Z:-0.39 [[ 9.86788057e-01 1.61106042e-01 1.71514957e-02 1.95937176e+01] [-1.61074882e-01 9.86937026e-01 -3.19198687e-03 -2.14653076e+00] [-1.74416945e-02 3.87139373e-04 9.99847807e-01 -3.88403690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.574319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.62, Y:-2.15, Z:-0.39 [[ 9.87087694e-01 1.59271691e-01 1.70415120e-02 1.96245233e+01] [-1.59240575e-01 9.87234699e-01 -3.17624597e-03 -2.15421940e+00] [-1.73298580e-02 4.21533146e-04 9.99849738e-01 -3.89404968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.66, Y:-2.16, Z:-0.39 [[ 9.87370042e-01 1.57574542e-01 1.64518405e-02 1.96552435e+01] [-1.57545231e-01 9.87506997e-01 -3.07086467e-03 -2.16185706e+00] [-1.67301977e-02 4.40170766e-04 9.99859944e-01 -3.89939714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.634319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.69, Y:-2.17, Z:-0.39 [[ 9.87847280e-01 1.54493190e-01 1.70178153e-02 1.96855534e+01] [-1.54461290e-01 9.87993720e-01 -3.18112907e-03 -2.16976033e+00] [-1.73049574e-02 5.13875991e-04 9.99850126e-01 -3.90136832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.72, Y:-2.18, Z:-0.39 [[ 9.88080887e-01 1.52965762e-01 1.72521506e-02 1.97155992e+01] [-1.52932666e-01 9.88231334e-01 -3.22945723e-03 -2.17647729e+00] [-1.75431122e-02 5.52547581e-04 9.99845955e-01 -3.90661585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.694319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.75, Y:-2.18, Z:-0.39 [[ 9.88517194e-01 1.50134468e-01 1.71288780e-02 1.97462685e+01] [-1.50101335e-01 9.88665402e-01 -3.21116841e-03 -2.18441954e+00] [-1.74168361e-02 6.03227732e-04 9.99848133e-01 -3.91359796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.78, Y:-2.19, Z:-0.39 [[ 9.88670932e-01 1.49083362e-01 1.74338452e-02 1.97774409e+01] [-1.49048842e-01 9.88824428e-01 -3.27018220e-03 -2.19038269e+00] [-1.77265417e-02 6.34639644e-04 9.99842671e-01 -3.91510298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.754319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.81, Y:-2.20, Z:-0.39 [[ 9.88805177e-01 1.48231156e-01 1.70835011e-02 1.98069026e+01] [-1.48197801e-01 9.88952533e-01 -3.20918994e-03 -2.20010431e+00] [-1.73704736e-02 6.41526337e-04 9.99848916e-01 -3.92412015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.84, Y:-2.20, Z:-0.39 [[ 9.88852204e-01 1.47912208e-01 1.71259095e-02 1.98387559e+01] [-1.47878565e-01 9.89000279e-01 -3.22141744e-03 -2.20201873e+00] [-1.74140162e-02 6.52950815e-04 9.99848151e-01 -3.92441031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.81432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.87, Y:-2.21, Z:-0.39 [[ 9.88868295e-01 1.47907783e-01 1.62105812e-02 1.98682558e+01] [-1.47877567e-01 9.89000961e-01 -3.05366992e-03 -2.21327325e+00] [-1.64839420e-02 6.22496044e-04 9.99863937e-01 -3.94604234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.90, Y:-2.21, Z:-0.39 [[ 9.88741200e-01 1.48725513e-01 1.64791301e-02 1.99006490e+01] [-1.48694328e-01 9.88878321e-01 -3.10860715e-03 -2.21274007e+00] [-1.67581837e-02 6.23254787e-04 9.99859378e-01 -3.94373157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.874319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.93, Y:-2.22, Z:-0.40 [[ 9.88545359e-01 1.50036721e-01 1.63418093e-02 1.99310194e+01] [-1.50006155e-01 9.88680242e-01 -3.08738158e-03 -2.21816512e+00] [-1.66200446e-02 6.00644757e-04 9.99861697e-01 -3.95012455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.90432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.96, Y:-2.23, Z:-0.40 [[ 9.88094785e-01 1.53020333e-01 1.59208518e-02 1.99607384e+01] [-1.52991624e-01 9.88222892e-01 -3.01304922e-03 -2.22522238e+00] [-1.61944081e-02 5.41421241e-04 9.99868715e-01 -3.96217807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.934319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.99, Y:-2.23, Z:-0.40 [[ 9.87799591e-01 1.54919483e-01 1.58720353e-02 1.99915897e+01] [-1.54891200e-01 9.87926969e-01 -3.00347238e-03 -2.23001490e+00] [-1.61457081e-02 5.08390202e-04 9.99869520e-01 -3.96759968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.02, Y:-2.23, Z:-0.40 [[ 9.87429421e-01 1.57241878e-01 1.60664262e-02 2.00227627e+01] [-1.57213173e-01 9.87560005e-01 -3.04220451e-03 -2.23461246e+00] [-1.63449219e-02 4.78108390e-04 9.99866299e-01 -3.97174013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.99432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.05, Y:-2.23, Z:-0.40 [[ 9.86646570e-01 1.62126806e-01 1.56026897e-02 2.00549185e+01] [-1.62100265e-01 9.86769855e-01 -2.95937000e-03 -2.23197203e+00] [-1.58760571e-02 3.90652122e-04 9.99873891e-01 -3.97257191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.09, Y:-2.24, Z:-0.40 [[ 9.86262788e-01 1.64425168e-01 1.58138474e-02 2.00866071e+01] [-1.64398208e-01 9.86389495e-01 -2.99887213e-03 -2.23609641e+00] [-1.60917031e-02 3.57907808e-04 9.99870456e-01 -3.97661081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.054319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.12, Y:-2.24, Z:-0.40 [[ 9.85893924e-01 1.66544566e-01 1.66156246e-02 2.01173334e+01] [-1.66515019e-01 9.86033868e-01 -3.15587885e-03 -2.24150528e+00] [-1.69091631e-02 3.44610728e-04 9.99856970e-01 -3.97922500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.15, Y:-2.24, Z:-0.40 [[ 9.85561119e-01 1.68516476e-01 1.64765912e-02 2.01493021e+01] [-1.68487629e-01 9.85698788e-01 -3.13350880e-03 -2.24414718e+00] [-1.67690038e-02 3.12162663e-04 9.99859342e-01 -3.98068231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.114319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.18, Y:-2.25, Z:-0.40 [[ 9.85146222e-01 1.70931892e-01 1.64076332e-02 2.01815066e+01] [-1.70903548e-01 9.85282809e-01 -3.12478916e-03 -2.24720890e+00] [-1.67002851e-02 2.74251507e-04 9.99860503e-01 -3.99143308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.21, Y:-2.25, Z:-0.40 [[ 9.85073453e-01 1.71332684e-01 1.65952654e-02 2.02135028e+01] [-1.71303669e-01 9.85213193e-01 -3.16494060e-03 -2.25325862e+00] [-1.68921322e-02 2.74869108e-04 9.99857280e-01 -3.99645805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.174319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.24, Y:-2.26, Z:-0.40 [[ 9.85097642e-01 1.71217818e-01 1.63429950e-02 2.02443565e+01] [-1.71189576e-01 9.85233161e-01 -3.12209844e-03 -2.26118128e+00] [-1.66362195e-02 2.77821421e-04 9.99861570e-01 -4.00558162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.28, Y:-2.27, Z:-0.40 [[ 9.85336758e-01 1.69884044e-01 1.58393808e-02 2.02756873e+01] [-1.69857267e-01 9.85464015e-01 -3.03060527e-03 -2.26799021e+00] [-1.61239913e-02 2.95732822e-04 9.99869956e-01 -4.01705793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.234319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.31, Y:-2.28, Z:-0.40 [[ 9.85504238e-01 1.68908147e-01 1.58566880e-02 2.03067376e+01] [-1.68881116e-01 9.85631746e-01 -3.03820624e-03 -2.27545149e+00] [-1.61420329e-02 3.16269960e-04 9.99869659e-01 -4.03102567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.34, Y:-2.28, Z:-0.40 [[ 9.85766565e-01 1.67385277e-01 1.56986814e-02 2.03378521e+01] [-1.67358525e-01 9.85891501e-01 -3.01198388e-03 -2.28142828e+00] [-1.59813583e-02 3.41804854e-04 9.99872232e-01 -4.03354949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.294319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.37, Y:-2.29, Z:-0.40 [[ 9.86279954e-01 1.64263397e-01 1.64130649e-02 2.03680709e+01] [-1.64233639e-01 9.86416425e-01 -3.15403334e-03 -2.29128068e+00] [-1.67082091e-02 4.15182480e-04 9.99860322e-01 -4.03674401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.40, Y:-2.30, Z:-0.40 [[ 9.86510218e-01 1.62928223e-01 1.58740081e-02 2.03995074e+01] [-1.62900152e-01 9.86637832e-01 -3.05431715e-03 -2.29950951e+00] [-1.61595314e-02 4.27236760e-04 9.99869335e-01 -4.04758156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.354319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.43, Y:-2.31, Z:-0.41 [[ 9.86778506e-01 1.61295006e-01 1.58776917e-02 2.04304735e+01] [-1.61266639e-01 9.86906131e-01 -3.05949244e-03 -2.30721830e+00] [-1.61632721e-02 4.58499413e-04 9.99869261e-01 -4.05359843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.46, Y:-2.32, Z:-0.41 [[ 9.86998259e-01 1.59941162e-01 1.59142205e-02 2.04602551e+01] [-1.59912412e-01 9.87126430e-01 -3.07122429e-03 -2.31663245e+00] [-1.62005628e-02 4.86411645e-04 9.99868644e-01 -4.06274490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.414319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.49, Y:-2.32, Z:-0.41 [[ 9.87358572e-01 1.57699673e-01 1.59330949e-02 2.04911931e+01] [-1.57670485e-01 9.87486979e-01 -3.07963207e-03 -2.32366519e+00] [-1.62193808e-02 5.28522308e-04 9.99868318e-01 -4.06248501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.52, Y:-2.33, Z:-0.41 [[ 9.87502301e-01 1.56792852e-01 1.59752121e-02 2.05221257e+01] [-1.56763355e-01 9.87631359e-01 -3.09005735e-03 -2.33013976e+00] [-1.62621194e-02 5.47110895e-04 9.99867613e-01 -4.07807778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.474319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.55, Y:-2.34, Z:-0.41 [[ 9.87529941e-01 1.56638434e-01 1.57802866e-02 2.05538434e+01] [-1.56609605e-01 9.87655863e-01 -3.05405648e-03 -2.33632103e+00] [-1.60638752e-02 5.44627763e-04 9.99870819e-01 -4.09230687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.58, Y:-2.35, Z:-0.41 [[ 9.87676673e-01 1.55722366e-01 1.56631696e-02 2.05837964e+01] [-1.55693767e-01 9.87800704e-01 -3.03649044e-03 -2.34630083e+00] [-1.59449395e-02 5.60412891e-04 9.99872714e-01 -4.09327995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.534319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.62, Y:-2.35, Z:-0.41 [[ 9.87650258e-01 1.55851300e-01 1.60418221e-02 2.06156962e+01] [-1.55821290e-01 9.87780362e-01 -3.11159272e-03 -2.35290405e+00] [-1.63307426e-02 5.73507935e-04 9.99866480e-01 -4.08869534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.56432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.65, Y:-2.36, Z:-0.41 [[ 9.87528211e-01 1.56554173e-01 1.66980287e-02 2.06458349e+01] [-1.56521657e-01 9.87669197e-01 -3.24483743e-03 -2.35996476e+00] [-1.70001215e-02 5.90765376e-04 9.99855313e-01 -4.09134951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.594319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.68, Y:-2.36, Z:-0.41 [[ 9.87427239e-01 1.57230845e-01 1.63067018e-02 2.06774951e+01] [-1.57199860e-01 9.87561713e-01 -3.17283557e-03 -2.36421902e+00] [-1.66027420e-02 5.69533020e-04 9.99862003e-01 -4.09548696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.71, Y:-2.37, Z:-0.41 [[ 9.87245311e-01 1.58342770e-01 1.65609126e-02 2.07096424e+01] [-1.58310888e-01 9.87384043e-01 -3.22700935e-03 -2.36811795e+00] [-1.68629544e-02 5.64077068e-04 9.99857651e-01 -4.09936198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.65432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.74, Y:-2.37, Z:-0.41 [[ 9.87069444e-01 1.59437259e-01 1.65430931e-02 2.07407230e+01] [-1.59405519e-01 9.87207911e-01 -3.22831435e-03 -2.37417615e+00] [-1.68461859e-02 5.49510111e-04 9.99857942e-01 -4.10191301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.77, Y:-2.38, Z:-0.41 [[ 9.86732423e-01 1.61471636e-01 1.69126037e-02 2.07718113e+01] [-1.61438674e-01 9.86877211e-01 -3.30541852e-03 -2.37986978e+00] [-1.72243945e-02 5.31215308e-04 9.99851508e-01 -4.10401693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.714319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.80, Y:-2.39, Z:-0.41 [[ 9.86580024e-01 1.62376548e-01 1.71380446e-02 2.08030032e+01] [-1.62342751e-01 9.86728726e-01 -3.35444781e-03 -2.38531318e+00] [-1.74552846e-02 5.27193881e-04 9.99847506e-01 -4.10510967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.74432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.83, Y:-2.39, Z:-0.41 [[ 9.86463836e-01 1.63104850e-01 1.69088093e-02 2.08331902e+01] [-1.63071974e-01 9.86608608e-01 -3.31446980e-03 -2.39165270e+00] [-1.72229829e-02 5.12251683e-04 9.99851542e-01 -4.11086956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.774319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.86, Y:-2.40, Z:-0.41 [[ 9.86227903e-01 1.64580141e-01 1.63676586e-02 2.08639693e+01] [-1.64549469e-01 9.86363600e-01 -3.21260141e-03 -2.39744831e+00] [-1.66731931e-02 4.75067617e-04 9.99860880e-01 -4.13026208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.90, Y:-2.40, Z:-0.41 [[ 9.86102817e-01 1.65352255e-01 1.61203638e-02 2.08954435e+01] [-1.65322538e-01 9.86234466e-01 -3.16814131e-03 -2.40254480e+00] [-1.64223177e-02 4.59053616e-04 9.99865039e-01 -4.13985454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.834319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.93, Y:-2.41, Z:-0.41 [[ 9.85983408e-01 1.66092264e-01 1.58138853e-02 2.09271660e+01] [-1.66063694e-01 9.86110118e-01 -3.11215518e-03 -2.40775949e+00] [-1.61111372e-02 4.42421161e-04 9.99870109e-01 -4.14267890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.96, Y:-2.41, Z:-0.41 [[ 9.85954181e-01 1.66262457e-01 1.58476887e-02 2.09595864e+01] [-1.66233719e-01 9.86081436e-01 -3.12299522e-03 -2.41362582e+00] [-1.61463484e-02 4.44709976e-04 9.99869540e-01 -4.14855138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.894319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.99, Y:-2.42, Z:-0.42 [[ 9.85984366e-01 1.66076684e-01 1.59174554e-02 2.09908304e+01] [-1.66047581e-01 9.86112736e-01 -3.14208306e-03 -2.42132384e+00] [-1.62182323e-02 4.54989802e-04 9.99868372e-01 -4.15216115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.02, Y:-2.43, Z:-0.42 [[ 9.85933169e-01 1.66380437e-01 1.59165546e-02 2.10226162e+01] [-1.66351301e-01 9.86061531e-01 -3.14663860e-03 -2.42777798e+00] [-1.62182413e-02 4.54635797e-04 9.99868372e-01 -4.15906572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.954319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.05, Y:-2.43, Z:-0.42 [[ 9.86085381e-01 1.65406400e-01 1.66236207e-02 2.10534977e+01] [-1.65374379e-01 9.86225368e-01 -3.29229511e-03 -2.43440454e+00] [-1.69392031e-02 4.97363124e-04 9.99856398e-01 -4.16120647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.08, Y:-2.44, Z:-0.42 [[ 9.86162596e-01 1.64962806e-01 1.64501095e-02 2.10834216e+01] [-1.64931310e-01 9.86299659e-01 -3.26261121e-03 -2.44120168e+00] [-1.67629469e-02 5.04327033e-04 9.99859365e-01 -4.16737652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.014319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.11, Y:-2.45, Z:-0.42 [[ 9.86221689e-01 1.64570015e-01 1.68371645e-02 2.11149421e+01] [-1.64536926e-01 9.86365264e-01 -3.34153406e-03 -2.44701231e+00] [-1.71575106e-02 5.25158080e-04 9.99852661e-01 -4.17953312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.15, Y:-2.45, Z:-0.42 [[ 9.86406754e-01 1.63443150e-01 1.69721051e-02 2.11463154e+01] [-1.63409280e-01 9.86552599e-01 -3.37302425e-03 -2.45334923e+00] [-1.72951721e-02 5.53774434e-04 9.99850274e-01 -4.17754930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.074319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.18, Y:-2.46, Z:-0.42 [[ 9.86461650e-01 1.63080044e-01 1.72717178e-02 2.11761007e+01] [-1.63044816e-01 9.86612674e-01 -3.43797427e-03 -2.46191531e+00] [-1.76011607e-02 5.75365723e-04 9.99844922e-01 -4.18248397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.21, Y:-2.47, Z:-0.42 [[ 9.86511397e-01 1.62782721e-01 1.72351064e-02 2.12067432e+01] [-1.62747557e-01 9.86661769e-01 -3.43297908e-03 -2.46899523e+00] [-1.75640503e-02 5.81701519e-04 9.99845571e-01 -4.19034930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.134319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.24, Y:-2.47, Z:-0.42 [[ 9.86540087e-01 1.62643326e-01 1.69057572e-02 2.12384644e+01] [-1.62609404e-01 9.86684760e-01 -3.37139219e-03 -2.47424917e+00] [-1.72289874e-02 5.76978455e-04 9.99851404e-01 -4.20239703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164319999999996 meters Centerline goodness [0,1] 0.9999788668399586 Centerline is valid? [True, True] Translation: X:21.27, Y:-2.48, Z:-0.42 [[ 9.86522919e-01 1.62790420e-01 1.64866680e-02 2.12716742e+01] [-1.62758110e-01 9.86660509e-01 -3.29194018e-03 -2.47790149e+00] [-1.68026406e-02 5.64235509e-04 9.99858666e-01 -4.20825102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.194319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.30, Y:-2.49, Z:-0.42 [[ 9.86468326e-01 1.63137134e-01 1.63253350e-02 2.13016556e+01] [-1.63105412e-01 9.86603246e-01 -3.26501935e-03 -2.49094468e+00] [-1.66392744e-02 5.58087680e-04 9.99861402e-01 -4.22731844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.34, Y:-2.49, Z:-0.42 [[ 9.86369330e-01 1.63723277e-01 1.64388019e-02 2.13357200e+01] [-1.63691096e-01 9.86506147e-01 -3.29358185e-03 -2.48894433e+00] [-1.67562151e-02 5.57802627e-04 9.99859449e-01 -4.22841844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.254319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.36, Y:-2.50, Z:-0.43 [[ 9.86139320e-01 1.65141042e-01 1.60523177e-02 2.13643365e+01] [-1.65110448e-01 9.86269820e-01 -3.22199050e-03 -2.50310056e+00] [-1.63639993e-02 5.26926152e-04 9.99865962e-01 -4.25812566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.40, Y:-2.50, Z:-0.42 [[ 9.85953357e-01 1.66259073e-01 1.59341788e-02 2.13979414e+01] [-1.66228995e-01 9.86081975e-01 -3.20312822e-03 -2.50083682e+00] [-1.62449556e-02 5.09412498e-04 9.99867912e-01 -4.24835747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.314319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.43, Y:-2.51, Z:-0.43 [[ 9.85732120e-01 1.67576367e-01 1.58223950e-02 2.14294204e+01] [-1.67546800e-01 9.85858977e-01 -3.18558073e-03 -2.50650377e+00] [-1.61324782e-02 4.89137598e-04 9.99869743e-01 -4.25143427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.46, Y:-2.51, Z:-0.43 [[ 9.85316224e-01 1.70086135e-01 1.49213055e-02 2.14614927e+01] [-1.70060067e-01 9.85429107e-01 -3.00808934e-03 -2.51083817e+00] [-1.52155230e-02 4.26401017e-04 9.99884146e-01 -4.26636064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.374319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.49, Y:-2.52, Z:-0.43 [[ 9.85100732e-01 1.71286865e-01 1.54064298e-02 2.14933776e+01] [-1.71259150e-01 9.85221106e-01 -3.11045252e-03 -2.51638853e+00] [-1.57115195e-02 4.25616969e-04 9.99876476e-01 -4.27191075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.40432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.52, Y:-2.52, Z:-0.43 [[ 9.84921572e-01 1.72310760e-01 1.54434292e-02 2.15247574e+01] [-1.72282969e-01 9.85042552e-01 -3.12226551e-03 -2.52139251e+00] [-1.57504348e-02 4.14546824e-04 9.99875868e-01 -4.27775029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.434319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.56, Y:-2.53, Z:-0.43 [[ 9.84689662e-01 1.73643543e-01 1.53032419e-02 2.15560724e+01] [-1.73616348e-01 9.84808492e-01 -3.09819057e-03 -2.52768728e+00] [-1.56087434e-02 3.93863251e-04 9.99878099e-01 -4.27680168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.59, Y:-2.53, Z:-0.43 [[ 9.84562049e-01 1.74394623e-01 1.49695337e-02 2.15878333e+01] [-1.74368626e-01 9.84675770e-01 -3.03470714e-03 -2.53472650e+00] [-1.52693738e-02 3.77640456e-04 9.99883345e-01 -4.28408076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.49432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.62, Y:-2.54, Z:-0.43 [[ 9.84463134e-01 1.74975029e-01 1.46995832e-02 2.16187335e+01] [-1.74949967e-01 9.84572804e-01 -2.98389233e-03 -2.54197340e+00] [-1.49949164e-02 3.65840410e-04 9.99887503e-01 -4.28975774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.65, Y:-2.55, Z:-0.43 [[ 9.84406739e-01 1.75295936e-01 1.46528998e-02 2.16496238e+01] [-1.75271003e-01 9.84515720e-01 -2.97880213e-03 -2.55052263e+00] [-1.49481821e-02 3.64124443e-04 9.99888203e-01 -4.29971265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.554319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.68, Y:-2.56, Z:-0.43 [[ 9.84327085e-01 1.75700739e-01 1.51473057e-02 2.16824466e+01] [-1.75674072e-01 9.84443554e-01 -3.08390031e-03 -2.55635821e+00] [-1.54535110e-02 3.74577727e-04 9.99880517e-01 -4.29808842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.71, Y:-2.56, Z:-0.43 [[ 9.84303359e-01 1.75793324e-01 1.56078430e-02 2.17129617e+01] [-1.75764939e-01 9.84427019e-01 -3.18288870e-03 -2.56470844e+00] [-1.59243129e-02 3.89616466e-04 9.99873124e-01 -4.30478757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.614319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.75, Y:-2.57, Z:-0.43 [[ 9.84305287e-01 1.75781241e-01 1.56223110e-02 2.17460893e+01] [-1.75752732e-01 9.84429174e-01 -3.19026115e-03 -2.56855729e+00] [-1.59398468e-02 3.94527084e-04 9.99872875e-01 -4.30869897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644319999999997 meters Centerline goodness [0,1] 0.9999153707817624 Centerline is valid? [True, True] Translation: X:21.78, Y:-2.58, Z:-0.43 [[ 9.84500426e-01 1.74705554e-01 1.53909176e-02 2.17765924e+01] [-1.74677669e-01 9.84620638e-01 -3.14821425e-03 -2.57693985e+00] [-1.57042256e-02 4.10968647e-04 9.99876597e-01 -4.32365048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.674319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.81, Y:-2.59, Z:-0.43 [[ 9.84637252e-01 1.73951871e-01 1.51733012e-02 2.18056387e+01] [-1.73924611e-01 9.84754065e-01 -3.10818848e-03 -2.58909687e+00] [-1.54826453e-02 4.21427650e-04 9.99880048e-01 -4.33469316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.84, Y:-2.60, Z:-0.43 [[ 9.84727499e-01 1.73435363e-01 1.52291544e-02 2.18363051e+01] [-1.73407814e-01 9.84845159e-01 -3.12134164e-03 -2.59728976e+00] [-1.55397100e-02 4.32816583e-04 9.99879158e-01 -4.33843975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.734319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.87, Y:-2.60, Z:-0.43 [[ 9.84919979e-01 1.72385243e-01 1.46956536e-02 2.18684951e+01] [-1.72359420e-01 9.85029511e-01 -3.01555539e-03 -2.60201691e+00] [-1.49954897e-02 4.37146437e-04 9.99887466e-01 -4.34763208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.90, Y:-2.61, Z:-0.44 [[ 9.84994601e-01 1.71987657e-01 1.43485790e-02 2.18996086e+01] [-1.71962929e-01 9.85099007e-01 -2.94896628e-03 -2.60772604e+00] [-1.46419568e-02 4.37292182e-04 9.99892705e-01 -4.35624154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.794319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.93, Y:-2.62, Z:-0.44 [[ 9.84986519e-01 1.72025205e-01 1.44528809e-02 2.19316890e+01] [-1.72000102e-01 9.85092450e-01 -2.97161633e-03 -2.61558412e+00] [-1.47486168e-02 4.41105039e-04 9.99891136e-01 -4.36351922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.96, Y:-2.62, Z:-0.44 [[ 9.84937263e-01 1.72297821e-01 1.45618855e-02 2.19635151e+01] [-1.72272297e-01 9.85044802e-01 -2.99878380e-03 -2.62489789e+00] [-1.48607935e-02 4.45004435e-04 9.99889473e-01 -4.35929752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.854319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.99, Y:-2.63, Z:-0.44 [[ 9.84894206e-01 1.72552673e-01 1.44560968e-02 2.19946498e+01] [-1.72527477e-01 9.85000193e-01 -2.98170446e-03 -2.63263082e+00] [-1.47537592e-02 4.42589552e-04 9.99891059e-01 -4.36776883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.03, Y:-2.64, Z:-0.44 [[ 9.84845257e-01 1.72860634e-01 1.41074878e-02 2.20267737e+01] [-1.72836614e-01 9.84946199e-01 -2.91371873e-03 -2.63982525e+00] [-1.43987837e-02 4.31271652e-04 9.99896239e-01 -4.38130773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.914319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.06, Y:-2.65, Z:-0.44 [[ 9.84768899e-01 1.73378022e-01 1.30490311e-02 2.20591254e+01] [-1.73357468e-01 9.84855271e-01 -2.69874721e-03 -2.64734106e+00] [-1.33193105e-02 3.95495332e-04 9.99911216e-01 -4.39877958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.09, Y:-2.65, Z:-0.44 [[ 9.84629781e-01 1.74152140e-01 1.32372867e-02 2.20903558e+01] [-1.74130997e-01 9.84718679e-01 -2.74225652e-03 -2.65389059e+00] [-1.35125733e-02 3.95085504e-04 9.99908623e-01 -4.40765935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.974319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.12, Y:-2.66, Z:-0.44 [[ 9.84459231e-01 1.75117033e-01 1.31926889e-02 2.21201175e+01] [-1.75096067e-01 9.84547549e-01 -2.73683747e-03 -2.66286392e+00] [-1.34680963e-02 3.84316974e-04 9.99909227e-01 -4.41264140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.15, Y:-2.67, Z:-0.44 [[ 9.84291964e-01 1.76036139e-01 1.34390048e-02 2.21520273e+01] [-1.76014423e-01 9.84383630e-01 -2.79129947e-03 -2.66732478e+00] [-1.37205059e-02 3.81994978e-04 9.99905796e-01 -4.41182063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.034319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.18, Y:-2.67, Z:-0.44 [[ 9.84059005e-01 1.77322269e-01 1.35899472e-02 2.21833177e+01] [-1.77300131e-01 9.84152770e-01 -2.82653406e-03 -2.67389557e+00] [-1.38757916e-02 3.71976873e-04 9.99903657e-01 -4.41670493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.22, Y:-2.68, Z:-0.44 [[ 9.83825386e-01 1.78599721e-01 1.37749513e-02 2.22152845e+01] [-1.78577027e-01 9.83921749e-01 -2.87024348e-03 -2.68048326e+00] [-1.40660989e-02 3.63928551e-04 9.99901001e-01 -4.42304344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.094319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.25, Y:-2.69, Z:-0.44 [[ 9.83148712e-01 1.82310984e-01 1.34653501e-02 2.22457319e+01] [-1.82289634e-01 9.83240872e-01 -2.80660674e-03 -2.68616204e+00] [-1.37513578e-02 3.04718063e-04 9.99905399e-01 -4.42563240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.28, Y:-2.69, Z:-0.44 [[ 9.82712595e-01 1.84611238e-01 1.39515608e-02 2.22775846e+01] [-1.84588528e-01 9.82811584e-01 -2.90951176e-03 -2.69169277e+00] [-1.42488842e-02 2.83915782e-04 9.99898439e-01 -4.42586081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.154319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.31, Y:-2.69, Z:-0.44 [[ 9.81858400e-01 1.89042547e-01 1.47308746e-02 2.23096098e+01] [-1.89017662e-01 9.81968869e-01 -3.07633565e-03 -2.69460699e+00] [-1.50468186e-02 2.36130523e-04 9.99886762e-01 -4.41633859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.34, Y:-2.70, Z:-0.44 [[ 9.81442104e-01 1.91193319e-01 1.47143185e-02 2.23405173e+01] [-1.91168656e-01 9.81552378e-01 -3.07787630e-03 -2.70041697e+00] [-1.50313437e-02 2.07840916e-04 9.99887001e-01 -4.42316740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.214319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.37, Y:-2.71, Z:-0.44 [[ 9.81058318e-01 1.93162889e-01 1.45834035e-02 2.23726482e+01] [-1.93138857e-01 9.81166687e-01 -3.05208349e-03 -2.70579976e+00] [-1.48982989e-02 1.77650019e-04 9.99888998e-01 -4.42841128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.24432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.40, Y:-2.71, Z:-0.44 [[ 9.80536498e-01 1.95798282e-01 1.45330394e-02 2.24028609e+01] [-1.95774631e-01 9.80644182e-01 -3.04654591e-03 -2.71310629e+00] [-1.48482490e-02 1.42049037e-04 9.99889749e-01 -4.44804738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.274319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.44, Y:-2.72, Z:-0.45 [[ 9.80361327e-01 1.96703678e-01 1.41184867e-02 2.24351683e+01] [-1.96681431e-01 9.80462976e-01 -2.96096539e-03 -2.72061106e+00] [-1.44250863e-02 1.25971793e-04 9.99895945e-01 -4.45498811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.47, Y:-2.73, Z:-0.45 [[ 9.80268373e-01 1.97177543e-01 1.39618422e-02 2.24668913e+01] [-1.97155776e-01 9.80367789e-01 -2.93228581e-03 -2.72833572e+00] [-1.42659212e-02 1.21769212e-04 9.99898229e-01 -4.46770218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.334319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.50, Y:-2.74, Z:-0.45 [[ 9.80256791e-01 1.97251617e-01 1.37267545e-02 2.24990517e+01] [-1.97230529e-01 9.80352888e-01 -2.88682729e-03 -2.73528387e+00] [-1.40264948e-02 1.22497001e-04 9.99901616e-01 -4.47318667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.53, Y:-2.74, Z:-0.45 [[ 9.80521656e-01 1.95961475e-01 1.32808908e-02 2.25295210e+01] [-1.95941559e-01 9.80611585e-01 -2.79728133e-03 -2.74470237e+00] [-1.35715548e-02 1.40516470e-04 9.99907892e-01 -4.48385043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.394319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.56, Y:-2.75, Z:-0.45 [[ 9.80627962e-01 1.95434693e-01 1.31939779e-02 2.25608712e+01] [-1.95414944e-01 9.80716706e-01 -2.78236608e-03 -2.75436634e+00] [-1.34833254e-02 1.50165535e-04 9.99909085e-01 -4.49045147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.59, Y:-2.76, Z:-0.45 [[ 9.80868822e-01 1.94226925e-01 1.31246398e-02 2.25918394e+01] [-1.94207213e-01 9.80956611e-01 -2.77228038e-03 -2.76402779e+00] [-1.34131537e-02 1.70343657e-04 9.99910025e-01 -4.49675854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.454319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.62, Y:-2.78, Z:-0.45 [[ 9.81400767e-01 1.91538237e-01 1.28700795e-02 2.26220125e+01] [-1.91519006e-01 9.81485130e-01 -2.72202273e-03 -2.77539210e+00] [-1.31531631e-02 2.06530362e-04 9.99913472e-01 -4.50110586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.65, Y:-2.78, Z:-0.45 [[ 9.81662494e-01 1.90173040e-01 1.31515601e-02 2.26530250e+01] [-1.90152785e-01 9.81750559e-01 -2.78527595e-03 -2.78359643e+00] [-1.34412358e-02 2.33395151e-04 9.99909635e-01 -4.50450377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.514319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.68, Y:-2.79, Z:-0.45 [[ 9.81985059e-01 1.88487291e-01 1.33373828e-02 2.26829166e+01] [-1.88466249e-01 9.82075594e-01 -2.82871157e-03 -2.79305149e+00] [-1.36314944e-02 2.64105989e-04 9.99907052e-01 -4.51213655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.71, Y:-2.80, Z:-0.45 [[ 9.82545125e-01 1.85571029e-01 1.29796451e-02 2.27132576e+01] [-1.85550805e-01 9.82630807e-01 -2.75591108e-03 -2.80396672e+00] [-1.32656164e-02 2.99423386e-04 9.99911963e-01 -4.51829045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.574319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.74, Y:-2.81, Z:-0.45 [[ 9.82716762e-01 1.84700966e-01 1.23822365e-02 2.27433239e+01] [-1.84682447e-01 9.82794721e-01 -2.63260124e-03 -2.81351742e+00] [-1.26554407e-02 3.00319619e-04 9.99919872e-01 -4.52974404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.77, Y:-2.82, Z:-0.45 [[ 9.83009071e-01 1.83201017e-01 1.14260329e-02 2.27728287e+01] [-1.83185116e-01 9.83075429e-01 -2.43198281e-03 -2.82444602e+00] [-1.16781939e-02 2.97581997e-04 9.99931763e-01 -4.54327509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.634319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.80, Y:-2.83, Z:-0.45 [[ 9.83056251e-01 1.82981651e-01 1.08684153e-02 2.28040269e+01] [-1.82967224e-01 9.83116286e-01 -2.31566447e-03 -2.83212240e+00] [-1.11086402e-02 2.87864656e-04 9.99938256e-01 -4.54893703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.84, Y:-2.84, Z:-0.46 [[ 9.83033101e-01 1.83130447e-01 1.04480270e-02 2.28359336e+01] [-1.83117098e-01 9.83088583e-01 -2.22843924e-03 -2.84036863e+00] [-1.06794312e-02 2.77417142e-04 9.99942935e-01 -4.55841949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.694319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.87, Y:-2.85, Z:-0.46 [[ 9.82850681e-01 1.84121952e-01 1.01806622e-02 2.28659218e+01] [-1.84109291e-01 9.82903371e-01 -2.17528239e-03 -2.84935992e+00] [-1.04071244e-02 2.63623283e-04 9.99945810e-01 -4.57558434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.90, Y:-2.86, Z:-0.46 [[ 9.82630576e-01 1.85303830e-01 9.98207642e-03 2.28974268e+01] [-1.85291694e-01 9.82681245e-01 -2.13520903e-03 -2.85696404e+00] [-1.02048617e-02 2.48525822e-04 9.99947898e-01 -4.58630181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.754319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.93, Y:-2.86, Z:-0.46 [[ 9.82314262e-01 1.86961355e-01 1.02049818e-02 2.29291299e+01] [-1.86948710e-01 9.82367240e-01 -2.18782545e-03 -2.86443400e+00] [-1.04340786e-02 2.41323959e-04 9.99945534e-01 -4.59148703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784319999999997 meters Centerline goodness [0,1] 0.9999784245614792 Centerline is valid? [True, True] Translation: X:22.96, Y:-2.87, Z:-0.46 [[ 9.81968077e-01 1.88763558e-01 1.03447787e-02 2.29609924e+01] [-1.88750673e-01 9.82022540e-01 -2.21690379e-03 -2.87030258e+00] [-1.05772765e-02 2.24344817e-04 9.99944034e-01 -4.58596226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.814319999999995 meters Centerline goodness [0,1] 0.9999784245614792 Centerline is valid? [True, True] Translation: X:22.99, Y:-2.88, Z:-0.46 [[ 9.81908395e-01 1.89073797e-01 1.03442548e-02 2.29926529e+01] [-1.89060903e-01 9.81962855e-01 -2.21934421e-03 -2.87726779e+00] [-1.05772938e-02 2.23498559e-04 9.99944034e-01 -4.59286424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844319999999996 meters Centerline goodness [0,1] 0.99997842363044 Centerline is valid? [True, True] Translation: X:23.02, Y:-2.88, Z:-0.46 [[ 9.81331614e-01 1.91988788e-01 1.13388001e-02 2.30229824e+01] [-1.91973432e-01 9.81397095e-01 -2.43773878e-03 -2.88367962e+00] [-1.15958840e-02 2.15481774e-04 9.99932742e-01 -4.59387396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.874319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.05, Y:-2.89, Z:-0.46 [[ 9.81088429e-01 1.93195109e-01 1.18804208e-02 2.30544771e+01] [-1.93178299e-01 9.81160336e-01 -2.55746379e-03 -2.89028390e+00] [-1.21506871e-02 2.14058648e-04 9.99926155e-01 -4.59696272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.08, Y:-2.90, Z:-0.46 [[ 9.80803336e-01 1.94574536e-01 1.28672550e-02 2.30843651e+01] [-1.94554880e-01 9.80887712e-01 -2.77418684e-03 -2.89939498e+00] [-1.31611185e-02 2.17544451e-04 9.99913365e-01 -4.60386436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.934319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.12, Y:-2.91, Z:-0.46 [[ 9.80733720e-01 1.94905795e-01 1.31568358e-02 2.31163116e+01] [-1.94885233e-01 9.80821942e-01 -2.83966101e-03 -2.90597657e+00] [-1.34579797e-02 2.20878284e-04 9.99909413e-01 -4.59966478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.15, Y:-2.92, Z:-0.46 [[ 9.80696378e-01 1.95084133e-01 1.32964020e-02 2.31469421e+01] [-1.95063087e-01 9.80786485e-01 -2.87434117e-03 -2.91518867e+00] [-1.36016698e-02 2.25218753e-04 9.99907468e-01 -4.60868521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.994319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.18, Y:-2.92, Z:-0.46 [[ 9.80844713e-01 1.94297043e-01 1.38674999e-02 2.31775589e+01] [-1.94274006e-01 9.80942708e-01 -3.00243410e-03 -2.92444919e+00] [-1.41865870e-02 2.50826859e-04 9.99899334e-01 -4.61805839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024319999999996 meters Centerline goodness [0,1] 0.9999783380989515 Centerline is valid? [True, True] Translation: X:23.21, Y:-2.93, Z:-0.46 [[ 9.80977574e-01 1.93611417e-01 1.40576733e-02 2.32087775e+01] [-1.93587618e-01 9.81078257e-01 -3.04745974e-03 -2.93078843e+00] [-1.43817006e-02 2.68098173e-04 9.99896542e-01 -4.62671771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.054319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.24, Y:-2.94, Z:-0.46 [[ 9.81078836e-01 1.93111625e-01 1.38642360e-02 2.32401146e+01] [-1.93088370e-01 9.81176755e-01 -3.00947899e-03 -2.93905939e+00] [-1.41844315e-02 2.75513409e-04 9.99899358e-01 -4.63691503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.27, Y:-2.95, Z:-0.46 [[ 9.81369144e-01 1.91627860e-01 1.39056154e-02 2.32699992e+01] [-1.91604257e-01 9.81467611e-01 -3.02268334e-03 -2.94993652e+00] [-1.42271415e-02 3.01993054e-04 9.99898743e-01 -4.64973758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.114319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.30, Y:-2.96, Z:-0.47 [[ 9.81498510e-01 1.90945068e-01 1.41652687e-02 2.33011876e+01] [-1.90920450e-01 9.81600671e-01 -3.08290077e-03 -2.95883817e+00] [-1.44933020e-02 3.21423035e-04 9.99894915e-01 -4.65317967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.33, Y:-2.97, Z:-0.47 [[ 9.81590546e-01 1.90419687e-01 1.48439582e-02 2.33322477e+01] [-1.90392523e-01 9.81702715e-01 -3.23515606e-03 -2.96721759e+00] [-1.51883914e-02 3.49419952e-04 9.99884589e-01 -4.65731157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.174319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.36, Y:-2.98, Z:-0.47 [[ 9.81687735e-01 1.89901700e-01 1.50510872e-02 2.33622969e+01] [-1.89873643e-01 9.81803040e-01 -3.28477916e-03 -2.97566612e+00] [-1.54009883e-02 3.66822649e-04 9.99881330e-01 -4.66858720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.39, Y:-2.99, Z:-0.47 [[ 9.81961113e-01 1.88580622e-01 1.37739534e-02 2.33916966e+01] [-1.88556951e-01 9.82057646e-01 -3.00921673e-03 -2.98549859e+00] [-1.40942962e-02 3.57759160e-04 9.99900606e-01 -4.69345458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.234319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.42, Y:-2.99, Z:-0.47 [[ 9.82099047e-01 1.87906044e-01 1.31446244e-02 2.34222388e+01] [-1.87884386e-01 9.82186944e-01 -2.87472467e-03 -2.99405186e+00] [-1.34506566e-02 3.53594679e-04 9.99909473e-01 -4.70644147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.45, Y:-3.00, Z:-0.47 [[ 9.82242381e-01 1.87149883e-01 1.32222162e-02 2.34532792e+01] [-1.87127851e-01 9.82331301e-01 -2.89535434e-03 -3.00182311e+00] [-1.35304621e-02 3.69694838e-04 9.99908391e-01 -4.71306417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.294319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.48, Y:-3.01, Z:-0.47 [[ 9.82542199e-01 1.85562945e-01 1.33124121e-02 2.34838357e+01] [-1.85540413e-01 9.82632299e-01 -2.91891104e-03 -3.01114894e+00] [-1.36228478e-02 3.97962840e-04 9.99907126e-01 -4.72012429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.52, Y:-3.02, Z:-0.47 [[ 9.82590002e-01 1.85295091e-01 1.35135915e-02 2.35153337e+01] [-1.85271793e-01 9.82682838e-01 -2.96695759e-03 -3.01879754e+00] [-1.38293371e-02 4.11615530e-04 9.99904285e-01 -4.72511606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.354319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.55, Y:-3.03, Z:-0.47 [[ 9.82656864e-01 1.84882548e-01 1.42804148e-02 2.35461064e+01] [-1.84856423e-01 9.82760523e-01 -3.13971840e-03 -3.02680997e+00] [-1.46147070e-02 4.45439443e-04 9.99893100e-01 -4.72496638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.58, Y:-3.04, Z:-0.47 [[ 9.82618379e-01 1.85026207e-01 1.50473902e-02 2.35771387e+01] [-1.84997139e-01 9.82733474e-01 -3.31341722e-03 -3.03606971e+00] [-1.54006431e-02 4.72100525e-04 9.99881292e-01 -4.72765570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.414319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.61, Y:-3.04, Z:-0.47 [[ 9.82638650e-01 1.84874256e-01 1.55818238e-02 2.36096462e+01] [-1.84843025e-01 9.82762059e-01 -3.43374877e-03 -3.04237665e+00] [-1.59480370e-02 4.93942802e-04 9.99872700e-01 -4.72504844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.64, Y:-3.05, Z:-0.47 [[ 9.82590867e-01 1.85083159e-01 1.61062837e-02 2.36419976e+01] [-1.85049727e-01 9.82722729e-01 -3.55485538e-03 -3.05047248e+00] [-1.64859549e-02 5.12505034e-04 9.99863966e-01 -4.72680058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.474319999999995 meters Centerline goodness [0,1] 0.9999780412823891 Centerline is valid? [True, True] Translation: X:23.67, Y:-3.06, Z:-0.47 [[ 9.82441745e-01 1.85821603e-01 1.66897921e-02 2.36725835e+01] [-1.85785709e-01 9.82583359e-01 -3.68960461e-03 -3.05723973e+00] [-1.70847202e-02 5.24096752e-04 9.99853908e-01 -4.73178546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504319999999996 meters Centerline goodness [0,1] 0.999934279705573 Centerline is valid? [True, True] Translation: X:23.70, Y:-3.06, Z:-0.47 [[ 9.82157135e-01 1.87293692e-01 1.69833569e-02 2.37041266e+01] [-1.87256666e-01 9.82303828e-01 -3.75897627e-03 -3.06246723e+00] [-1.73868490e-02 5.11658580e-04 9.99848706e-01 -4.73817008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.534319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.74, Y:-3.07, Z:-0.47 [[ 9.81608699e-01 1.90142582e-01 1.70340724e-02 2.37351051e+01] [-1.90105677e-01 9.81756375e-01 -3.77513076e-03 -3.06806686e+00] [-1.74411223e-02 4.67427324e-04 9.99847783e-01 -4.74806882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.77, Y:-3.07, Z:-0.48 [[ 9.81329931e-01 1.91553934e-01 1.72816914e-02 2.37653241e+01] [-1.91516076e-01 9.81481984e-01 -3.83510549e-03 -3.07497700e+00] [-1.76962983e-02 4.53782074e-04 9.99843305e-01 -4.76170789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.594319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.80, Y:-3.08, Z:-0.48 [[ 9.81086108e-01 1.92733770e-01 1.79928601e-02 2.37967739e+01] [-1.92692841e-01 9.81250980e-01 -3.99780803e-03 -3.07962894e+00] [-1.84260242e-02 4.55098593e-04 9.99830123e-01 -4.76857198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.83, Y:-3.09, Z:-0.48 [[ 9.80761049e-01 1.94260008e-01 1.92565261e-02 2.38269960e+01] [-1.94213302e-01 9.80949966e-01 -4.28458740e-03 -3.08635810e+00] [-1.97220126e-02 4.62282909e-04 9.99805395e-01 -4.76991455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.654319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.86, Y:-3.09, Z:-0.48 [[ 9.80643884e-01 1.94839686e-01 1.93667071e-02 2.38589216e+01] [-1.94792456e-01 9.80834995e-01 -4.31419489e-03 -3.09315172e+00] [-1.98361204e-02 4.58200403e-04 9.99803140e-01 -4.77697969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.89, Y:-3.10, Z:-0.48 [[ 9.80624568e-01 1.94930275e-01 1.94330829e-02 2.38905889e+01] [-1.94882611e-01 9.80816992e-01 -4.33536940e-03 -3.10150568e+00] [-1.99053927e-02 4.64199804e-04 9.99801760e-01 -4.78821100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.714319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.92, Y:-3.11, Z:-0.48 [[ 9.80661083e-01 1.94714015e-01 1.97558420e-02 2.39227898e+01] [-1.94664579e-01 9.80859939e-01 -4.41390793e-03 -3.10852013e+00] [-2.02371638e-02 4.82785057e-04 9.99795091e-01 -4.79219876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.95, Y:-3.12, Z:-0.48 [[ 9.80634167e-01 1.94799994e-01 2.02384253e-02 2.39535640e+01] [-1.94747987e-01 9.80842858e-01 -4.52865473e-03 -3.11639438e+00] [-2.07328968e-02 4.99560976e-04 9.99784926e-01 -4.79388735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.774319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.98, Y:-3.12, Z:-0.48 [[ 9.80713197e-01 1.94362531e-01 2.06114582e-02 2.39845599e+01] [-1.94308355e-01 9.80929626e-01 -4.61863656e-03 -3.12382483e+00] [-2.11160799e-02 5.24579274e-04 9.99776893e-01 -4.80091206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.01, Y:-3.13, Z:-0.48 [[ 9.80960155e-01 1.93038592e-01 2.12902811e-02 2.40144869e+01] [-1.92980340e-01 9.81190995e-01 -4.77700665e-03 -3.13399019e+00] [-2.18119787e-02 5.77447514e-04 9.99761924e-01 -4.81052516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.834319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.05, Y:-3.14, Z:-0.48 [[ 9.81024447e-01 1.92722490e-01 2.11914105e-02 2.40453794e+01] [-1.92664584e-01 9.81253126e-01 -4.76037074e-03 -3.14185716e+00] [-2.17115683e-02 5.87205782e-04 9.99764104e-01 -4.81892140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.08, Y:-3.15, Z:-0.48 [[ 9.81148476e-01 1.92096130e-01 2.11363541e-02 2.40762673e+01] [-1.92038255e-01 9.81375927e-01 -4.75371534e-03 -3.14906982e+00] [-2.16558794e-02 6.05112002e-04 9.99765301e-01 -4.82566947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.894319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.11, Y:-3.16, Z:-0.48 [[ 9.81471702e-01 1.90316855e-01 2.21989386e-02 2.41062223e+01] [-1.90252412e-01 9.81722480e-01 -4.99914446e-03 -3.15907702e+00] [-2.27446185e-02 6.83117197e-04 9.99741074e-01 -4.82127663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.14, Y:-3.17, Z:-0.48 [[ 9.81568428e-01 1.89752567e-01 2.27461004e-02 2.41374864e+01] [-1.89684617e-01 9.81831679e-01 -5.12837228e-03 -3.16713254e+00] [-2.33059638e-02 7.19262970e-04 9.99728120e-01 -4.82528922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.954319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.17, Y:-3.17, Z:-0.48 [[ 9.81623748e-01 1.89425251e-01 2.30844497e-02 2.41679966e+01] [-1.89355023e-01 9.81894862e-01 -5.21102221e-03 -3.17480336e+00] [-2.36536018e-02 7.44106640e-04 9.99719937e-01 -4.83150223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.20, Y:-3.18, Z:-0.48 [[ 9.81725737e-01 1.88831581e-01 2.36053301e-02 2.41981031e+01] [-1.88757829e-01 9.82009177e-01 -5.33466888e-03 -3.18302067e+00] [-2.41880048e-02 7.81490866e-04 9.99707122e-01 -4.84043481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.014319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.23, Y:-3.19, Z:-0.48 [[ 9.81691069e-01 1.89039665e-01 2.33805555e-02 2.42296307e+01] [-1.88967227e-01 9.81969147e-01 -5.28981659e-03 -3.19081935e+00] [-2.39589693e-02 7.74806950e-04 9.99712642e-01 -4.84939287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.26, Y:-3.20, Z:-0.49 [[ 9.81657016e-01 1.89284499e-01 2.28228263e-02 2.42622478e+01] [-1.89215382e-01 9.81921995e-01 -5.17051075e-03 -3.19704964e+00] [-2.33889327e-02 7.57238340e-04 9.99726155e-01 -4.87030361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.074319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.29, Y:-3.21, Z:-0.49 [[ 9.81600610e-01 1.89586378e-01 2.27430931e-02 2.42932066e+01] [-1.89517659e-01 9.81863757e-01 -5.15950233e-03 -3.20679038e+00] [-2.33087901e-02 7.54352870e-04 9.99728029e-01 -4.87839722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.33, Y:-3.21, Z:-0.49 [[ 9.81550847e-01 1.89817274e-01 2.29638165e-02 2.43253326e+01] [-1.89747119e-01 9.81819138e-01 -5.21633901e-03 -3.21488291e+00] [-2.35364658e-02 7.62783942e-04 9.99722688e-01 -4.88363722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.134319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.36, Y:-3.22, Z:-0.49 [[ 9.81455318e-01 1.90246469e-01 2.34891442e-02 2.43582046e+01] [-1.90173015e-01 9.81736053e-01 -5.34291253e-03 -3.21742736e+00] [-2.40766100e-02 7.76828536e-04 9.99709815e-01 -4.89425247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.39, Y:-3.23, Z:-0.49 [[ 9.81223769e-01 1.91423617e-01 2.35990294e-02 2.43875753e+01] [-1.91349631e-01 9.81507220e-01 -5.37547051e-03 -3.23011662e+00] [-2.41916097e-02 7.58873867e-04 9.99707052e-01 -4.88790405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.194319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.42, Y:-3.24, Z:-0.49 [[ 9.80996908e-01 1.92561639e-01 2.37714514e-02 2.44186245e+01] [-1.92486748e-01 9.81284599e-01 -5.42102085e-03 -3.23669710e+00] [-2.43704398e-02 7.42315311e-04 9.99702721e-01 -4.89238281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.45, Y:-3.24, Z:-0.49 [[ 9.80721935e-01 1.93932402e-01 2.39731121e-02 2.44501788e+01] [-1.93856492e-01 9.81014630e-01 -5.47320422e-03 -3.24306571e+00] [-2.45794053e-02 7.20348032e-04 9.99697621e-01 -4.89536003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.254319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.48, Y:-3.24, Z:-0.49 [[ 9.79957921e-01 1.97704644e-01 2.43997121e-02 2.44832476e+01] [-1.97627037e-01 9.80261425e-01 -5.57613059e-03 -3.24000412e+00] [-2.50205235e-02 6.42330531e-04 9.99686731e-01 -4.90954207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284319999999997 meters Centerline goodness [0,1] 0.9999561970257781 Centerline is valid? [True, True] Translation: X:24.51, Y:-3.25, Z:-0.49 [[ 9.79452399e-01 2.00161561e-01 2.46647038e-02 2.45124994e+01] [-2.00082998e-01 9.79762729e-01 -5.63821325e-03 -3.25062902e+00] [-2.52941111e-02 5.87373607e-04 9.99679880e-01 -4.90488703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.314319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.55, Y:-3.25, Z:-0.49 [[ 9.78631427e-01 2.04092762e-01 2.50334789e-02 2.45452199e+01] [-2.04012997e-01 9.78951427e-01 -5.72715924e-03 -3.25156782e+00] [-2.56754316e-02 4.97622967e-04 9.99670208e-01 -4.91131005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.58, Y:-3.26, Z:-0.49 [[ 9.78325173e-01 2.05562728e-01 2.49763987e-02 2.45760595e+01] [-2.05483630e-01 9.78643831e-01 -5.72092783e-03 -3.25827166e+00] [-2.56190080e-02 4.64686651e-04 9.99671671e-01 -4.91195543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.374319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.61, Y:-3.26, Z:-0.49 [[ 9.77979471e-01 2.07137001e-01 2.55032545e-02 2.46069713e+01] [-2.07054883e-01 9.78311847e-01 -5.84854325e-03 -3.26408202e+00] [-2.61615857e-02 4.39181851e-04 9.99657631e-01 -4.91742825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404319999999995 meters Centerline goodness [0,1] 0.9998911765986158 Centerline is valid? [True, True] Translation: X:24.64, Y:-3.27, Z:-0.49 [[ 9.77559408e-01 2.09167779e-01 2.50288552e-02 2.46396265e+01] [-2.09089192e-01 9.77879692e-01 -5.74603077e-03 -3.26547860e+00] [-2.56770937e-02 3.83823314e-04 9.99670215e-01 -4.94208956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.434319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.67, Y:-3.27, Z:-0.50 [[ 9.77363584e-01 2.10093826e-01 2.49200606e-02 2.46709871e+01] [-2.10016036e-01 9.77681160e-01 -5.72833483e-03 -3.27215050e+00] [-2.55673615e-02 3.65053527e-04 9.99673035e-01 -4.95019212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.70, Y:-3.28, Z:-0.50 [[ 9.77291877e-01 2.10439731e-01 2.48134269e-02 2.47019948e+01] [-2.10362530e-01 9.77606766e-01 -5.71115179e-03 -3.28107120e+00] [-2.54596273e-02 3.61646994e-04 9.99675786e-01 -4.95600677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.494319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.73, Y:-3.29, Z:-0.50 [[ 9.77440054e-01 2.09848040e-01 2.39737705e-02 2.47334262e+01] [-2.09775618e-01 9.77733942e-01 -5.52520623e-03 -3.28903698e+00] [-2.45994228e-02 3.71445348e-04 9.99697319e-01 -4.97405065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524319999999996 meters Centerline goodness [0,1] 0.9999783249523149 Centerline is valid? [True, True] Translation: X:24.76, Y:-3.30, Z:-0.50 [[ 9.77522643e-01 2.09463594e-01 2.39684340e-02 2.47648966e+01] [-2.09390896e-01 9.77816369e-01 -5.53179777e-03 -3.29771140e+00] [-2.45954373e-02 3.88685713e-04 9.99697411e-01 -4.98088703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.554319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.80, Y:-3.31, Z:-0.50 [[ 9.77679957e-01 2.08766781e-01 2.36290568e-02 2.47957478e+01] [-2.08695744e-01 9.77965370e-01 -5.46091680e-03 -3.30612413e+00] [-2.42484573e-02 4.07745307e-04 9.99705880e-01 -4.98429748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.83, Y:-3.31, Z:-0.50 [[ 9.78198353e-01 2.06281369e-01 2.39995553e-02 2.48267692e+01] [-2.06207168e-01 9.78492597e-01 -5.55344861e-03 -3.31418340e+00] [-2.46289602e-02 4.83493945e-04 9.99696544e-01 -4.99619933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.614319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.86, Y:-3.32, Z:-0.50 [[ 9.78438757e-01 2.05142905e-01 2.39580156e-02 2.48566833e+01] [-2.05068460e-01 9.78731894e-01 -5.55033700e-03 -3.32320450e+00] [-2.45870863e-02 5.17631474e-04 9.99697558e-01 -5.00635807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.89, Y:-3.33, Z:-0.50 [[ 9.78730097e-01 2.03775905e-01 2.37229450e-02 2.48871766e+01] [-2.03702413e-01 9.79017404e-01 -5.49994829e-03 -3.33240671e+00] [-2.43459329e-02 5.50543792e-04 9.99703442e-01 -5.01290029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.674319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.92, Y:-3.34, Z:-0.50 [[ 9.79265221e-01 2.01149056e-01 2.40558668e-02 2.49171847e+01] [-2.01072525e-01 9.79560442e-01 -5.58395731e-03 -3.34310599e+00] [-2.46873833e-02 6.31201301e-04 9.99695021e-01 -5.01279166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.95, Y:-3.35, Z:-0.50 [[ 9.79561364e-01 1.99718903e-01 2.39142931e-02 2.49471862e+01] [-1.99642690e-01 9.79853005e-01 -5.55742237e-03 -3.35282618e+00] [-2.45424143e-02 6.69522430e-04 9.99698565e-01 -5.01665357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.734319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.98, Y:-3.36, Z:-0.50 [[ 9.79500468e-01 2.00017519e-01 2.39128589e-02 2.49787198e+01] [-1.99941245e-01 9.79792093e-01 -5.56358742e-03 -3.36033351e+00] [-2.45424450e-02 6.68369718e-04 9.99698565e-01 -5.02355471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.01, Y:-3.37, Z:-0.50 [[ 9.79666528e-01 1.99223938e-01 2.37342839e-02 2.50099438e+01] [-1.99148384e-01 9.79953747e-01 -5.52949755e-03 -3.36851806e+00] [-2.43601087e-02 6.90419372e-04 9.99703010e-01 -5.03138318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.794319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.04, Y:-3.38, Z:-0.50 [[ 9.79956362e-01 1.97897585e-01 2.28489630e-02 2.50405642e+01] [-1.97827057e-01 9.80222451e-01 -5.32942954e-03 -3.37649990e+00] [-2.34517477e-02 7.02465271e-04 9.99724723e-01 -5.04656631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.07, Y:-3.38, Z:-0.51 [[ 9.80073002e-01 1.97378120e-01 2.23335502e-02 2.50717812e+01] [-1.97310473e-01 9.80327181e-01 -5.21498478e-03 -3.38320529e+00] [-2.29235102e-02 7.04422453e-04 9.99736974e-01 -5.05621701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.854319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.10, Y:-3.39, Z:-0.51 [[ 9.80031644e-01 1.97619025e-01 2.20158325e-02 2.51023052e+01] [-1.97553208e-01 9.80278653e-01 -5.14705591e-03 -3.39154409e+00] [-2.25988068e-02 6.94979344e-04 9.99744373e-01 -5.05557892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.13, Y:-3.40, Z:-0.51 [[ 9.79953933e-01 1.98026468e-01 2.18129928e-02 2.51334745e+01] [-1.97961811e-01 9.80196433e-01 -5.10623112e-03 -3.39934924e+00] [-2.23921866e-02 6.85731706e-04 9.99749028e-01 -5.06155424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.914319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.17, Y:-3.40, Z:-0.51 [[ 9.79545278e-01 2.00083937e-01 2.13884756e-02 2.51654787e+01] [-2.00022125e-01 9.79778556e-01 -5.01314039e-03 -3.40254508e+00] [-2.19590186e-02 6.32429671e-04 9.99758672e-01 -5.07908817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.20, Y:-3.41, Z:-0.51 [[ 9.79198503e-01 2.01766610e-01 2.14599060e-02 2.51965898e+01] [-2.01704654e-01 9.79433444e-01 -5.03591074e-03 -3.40830700e+00] [-2.20346283e-02 6.02593340e-04 9.99757027e-01 -5.08489681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.974319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.23, Y:-3.41, Z:-0.51 [[ 9.78926910e-01 2.03098252e-01 2.12886342e-02 2.52278047e+01] [-2.03037468e-01 9.79158195e-01 -5.00158865e-03 -3.41397562e+00] [-2.18607546e-02 5.73799346e-04 9.99760860e-01 -5.08918100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.26, Y:-3.42, Z:-0.51 [[ 9.78545874e-01 2.04916657e-01 2.13807209e-02 2.52591129e+01] [-2.04855649e-01 9.78779276e-01 -5.02916303e-03 -3.41964939e+00] [-2.19575658e-02 5.41305275e-04 9.99758757e-01 -5.09298646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.034319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.29, Y:-3.42, Z:-0.51 [[ 9.77859575e-01 2.08145332e-01 2.15910275e-02 2.52906136e+01] [-2.08083770e-01 9.78097792e-01 -5.08463010e-03 -3.42364974e+00] [-2.21764784e-02 4.79311817e-04 9.99753957e-01 -5.08962549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.32, Y:-3.43, Z:-0.51 [[ 9.77445783e-01 2.10058461e-01 2.17987465e-02 2.53222642e+01] [-2.09996049e-01 9.77688726e-01 -5.13955652e-03 -3.42861526e+00] [-2.23919960e-02 4.45987209e-04 9.99749168e-01 -5.08949238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.094319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.35, Y:-3.43, Z:-0.51 [[ 9.76991915e-01 2.12179643e-01 2.16008465e-02 2.53538819e+01] [-2.12118750e-01 9.77230597e-01 -5.09867770e-03 -3.43307502e+00] [-2.21908437e-02 3.99422336e-04 9.99753673e-01 -5.09274150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.39, Y:-3.44, Z:-0.51 [[ 9.76260760e-01 2.15553652e-01 2.12497365e-02 2.53854297e+01] [-2.15495396e-01 9.76491945e-01 -5.02149119e-03 -3.43570862e+00] [-2.18325973e-02 3.23064419e-04 9.99761588e-01 -5.10154233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.154319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.42, Y:-3.44, Z:-0.51 [[ 9.75848268e-01 2.17407420e-01 2.13113059e-02 2.54182575e+01] [-2.17349150e-01 9.76080904e-01 -5.04144285e-03 -3.43818482e+00] [-2.18976058e-02 2.87689049e-04 9.99760177e-01 -5.10821560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184319999999996 meters Centerline goodness [0,1] 0.9999785513587715 Centerline is valid? [True, True] Translation: X:25.45, Y:-3.44, Z:-0.51 [[ 9.75290089e-01 2.19944554e-01 2.08239294e-02 2.54494425e+01] [-2.19889368e-01 9.75512347e-01 -4.93214588e-03 -3.44338948e+00] [-2.13987988e-02 2.31312319e-04 9.99770993e-01 -5.11347066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.214319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.48, Y:-3.45, Z:-0.51 [[ 9.75042721e-01 2.21073404e-01 2.04509623e-02 2.54823199e+01] [-2.21020302e-01 9.75257149e-01 -4.84966845e-03 -3.44834355e+00] [-2.10170799e-02 2.08556056e-04 9.99779095e-01 -5.12437710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.51, Y:-3.45, Z:-0.51 [[ 9.74964209e-01 2.21456125e-01 2.00493179e-02 2.55143704e+01] [-2.21405038e-01 9.75170315e-01 -4.76086883e-03 -3.45454076e+00] [-2.06058232e-02 2.02656730e-04 9.99787657e-01 -5.13582296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.274319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.55, Y:-3.46, Z:-0.51 [[ 9.75023489e-01 2.21228028e-01 1.96813628e-02 2.55465558e+01] [-2.21178622e-01 9.75222085e-01 -4.67989249e-03 -3.46164811e+00] [-2.02290231e-02 2.09908393e-04 9.99795350e-01 -5.14757798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.58, Y:-3.47, Z:-0.52 [[ 9.75532779e-01 2.18984360e-01 1.95357825e-02 2.55777113e+01] [-2.18935104e-01 9.75728334e-01 -4.65169528e-03 -3.46988110e+00] [-2.00802650e-02 2.60812662e-04 9.99798337e-01 -5.15426730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.334319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.61, Y:-3.48, Z:-0.52 [[ 9.75874868e-01 2.17470389e-01 1.93615912e-02 2.56073009e+01] [-2.17421599e-01 9.76066874e-01 -4.61579427e-03 -3.47865189e+00] [-1.99020064e-02 2.94809515e-04 9.99801892e-01 -5.15757280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.64, Y:-3.49, Z:-0.52 [[ 9.76822829e-01 2.13163998e-01 1.94491616e-02 2.56382254e+01] [-2.13113807e-01 9.77016355e-01 -4.64184486e-03 -3.48838796e+00] [-1.99916232e-02 3.89375146e-04 9.99800072e-01 -5.16164277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.394319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.67, Y:-3.50, Z:-0.52 [[ 9.77324642e-01 2.10880868e-01 1.91259991e-02 2.56682256e+01] [-2.10831783e-01 9.77511673e-01 -4.57038181e-03 -3.49766723e+00] [-1.96596935e-02 4.34378257e-04 9.99806635e-01 -5.16649635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.70, Y:-3.51, Z:-0.52 [[ 9.77791126e-01 2.08710054e-01 1.90952402e-02 2.56988016e+01] [-2.08660660e-01 9.77977445e-01 -4.56572919e-03 -3.50700159e+00] [-1.96276278e-02 4.79904063e-04 9.99807244e-01 -5.17320237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.454319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.73, Y:-3.52, Z:-0.52 [[ 9.78740362e-01 2.04227455e-01 1.89327629e-02 2.57289015e+01] [-2.04177954e-01 9.78923297e-01 -4.53228186e-03 -3.51733467e+00] [-1.94593391e-02 5.70274382e-04 9.99810486e-01 -5.17495782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.76, Y:-3.53, Z:-0.52 [[ 9.79107630e-01 2.02498561e-01 1.85089421e-02 2.57587028e+01] [-2.02450852e-01 9.79282379e-01 -4.43561465e-03 -3.52569359e+00] [-1.90236864e-02 5.95793056e-04 9.99818856e-01 -5.18789569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.514319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.79, Y:-3.53, Z:-0.52 [[ 9.79747166e-01 1.99503517e-01 1.71416713e-02 2.57898935e+01] [-1.99462055e-01 9.79896920e-01 -4.11269775e-03 -3.53221093e+00] [-1.76175686e-02 6.10290974e-04 9.99844612e-01 -5.21000247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.82, Y:-3.54, Z:-0.52 [[ 9.79974868e-01 1.98429955e-01 1.65774555e-02 2.58214503e+01] [-1.98391017e-01 9.80114882e-01 -3.97777756e-03 -3.53918267e+00] [-1.70371211e-02 6.09303777e-04 9.99854672e-01 -5.22148162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.574319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.85, Y:-3.55, Z:-0.52 [[ 9.80132964e-01 1.97707787e-01 1.58430809e-02 2.58504085e+01] [-1.97672055e-01 9.80260819e-01 -3.80606853e-03 -3.55072753e+00] [-1.62828408e-02 5.98718874e-04 9.99867247e-01 -5.23616846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.88, Y:-3.55, Z:-0.52 [[ 9.80302565e-01 1.96871575e-01 1.57627239e-02 2.58820768e+01] [-1.96836019e-01 9.80429093e-01 -3.79153857e-03 -3.55429396e+00] [-1.62006793e-02 6.14183151e-04 9.99868572e-01 -5.23791886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.634319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.91, Y:-3.56, Z:-0.52 [[ 9.80569706e-01 1.95528733e-01 1.58608371e-02 2.59118803e+01] [-1.95492507e-01 9.80697762e-01 -3.81825446e-03 -3.56169581e+00] [-1.63012659e-02 6.43389848e-04 9.99866919e-01 -5.23954824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.94, Y:-3.57, Z:-0.52 [[ 9.80578346e-01 1.95461812e-01 1.61489473e-02 2.59421682e+01] [-1.95424256e-01 9.80711094e-01 -3.88712846e-03 -3.57128534e+00] [-1.65972369e-02 6.55737980e-04 9.99862041e-01 -5.24503935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.694319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.97, Y:-3.58, Z:-0.52 [[ 9.80529062e-01 1.95706340e-01 1.61798424e-02 2.59747356e+01] [-1.95668593e-01 9.80662325e-01 -3.89943405e-03 -3.57624775e+00] [-1.66301058e-02 6.57621404e-04 9.99861494e-01 -5.24562965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.01, Y:-3.58, Z:-0.52 [[ 9.80325559e-01 1.96700968e-01 1.64477022e-02 2.60053531e+01] [-1.96662004e-01 9.80463308e-01 -3.96970340e-03 -3.58130745e+00] [-1.69072130e-02 6.56963629e-04 9.99856847e-01 -5.24413519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.754319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.04, Y:-3.58, Z:-0.52 [[ 9.80082341e-01 1.97877402e-01 1.68267363e-02 2.60373206e+01] [-1.97836718e-01 9.80226557e-01 -4.06558925e-03 -3.58462286e+00] [-1.72985021e-02 6.55665930e-04 9.99850155e-01 -5.24590186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.07, Y:-3.59, Z:-0.52 [[ 9.79733025e-01 1.99562874e-01 1.72585679e-02 2.60678282e+01] [-1.99520245e-01 9.79884810e-01 -4.17507662e-03 -3.59291575e+00] [-1.77445988e-02 6.47026748e-04 9.99842343e-01 -5.24956372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.814319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.10, Y:-3.59, Z:-0.52 [[ 9.79083797e-01 2.02674446e-01 1.78321964e-02 2.61000495e+01] [-2.02629340e-01 9.79245980e-01 -4.31984272e-03 -3.59367297e+00] [-1.83376283e-02 6.16161832e-04 9.99831662e-01 -5.24496062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.13, Y:-3.60, Z:-0.52 [[ 9.78607077e-01 2.04955435e-01 1.79292654e-02 2.61308100e+01] [-2.04910212e-01 9.78771136e-01 -4.34377181e-03 -3.59795298e+00] [-1.84389271e-02 5.76956256e-04 9.99829822e-01 -5.24846910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.874319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.16, Y:-3.60, Z:-0.53 [[ 9.78089298e-01 2.07382428e-01 1.82716402e-02 2.61629505e+01] [-2.07335832e-01 9.78259798e-01 -4.42948832e-03 -3.60168180e+00] [-1.87930091e-02 5.44069413e-04 9.99823248e-01 -5.25591571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.20, Y:-3.60, Z:-0.53 [[ 9.77222409e-01 2.11457355e-01 1.79485547e-02 2.61958659e+01] [-2.11412977e-01 9.77387115e-01 -4.35666516e-03 -3.60088005e+00] [-1.84639350e-02 4.62873448e-04 9.99829420e-01 -5.26969025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.934319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.23, Y:-3.61, Z:-0.53 [[ 9.76791423e-01 2.13428338e-01 1.80792918e-02 2.62258353e+01] [-2.13383628e-01 9.76958627e-01 -4.38945064e-03 -3.60877153e+00] [-1.85995533e-02 4.29752851e-04 9.99826921e-01 -5.28192667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.26, Y:-3.61, Z:-0.53 [[ 9.76397914e-01 2.15233759e-01 1.79316055e-02 2.62575723e+01] [-2.15189994e-01 9.76562477e-01 -4.35830363e-03 -3.61388289e+00] [-1.84493872e-02 3.96736492e-04 9.99829717e-01 -5.28156211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.994319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.29, Y:-3.62, Z:-0.53 [[ 9.75718439e-01 2.18212851e-01 1.88859771e-02 2.62902918e+01] [-2.18164754e-01 9.75901132e-01 -4.59573907e-03 -3.61522716e+00] [-1.94336958e-02 3.63892784e-04 9.99811082e-01 -5.26808580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.32, Y:-3.62, Z:-0.53 [[ 9.75468233e-01 2.19287418e-01 1.93585673e-02 2.63205145e+01] [-2.19236979e-01 9.75660238e-01 -4.71659856e-03 -3.62240082e+00] [-1.99216751e-02 3.56778254e-04 9.99801480e-01 -5.27759611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.054319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.35, Y:-3.62, Z:-0.53 [[ 9.75217731e-01 2.20444668e-01 1.88288420e-02 2.63530665e+01] [-2.20397072e-01 9.75399426e-01 -4.59243050e-03 -3.62492652e+00] [-1.93780185e-02 3.28798009e-04 9.99812175e-01 -5.29751614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.39, Y:-3.63, Z:-0.53 [[ 9.75129975e-01 2.20815057e-01 1.90326785e-02 2.63852806e+01] [-2.20766391e-01 9.75315642e-01 -4.64750451e-03 -3.63131869e+00] [-1.95891080e-02 3.30145218e-04 9.99808061e-01 -5.30675272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.114319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.42, Y:-3.64, Z:-0.53 [[ 9.75166630e-01 2.20632716e-01 1.92678232e-02 2.64170431e+01] [-2.20582677e-01 9.75356902e-01 -4.71131886e-03 -3.63866472e+00] [-1.98324754e-02 3.44172913e-04 9.99803258e-01 -5.31467643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.45, Y:-3.65, Z:-0.53 [[ 9.75244257e-01 2.20237984e-01 1.98461456e-02 2.64494354e+01] [-2.20184678e-01 9.75446100e-01 -4.85941226e-03 -3.64661280e+00] [-2.04290725e-02 3.69296733e-04 9.99791237e-01 -5.31742000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.174319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.48, Y:-3.66, Z:-0.53 [[ 9.75739439e-01 2.17978481e-01 2.04433027e-02 2.64802745e+01] [-2.17921278e-01 9.75953478e-01 -5.01247819e-03 -3.65517972e+00] [-2.10443248e-02 4.35842007e-04 9.99778449e-01 -5.32500867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.51, Y:-3.66, Z:-0.53 [[ 9.76059027e-01 2.16535840e-01 2.05184151e-02 2.65102584e+01] [-2.16477774e-01 9.76274554e-01 -5.03670758e-03 -3.66415952e+00] [-2.11222343e-02 4.74343079e-04 9.99776788e-01 -5.33293602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.234319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.54, Y:-3.67, Z:-0.53 [[ 9.76410810e-01 2.14953718e-01 2.04164022e-02 2.65402181e+01] [-2.14895771e-01 9.76624103e-01 -5.01694673e-03 -3.67280567e+00] [-2.10175618e-02 5.11202532e-04 9.99778976e-01 -5.34526968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.57, Y:-3.68, Z:-0.54 [[ 9.77130610e-01 2.11692617e-01 2.00501097e-02 2.65718114e+01] [-2.11635939e-01 9.77336127e-01 -4.93205564e-03 -3.67896513e+00] [-2.06397764e-02 5.75938740e-04 9.99786811e-01 -5.35720920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.294319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.60, Y:-3.69, Z:-0.54 [[ 9.77386842e-01 2.10521343e-01 1.98928331e-02 2.66018400e+01] [-2.10465277e-01 9.77589079e-01 -4.89487058e-03 -3.68765704e+00] [-2.04774911e-02 5.97431459e-04 9.99790136e-01 -5.36643170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.63, Y:-3.70, Z:-0.54 [[ 9.77639197e-01 2.09351258e-01 1.98406554e-02 2.66325166e+01] [-2.09295138e-01 9.77840304e-01 -4.88729038e-03 -3.69619693e+00] [-2.04241529e-02 6.25453923e-04 9.99791210e-01 -5.37243672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.354319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.66, Y:-3.71, Z:-0.54 [[ 9.78209913e-01 2.06693575e-01 1.95737789e-02 2.66625620e+01] [-2.06638312e-01 9.78405492e-01 -4.82707659e-03 -3.70558681e+00] [-2.01488185e-02 6.77201537e-04 9.99796763e-01 -5.38138529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.69, Y:-3.71, Z:-0.54 [[ 9.78351627e-01 2.05992823e-01 1.98759069e-02 2.66935687e+01] [-2.05935588e-01 9.78553247e-01 -4.90687607e-03 -3.71337773e+00] [-2.04604144e-02 7.07493623e-04 9.99790413e-01 -5.39045778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.414319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.72, Y:-3.72, Z:-0.54 [[ 9.78685136e-01 2.04438576e-01 1.95005768e-02 2.67240626e+01] [-2.04383063e-01 9.78879121e-01 -4.81976168e-03 -3.72473244e+00] [-2.00740527e-02 7.31441508e-04 9.99798228e-01 -5.40738603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.76, Y:-3.73, Z:-0.54 [[ 9.78775112e-01 2.04032095e-01 1.92401723e-02 2.67559054e+01] [-2.03977941e-01 9.78963926e-01 -4.75721128e-03 -3.72764986e+00] [-1.98060584e-02 7.31669286e-04 9.99803573e-01 -5.41946828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.474319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.79, Y:-3.74, Z:-0.54 [[ 9.78817447e-01 2.03874596e-01 1.87498077e-02 2.67859634e+01] [-2.03823035e-01 9.78996746e-01 -4.64131306e-03 -3.74039904e+00] [-1.93022465e-02 7.21355490e-04 9.99813434e-01 -5.43061078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.82, Y:-3.74, Z:-0.54 [[ 9.78761577e-01 2.04099073e-01 1.92182969e-02 2.68184859e+01] [-2.04044884e-01 9.78949960e-01 -4.76041155e-03 -3.74304698e+00] [-1.97853465e-02 7.37912767e-04 9.99803979e-01 -5.42392634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.534319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.85, Y:-3.75, Z:-0.54 [[ 9.78583426e-01 2.04938149e-01 1.93606220e-02 2.68486328e+01] [-2.04883232e-01 9.78774653e-01 -4.79997524e-03 -3.75491499e+00] [-1.99333841e-02 7.30509399e-04 9.99801043e-01 -5.42634677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.88, Y:-3.76, Z:-0.54 [[ 9.78342963e-01 2.06047694e-01 1.97331034e-02 2.68813319e+01] [-2.05990829e-01 9.78541683e-01 -4.89426499e-03 -3.75677233e+00] [-2.03181162e-02 7.23431383e-04 9.99793304e-01 -5.42830771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.594319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.91, Y:-3.77, Z:-0.54 [[ 9.78046000e-01 2.07452480e-01 1.97355309e-02 2.69119290e+01] [-2.07395765e-01 9.78244846e-01 -4.90083019e-03 -3.76645476e+00] [-2.03228708e-02 7.00171817e-04 9.99793224e-01 -5.43706792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.94, Y:-3.77, Z:-0.54 [[ 9.77980994e-01 2.07758759e-01 1.97351017e-02 2.69433538e+01] [-2.07702072e-01 9.78179848e-01 -4.90255808e-03 -3.77450855e+00] [-2.03230282e-02 6.95587094e-04 9.99793224e-01 -5.44396135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.654319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.98, Y:-3.77, Z:-0.54 [[ 9.77295838e-01 2.10944792e-01 1.98780977e-02 2.69751342e+01] [-2.10887798e-01 9.77497767e-01 -4.94495149e-03 -3.77382828e+00] [-2.04739079e-02 6.40632258e-04 9.99790182e-01 -5.44733821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.01, Y:-3.78, Z:-0.55 [[ 9.76861116e-01 2.12922610e-01 2.01574167e-02 2.70069853e+01] [-2.12864407e-01 9.77068878e-01 -5.01518365e-03 -3.77954522e+00] [-2.07630305e-02 6.08341359e-04 9.99784240e-01 -5.45242766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.714319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.04, Y:-3.78, Z:-0.55 [[ 9.75981808e-01 2.16861557e-01 2.07503219e-02 2.70398695e+01] [-2.16800647e-01 9.76202216e-01 -5.16835776e-03 -3.77861663e+00] [-2.13773283e-02 5.45539940e-04 9.99771330e-01 -5.45586495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.07, Y:-3.78, Z:-0.55 [[ 9.75459224e-01 2.19234225e-01 2.03876500e-02 2.70718969e+01] [-2.19175919e-01 9.75672137e-01 -5.07921731e-03 -3.78407732e+00] [-2.10052004e-02 4.86087444e-04 9.99779248e-01 -5.46445681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.774319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.10, Y:-3.79, Z:-0.55 [[ 9.74943853e-01 2.21500374e-01 2.05442855e-02 2.71024232e+01] [-2.21441544e-01 9.75160184e-01 -5.12424425e-03 -3.79190786e+00] [-2.11689913e-02 4.46492126e-04 9.99775812e-01 -5.47163214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.14, Y:-3.79, Z:-0.55 [[ 9.73862440e-01 2.26196116e-01 2.06704168e-02 2.71354090e+01] [-2.26137498e-01 9.74081718e-01 -5.16127865e-03 -3.79327605e+00] [-2.13021363e-02 3.52019079e-04 9.99773022e-01 -5.48133674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.834319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.17, Y:-3.80, Z:-0.55 [[ 9.73450773e-01 2.27987319e-01 2.03807271e-02 2.71656072e+01] [-2.27930606e-01 9.73664051e-01 -5.09461391e-03 -3.80133492e+00] [-2.10054887e-02 3.13964369e-04 9.99779311e-01 -5.49240029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.20, Y:-3.80, Z:-0.55 [[ 9.72994680e-01 2.29873934e-01 2.09601500e-02 2.71979705e+01] [-2.29814266e-01 9.73220372e-01 -5.24505776e-03 -3.80477545e+00] [-2.16045471e-02 2.86471813e-04 9.99766553e-01 -5.49745275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.894319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.23, Y:-3.81, Z:-0.55 [[ 9.72462908e-01 2.32151511e-01 2.05321370e-02 2.72284253e+01] [-2.32094642e-01 9.72679608e-01 -5.14366318e-03 -3.81009927e+00] [-2.11653002e-02 2.36622667e-04 9.99775962e-01 -5.50860566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.26, Y:-3.82, Z:-0.55 [[ 9.72334770e-01 2.32681528e-01 2.06009880e-02 2.72602068e+01] [-2.32624281e-01 9.72552956e-01 -5.16631923e-03 -3.81787061e+00] [-2.12376588e-02 2.31101803e-04 9.99774429e-01 -5.51646826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.954319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.29, Y:-3.83, Z:-0.55 [[ 9.72502819e-01 2.31976596e-01 2.06185678e-02 2.72907905e+01] [-2.31918953e-01 9.72721335e-01 -5.17731418e-03 -3.82590357e+00] [-2.12571366e-02 2.53115974e-04 9.99774010e-01 -5.52816099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.32, Y:-3.83, Z:-0.55 [[ 9.72690058e-01 2.31172707e-01 2.08141780e-02 2.73218667e+01] [-2.31113645e-01 9.72912690e-01 -5.23271050e-03 -3.83462590e+00] [-2.14600377e-02 2.79364938e-04 9.99769668e-01 -5.53656607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.014319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.35, Y:-3.84, Z:-0.55 [[ 9.72917140e-01 2.30167783e-01 2.13314431e-02 2.73524561e+01] [-2.30105379e-01 9.73150910e-01 -5.36860784e-03 -3.84382241e+00] [-2.19943938e-02 3.14730788e-04 9.99758045e-01 -5.54218792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.38, Y:-3.85, Z:-0.56 [[ 9.73664943e-01 2.26981649e-01 2.13520342e-02 2.73815428e+01] [-2.26918304e-01 9.73898957e-01 -5.37624065e-03 -3.85484546e+00] [-2.20150318e-02 3.89489668e-04 9.99757564e-01 -5.55197937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.074319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.41, Y:-3.86, Z:-0.56 [[ 9.73996242e-01 2.25615327e-01 2.07133969e-02 2.74114703e+01] [-2.25555286e-01 9.74216379e-01 -5.22108259e-03 -3.86377108e+00] [-2.13572867e-02 4.13298666e-04 9.99771822e-01 -5.56640716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.44, Y:-3.87, Z:-0.56 [[ 9.74269787e-01 2.24443194e-01 2.05824088e-02 2.74430632e+01] [-2.24383578e-01 9.74487075e-01 -5.19139595e-03 -3.87149927e+00] [-2.12224649e-02 4.39465692e-04 9.99774682e-01 -5.58010756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.134319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.47, Y:-3.88, Z:-0.56 [[ 9.74551659e-01 2.23262421e-01 2.00737229e-02 2.74733370e+01] [-2.23205342e-01 9.74758268e-01 -5.06904588e-03 -3.87717651e+00] [-2.06987548e-02 4.59484901e-04 9.99785652e-01 -5.59431899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.50, Y:-3.89, Z:-0.56 [[ 9.74883785e-01 2.21865953e-01 1.94191915e-02 2.75020680e+01] [-2.21812154e-01 9.75077059e-01 -4.90898501e-03 -3.88870073e+00] [-2.00243448e-02 4.78277180e-04 9.99799378e-01 -5.61196174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.194319999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.53, Y:-3.90, Z:-0.56 [[ 9.75028941e-01 2.21247474e-01 1.91864512e-02 2.75331200e+01] [-2.21194726e-01 9.75217573e-01 -4.85574671e-03 -3.89620480e+00] [-1.97852861e-02 4.90551741e-04 9.99804132e-01 -5.62184338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.56, Y:-3.90, Z:-0.56 [[ 9.75102261e-01 2.20939551e-01 1.90077644e-02 2.75642584e+01] [-2.20887612e-01 9.75287377e-01 -4.81619664e-03 -3.90409911e+00] [-1.96021210e-02 4.97704546e-04 9.99807736e-01 -5.63351074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.254319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.60, Y:-3.91, Z:-0.56 [[ 9.75329596e-01 2.19927325e-01 1.90827402e-02 2.75967101e+01] [-2.19874667e-01 9.75516117e-01 -4.84103086e-03 -3.90816235e+00] [-1.96801956e-02 5.25789537e-04 9.99806188e-01 -5.63667118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.63, Y:-3.92, Z:-0.56 [[ 9.75300651e-01 2.20061506e-01 1.90150998e-02 2.76279526e+01] [-2.20009125e-01 9.75485856e-01 -4.83001347e-03 -3.91800845e+00] [-1.96118609e-02 5.27219812e-04 9.99807530e-01 -5.64341037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.314319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.66, Y:-3.92, Z:-0.57 [[ 9.75201527e-01 2.20495594e-01 1.90702486e-02 2.76611024e+01] [-2.20442938e-01 9.75387831e-01 -4.84675584e-03 -3.92323077e+00] [-1.96695767e-02 5.22662064e-04 9.99806399e-01 -5.65150104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.69, Y:-3.93, Z:-0.57 [[ 9.75074823e-01 2.21006142e-01 1.96309711e-02 2.76920900e+01] [-2.20950296e-01 9.75272269e-01 -4.99673977e-03 -3.93179068e+00] [-2.02498519e-02 5.34726281e-04 9.99794808e-01 -5.65756233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.374319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.72, Y:-3.94, Z:-0.57 [[ 9.75002850e-01 2.21332703e-01 1.95263054e-02 2.77245338e+01] [-2.21277382e-01 9.75198212e-01 -4.97672742e-03 -3.93897823e+00] [-2.01435306e-02 5.31593681e-04 9.99796957e-01 -5.66310360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.75, Y:-3.95, Z:-0.57 [[ 9.74721724e-01 2.22526642e-01 1.99863569e-02 2.77548605e+01] [-2.22468784e-01 9.74926468e-01 -5.10129940e-03 -3.94576727e+00] [-2.06204033e-02 5.26006848e-04 9.99787239e-01 -5.66284994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.434319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.79, Y:-3.95, Z:-0.57 [[ 9.74486075e-01 2.23537337e-01 2.01977546e-02 2.77869146e+01] [-2.23478344e-01 9.74695231e-01 -5.16109642e-03 -3.95175259e+00] [-2.08403529e-02 5.15655839e-04 9.99782683e-01 -5.66523437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.82, Y:-3.96, Z:-0.57 [[ 9.74200039e-01 2.24745901e-01 2.05806789e-02 2.78174888e+01] [-2.24684777e-01 9.74417274e-01 -5.26561842e-03 -3.95973624e+00] [-2.12375952e-02 5.05600410e-04 9.99774329e-01 -5.66506003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.494319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.85, Y:-3.96, Z:-0.57 [[ 9.73464547e-01 2.27880242e-01 2.09134006e-02 2.78506731e+01] [-2.27817702e-01 9.73689063e-01 -5.35747391e-03 -3.95897313e+00] [-2.15840119e-02 4.50868053e-04 9.99766936e-01 -5.67075990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.88, Y:-3.97, Z:-0.57 [[ 9.73138896e-01 2.29253488e-01 2.10601039e-02 2.78802787e+01] [-2.29190241e-01 9.73366659e-01 -5.40186525e-03 -3.96917236e+00] [-2.17375995e-02 4.29994876e-04 9.99763618e-01 -5.67610072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.554319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.91, Y:-3.97, Z:-0.57 [[ 9.72757364e-01 2.30854074e-01 2.12015842e-02 2.79124868e+01] [-2.30790209e-01 9.72988301e-01 -5.44475814e-03 -3.97483194e+00] [-2.18858380e-02 4.03310529e-04 9.99760395e-01 -5.67907239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.94, Y:-3.98, Z:-0.57 [[ 9.71895537e-01 2.34426955e-01 2.15190325e-02 2.79435635e+01] [-2.34361953e-01 9.72133681e-01 -5.53008584e-03 -3.97841600e+00] [-2.22157774e-02 3.31423261e-04 9.99753144e-01 -5.68527267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.614319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.97, Y:-3.99, Z:-0.57 [[ 9.71465558e-01 2.36244493e-01 2.10525507e-02 2.79733061e+01] [-2.36182577e-01 9.71693602e-01 -5.41610743e-03 -3.98581556e+00] [-2.17361543e-02 2.89316151e-04 9.99763700e-01 -5.69635819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.01, Y:-3.99, Z:-0.57 [[ 9.70675415e-01 2.39465672e-01 2.11052222e-02 2.80050831e+01] [-2.39404086e-01 9.70904806e-01 -5.43521962e-03 -3.99040653e+00] [-2.17927102e-02 2.23157623e-04 9.99762486e-01 -5.70900217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.674319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.04, Y:-4.00, Z:-0.57 [[ 9.70333620e-01 2.40830007e-01 2.12972754e-02 2.80365147e+01] [-2.40767493e-01 9.70567292e-01 -5.49060490e-03 -3.99854705e+00] [-2.19927413e-02 2.00026928e-04 9.99758110e-01 -5.71733937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.07, Y:-4.01, Z:-0.57 [[ 9.70052529e-01 2.41992100e-01 2.09264039e-02 2.80690531e+01] [-2.41931965e-01 9.70278204e-01 -5.39727103e-03 -4.00568039e+00] [-2.16105305e-02 1.72870405e-04 9.99766450e-01 -5.73250303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.734319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.10, Y:-4.01, Z:-0.57 [[ 9.69850842e-01 2.42826550e-01 2.06060692e-02 2.81008369e+01] [-2.42768283e-01 9.70069710e-01 -5.32157184e-03 -4.01495495e+00] [-2.12815425e-02 1.58630873e-04 9.99773510e-01 -5.74208018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764319999999994 meters Centerline goodness [0,1] 0.9999580563303483 Centerline is valid? [True, True] Translation: X:28.13, Y:-4.03, Z:-0.58 [[ 9.69841528e-01 2.42869860e-01 2.05339133e-02 2.81320951e+01] [-2.42811907e-01 9.70058867e-01 -5.30782462e-03 -4.02575577e+00] [-2.12082153e-02 1.61870101e-04 9.99775067e-01 -5.75083909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.794319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.16, Y:-4.04, Z:-0.58 [[ 9.69783773e-01 2.43101362e-01 2.05222010e-02 2.81639420e+01] [-2.43043375e-01 9.70000877e-01 -5.31197527e-03 -4.03592719e+00] [-2.11979014e-02 1.63682434e-04 9.99775286e-01 -5.75477681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.19, Y:-4.05, Z:-0.58 [[ 9.69802144e-01 2.43055409e-01 2.01957730e-02 2.81947140e+01] [-2.42999097e-01 9.70012391e-01 -5.23442931e-03 -4.04765483e+00] [-2.08624064e-02 1.68806160e-04 9.99782342e-01 -5.76402774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.854319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.23, Y:-4.06, Z:-0.58 [[ 9.69756243e-01 2.43218853e-01 2.04308141e-02 2.82257074e+01] [-2.43161107e-01 9.69971422e-01 -5.30252727e-03 -4.05659739e+00] [-2.11069804e-02 1.74179568e-04 9.99777208e-01 -5.76737488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.26, Y:-4.07, Z:-0.58 [[ 9.69685995e-01 2.43537114e-01 1.99686165e-02 2.82575072e+01] [-2.43481888e-01 9.69891564e-01 -5.18895824e-03 -4.06673486e+00] [-2.06310966e-02 1.69663697e-04 9.99787142e-01 -5.77719115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.914319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.29, Y:-4.08, Z:-0.58 [[ 9.69599893e-01 2.43875443e-01 2.00203701e-02 2.82893230e+01] [-2.43819942e-01 9.69806548e-01 -5.20527518e-03 -4.07595342e+00] [-2.06853248e-02 1.65668776e-04 9.99786022e-01 -5.78771803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.32, Y:-4.09, Z:-0.58 [[ 9.69437466e-01 2.44596947e-01 1.90613082e-02 2.83208755e+01] [-2.44546656e-01 9.69624830e-01 -4.96204008e-03 -4.08566092e+00] [-1.96960176e-02 1.49008371e-04 9.99806004e-01 -5.80749001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.974319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.35, Y:-4.10, Z:-0.58 [[ 9.69394723e-01 2.44814044e-01 1.84378568e-02 2.83523340e+01] [-2.44766914e-01 9.69570040e-01 -4.80575001e-03 -4.09564250e+00] [-1.90533087e-02 1.45691387e-04 9.99818459e-01 -5.82218638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.38, Y:-4.11, Z:-0.58 [[ 9.69314201e-01 2.45181648e-01 1.77746966e-02 2.83824518e+01] [-2.45137808e-01 9.69477148e-01 -4.63844807e-03 -4.10602229e+00] [-1.83694245e-02 1.38863436e-04 9.99831258e-01 -5.83505932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.034319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.41, Y:-4.12, Z:-0.58 [[ 9.69273265e-01 2.45388870e-01 1.71359202e-02 2.84140570e+01] [-2.45348071e-01 9.69424718e-01 -4.47660631e-03 -4.11678353e+00] [-1.77104940e-02 1.34789852e-04 9.99843148e-01 -5.84846733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.45, Y:-4.13, Z:-0.59 [[ 9.69222355e-01 2.45578825e-01 1.72935497e-02 2.84451425e+01] [-2.45537202e-01 9.69376615e-01 -4.52332986e-03 -4.12630485e+00] [-1.78747967e-02 1.37902602e-04 9.99840224e-01 -5.85582458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.094319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.48, Y:-4.14, Z:-0.59 [[ 9.69170640e-01 2.45810546e-01 1.68951273e-02 2.84770656e+01] [-2.45770764e-01 9.69317882e-01 -4.42427660e-03 -4.13546567e+00] [-1.74642828e-02 1.35550646e-04 9.99847479e-01 -5.85928686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.51, Y:-4.15, Z:-0.59 [[ 9.69343232e-01 2.45215946e-01 1.55832688e-02 2.85060907e+01] [-2.45181936e-01 9.69468473e-01 -4.08629993e-03 -4.14915004e+00] [-1.61095138e-02 1.40291150e-04 9.99870224e-01 -5.88449097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.154319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.54, Y:-4.16, Z:-0.59 [[ 9.69443472e-01 2.44835199e-01 1.53323521e-02 2.85379753e+01] [-2.44802204e-01 9.69564698e-01 -4.02202044e-03 -4.15878791e+00] [-1.58504396e-02 1.45727864e-04 9.99874363e-01 -5.88721965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.57, Y:-4.17, Z:-0.59 [[ 9.69690170e-01 2.43849442e-01 1.54409888e-02 2.85674577e+01] [-2.43815769e-01 9.69813086e-01 -4.05579325e-03 -4.17232948e+00] [-1.59638759e-02 1.68106288e-04 9.99872555e-01 -5.88525823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.214319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.60, Y:-4.18, Z:-0.59 [[ 9.69794760e-01 2.43390304e-01 1.61022823e-02 2.85986071e+01] [-2.43353535e-01 9.69928412e-01 -4.23466119e-03 -4.18323554e+00] [-1.66487366e-02 1.88204898e-04 9.99861382e-01 -5.88424888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.63, Y:-4.19, Z:-0.59 [[ 9.69959038e-01 2.42727913e-01 1.62057026e-02 2.86300044e+01] [-2.42690490e-01 9.70094386e-01 -4.26712921e-03 -4.19376051e+00] [-1.67568125e-02 2.05970651e-04 9.99859574e-01 -5.89007090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.274319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.66, Y:-4.21, Z:-0.59 [[ 9.70345826e-01 2.41181150e-01 1.61440419e-02 2.86592662e+01] [-2.41143707e-01 9.70480086e-01 -4.25630326e-03 -4.20538280e+00] [-1.66940112e-02 2.37052011e-04 9.99860617e-01 -5.90155053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.69, Y:-4.22, Z:-0.59 [[ 9.70456539e-01 2.40756108e-01 1.58304327e-02 2.86907144e+01] [-2.40719987e-01 9.70585616e-01 -4.17734514e-03 -4.21611210e+00] [-1.63705116e-02 2.43230348e-04 9.99865965e-01 -5.91117238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.334319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.72, Y:-4.23, Z:-0.59 [[ 9.70575789e-01 2.40267951e-01 1.59357733e-02 2.87198710e+01] [-2.40231197e-01 9.70706570e-01 -4.21029861e-03 -4.22992754e+00] [-1.64805597e-02 2.58143997e-04 9.99864153e-01 -5.92813268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.75, Y:-4.24, Z:-0.59 [[ 9.70937376e-01 2.38825656e-01 1.55857917e-02 2.87502803e+01] [-2.38790241e-01 9.71062422e-01 -4.12236634e-03 -4.24124277e+00] [-1.61193034e-02 2.80824612e-04 9.99870036e-01 -5.92527946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.394319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.78, Y:-4.25, Z:-0.59 [[ 9.70976874e-01 2.38670314e-01 1.55045748e-02 2.87817827e+01] [-2.38635185e-01 9.71100613e-01 -4.10472200e-03 -4.24951045e+00] [-1.60361774e-02 2.85653055e-04 9.99871371e-01 -5.92336984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.81, Y:-4.26, Z:-0.59 [[ 9.70959835e-01 2.38754464e-01 1.52743210e-02 2.88135280e+01] [-2.38720303e-01 9.71079927e-01 -4.04872564e-03 -4.25961162e+00] [-1.57992378e-02 2.84859441e-04 9.99875144e-01 -5.93069514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.454319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.84, Y:-4.27, Z:-0.59 [[ 9.70869465e-01 2.39180781e-01 1.43190860e-02 2.88443864e+01] [-2.39150740e-01 9.70975017e-01 -3.79998630e-03 -4.26967796e+00] [-1.48123584e-02 2.64870652e-04 9.99890256e-01 -5.94917705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.88, Y:-4.28, Z:-0.60 [[ 9.70736276e-01 2.39713559e-01 1.44392712e-02 2.88758983e+01] [-2.39683004e-01 9.70843623e-01 -3.83628610e-03 -4.27874181e+00] [-1.49378842e-02 2.63174167e-04 9.99888389e-01 -5.95753784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.514319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.91, Y:-4.29, Z:-0.60 [[ 9.70582446e-01 2.40332246e-01 1.44957877e-02 2.89050714e+01] [-2.40301432e-01 9.70690653e-01 -3.85721393e-03 -4.28980118e+00] [-1.49979385e-02 2.60385592e-04 9.99887491e-01 -5.96774007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.94, Y:-4.30, Z:-0.60 [[ 9.70512540e-01 2.40614406e-01 1.44954213e-02 2.89363632e+01] [-2.40583602e-01 9.70620751e-01 -3.85859071e-03 -4.29832660e+00] [-1.49979892e-02 2.57450005e-04 9.99887491e-01 -5.97463530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.574319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.97, Y:-4.31, Z:-0.60 [[ 9.70031350e-01 2.42500793e-01 1.52494544e-02 2.89671774e+01] [-2.42466853e-01 9.70151176e-01 -4.06449319e-03 -4.30598977e+00] [-1.57799189e-02 2.45198605e-04 9.99875459e-01 -5.96156633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.00, Y:-4.31, Z:-0.60 [[ 9.69728296e-01 2.43674479e-01 1.58044733e-02 2.89978281e+01] [-2.43638099e-01 9.69857047e-01 -4.21726346e-03 -4.31489591e+00] [-1.63557193e-02 2.39027880e-04 9.99866208e-01 -5.96327412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.634319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.03, Y:-4.32, Z:-0.60 [[ 9.69409124e-01 2.44947308e-01 1.57087937e-02 2.90280745e+01] [-2.44911461e-01 9.69536367e-01 -4.19627475e-03 -4.32406246e+00] [-1.62581130e-02 2.20643421e-04 9.99867804e-01 -5.96938661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.06, Y:-4.33, Z:-0.60 [[ 9.68672244e-01 2.47824697e-01 1.60313336e-02 2.90589736e+01] [-2.47787677e-01 9.68804876e-01 -4.28717902e-03 -4.33107979e+00] [-1.65937030e-02 1.80504400e-04 9.99862299e-01 -5.96910923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.694319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.09, Y:-4.34, Z:-0.60 [[ 9.68272708e-01 2.49362782e-01 1.63145739e-02 2.90886524e+01] [-2.49324579e-01 9.68410128e-01 -4.36780480e-03 -4.33899678e+00] [-1.68883666e-02 1.61601914e-04 9.99857368e-01 -5.97785419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.12, Y:-4.35, Z:-0.60 [[ 9.67868550e-01 2.50948109e-01 1.59848664e-02 2.91192673e+01] [-2.50911582e-01 9.68000531e-01 -4.28369494e-03 -4.34662991e+00] [-1.65483443e-02 1.35265503e-04 9.99863058e-01 -5.98564018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.754319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.15, Y:-4.35, Z:-0.60 [[ 9.67145516e-01 2.53649901e-01 1.70669185e-02 2.91495907e+01] [-2.53608597e-01 9.67296086e-01 -4.57838877e-03 -4.35420041e+00] [-1.76700714e-02 9.96509050e-05 9.99843867e-01 -5.97901562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.18, Y:-4.36, Z:-0.60 [[ 9.66813642e-01 2.54871151e-01 1.76657200e-02 2.91816551e+01] [-2.54827019e-01 9.66975020e-01 -4.74351454e-03 -4.36261708e+00] [-1.82912949e-02 8.43918137e-05 9.99832697e-01 -5.97785086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.814319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.21, Y:-4.37, Z:-0.60 [[ 9.66271338e-01 2.56884971e-01 1.81607258e-02 2.92134885e+01] [-2.56838579e-01 9.66441984e-01 -4.88219703e-03 -4.36968570e+00] [-1.88054509e-02 5.31520622e-05 9.99823160e-01 -5.97079997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.24, Y:-4.38, Z:-0.60 [[ 9.66095273e-01 2.57517964e-01 1.85585995e-02 2.92440278e+01] [-2.57469508e-01 9.66273510e-01 -4.99562731e-03 -4.37781218e+00] [-1.92191469e-02 4.79784400e-05 9.99815294e-01 -5.97828794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.874319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.28, Y:-4.39, Z:-0.60 [[ 9.66054158e-01 2.57652736e-01 1.88263514e-02 2.92758409e+01] [-2.57602782e-01 9.66237582e-01 -5.07367127e-03 -4.38669945e+00] [-1.94979736e-02 5.17207253e-05 9.99809895e-01 -5.98493671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.31, Y:-4.40, Z:-0.60 [[ 9.66096442e-01 2.57518088e-01 1.84959057e-02 2.93065188e+01] [-2.57469728e-01 9.66273476e-01 -4.99080454e-03 -4.39587844e+00] [-1.91573256e-02 5.94626906e-05 9.99816480e-01 -5.99510020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.934319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.34, Y:-4.41, Z:-0.60 [[ 9.66337393e-01 2.56653170e-01 1.79218417e-02 2.93375850e+01] [-2.56607518e-01 9.66503566e-01 -4.84128941e-03 -4.40644043e+00] [-1.85640562e-02 7.94396682e-05 9.99827670e-01 -6.01151245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.37, Y:-4.42, Z:-0.60 [[ 9.66430516e-01 2.56337388e-01 1.74126608e-02 2.93685970e+01] [-2.56294140e-01 9.66587366e-01 -4.70936380e-03 -4.41632321e+00] [-1.80380439e-02 8.85099762e-05 9.99837297e-01 -6.02143867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.994319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.40, Y:-4.43, Z:-0.60 [[ 9.66723236e-01 2.55180644e-01 1.81390158e-02 2.93984268e+01] [-2.55133384e-01 9.66893388e-01 -4.91246931e-03 -4.42717971e+00] [-1.87920615e-02 1.21129761e-04 9.99823406e-01 -6.02164656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.43, Y:-4.44, Z:-0.60 [[ 9.66819449e-01 2.54820763e-01 1.80701665e-02 2.94294236e+01] [-2.54773732e-01 9.66988294e-01 -4.89733241e-03 -4.43650609e+00] [-1.87215815e-02 1.31032456e-04 9.99824727e-01 -6.02428639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.054319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.46, Y:-4.45, Z:-0.60 [[ 9.66946922e-01 2.54295176e-01 1.86443785e-02 2.94599730e+01] [-2.54244897e-01 9.67126641e-01 -5.05883407e-03 -4.44629329e+00] [-1.93179123e-02 1.51385927e-04 9.99813380e-01 -6.02988837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.49, Y:-4.46, Z:-0.60 [[ 9.67298620e-01 2.52927088e-01 1.90070253e-02 2.94909472e+01] [-2.52874454e-01 9.67485324e-01 -5.16310353e-03 -4.45648519e+00] [-1.96949068e-02 1.87871771e-04 9.99806019e-01 -6.03291398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.114319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.52, Y:-4.47, Z:-0.60 [[ 9.67393030e-01 2.52562611e-01 1.90486729e-02 2.95212323e+01] [-2.52509568e-01 9.67580533e-01 -5.17988963e-03 -4.46640615e+00] [-1.97393715e-02 2.01016974e-04 9.99805139e-01 -6.03899719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.55, Y:-4.48, Z:-0.60 [[ 9.67551935e-01 2.51943364e-01 1.91779390e-02 2.95526301e+01] [-2.51889360e-01 9.67741955e-01 -5.22093647e-03 -4.47628389e+00] [-1.98746765e-02 2.20808405e-04 9.99802455e-01 -6.04567797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.174319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.58, Y:-4.49, Z:-0.61 [[ 9.67555421e-01 2.51899167e-01 1.95784650e-02 2.95836103e+01] [-2.51842741e-01 9.67753458e-01 -5.33649487e-03 -4.48562472e+00] [-2.02913859e-02 2.32660249e-04 9.99794082e-01 -6.05442418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.62, Y:-4.49, Z:-0.61 [[ 9.67518079e-01 2.52032390e-01 1.97089186e-02 2.96155878e+01] [-2.51975116e-01 9.67718770e-01 -5.37802194e-03 -4.49349507e+00] [-2.04281262e-02 2.37176399e-04 9.99791296e-01 -6.06204143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.234319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.65, Y:-4.50, Z:-0.61 [[ 9.67485756e-01 2.52136598e-01 1.99611425e-02 2.96463833e+01] [-2.52077728e-01 9.67691623e-01 -5.45369214e-03 -4.50236603e+00] [-2.06913057e-02 2.44610028e-04 9.99785882e-01 -6.07170142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.68, Y:-4.51, Z:-0.61 [[ 9.67311317e-01 2.52714513e-01 2.10758386e-02 2.96781047e+01] [-2.52648918e-01 9.67540858e-01 -5.76294985e-03 -4.51053912e+00] [-2.18481160e-02 2.49778792e-04 9.99761270e-01 -6.06671515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.294319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.71, Y:-4.52, Z:-0.61 [[ 9.67161532e-01 2.53253581e-01 2.14754590e-02 2.97096849e+01] [-2.53185447e-01 9.67399898e-01 -5.87940574e-03 -4.51826104e+00] [-2.22643374e-02 2.49061363e-04 9.99752088e-01 -6.07189113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.74, Y:-4.53, Z:-0.61 [[ 9.66920990e-01 2.54200979e-01 2.11107030e-02 2.97394689e+01] [-2.54135214e-01 9.67151389e-01 -5.78650349e-03 -4.52686169e+00] [-2.18881805e-02 2.30118669e-04 9.99760399e-01 -6.07843291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.354319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.77, Y:-4.54, Z:-0.61 [[ 9.66781319e-01 2.54720274e-01 2.12476490e-02 2.97700213e+01] [-2.54653698e-01 9.67014753e-01 -5.82770530e-03 -4.53590805e+00] [-2.20312247e-02 2.23324245e-04 9.99757258e-01 -6.08247950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.80, Y:-4.54, Z:-0.61 [[ 9.66638312e-01 2.55264905e-01 2.12179460e-02 2.98021440e+01] [-2.55198506e-01 9.66871130e-01 -5.82593677e-03 -4.54458291e+00] [-2.20021766e-02 2.16785570e-04 9.99757899e-01 -6.08916002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.414319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.83, Y:-4.55, Z:-0.61 [[ 9.66390511e-01 2.56191894e-01 2.13329451e-02 2.98339805e+01] [-2.56124847e-01 9.66625922e-01 -5.86433654e-03 -4.55129975e+00] [-2.21233732e-02 2.03341873e-04 9.99755228e-01 -6.10595017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.87, Y:-4.56, Z:-0.61 [[ 9.66275915e-01 2.56632078e-01 2.12328084e-02 2.98653263e+01] [-2.56565609e-01 9.66509150e-01 -5.84394634e-03 -4.55966728e+00] [-2.20214477e-02 1.99256178e-04 9.99757479e-01 -6.11645938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.474319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.90, Y:-4.57, Z:-0.61 [[ 9.66268464e-01 2.56608268e-01 2.18506709e-02 2.98967850e+01] [-2.56537693e-01 9.66515469e-01 -6.02166000e-03 -4.56892063e+00] [-2.26642191e-02 2.13019456e-04 9.99743111e-01 -6.11956593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.93, Y:-4.58, Z:-0.61 [[ 9.66412921e-01 2.56093725e-01 2.14958177e-02 2.99271503e+01] [-2.56025138e-01 9.66651929e-01 -5.93101316e-03 -4.57963496e+00] [-2.22978689e-02 2.28338055e-04 9.99751346e-01 -6.13077568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.534319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.96, Y:-4.59, Z:-0.61 [[ 9.66559501e-01 2.55611913e-01 2.06223561e-02 2.99586288e+01] [-2.55548544e-01 9.66779445e-01 -5.69624928e-03 -4.59006367e+00] [-2.13932992e-02 2.35750777e-04 9.99771109e-01 -6.14412778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.99, Y:-4.60, Z:-0.62 [[ 9.66895384e-01 2.54404496e-01 1.97906244e-02 2.99878374e+01] [-2.54345753e-01 9.67097868e-01 -5.47285588e-03 -4.60272268e+00] [-2.05317898e-02 2.58017828e-04 9.99789167e-01 -6.15891660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.594319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.02, Y:-4.61, Z:-0.62 [[ 9.67074029e-01 2.53697665e-01 2.01324792e-02 3.00185095e+01] [-2.53636608e-01 9.67283523e-01 -5.57286035e-03 -4.61137106e+00] [-2.08876371e-02 2.83034789e-04 9.99781789e-01 -6.16406845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.05, Y:-4.62, Z:-0.62 [[ 9.67220298e-01 2.53133689e-01 2.02047364e-02 3.00494852e+01] [-2.53071948e-01 9.67431261e-01 -5.59862350e-03 -4.62119028e+00] [-2.09638938e-02 3.01850292e-04 9.99780188e-01 -6.17169802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.654319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.08, Y:-4.63, Z:-0.62 [[ 9.67649561e-01 2.51384504e-01 2.14512885e-02 3.00795145e+01] [-2.51314317e-01 9.67887233e-01 -5.95133944e-03 -4.63218576e+00] [-2.22585028e-02 3.67795079e-04 9.99752181e-01 -6.16856307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.11, Y:-4.64, Z:-0.62 [[ 9.67827399e-01 2.50685403e-01 2.16091123e-02 3.01096354e+01] [-2.50613870e-01 9.68068528e-01 -6.00115580e-03 -4.64196977e+00] [-2.24235036e-02 3.92539768e-04 9.99748485e-01 -6.17334139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.714319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.14, Y:-4.65, Z:-0.62 [[ 9.68026885e-01 2.49941239e-01 2.12914824e-02 3.01398510e+01] [-2.49871538e-01 9.68260921e-01 -5.91634830e-03 -4.65184555e+00] [-2.20944497e-02 4.07048777e-04 9.99755805e-01 -6.18031488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.17, Y:-4.66, Z:-0.62 [[ 9.68333151e-01 2.48706680e-01 2.18150458e-02 3.01687736e+01] [-2.48633056e-01 9.68578744e-01 -6.06794865e-03 -4.66227397e+00] [-2.26387290e-02 4.51854327e-04 9.99743609e-01 -6.18639341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.774319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.20, Y:-4.67, Z:-0.62 [[ 9.68374383e-01 2.48520240e-01 2.21075575e-02 3.01994740e+01] [-2.48444502e-01 9.68626591e-01 -6.15271574e-03 -4.67179746e+00] [-2.29430424e-02 4.65631209e-04 9.99736665e-01 -6.19668610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.23, Y:-4.68, Z:-0.62 [[ 9.68459746e-01 2.48215025e-01 2.17950050e-02 3.02297738e+01] [-2.48141192e-01 9.68704846e-01 -6.07212254e-03 -4.68194752e+00] [-2.26201190e-02 4.72367730e-04 9.99744021e-01 -6.20858969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.834319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.26, Y:-4.69, Z:-0.62 [[ 9.68590917e-01 2.47748471e-01 2.12680536e-02 3.02602062e+01] [-2.47677918e-01 9.68824270e-01 -5.93141661e-03 -4.69153347e+00] [-2.20745059e-02 4.77489025e-04 9.99756214e-01 -6.22437080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.29, Y:-4.70, Z:-0.62 [[ 9.68634690e-01 2.47571818e-01 2.13315099e-02 3.02927408e+01] [-2.47500670e-01 9.68869422e-01 -5.95499812e-03 -4.69823592e+00] [-2.21417374e-02 4.88654758e-04 9.99754722e-01 -6.23011911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.894319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.32, Y:-4.71, Z:-0.62 [[ 9.68718708e-01 2.47219498e-01 2.16005597e-02 3.03238421e+01] [-2.47146292e-01 9.68959370e-01 -6.03744405e-03 -4.70756261e+00] [-2.24226386e-02 5.10086759e-04 9.99748451e-01 -6.23454183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.35, Y:-4.72, Z:-0.62 [[ 9.68813456e-01 2.46809697e-01 2.20331822e-02 3.03532919e+01] [-2.46733272e-01 9.69063819e-01 -6.16494065e-03 -4.71778204e+00] [-2.28731268e-02 5.36358329e-04 9.99738232e-01 -6.23600408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.954319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.39, Y:-4.73, Z:-0.62 [[ 9.68759960e-01 2.47002458e-01 2.22244414e-02 3.03851548e+01] [-2.46924609e-01 9.69014701e-01 -6.22463829e-03 -4.72746157e+00] [-2.30733114e-02 5.42418840e-04 9.99733629e-01 -6.24180115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.42, Y:-4.74, Z:-0.63 [[ 9.68672887e-01 2.47339566e-01 2.22705270e-02 3.04168154e+01] [-2.47261312e-01 9.68928710e-01 -6.24490889e-03 -4.73565498e+00] [-2.31231661e-02 5.42634202e-04 9.99732477e-01 -6.25081548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.45, Y:-4.74, Z:-0.63 [[ 9.68356451e-01 2.48604120e-01 2.19493978e-02 3.04463753e+01] [-2.48528268e-01 9.68605043e-01 -6.16199590e-03 -4.74428813e+00] [-2.27921950e-02 5.11962654e-04 9.99740093e-01 -6.26470251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.48, Y:-4.75, Z:-0.63 [[ 9.68150204e-01 2.49418696e-01 2.18058674e-02 3.04774269e+01] [-2.49343907e-01 9.68395616e-01 -6.12756063e-03 -4.75137375e+00] [-2.26450345e-02 4.95238907e-04 9.99743446e-01 -6.27520043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.074319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.51, Y:-4.76, Z:-0.63 [[ 9.67761377e-01 2.50924873e-01 2.17858819e-02 3.05068752e+01] [-2.50850462e-01 9.68006452e-01 -6.12816664e-03 -4.76140013e+00] [-2.26265837e-02 4.65604432e-04 9.99743878e-01 -6.27947532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.54, Y:-4.77, Z:-0.63 [[ 9.67526221e-01 2.51822390e-01 2.18745484e-02 3.05383792e+01] [-2.51747518e-01 9.67773363e-01 -6.15676184e-03 -4.76997775e+00] [-2.27200158e-02 4.49965236e-04 9.99741766e-01 -6.28390413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.134319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.57, Y:-4.78, Z:-0.63 [[ 9.67183098e-01 2.53116961e-01 2.21056549e-02 3.05697341e+01] [-2.53040752e-01 9.67435590e-01 -6.22548285e-03 -4.77768029e+00] [-2.29615726e-02 4.27550262e-04 9.99736257e-01 -6.29117561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.60, Y:-4.79, Z:-0.63 [[ 9.66499436e-01 2.55682898e-01 2.24743302e-02 3.05997299e+01] [-2.55604670e-01 9.66760628e-01 -6.33564225e-03 -4.78510900e+00] [-2.33472130e-02 3.78850901e-04 9.99727345e-01 -6.30198199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.194319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.63, Y:-4.79, Z:-0.63 [[ 9.66117180e-01 2.57144011e-01 2.22385156e-02 3.06309510e+01] [-2.57067715e-01 9.66373033e-01 -6.27300133e-03 -4.79253561e+00] [-2.31037665e-02 3.43649960e-04 9.99733013e-01 -6.31184410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.66, Y:-4.80, Z:-0.63 [[ 9.65770541e-01 2.58424768e-01 2.24477541e-02 3.06606438e+01] [-2.58347225e-01 9.66031333e-01 -6.33840521e-03 -4.80148691e+00] [-2.33232347e-02 3.22130035e-04 9.99727924e-01 -6.31583336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.254319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.69, Y:-4.81, Z:-0.63 [[ 9.65331801e-01 2.60032163e-01 2.27549498e-02 3.06910176e+01] [-2.59952787e-01 9.65599911e-01 -6.43120079e-03 -4.81025670e+00] [-2.36444966e-02 2.93030021e-04 9.99720387e-01 -6.31986572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.72, Y:-4.82, Z:-0.63 [[ 9.65133749e-01 2.60771231e-01 2.26982704e-02 3.07230805e+01] [-2.60692306e-01 9.65400583e-01 -6.42146317e-03 -4.81939704e+00] [-2.35874563e-02 2.80306361e-04 9.99721738e-01 -6.32684879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.314319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.75, Y:-4.83, Z:-0.63 [[ 9.64914785e-01 2.61578292e-01 2.27212580e-02 3.07536293e+01] [-2.61499265e-01 9.65182224e-01 -6.43498692e-03 -4.82811932e+00] [-2.36134072e-02 2.67621752e-04 9.99721129e-01 -6.33468573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.79, Y:-4.84, Z:-0.63 [[ 9.64612254e-01 2.62700146e-01 2.26237102e-02 3.07862458e+01] [-2.62621949e-01 9.64877491e-01 -6.41398790e-03 -4.83520604e+00] [-2.35140643e-02 2.45528465e-04 9.99723476e-01 -6.34723012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.374319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.82, Y:-4.85, Z:-0.63 [[ 9.64437004e-01 2.63339057e-01 2.26673104e-02 3.08169026e+01] [-2.63260559e-01 9.64703314e-01 -6.43375846e-03 -4.84544025e+00] [-2.35614893e-02 2.37545939e-04 9.99722361e-01 -6.34946840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.85, Y:-4.85, Z:-0.64 [[ 9.64412262e-01 2.63446063e-01 2.24758019e-02 3.08488182e+01] [-2.63368800e-01 9.64674098e-01 -6.38435026e-03 -4.85346065e+00] [-2.33637558e-02 2.37720711e-04 9.99727002e-01 -6.36048787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.434319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.88, Y:-4.86, Z:-0.64 [[ 9.64331118e-01 2.63743099e-01 2.24738354e-02 3.08799534e+01] [-2.63665755e-01 9.64592930e-01 -6.39126549e-03 -4.86248902e+00] [-2.33637549e-02 2.37715428e-04 9.99727002e-01 -6.36739081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.91, Y:-4.87, Z:-0.64 [[ 9.64313106e-01 2.63811015e-01 2.24495290e-02 3.09116008e+01] [-2.63733683e-01 9.64574356e-01 -6.39182413e-03 -4.87195512e+00] [-2.33404736e-02 2.43022824e-04 9.99727544e-01 -6.37532096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.94, Y:-4.88, Z:-0.64 [[ 9.64353165e-01 2.63708319e-01 2.19293393e-02 3.09418507e+01] [-2.63634340e-01 9.64602437e-01 -6.25087901e-03 -4.88220074e+00] [-2.28015030e-02 2.46728057e-04 9.99739981e-01 -6.38295528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.97, Y:-4.89, Z:-0.64 [[ 9.64420735e-01 2.63467599e-01 2.18510879e-02 3.09737343e+01] [-2.63393930e-01 9.64668211e-01 -6.23539502e-03 -4.89171555e+00] [-2.27218744e-02 2.58100327e-04 9.99741792e-01 -6.39213670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.00, Y:-4.90, Z:-0.64 [[ 9.64804277e-01 2.62066124e-01 2.17727523e-02 3.10030376e+01] [-2.61992462e-01 9.65049874e-01 -6.22023933e-03 -4.90308108e+00] [-2.26419058e-02 2.97016528e-04 9.99743595e-01 -6.40000289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.03, Y:-4.91, Z:-0.64 [[ 9.64968612e-01 2.61464500e-01 2.17230918e-02 3.10342543e+01] [-2.61390887e-01 9.65213042e-01 -6.21199374e-03 -4.91247596e+00] [-2.25916273e-02 3.16160753e-04 9.99744727e-01 -6.40590298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.614319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.06, Y:-4.92, Z:-0.64 [[ 9.65558031e-01 2.59264087e-01 2.19048367e-02 3.10637896e+01] [-2.59188505e-01 9.65806394e-01 -6.27125914e-03 -4.92381095e+00] [-2.27817436e-02 3.77782747e-04 9.99740391e-01 -6.41271012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.09, Y:-4.93, Z:-0.64 [[ 9.65886718e-01 2.58031780e-01 2.19647375e-02 3.10935892e+01] [-2.57955333e-01 9.66136341e-01 -6.29415711e-03 -4.93435542e+00] [-2.28450236e-02 4.13521582e-04 9.99738933e-01 -6.41804163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.12, Y:-4.94, Z:-0.64 [[ 9.66096569e-01 2.57258997e-01 2.17997426e-02 3.11246437e+01] [-2.57183417e-01 9.66342394e-01 -6.25045388e-03 -4.94365309e+00] [-2.26740009e-02 4.32009757e-04 9.99742818e-01 -6.42623214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.15, Y:-4.96, Z:-0.64 [[ 9.66619053e-01 2.55290493e-01 2.17800511e-02 3.11530905e+01] [-2.55214409e-01 9.66864277e-01 -6.25103050e-03 -4.95783503e+00] [-2.26541820e-02 4.83782318e-04 9.99743244e-01 -6.43051650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.734319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.18, Y:-4.97, Z:-0.64 [[ 9.66774957e-01 2.54703471e-01 2.17330465e-02 3.11837854e+01] [-2.54627486e-01 9.67019075e-01 -6.24107986e-03 -4.96843248e+00] [-2.26058953e-02 4.99888695e-04 9.99744329e-01 -6.43825889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.21, Y:-4.98, Z:-0.64 [[ 9.66917767e-01 2.54191553e-01 2.13702379e-02 3.12138032e+01] [-2.54117831e-01 9.67153760e-01 -6.14267070e-03 -4.97831909e+00] [-2.22297210e-02 5.08898912e-04 9.99752760e-01 -6.44710421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.794319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.24, Y:-4.99, Z:-0.65 [[ 9.67069698e-01 2.53645449e-01 2.09805859e-02 3.12429837e+01] [-2.53574148e-01 9.67297120e-01 -6.03594685e-03 -4.98899000e+00] [-2.18254508e-02 5.17047102e-04 9.99761663e-01 -6.46235381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.28, Y:-4.99, Z:-0.65 [[ 9.66956974e-01 2.54081280e-01 2.09024898e-02 3.12760246e+01] [-2.54010495e-01 9.67182735e-01 -6.01881237e-03 -4.99453852e+00] [-2.17457948e-02 5.10480821e-04 9.99763402e-01 -6.47115437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.854319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.31, Y:-5.00, Z:-0.65 [[ 9.66734955e-01 2.54920221e-01 2.09572995e-02 3.13063047e+01] [-2.54849106e-01 9.66961960e-01 -6.04168670e-03 -5.00369320e+00] [-2.18050595e-02 4.99760675e-04 9.99762117e-01 -6.47992976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.34, Y:-5.01, Z:-0.65 [[ 9.66258416e-01 2.56710158e-01 2.10847839e-02 3.13373270e+01] [-2.56638464e-01 9.66488321e-01 -6.08469313e-03 -5.01197775e+00] [-2.19401999e-02 4.68219407e-04 9.99759175e-01 -6.48270230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.914319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.37, Y:-5.02, Z:-0.65 [[ 9.65783906e-01 2.58452958e-01 2.15294219e-02 3.13682117e+01] [-2.58378491e-01 9.66023743e-01 -6.21962471e-03 -5.02024724e+00] [-2.24054132e-02 4.44073880e-04 9.99748869e-01 -6.48762256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.40, Y:-5.03, Z:-0.65 [[ 9.64920231e-01 2.61657673e-01 2.15455268e-02 3.13978076e+01] [-2.61583748e-01 9.65160671e-01 -6.23073048e-03 -5.02885549e+00] [-2.24252135e-02 3.76198231e-04 9.99748452e-01 -6.49269894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.974319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.43, Y:-5.04, Z:-0.65 [[ 9.64319081e-01 2.63861044e-01 2.15884324e-02 3.14285805e+01] [-2.63787241e-01 9.64560646e-01 -6.24913121e-03 -5.03669720e+00] [-2.24722546e-02 3.31403453e-04 9.99747412e-01 -6.50113917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004319999999996 meters Centerline goodness [0,1] 0.9999784742552092 Centerline is valid? [True, True] Translation: X:31.46, Y:-5.05, Z:-0.65 [[ 9.63862705e-01 2.65496711e-01 2.19130804e-02 3.14585206e+01] [-2.65420956e-01 9.64111718e-01 -6.34918350e-03 -5.04525578e+00] [-2.28123449e-02 3.03550446e-04 9.99739719e-01 -6.50690468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.034319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.49, Y:-5.05, Z:-0.65 [[ 9.63415071e-01 2.67127510e-01 2.17782872e-02 3.14894332e+01] [-2.67053018e-01 9.63661155e-01 -6.31375397e-03 -5.05336848e+00] [-2.26734668e-02 2.66808411e-04 9.99742888e-01 -6.51405526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.52, Y:-5.06, Z:-0.65 [[ 9.62719787e-01 2.69602181e-01 2.20289739e-02 3.15197039e+01] [-2.69526473e-01 9.62971763e-01 -6.39243841e-03 -5.06159703e+00] [-2.29366952e-02 2.16735293e-04 9.99736896e-01 -6.51265446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.094319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.55, Y:-5.07, Z:-0.65 [[ 9.62455435e-01 2.70549061e-01 2.19713867e-02 3.15511560e+01] [-2.70473910e-01 9.62706168e-01 -6.37944242e-03 -5.07073856e+00] [-2.28779417e-02 1.97242145e-04 9.99738246e-01 -6.51832204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.58, Y:-5.08, Z:-0.65 [[ 9.62070785e-01 2.71897101e-01 2.21759275e-02 3.15833163e+01] [-2.71820739e-01 9.62326315e-01 -6.44588327e-03 -5.07851130e+00] [-2.30930956e-02 1.73518970e-04 9.99733304e-01 -6.53291119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.154319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.61, Y:-5.09, Z:-0.65 [[ 9.61968241e-01 2.72292260e-01 2.17721992e-02 3.16137781e+01] [-2.72218592e-01 9.62214580e-01 -6.33568943e-03 -5.08810486e+00] [-2.26746867e-02 1.67934593e-04 9.99742882e-01 -6.53771104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.64, Y:-5.10, Z:-0.65 [[ 9.61950806e-01 2.72357472e-01 2.17268068e-02 3.16447721e+01] [-2.72284019e-01 9.62196123e-01 -6.32728263e-03 -5.09891005e+00] [-2.26287320e-02 1.70672330e-04 9.99743923e-01 -6.54645063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.214319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.68, Y:-5.11, Z:-0.66 [[ 9.61957782e-01 2.72360969e-01 2.13712118e-02 3.16756635e+01] [-2.72289741e-01 9.62195132e-01 -6.23096506e-03 -5.10921676e+00] [-2.22603477e-02 1.74763595e-04 9.99752192e-01 -6.55743914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244319999999995 meters Centerline goodness [0,1] 0.9999566855806298 Centerline is valid? [True, True] Translation: X:31.71, Y:-5.12, Z:-0.66 [[ 9.62003764e-01 2.72233273e-01 2.09237442e-02 3.17061054e+01] [-2.72164814e-01 9.62231268e-01 -6.10748868e-03 -5.11985291e+00] [-2.17961426e-02 1.80720131e-04 9.99762420e-01 -6.57021029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.274319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.74, Y:-5.13, Z:-0.66 [[ 9.62207590e-01 2.71566966e-01 2.01974395e-02 3.17369116e+01] [-2.71502901e-01 9.62419526e-01 -5.90167142e-03 -5.13157795e+00] [-2.10411092e-02 1.94969606e-04 9.99778592e-01 -6.58553289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304319999999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.77, Y:-5.14, Z:-0.66 [[ 9.62418243e-01 2.70857038e-01 1.96873196e-02 3.17680473e+01] [-2.70795891e-01 9.62619561e-01 -5.75895317e-03 -5.14258122e+00] [-2.05112519e-02 2.11276349e-04 9.99789600e-01 -6.59513147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.334319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.80, Y:-5.15, Z:-0.66 [[ 9.62656057e-01 2.69980633e-01 2.00941164e-02 3.17985862e+01] [-2.69916598e-01 9.62865722e-01 -5.88479653e-03 -5.15378582e+00] [-2.09367170e-02 2.41299492e-04 9.99780774e-01 -6.60093536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.83, Y:-5.17, Z:-0.66 [[ 9.62987744e-01 2.68819257e-01 1.97689841e-02 3.18272056e+01] [-2.68756897e-01 9.63190602e-01 -5.79612311e-03 -5.16522625e+00] [-2.05994092e-02 2.68544690e-04 9.99787774e-01 -6.60838860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.394319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.86, Y:-5.18, Z:-0.66 [[ 9.63685819e-01 2.66322369e-01 1.95457744e-02 3.18566271e+01] [-2.66260791e-01 9.63883961e-01 -5.73586789e-03 -5.17902798e+00] [-2.03674484e-02 3.23301187e-04 9.99792510e-01 -6.61512914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.89, Y:-5.19, Z:-0.66 [[ 9.63884518e-01 2.65614707e-01 1.93768642e-02 3.18872054e+01] [-2.65553934e-01 9.64079204e-01 -5.69182254e-03 -5.19020221e+00] [-2.01926636e-02 3.40657123e-04 9.99796049e-01 -6.62110423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.454319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.92, Y:-5.20, Z:-0.66 [[ 9.64221526e-01 2.64439612e-01 1.86692577e-02 3.19159967e+01] [-2.64382876e-01 9.64402180e-01 -5.48912927e-03 -5.20300516e+00] [-1.94562160e-02 3.56904560e-04 9.99810646e-01 -6.63608203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484319999999997 meters Centerline goodness [0,1] 0.9999563242487771 Centerline is valid? [True, True] Translation: X:31.95, Y:-5.21, Z:-0.66 [[ 9.64295025e-01 2.64174661e-01 1.86240191e-02 3.19471214e+01] [-2.64118057e-01 9.64474787e-01 -5.48062974e-03 -5.21304772e+00] [-1.94102403e-02 3.66004262e-04 9.99811537e-01 -6.64859043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.98, Y:-5.22, Z:-0.67 [[ 9.64274516e-01 2.64281359e-01 1.81665062e-02 3.19787987e+01] [-2.64227417e-01 9.64445558e-01 -5.35151666e-03 -5.22219300e+00] [-1.89349123e-02 3.60242143e-04 9.99820654e-01 -6.66052068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.01, Y:-5.23, Z:-0.67 [[ 9.64225470e-01 2.64484372e-01 1.78118116e-02 3.20097357e+01] [-2.64432445e-01 9.64389906e-01 -5.25267932e-03 -5.23249401e+00] [-1.85667829e-02 3.54746287e-04 9.99827559e-01 -6.66925758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.574319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.04, Y:-5.24, Z:-0.67 [[ 9.64149770e-01 2.64751276e-01 1.79438521e-02 3.20408422e+01] [-2.64698515e-01 9.64316667e-01 -5.29742269e-03 -5.24172574e+00] [-1.87060551e-02 3.57797867e-04 9.99824962e-01 -6.67143224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.07, Y:-5.25, Z:-0.67 [[ 9.64081496e-01 2.64989051e-01 1.81016957e-02 3.20709554e+01] [-2.64935276e-01 9.64251353e-01 -5.35053686e-03 -5.25226545e+00] [-1.88724183e-02 3.62575830e-04 9.99821834e-01 -6.67411323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.634319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.10, Y:-5.26, Z:-0.67 [[ 9.63725848e-01 2.66241513e-01 1.86533038e-02 3.21020072e+01] [-2.66184568e-01 9.63906288e-01 -5.51751042e-03 -5.26193822e+00] [-1.94490272e-02 3.52145785e-04 9.99810788e-01 -6.66902415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.13, Y:-5.27, Z:-0.67 [[ 9.63339396e-01 2.67624669e-01 1.88214048e-02 3.21325070e+01] [-2.67566846e-01 9.63523184e-01 -5.57287331e-03 -5.27037680e+00] [-1.96262983e-02 3.32584487e-04 9.99807330e-01 -6.67208462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.694319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.16, Y:-5.28, Z:-0.67 [[ 9.62921998e-01 2.69118385e-01 1.88817658e-02 3.21637199e+01] [-2.69060367e-01 9.63107055e-01 -5.59632930e-03 -5.27826496e+00] [-1.96912369e-02 3.08493751e-04 9.99806061e-01 -6.68013858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.19, Y:-5.29, Z:-0.67 [[ 9.62345804e-01 2.71194336e-01 1.85522388e-02 3.21936725e+01] [-2.71138603e-01 9.62524577e-01 -5.50430990e-03 -5.28697825e+00] [-1.93497234e-02 2.66821439e-04 9.99812741e-01 -6.68829930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.754319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.22, Y:-5.30, Z:-0.67 [[ 9.62026083e-01 2.72323587e-01 1.85924884e-02 3.22248805e+01] [-2.72267764e-01 9.62205697e-01 -5.51920406e-03 -5.29611778e+00] [-1.93928077e-02 2.47483011e-04 9.99811911e-01 -6.69517801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.25, Y:-5.30, Z:-0.67 [[ 9.61679132e-01 2.73531119e-01 1.88141971e-02 3.22548222e+01] [-2.73474079e-01 9.61863126e-01 -5.59055516e-03 -5.30466531e+00] [-1.96258733e-02 2.31125005e-04 9.99807367e-01 -6.70309605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.814319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.29, Y:-5.31, Z:-0.67 [[ 9.61590808e-01 2.73877147e-01 1.82873481e-02 3.22856705e+01] [-2.73823231e-01 9.61764659e-01 -5.43863841e-03 -5.31444418e+00] [-1.90776439e-02 2.22243957e-04 9.99817980e-01 -6.71588559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.32, Y:-5.32, Z:-0.67 [[ 9.61615215e-01 2.73820987e-01 1.78394524e-02 3.23174121e+01] [-2.73769573e-01 9.61780649e-01 -5.31065544e-03 -5.32482099e+00] [-1.86118090e-02 2.22907799e-04 9.99826760e-01 -6.72612099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.874319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.35, Y:-5.33, Z:-0.67 [[ 9.61409744e-01 2.74532600e-01 1.79765295e-02 3.23490490e+01] [-2.74480408e-01 9.61577769e-01 -5.35732781e-03 -5.33287213e+00] [-1.87565922e-02 2.16382017e-04 9.99824056e-01 -6.72551695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.38, Y:-5.34, Z:-0.67 [[ 9.61387753e-01 2.74627489e-01 1.77011336e-02 3.23807158e+01] [-2.74576795e-01 9.61550672e-01 -5.28088829e-03 -5.34210912e+00] [-1.84708140e-02 2.16660775e-04 9.99829376e-01 -6.73769636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.934319999999996 meters Centerline goodness [0,1] 0.9999562870194304 Centerline is valid? [True, True] Translation: X:32.41, Y:-5.35, Z:-0.67 [[ 9.61436399e-01 2.74432511e-01 1.80789492e-02 3.24130969e+01] [-2.74379484e-01 9.61606335e-01 -5.39952332e-03 -5.35000818e+00] [-1.88666369e-02 2.30805493e-04 9.99821983e-01 -6.74123048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964319999999994 meters Centerline goodness [0,1] 0.999912644682245 Centerline is valid? [True, True] Translation: X:32.44, Y:-5.36, Z:-0.68 [[ 9.61544472e-01 2.74061216e-01 1.79632364e-02 3.24428913e+01] [-2.74008679e-01 9.61712218e-01 -5.37152824e-03 -5.36077292e+00] [-1.87475915e-02 2.42880624e-04 9.99824219e-01 -6.75017085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.994319999999995 meters Centerline goodness [0,1] 0.9999781621243885 Centerline is valid? [True, True] Translation: X:32.47, Y:-5.37, Z:-0.68 [[ 9.61613520e-01 2.73820894e-01 1.79319713e-02 3.24741132e+01] [-2.73768429e-01 9.61780669e-01 -5.36580093e-03 -5.37055401e+00] [-1.87158918e-02 2.50619101e-04 9.99824811e-01 -6.75659813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.50, Y:-5.38, Z:-0.68 [[ 9.61655698e-01 2.73702483e-01 1.74719671e-02 3.25040357e+01] [-2.73652547e-01 9.61814373e-01 -5.23411500e-03 -5.38097490e+00] [-1.82373793e-02 2.52168219e-04 9.99833653e-01 -6.76633783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.054319999999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.54, Y:-5.39, Z:-0.68 [[ 9.61723583e-01 2.73468401e-01 1.74006841e-02 3.25369161e+01] [-2.73418776e-01 9.61880953e-01 -5.21594821e-03 -5.38691038e+00] [-1.81637836e-02 2.58626648e-04 9.99834991e-01 -6.77054237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.57, Y:-5.40, Z:-0.68 [[ 9.61810130e-01 2.73211496e-01 1.66358553e-02 3.25684602e+01] [-2.73166011e-01 9.61953955e-01 -4.99183917e-03 -5.39530249e+00] [-1.73667546e-02 2.56851264e-04 9.99849154e-01 -6.78528222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.114319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.60, Y:-5.41, Z:-0.68 [[ 9.62014950e-01 2.72509535e-01 1.63030499e-02 3.25981679e+01] [-2.72465646e-01 9.62153044e-01 -4.89806254e-03 -5.40562689e+00] [-1.70207978e-02 2.69988370e-04 9.99855099e-01 -6.80026211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.63, Y:-5.41, Z:-0.68 [[ 9.62453258e-01 2.70997151e-01 1.56291664e-02 3.26288423e+01] [-2.70956588e-01 9.62580107e-01 -4.69736273e-03 -5.41363272e+00] [-1.63172966e-02 2.86166463e-04 9.99866823e-01 -6.80800278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.174319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.66, Y:-5.42, Z:-0.68 [[ 9.62676803e-01 2.70195700e-01 1.57371157e-02 3.26592014e+01] [-2.70154391e-01 9.62805375e-01 -4.73449338e-03 -5.42287003e+00] [-1.64310194e-02 3.06336043e-04 9.99864955e-01 -6.80951444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.69, Y:-5.43, Z:-0.68 [[ 9.63175266e-01 2.68410271e-01 1.57903118e-02 3.26897782e+01] [-2.68368364e-01 9.63304629e-01 -4.75524877e-03 -5.43135493e+00] [-1.64872380e-02 3.42517863e-04 9.99864018e-01 -6.81422981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.234319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.72, Y:-5.44, Z:-0.68 [[ 9.63399019e-01 2.67609377e-01 1.57337903e-02 3.27203353e+01] [-2.67567585e-01 9.63527421e-01 -4.74297033e-03 -5.44043382e+00] [-1.64292018e-02 3.59520688e-04 9.99864967e-01 -6.82336285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.75, Y:-5.45, Z:-0.68 [[ 9.63617916e-01 2.66853526e-01 1.51561099e-02 3.27505783e+01] [-2.66814582e-01 9.63737030e-01 -4.57330250e-03 -5.44949917e+00] [-1.58269062e-02 3.63045098e-04 9.99874681e-01 -6.83220788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.294319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.78, Y:-5.46, Z:-0.68 [[ 9.63847427e-01 2.66020885e-01 1.51995283e-02 3.27803810e+01] [-2.65981546e-01 9.63967190e-01 -4.59067074e-03 -5.45856803e+00] [-1.58730609e-02 3.81912143e-04 9.99873942e-01 -6.83642156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.81, Y:-5.47, Z:-0.68 [[ 9.63767573e-01 2.66282981e-01 1.56664915e-02 3.28119920e+01] [-2.66241153e-01 9.63894818e-01 -4.73592246e-03 -5.46773775e+00] [-1.63619455e-02 3.93263742e-04 9.99866057e-01 -6.83740984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.354319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.84, Y:-5.48, Z:-0.68 [[ 9.63685611e-01 2.66579537e-01 1.56650326e-02 3.28429712e+01] [-2.66537670e-01 9.63812843e-01 -4.74074217e-03 -5.47728811e+00] [-1.63619445e-02 3.93263717e-04 9.99866057e-01 -6.84431460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.87, Y:-5.49, Z:-0.69 [[ 9.63566952e-01 2.67009324e-01 1.56445098e-02 3.28749029e+01] [-2.66967537e-01 9.63693867e-01 -4.73978510e-03 -5.48622602e+00] [-1.63420850e-02 3.90524021e-04 9.99866383e-01 -6.85012095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.414319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.91, Y:-5.49, Z:-0.69 [[ 9.63114405e-01 2.68644593e-01 1.55153558e-02 3.29056858e+01] [-2.68603617e-01 9.63239300e-01 -4.70610144e-03 -5.49293187e+00] [-1.62092691e-02 3.65033406e-04 9.99868555e-01 -6.85958212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.94, Y:-5.50, Z:-0.69 [[ 9.62742829e-01 2.69973473e-01 1.55102990e-02 3.29354636e+01] [-2.69932629e-01 9.62867698e-01 -4.70875734e-03 -5.50113367e+00] [-1.62056054e-02 3.46586594e-04 9.99868620e-01 -6.86623819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.474319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.97, Y:-5.50, Z:-0.69 [[ 9.61819496e-01 2.73252801e-01 1.53676180e-02 3.29679725e+01] [-2.73213060e-01 9.61942213e-01 -4.66934894e-03 -5.50490919e+00] [-1.60586732e-02 2.92436890e-04 9.99871008e-01 -6.86872022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.00, Y:-5.51, Z:-0.69 [[ 9.61309468e-01 2.75053951e-01 1.51469831e-02 3.29997133e+01] [-2.75015482e-01 9.61428757e-01 -4.60761168e-03 -5.51271352e+00] [-1.58300870e-02 2.63685868e-04 9.99874662e-01 -6.87705218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.534319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.03, Y:-5.52, Z:-0.69 [[ 9.60721662e-01 2.77111134e-01 1.49434837e-02 3.30307590e+01] [-2.77073932e-01 9.60837847e-01 -4.54623645e-03 -5.52012853e+00] [-1.56180774e-02 2.27218048e-04 9.99878005e-01 -6.88038957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.06, Y:-5.53, Z:-0.69 [[ 9.60031808e-01 2.79482276e-01 1.51190238e-02 3.30613392e+01] [-2.79444416e-01 9.60150832e-01 -4.60421210e-03 -5.52735072e+00] [-1.58033389e-02 1.95263294e-04 9.99875100e-01 -6.88784761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.594319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.09, Y:-5.53, Z:-0.69 [[ 9.58821205e-01 2.83630520e-01 1.46841690e-02 3.30937203e+01] [-2.83595238e-01 9.58933633e-01 -4.47533755e-03 -5.53110514e+00] [-1.53504858e-02 1.26688142e-04 9.99882166e-01 -6.89024752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.12, Y:-5.54, Z:-0.69 [[ 9.58292394e-01 2.85403331e-01 1.48534892e-02 3.31239826e+01] [-2.85367370e-01 9.58407496e-01 -4.53168184e-03 -5.53981586e+00] [-1.55290524e-02 1.03975099e-04 9.99879412e-01 -6.90282838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.654319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.16, Y:-5.55, Z:-0.69 [[ 9.57437314e-01 2.88231910e-01 1.53673425e-02 3.31557703e+01] [-2.88193710e-01 9.57560631e-01 -4.69294584e-03 -5.54573524e+00] [-1.60678189e-02 6.44300178e-05 9.99870902e-01 -6.89874589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.19, Y:-5.55, Z:-0.69 [[ 9.57073572e-01 2.89434671e-01 1.54191325e-02 3.31875346e+01] [-2.89396301e-01 9.57197769e-01 -4.71294189e-03 -5.55398171e+00] [-1.61232480e-02 4.83922206e-05 9.99870011e-01 -6.90344571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.714319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.22, Y:-5.56, Z:-0.69 [[ 9.56843490e-01 2.90228652e-01 1.47602379e-02 3.32193817e+01] [-2.90193513e-01 9.56957328e-01 -4.51629555e-03 -5.56311798e+00] [-1.54356762e-02 3.80627155e-05 9.99880862e-01 -6.91589493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.25, Y:-5.57, Z:-0.69 [[ 9.56875845e-01 2.90129784e-01 1.46056757e-02 3.32497948e+01] [-2.90095287e-01 9.56987307e-01 -4.47411494e-03 -5.57418364e+00] [-1.52755203e-02 4.41348320e-05 9.99883321e-01 -6.92483653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.774319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.28, Y:-5.58, Z:-0.69 [[ 9.56955586e-01 2.89863461e-01 1.46689945e-02 3.32808677e+01] [-2.89828562e-01 9.57068007e-01 -4.49817360e-03 -5.58496604e+00] [-1.53430815e-02 5.30587648e-05 9.99882287e-01 -6.92607412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804319999999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.31, Y:-5.60, Z:-0.69 [[ 9.56985648e-01 2.89768983e-01 1.45741265e-02 3.33112712e+01] [-2.89734447e-01 9.57096616e-01 -4.47404603e-03 -5.59554224e+00] [-1.52452869e-02 5.89713501e-05 9.99883782e-01 -6.93828700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.834319999999995 meters Centerline goodness [0,1] 0.9999785472175741 Centerline is valid? [True, True] Translation: X:33.34, Y:-5.61, Z:-0.69 [[ 9.57348833e-01 2.88599361e-01 1.39148021e-02 3.33420981e+01] [-2.88567699e-01 9.57449948e-01 -4.27556308e-03 -5.60655447e+00] [-1.45566513e-02 7.78428919e-05 9.99894043e-01 -6.94870419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.37, Y:-5.62, Z:-0.70 [[ 9.57515951e-01 2.88074075e-01 1.32865191e-02 3.33733580e+01] [-2.88045100e-01 9.57608125e-01 -4.08655349e-03 -5.61729597e+00] [-1.39005088e-02 8.58234206e-05 9.99903380e-01 -6.95674960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.894319999999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.40, Y:-5.63, Z:-0.70 [[ 9.58026374e-01 2.86399128e-01 1.26888301e-02 3.34019971e+01] [-2.86372485e-01 9.58110394e-01 -3.90799952e-03 -5.62915220e+00] [-1.32765476e-02 1.10234811e-04 9.99911857e-01 -6.97038577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.43, Y:-5.64, Z:-0.70 [[ 9.58309743e-01 2.85454976e-01 1.25655625e-02 3.34332762e+01] [-2.85428759e-01 9.58392113e-01 -3.87067925e-03 -5.64098055e+00] [-1.31476406e-02 1.22736734e-04 9.99913559e-01 -6.97748653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.954319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.46, Y:-5.65, Z:-0.70 [[ 9.58643360e-01 2.84357669e-01 1.19843307e-02 3.34637520e+01] [-2.84333686e-01 9.58718258e-01 -3.69557775e-03 -5.65248709e+00] [-1.25404625e-02 1.35192164e-04 9.99921356e-01 -6.98337122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984319999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.49, Y:-5.67, Z:-0.70 [[ 9.59377028e-01 2.81862289e-01 1.22216206e-02 3.34918296e+01] [-2.81837094e-01 9.59454855e-01 -3.77268830e-03 -5.66634957e+00] [-1.27894718e-02 1.74924452e-04 9.99918196e-01 -6.99086540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.01432 meters Centerline goodness [0,1] 0.9999784045264113 Centerline is valid? [True, True] Translation: X:33.52, Y:-5.68, Z:-0.70 [[ 9.59695526e-01 2.80778332e-01 1.21665589e-02 3.35209849e+01] [-2.80753233e-01 9.59772625e-01 -3.75909303e-03 -5.67797096e+00] [-1.27326021e-02 1.91784015e-04 9.99918919e-01 -6.99811238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.55, Y:-5.69, Z:-0.70 [[ 9.59928236e-01 2.79982101e-01 1.21574902e-02 3.35508466e+01] [-2.79956936e-01 9.60005199e-01 -3.75931818e-03 -5.68943751e+00] [-1.27237956e-02 2.05101972e-04 9.99919028e-01 -7.00087709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.58, Y:-5.70, Z:-0.70 [[ 9.60403298e-01 2.78339176e-01 1.23615908e-02 3.35789759e+01] [-2.78312963e-01 9.60482820e-01 -3.82710631e-03 -5.70206313e+00] [-1.29383292e-02 2.35174552e-04 9.99916269e-01 -7.00489607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.61, Y:-5.71, Z:-0.70 [[ 9.60435313e-01 2.78235474e-01 1.22078481e-02 3.36101982e+01] [-2.78209897e-01 9.60512866e-01 -3.77975508e-03 -5.71279746e+00] [-1.27774571e-02 2.33866097e-04 9.99918338e-01 -7.01238978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.134319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.64, Y:-5.72, Z:-0.70 [[ 9.60385927e-01 2.78389188e-01 1.25829600e-02 3.36410222e+01] [-2.78361974e-01 9.60468324e-01 -3.90006314e-03 -5.72498561e+00] [-1.31712699e-02 2.42948159e-04 9.99913226e-01 -7.00721858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.67, Y:-5.73, Z:-0.70 [[ 9.60199739e-01 2.79007464e-01 1.30880332e-02 3.36719723e+01] [-2.78978018e-01 9.60288901e-01 -4.06102868e-03 -5.73209929e+00] [-1.37013503e-02 2.48125117e-04 9.99906101e-01 -6.99041205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.19432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.70, Y:-5.74, Z:-0.70 [[ 9.59954735e-01 2.79838027e-01 1.33261302e-02 3.37006898e+01] [-2.79807521e-01 9.60047196e-01 -4.13919398e-03 -5.74336494e+00] [-1.39520178e-02 2.44687408e-04 9.99902636e-01 -7.00410863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.73, Y:-5.75, Z:-0.70 [[ 9.59335108e-01 2.82003616e-01 1.22520096e-02 3.37320526e+01] [-2.81977969e-01 9.59413321e-01 -3.80836357e-03 -5.74997727e+00] [-1.28287135e-02 1.98700090e-04 9.99917689e-01 -7.01506786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.25431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.76, Y:-5.76, Z:-0.70 [[ 9.58911676e-01 2.83452944e-01 1.19509633e-02 3.37630520e+01] [-2.83428613e-01 9.58986130e-01 -3.71810405e-03 -5.75875883e+00] [-1.25147155e-02 1.78088442e-04 9.99921672e-01 -7.02121349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.79, Y:-5.77, Z:-0.70 [[ 9.58521891e-01 2.84759315e-01 1.21620829e-02 3.37920174e+01] [-2.84734161e-01 9.58599032e-01 -3.78864797e-03 -5.76981593e+00] [-1.27374137e-02 1.68541549e-04 9.99918862e-01 -7.04350378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.314319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.82, Y:-5.78, Z:-0.70 [[ 9.57798981e-01 2.87175211e-01 1.23089689e-02 3.38236808e+01] [-2.87149630e-01 9.57878060e-01 -3.83555895e-03 -5.77621767e+00] [-1.28919687e-02 1.39178598e-04 9.99916885e-01 -7.03788893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.85, Y:-5.79, Z:-0.70 [[ 9.57433187e-01 2.88398565e-01 1.21639100e-02 3.38547594e+01] [-2.88373641e-01 9.57510445e-01 -3.79353348e-03 -5.78561345e+00] [-1.27411205e-02 1.24303830e-04 9.99918821e-01 -7.04382245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.37432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.89, Y:-5.80, Z:-0.71 [[ 9.57019037e-01 2.89779556e-01 1.19319702e-02 3.38855639e+01] [-2.89755632e-01 9.57093411e-01 -3.72513366e-03 -5.79618523e+00] [-1.24994776e-02 1.07668265e-04 9.99921873e-01 -7.05080105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.92, Y:-5.81, Z:-0.71 [[ 9.56861970e-01 2.90302826e-01 1.18084463e-02 3.39166661e+01] [-2.90279386e-01 9.56934824e-01 -3.69049459e-03 -5.80674141e+00] [-1.23712745e-02 1.03545385e-04 9.99923467e-01 -7.05130249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.95, Y:-5.82, Z:-0.71 [[ 9.56722445e-01 2.90760360e-01 1.18564671e-02 3.39482590e+01] [-2.90736714e-01 9.56795904e-01 -3.70951560e-03 -5.81707697e+00] [-1.24227992e-02 1.01866554e-04 9.99922829e-01 -7.05391521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.98, Y:-5.83, Z:-0.71 [[ 9.56681181e-01 2.90876511e-01 1.23277759e-02 3.39781580e+01] [-2.90850897e-01 9.56760599e-01 -3.86159661e-03 -5.82698113e+00] [-1.29179780e-02 1.08772111e-04 9.99916554e-01 -7.05756597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.494319999999995 meters Centerline goodness [0,1] 0.9998911765986158 Centerline is valid? [True, True] Translation: X:34.01, Y:-5.84, Z:-0.71 [[ 9.56710038e-01 2.90793853e-01 1.20348591e-02 3.40090708e+01] [-2.90769392e-01 9.56785725e-01 -3.77327472e-03 -5.83723340e+00] [-1.26120265e-02 1.10561132e-04 9.99920459e-01 -7.06655032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.524319999999996 meters Centerline goodness [0,1] 0.9998475941650338 Centerline is valid? [True, True] Translation: X:34.04, Y:-5.85, Z:-0.71 [[ 9.56787418e-01 2.90534370e-01 1.21497296e-02 3.40401949e+01] [-2.90509366e-01 9.56864549e-01 -3.81347616e-03 -5.84841509e+00] [-1.27335914e-02 1.19075781e-04 9.99918917e-01 -7.07653354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.55432 meters Centerline goodness [0,1] 0.9998472149467434 Centerline is valid? [True, True] Translation: X:34.07, Y:-5.86, Z:-0.71 [[ 9.57172068e-01 2.89318524e-01 1.07899638e-02 3.40689295e+01] [-2.89298687e-01 9.57232875e-01 -3.39015997e-03 -5.86184208e+00] [-1.13093441e-02 1.23444073e-04 9.99936040e-01 -7.08430515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58432 meters Centerline goodness [0,1] 0.999803510610427 Centerline is valid? [True, True] Translation: X:34.10, Y:-5.87, Z:-0.71 [[ 9.57456656e-01 2.88393842e-01 1.02831896e-02 3.40991945e+01] [-2.88375746e-01 9.57511867e-01 -3.23328469e-03 -5.87388680e+00] [-1.07787354e-02 1.30307486e-04 9.99941899e-01 -7.09205534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.13, Y:-5.89, Z:-0.71 [[ 9.58173052e-01 2.86014284e-01 1.00115388e-02 3.41281773e+01] [-2.85996971e-01 9.58225342e-01 -3.15080546e-03 -5.88696085e+00] [-1.04944855e-02 1.55747124e-04 9.99944919e-01 -7.09573964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.16, Y:-5.90, Z:-0.71 [[ 9.58570082e-01 2.84710253e-01 9.13620101e-03 3.41572087e+01] [-2.84695756e-01 9.58613607e-01 -2.87730242e-03 -5.89850736e+00] [-9.57728410e-03 1.57058357e-04 9.99954124e-01 -7.10919126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.674319999999994 meters Centerline goodness [0,1] 0.9998903556861541 Centerline is valid? [True, True] Translation: X:34.19, Y:-5.91, Z:-0.71 [[ 9.58990359e-01 2.83296720e-01 8.96996852e-03 3.41857257e+01] [-2.83282651e-01 9.59032293e-01 -2.82846268e-03 -5.91017064e+00] [-9.40378368e-03 1.71431979e-04 9.99955769e-01 -7.11796280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.704319999999996 meters Centerline goodness [0,1] 0.9998025752955887 Centerline is valid? [True, True] Translation: X:34.22, Y:-5.92, Z:-0.71 [[ 9.59310416e-01 2.82220911e-01 8.65349254e-03 3.42164883e+01] [-2.82207779e-01 9.59349429e-01 -2.72813011e-03 -5.91950783e+00] [-9.07165849e-03 1.75040715e-04 9.99958836e-01 -7.10613867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.24, Y:-5.93, Z:-0.71 [[ 9.59848331e-01 2.80377952e-01 8.90982992e-03 3.42440822e+01] [-2.80363909e-01 9.59889662e-01 -2.81342340e-03 -5.93433481e+00] [-9.34127552e-03 2.02465008e-04 9.99956349e-01 -7.11243258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.27, Y:-5.94, Z:-0.71 [[ 9.60001386e-01 2.79857454e-01 8.78321218e-03 3.42748652e+01] [-2.79843786e-01 9.60041543e-01 -2.77341719e-03 -5.94441581e+00] [-9.20841005e-03 2.04557001e-04 9.99957581e-01 -7.11001176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.79431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.30, Y:-5.96, Z:-0.71 [[ 9.60092206e-01 2.79559792e-01 8.32342476e-03 3.43046631e+01] [-2.79547488e-01 9.60128264e-01 -2.63031584e-03 -5.95516623e+00] [-8.72688591e-03 1.98553251e-04 9.99961900e-01 -7.11356068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.34, Y:-5.97, Z:-0.71 [[ 9.59895851e-01 2.80242813e-01 7.99507919e-03 3.43359582e+01] [-2.80231472e-01 9.59929128e-01 -2.52809242e-03 -5.96530298e+00] [-8.38318913e-03 1.86232618e-04 9.99964843e-01 -7.11970256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.854319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.37, Y:-5.97, Z:-0.71 [[ 9.59812189e-01 2.80542061e-01 7.53091628e-03 3.43682490e+01] [-2.80531993e-01 9.59841717e-01 -2.38315672e-03 -5.97383085e+00] [-7.89706331e-03 1.74719917e-04 9.99968802e-01 -7.11579689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.884319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.40, Y:-5.99, Z:-0.71 [[ 9.59550131e-01 2.81463189e-01 6.48227538e-03 3.43974572e+01] [-2.81455740e-01 9.59572015e-01 -2.05288441e-03 -5.98628789e+00] [-6.79802144e-03 1.45371898e-04 9.99976883e-01 -7.14135448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.43, Y:-6.00, Z:-0.71 [[ 9.59272597e-01 2.82411495e-01 6.31127087e-03 3.44281150e+01] [-2.82404439e-01 9.59293349e-01 -2.00108693e-03 -5.99588673e+00] [-6.61949012e-03 1.37256943e-04 9.99978082e-01 -7.14632488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.46, Y:-6.00, Z:-0.71 [[ 9.58662426e-01 2.84489075e-01 5.68501570e-03 3.44581661e+01] [-2.84483378e-01 9.58679276e-01 -1.80384018e-03 -6.00352580e+00] [-5.96327956e-03 1.11981336e-04 9.99982213e-01 -7.14968574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.97431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.49, Y:-6.01, Z:-0.71 [[ 9.58251423e-01 2.85874209e-01 5.49062585e-03 3.44901520e+01] [-2.85868915e-01 9.58267148e-01 -1.74265368e-03 -6.00899730e+00] [-5.75966612e-03 1.00301111e-04 9.99983408e-01 -7.12124586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.52, Y:-6.02, Z:-0.71 [[ 9.57428101e-01 2.88615810e-01 5.68732210e-03 3.45205556e+01] [-2.88610165e-01 9.57444989e-01 -1.80735255e-03 -6.01729178e+00] [-5.96692857e-03 8.89911489e-05 9.99982194e-01 -7.11413448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.034319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.55, Y:-6.03, Z:-0.71 [[ 9.56960256e-01 2.90158291e-01 5.93595135e-03 3.45506758e+01] [-2.90152158e-01 9.56978662e-01 -1.88835906e-03 -6.02597036e+00] [-6.22850182e-03 8.47554785e-05 9.99980599e-01 -7.12017622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.58, Y:-6.03, Z:-0.71 [[ 9.56624074e-01 2.91262806e-01 6.02976572e-03 3.45822883e+01] [-2.91256480e-01 9.56643074e-01 -1.92148210e-03 -6.03424245e+00] [-6.32798988e-03 8.19276925e-05 9.99979975e-01 -7.11700219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.094319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.61, Y:-6.04, Z:-0.71 [[ 9.56231808e-01 2.92539213e-01 6.44496433e-03 3.46132691e+01] [-2.92532018e-01 9.56253524e-01 -2.05320036e-03 -6.04340227e+00] [-6.76366147e-03 7.79770721e-05 9.99977123e-01 -7.11856134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.64, Y:-6.05, Z:-0.71 [[ 9.55919371e-01 2.93553904e-01 6.65290903e-03 3.46443953e+01] [-2.93546248e-01 9.55942519e-01 -2.12144094e-03 -6.05218959e+00] [-6.98255588e-03 7.49900053e-05 9.99975619e-01 -7.11249926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.15431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.68, Y:-6.06, Z:-0.71 [[ 9.55638620e-01 2.94468464e-01 6.56891295e-03 3.46754476e+01] [-2.94461011e-01 9.55661195e-01 -2.09629730e-03 -6.06121937e+00] [-6.89494865e-03 6.90139120e-05 9.99976227e-01 -7.11844789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.71, Y:-6.07, Z:-0.71 [[ 9.55557149e-01 2.94727782e-01 6.78741532e-03 3.47071840e+01] [-2.94719817e-01 9.55581252e-01 -2.16801924e-03 -6.07056240e+00] [-7.12490233e-03 7.12804878e-05 9.99974615e-01 -7.11753293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.214319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.74, Y:-6.08, Z:-0.71 [[ 9.55661119e-01 2.94391033e-01 6.76348387e-03 3.47373561e+01] [-2.94383096e-01 9.55685050e-01 -2.16306047e-03 -6.08218610e+00] [-7.10054602e-03 7.60974685e-05 9.99974788e-01 -7.14032176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.77, Y:-6.09, Z:-0.71 [[ 9.55575767e-01 2.94667981e-01 6.76281531e-03 3.47681676e+01] [-2.94660036e-01 9.55599694e-01 -2.16514651e-03 -6.09226395e+00] [-7.10054359e-03 7.62301289e-05 9.99974788e-01 -7.14722596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.274319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.80, Y:-6.10, Z:-0.71 [[ 9.55577788e-01 2.94658921e-01 6.87109974e-03 3.47996580e+01] [-2.94650705e-01 9.55602487e-01 -2.20181481e-03 -6.10089387e+00] [-7.21482438e-03 7.94309457e-05 9.99973970e-01 -7.13339218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.30432 meters Centerline goodness [0,1] 0.9999344634743097 Centerline is valid? [True, True] Translation: X:34.83, Y:-6.11, Z:-0.71 [[ 9.55776757e-01 2.94004837e-01 7.20741009e-03 3.48309795e+01] [-2.93995758e-01 9.55803927e-01 -2.31230457e-03 -6.11060118e+00] [-7.56869960e-03 9.10989655e-05 9.99971353e-01 -7.13214239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.33432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.86, Y:-6.12, Z:-0.71 [[ 9.55832483e-01 2.93806413e-01 7.87756288e-03 3.48619506e+01] [-2.93795532e-01 9.55864939e-01 -2.53071156e-03 -6.12099895e+00] [-8.27342544e-03 1.04543534e-04 9.99965769e-01 -7.13761971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36431999999999 meters Centerline goodness [0,1] 0.9999782286858835 Centerline is valid? [True, True] Translation: X:34.89, Y:-6.13, Z:-0.71 [[ 9.55915220e-01 2.93532047e-01 8.06415644e-03 3.48922107e+01] [-2.93520607e-01 9.55949227e-01 -2.59392776e-03 -6.13141169e+00] [-8.47032504e-03 1.12578930e-04 9.99964120e-01 -7.14356389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.39431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.92, Y:-6.14, Z:-0.72 [[ 9.56161757e-01 2.92716815e-01 8.45939845e-03 3.49233557e+01] [-2.92704169e-01 9.56199169e-01 -2.72391618e-03 -6.14142697e+00] [-8.88620583e-03 1.28403287e-04 9.99960509e-01 -7.15581675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.95, Y:-6.15, Z:-0.72 [[ 9.56416755e-01 2.91885350e-01 8.36261299e-03 3.49526034e+01] [-2.91872928e-01 9.56453304e-01 -2.69631705e-03 -6.15222697e+00] [-8.78546427e-03 1.37982465e-04 9.99961398e-01 -7.17508127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.454319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.98, Y:-6.16, Z:-0.72 [[ 9.56530863e-01 2.91512923e-01 8.30200793e-03 3.49838035e+01] [-2.91500654e-01 9.56566880e-01 -2.67826110e-03 -6.16201884e+00] [-8.72217355e-03 1.41798655e-04 9.99961951e-01 -7.17963470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.01, Y:-6.17, Z:-0.72 [[ 9.57015192e-01 2.89914266e-01 8.46407828e-03 3.50132171e+01] [-2.89901417e-01 9.57052607e-01 -2.73431994e-03 -6.17349158e+00] [-8.89328653e-03 1.63037433e-04 9.99960441e-01 -7.18969773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.51432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.04, Y:-6.18, Z:-0.72 [[ 9.57288682e-01 2.89005990e-01 8.59755116e-03 3.50433000e+01] [-2.88992676e-01 9.57327273e-01 -2.77965931e-03 -6.18362273e+00] [-9.03400839e-03 1.76307080e-04 9.99959177e-01 -7.19551614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.07, Y:-6.19, Z:-0.72 [[ 9.57638425e-01 2.87806773e-01 9.79325456e-03 3.50741256e+01] [-2.87789398e-01 9.57688474e-01 -3.16987934e-03 -6.19364958e+00] [-1.02911998e-02 2.17203420e-04 9.99947021e-01 -7.19731982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.57431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.10, Y:-6.20, Z:-0.72 [[ 9.57694874e-01 2.87593412e-01 1.05146502e-02 3.51046965e+01] [-2.87573333e-01 9.57752563e-01 -3.40671465e-03 -6.20397046e+00] [-1.10501818e-02 2.38860168e-04 9.99938916e-01 -7.20206566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.13, Y:-6.21, Z:-0.72 [[ 9.57679240e-01 2.87635031e-01 1.07964080e-02 3.51348867e+01] [-2.87613823e-01 9.57740063e-01 -3.50159461e-03 -6.21402630e+00] [-1.13473338e-02 2.48208275e-04 9.99935586e-01 -7.21326816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.634319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.17, Y:-6.22, Z:-0.72 [[ 9.57547302e-01 2.88063487e-01 1.10721070e-02 3.51666804e+01] [-2.88041172e-01 9.57611280e-01 -3.59442801e-03 -6.22360481e+00] [-1.16381981e-02 2.52612159e-04 9.99932242e-01 -7.22522722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.20, Y:-6.23, Z:-0.72 [[ 9.57446666e-01 2.88395583e-01 1.11296299e-02 3.51970903e+01] [-2.88373013e-01 9.57511318e-01 -3.61691493e-03 -6.23351964e+00] [-1.16998489e-02 2.53518221e-04 9.99931522e-01 -7.23643726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.69432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.23, Y:-6.24, Z:-0.72 [[ 9.57172463e-01 2.89271354e-01 1.19565596e-02 3.52272524e+01] [-2.89245319e-01 9.57247101e-01 -3.89003292e-03 -6.24150154e+00] [-1.25706572e-02 2.65053489e-04 9.99920951e-01 -7.24591423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.26, Y:-6.25, Z:-0.72 [[ 9.56958516e-01 2.89969765e-01 1.21627793e-02 3.52581643e+01] [-2.89942841e-01 9.57035770e-01 -3.96017644e-03 -6.25045354e+00] [-1.27885463e-02 2.63213798e-04 9.99918189e-01 -7.24999395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.29, Y:-6.26, Z:-0.73 [[ 9.56776065e-01 2.90524743e-01 1.32262858e-02 3.52891077e+01] [-2.90492900e-01 9.56867438e-01 -4.31056713e-03 -6.25951765e+00] [-1.39081287e-02 2.82105324e-04 9.99903238e-01 -7.25108112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.32, Y:-6.27, Z:-0.72 [[ 9.56650055e-01 2.90911891e-01 1.38182505e-02 3.53212004e+01] [-2.90877121e-01 9.56749803e-01 -4.50719228e-03 -6.26626316e+00] [-1.45318043e-02 2.92392824e-04 9.99894365e-01 -7.24993160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.814319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.35, Y:-6.28, Z:-0.73 [[ 9.56562618e-01 2.91207542e-01 1.36427511e-02 3.53526950e+01] [-2.91173616e-01 9.56659858e-01 -4.45435227e-03 -6.27516763e+00] [-1.43486133e-02 2.88457703e-04 9.99897012e-01 -7.25962933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.38, Y:-6.28, Z:-0.73 [[ 9.56483516e-01 2.91433560e-01 1.43444789e-02 3.53846084e+01] [-2.91396002e-01 9.56591024e-01 -4.68858694e-03 -6.28433092e+00] [-1.50882113e-02 3.04632335e-04 9.99886120e-01 -7.26411303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.87432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.42, Y:-6.29, Z:-0.73 [[ 9.56703943e-01 2.90703127e-01 1.44657220e-02 3.54163026e+01] [-2.90664770e-01 9.56813246e-01 -4.73333313e-03 -6.29212338e+00] [-1.52169891e-02 3.23722720e-04 9.99884163e-01 -7.26547414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.45, Y:-6.30, Z:-0.73 [[ 9.56800108e-01 2.90371855e-01 1.47560230e-02 3.54465029e+01] [-2.90331832e-01 9.56913826e-01 -4.83288756e-03 -6.30271927e+00] [-1.55235770e-02 3.39964139e-04 9.99879444e-01 -7.28067564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.93431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.48, Y:-6.31, Z:-0.73 [[ 9.57201583e-01 2.89056751e-01 1.45369994e-02 3.54758778e+01] [-2.89017681e-01 9.57311895e-01 -4.76611383e-03 -6.31332701e+00] [-1.52941198e-02 3.60681845e-04 9.99882973e-01 -7.30164059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.51, Y:-6.32, Z:-0.73 [[ 9.57458004e-01 2.88148993e-01 1.56310286e-02 3.55056510e+01] [-2.88103621e-01 9.57585501e-01 -5.12956735e-03 -6.32349561e+00] [-1.64461260e-02 4.07989362e-04 9.99864670e-01 -7.30203242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.994319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.54, Y:-6.33, Z:-0.73 [[ 9.57714388e-01 2.87249892e-01 1.64514830e-02 3.55361398e+01] [-2.87199421e-01 9.57855572e-01 -5.40327713e-03 -6.33235461e+00] [-1.73102354e-02 4.49939847e-04 9.99850065e-01 -7.29937778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.024319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.57, Y:-6.34, Z:-0.73 [[ 9.57972896e-01 2.86329668e-01 1.74141196e-02 3.55669623e+01] [-2.86272868e-01 9.58131031e-01 -5.72477955e-03 -6.34085168e+00] [-1.83241826e-02 4.98993696e-04 9.99831974e-01 -7.29836866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.05432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.60, Y:-6.35, Z:-0.73 [[ 9.58690215e-01 2.83871564e-01 1.81660701e-02 3.55974313e+01] [-2.83809200e-01 9.58862141e-01 -5.97771839e-03 -6.35192925e+00] [-1.91156611e-02 5.75082308e-04 9.99817114e-01 -7.30350468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.63, Y:-6.36, Z:-0.73 [[ 9.58950840e-01 2.82996921e-01 1.80562543e-02 3.56268966e+01] [-2.82935047e-01 9.59120633e-01 -5.94724939e-03 -6.36273229e+00] [-1.90011794e-02 5.94372632e-04 9.99819285e-01 -7.31274198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.11431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.66, Y:-6.37, Z:-0.73 [[ 9.59236722e-01 2.82026344e-01 1.80569092e-02 3.56579915e+01] [-2.81964243e-01 9.59406463e-01 -5.95008538e-03 -6.37205338e+00] [-1.90019962e-02 6.16137662e-04 9.99819256e-01 -7.32282202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.69, Y:-6.38, Z:-0.73 [[ 9.59542184e-01 2.80941266e-01 1.87297037e-02 3.56891350e+01] [-2.80874131e-01 9.59724732e-01 -6.17755510e-03 -6.37977531e+00] [-1.97108900e-02 6.66935480e-04 9.99805499e-01 -7.33053467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.174319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.72, Y:-6.39, Z:-0.73 [[ 9.59523192e-01 2.80980396e-01 1.91118133e-02 3.57206152e+01] [-2.80910383e-01 9.59713263e-01 -6.30947226e-03 -6.38918976e+00] [-2.01146987e-02 6.85378173e-04 9.99797444e-01 -7.33766552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.204319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.75, Y:-6.40, Z:-0.73 [[ 9.59301828e-01 2.81710240e-01 1.94767319e-02 3.57506973e+01] [-2.81637535e-01 9.59499278e-01 -6.43688422e-03 -6.39847359e+00] [-2.05012464e-02 6.89536045e-04 9.99789590e-01 -7.34542966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.78, Y:-6.40, Z:-0.73 [[ 9.59045307e-01 2.82543248e-01 2.00352726e-02 3.57823492e+01] [-2.82466373e-01 9.59254308e-01 -6.62722557e-03 -6.40457904e+00] [-2.10913994e-02 6.96518805e-04 9.99777309e-01 -7.34663732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.81, Y:-6.42, Z:-0.74 [[ 9.58750994e-01 2.83510502e-01 2.04530220e-02 3.58111642e+01] [-2.83430471e-01 9.58968879e-01 -6.77174517e-03 -6.41536275e+00] [-2.15336725e-02 6.95407762e-04 9.99767882e-01 -7.35079781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.29431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.84, Y:-6.42, Z:-0.74 [[ 9.58028307e-01 2.85941737e-01 2.04715799e-02 3.58438918e+01] [-2.85861991e-01 9.58246787e-01 -6.78363344e-03 -6.41823920e+00] [-2.15565496e-02 6.46866267e-04 9.99767421e-01 -7.36367304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.87, Y:-6.43, Z:-0.74 [[ 9.57563231e-01 2.87517556e-01 2.01572046e-02 3.58730439e+01] [-2.87440463e-01 9.57775175e-01 -6.68541842e-03 -6.42816019e+00] [-2.12282453e-02 6.07714645e-04 9.99774471e-01 -7.37719760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.354319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.91, Y:-6.43, Z:-0.74 [[ 9.56736274e-01 2.90209680e-01 2.08336872e-02 3.59064597e+01] [-2.90127834e-01 9.56962912e-01 -6.91562087e-03 -6.43094233e+00] [-2.19440461e-02 5.71992798e-04 9.99759037e-01 -7.38625533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.384319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.94, Y:-6.44, Z:-0.74 [[ 9.56329600e-01 2.91548288e-01 2.08156858e-02 3.59379259e+01] [-2.91466848e-01 9.56555958e-01 -6.91199488e-03 -6.43891109e+00] [-2.19265485e-02 5.43062971e-04 9.99759437e-01 -7.39690881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.97, Y:-6.45, Z:-0.74 [[ 9.55900717e-01 2.92915087e-01 2.13206919e-02 3.59696182e+01] [-2.92829844e-01 9.56138312e-01 -7.08603509e-03 -6.44708558e+00] [-2.24611369e-02 5.30211140e-04 9.99747576e-01 -7.40383056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.00, Y:-6.45, Z:-0.74 [[ 9.55493783e-01 2.94241478e-01 2.12974840e-02 3.60017094e+01] [-2.94156674e-01 9.55730977e-01 -7.08169151e-03 -6.45388692e+00] [-2.24383926e-02 5.01715145e-04 9.99748102e-01 -7.41860085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.47431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.03, Y:-6.46, Z:-0.74 [[ 9.55335502e-01 2.94726381e-01 2.16896284e-02 3.60330049e+01] [-2.94638487e-01 9.55581555e-01 -7.21478071e-03 -6.46293885e+00] [-2.28525951e-02 5.01936839e-04 9.99738719e-01 -7.42349808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.06, Y:-6.47, Z:-0.74 [[ 9.55535388e-01 2.94017912e-01 2.24853354e-02 3.60629466e+01] [-2.93923072e-01 9.55799754e-01 -7.48714233e-03 -6.47140857e+00] [-2.36928320e-02 5.45270584e-04 9.99719137e-01 -7.42992111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.534319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.09, Y:-6.48, Z:-0.74 [[ 9.55665001e-01 2.93535286e-01 2.32688975e-02 3.60922151e+01] [-2.93433418e-01 9.55948061e-01 -7.75455086e-03 -6.48179817e+00] [-2.45200918e-02 5.82880722e-04 9.99699167e-01 -7.43228596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.12, Y:-6.49, Z:-0.74 [[ 9.55850910e-01 2.92887420e-01 2.37907083e-02 3.61230218e+01] [-2.92780564e-01 9.56146733e-01 -7.93508825e-03 -6.49026098e+00] [-2.50714955e-02 6.19304349e-04 9.99685469e-01 -7.43595791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.594319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.15, Y:-6.50, Z:-0.74 [[ 9.56104509e-01 2.91977280e-01 2.47676394e-02 3.61526658e+01] [-2.91860974e-01 9.56425016e-01 -8.26808460e-03 -6.50082184e+00] [-2.61024828e-02 6.76445595e-04 9.99659043e-01 -7.43158914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.62432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.18, Y:-6.51, Z:-0.74 [[ 9.56661677e-01 2.90129739e-01 2.49633730e-02 3.61829689e+01] [-2.90010836e-01 9.56987038e-01 -8.33810388e-03 -6.51010740e+00] [-2.63087563e-02 7.37095768e-04 9.99653593e-01 -7.44222862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.65431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.21, Y:-6.52, Z:-0.74 [[ 9.56965270e-01 2.89077830e-01 2.55241188e-02 3.62135034e+01] [-2.88952953e-01 9.57305272e-01 -8.53275061e-03 -6.52047387e+00] [-2.69010025e-02 7.90276505e-04 9.99637790e-01 -7.44679047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.24, Y:-6.53, Z:-0.74 [[ 9.57548260e-01 2.87126550e-01 2.56841331e-02 3.62444907e+01] [-2.86999190e-01 9.57892274e-01 -8.59397315e-03 -6.53028345e+00] [-2.70701905e-02 8.57818649e-04 9.99633167e-01 -7.44843917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.714319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.28, Y:-6.54, Z:-0.75 [[ 9.57716670e-01 2.86574686e-01 2.55681438e-02 3.62754655e+01] [-2.86448068e-01 9.58057504e-01 -8.56293541e-03 -6.53911756e+00] [-2.69496725e-02 8.76920599e-04 9.99636407e-01 -7.45644359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.30, Y:-6.55, Z:-0.75 [[ 9.57929476e-01 2.85905598e-01 2.50820462e-02 3.63045908e+01] [-2.85783320e-01 9.58257379e-01 -8.40770410e-03 -6.55123027e+00] [-2.64388655e-02 8.85957147e-04 9.99650039e-01 -7.46084793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.774319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.34, Y:-6.56, Z:-0.75 [[ 9.57780409e-01 2.86433644e-01 2.47478333e-02 3.63355741e+01] [-2.86314596e-01 9.58099690e-01 -8.30271906e-03 -6.56047223e+00] [-2.60890695e-02 8.66515761e-04 9.99659247e-01 -7.47220609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.80432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.37, Y:-6.57, Z:-0.75 [[ 9.57595058e-01 2.87048613e-01 2.47951490e-02 3.63667691e+01] [-2.86929123e-01 9.57915631e-01 -8.32596999e-03 -6.56837700e+00] [-2.61416189e-02 8.58457371e-04 9.99657881e-01 -7.48242809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.83431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.40, Y:-6.57, Z:-0.75 [[ 9.56925487e-01 2.89333197e-01 2.40814004e-02 3.63987776e+01] [-2.89221029e-01 9.57228130e-01 -8.09341495e-03 -6.57357239e+00] [-2.53930875e-02 7.79947643e-04 9.99677239e-01 -7.49329420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.43, Y:-6.58, Z:-0.75 [[ 9.56466662e-01 2.90868844e-01 2.38084236e-02 3.64298482e+01] [-2.90759497e-01 9.56762652e-01 -8.00895127e-03 -6.58243393e+00] [-2.51085649e-02 7.37769612e-04 9.99684458e-01 -7.49836202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.89431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.46, Y:-6.59, Z:-0.75 [[ 9.56015132e-01 2.92382479e-01 2.33998657e-02 3.64599037e+01] [-2.92277142e-01 9.56301211e-01 -7.87817617e-03 -6.59172419e+00] [-2.46807606e-02 6.92409772e-04 9.99695144e-01 -7.50469696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.49, Y:-6.60, Z:-0.75 [[ 9.55452373e-01 2.94251642e-01 2.29507081e-02 3.64905646e+01] [-2.94150744e-01 9.55727768e-01 -7.73127848e-03 -6.60016727e+00] [-2.42095704e-02 6.35900496e-04 9.99706703e-01 -7.51234639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.954319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.52, Y:-6.61, Z:-0.75 [[ 9.54327125e-01 2.97958285e-01 2.19225520e-02 3.65215727e+01] [-2.97867054e-01 9.54578748e-01 -7.39131870e-03 -6.60691739e+00] [-2.31291069e-02 5.23729923e-04 9.99732349e-01 -7.51959172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.55, Y:-6.61, Z:-0.75 [[ 9.52995264e-01 3.02254695e-01 2.10267726e-02 3.65539911e+01] [-3.02171678e-01 9.53227115e-01 -7.09540098e-03 -6.61200971e+00] [-2.21879080e-02 4.08188391e-04 9.99753735e-01 -7.52548460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.01432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.58, Y:-6.62, Z:-0.75 [[ 9.52378413e-01 3.04230499e-01 2.04734561e-02 3.65844463e+01] [-3.04152119e-01 9.52598381e-01 -6.91473275e-03 -6.62031502e+00] [-2.16066537e-02 3.58397158e-04 9.99766485e-01 -7.53493356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.61, Y:-6.63, Z:-0.75 [[ 9.51910474e-01 3.05729488e-01 1.98979971e-02 3.66147336e+01] [-3.05655666e-01 9.52118363e-01 -6.72578505e-03 -6.62942469e+00] [-2.10015193e-02 3.20409671e-04 9.99779392e-01 -7.54347488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.07431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.64, Y:-6.64, Z:-0.76 [[ 9.51512523e-01 3.07017937e-01 1.90762856e-02 3.66440703e+01] [-3.06950234e-01 9.51703686e-01 -6.45360378e-03 -6.63835485e+00] [-2.01363435e-02 2.85214486e-04 9.99797203e-01 -7.55225928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.68, Y:-6.65, Z:-0.76 [[ 9.50950727e-01 3.08822598e-01 1.79253358e-02 3.66755843e+01] [-3.08763092e-01 9.51119629e-01 -6.06672344e-03 -6.64673020e+00] [-1.89226800e-02 2.34472977e-04 9.99820923e-01 -7.56271551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.134319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.71, Y:-6.66, Z:-0.76 [[ 9.50824683e-01 3.09242359e-01 1.73661967e-02 3.67053016e+01] [-3.09186485e-01 9.50983235e-01 -5.88256456e-03 -6.65747066e+00] [-1.83341001e-02 2.23894273e-04 9.99831891e-01 -7.56921465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.74, Y:-6.67, Z:-0.76 [[ 9.50728726e-01 3.09537337e-01 1.73644937e-02 3.67359624e+01] [-3.09481420e-01 9.50887263e-01 -5.88758689e-03 -6.66804252e+00] [-1.83341039e-02 2.23509810e-04 9.99831891e-01 -7.57611672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.19432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.77, Y:-6.68, Z:-0.76 [[ 9.50828144e-01 3.09253254e-01 1.69783825e-02 3.67670295e+01] [-3.09199648e-01 9.50979691e-01 -5.76238821e-03 -6.67976675e+00] [-1.79281343e-02 2.29330982e-04 9.99839252e-01 -7.58341537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.80, Y:-6.69, Z:-0.76 [[ 9.50954804e-01 3.08854791e-01 1.71370576e-02 3.67976309e+01] [-3.08800005e-01 9.51109173e-01 -5.82226003e-03 -6.69115308e+00] [-1.80974456e-02 2.44782679e-04 9.99836198e-01 -7.58688144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.25431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.83, Y:-6.70, Z:-0.76 [[ 9.51300499e-01 3.07790004e-01 1.71077359e-02 3.68262201e+01] [-3.07735123e-01 9.51454276e-01 -5.81839439e-03 -6.70360261e+00] [-1.80680721e-02 2.70390284e-04 9.99836723e-01 -7.58814654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.86, Y:-6.72, Z:-0.76 [[ 9.51423626e-01 3.07396038e-01 1.73424059e-02 3.68568200e+01] [-3.07339490e-01 9.51581627e-01 -5.90290947e-03 -6.71522285e+00] [-1.83172458e-02 2.86161360e-04 9.99832184e-01 -7.59237497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.314319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.89, Y:-6.73, Z:-0.76 [[ 9.51493266e-01 3.07182326e-01 1.73084601e-02 3.68865266e+01] [-3.07125853e-01 9.51650635e-01 -5.89738225e-03 -6.72727846e+00] [-1.82831786e-02 2.95443936e-04 9.99832805e-01 -7.59640030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.92, Y:-6.74, Z:-0.76 [[ 9.51506131e-01 3.07152193e-01 1.71351392e-02 3.69168946e+01] [-3.07096742e-01 9.51660360e-01 -5.84376529e-03 -6.73871028e+00] [-1.81017581e-02 2.98233071e-04 9.99836105e-01 -7.60342339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.37432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.95, Y:-6.75, Z:-0.76 [[ 9.51601058e-01 3.06812687e-01 1.79276694e-02 3.69476696e+01] [-3.06751814e-01 9.51769862e-01 -6.12005093e-03 -6.75033362e+00] [-1.89407247e-02 3.24501848e-04 9.99820556e-01 -7.60888548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.98, Y:-6.76, Z:-0.76 [[ 9.51957335e-01 3.05745414e-01 1.72329590e-02 3.69761810e+01] [-3.05688887e-01 9.52113243e-01 -5.88866567e-03 -6.76187368e+00] [-1.82081610e-02 3.37834431e-04 9.99834161e-01 -7.62740213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.43431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.01, Y:-6.77, Z:-0.76 [[ 9.52047354e-01 3.05464156e-01 1.72477483e-02 3.70059633e+01] [-3.05407402e-01 9.52203512e-01 -5.89832966e-03 -6.77343607e+00] [-1.82250948e-02 3.47899148e-04 9.99833849e-01 -7.64266022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.03, Y:-6.79, Z:-0.77 [[ 9.52512787e-01 3.04003244e-01 1.73614207e-02 3.70330038e+01] [-3.03945395e-01 9.52670919e-01 -5.94274783e-03 -6.78877795e+00] [-1.83463353e-02 3.83619419e-04 9.99831618e-01 -7.65604358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.494319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.06, Y:-6.80, Z:-0.77 [[ 9.52602688e-01 3.03735464e-01 1.71139222e-02 3.70645617e+01] [-3.03679127e-01 9.52756326e-01 -5.86260827e-03 -6.79878866e+00] [-1.80860797e-02 3.87595424e-04 9.99836358e-01 -7.65769927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.524319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.10, Y:-6.81, Z:-0.77 [[ 9.52699553e-01 3.03404894e-01 1.75792932e-02 3.70957082e+01] [-3.03345277e-01 9.52861638e-01 -6.02840519e-03 -6.81025821e+00] [-1.85796817e-02 4.10663380e-04 9.99827298e-01 -7.66654351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.55432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.13, Y:-6.82, Z:-0.77 [[ 9.52531983e-01 3.03931194e-01 1.75684752e-02 3.71278758e+01] [-3.03871634e-01 9.52693899e-01 -6.03035608e-03 -6.81859640e+00] [-1.85701925e-02 4.05545767e-04 9.99827477e-01 -7.67332619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.16, Y:-6.83, Z:-0.77 [[ 9.52342383e-01 3.04539546e-01 1.73104030e-02 3.71572634e+01] [-3.04481713e-01 9.52499612e-01 -5.94778531e-03 -6.83258900e+00] [-1.82994879e-02 3.93626878e-04 9.99832473e-01 -7.68981616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.61431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.19, Y:-6.84, Z:-0.77 [[ 9.52057132e-01 3.05453321e-01 1.68963330e-02 3.71878164e+01] [-3.05398268e-01 9.52206979e-01 -5.81099297e-03 -6.84329767e+00] [-1.78637933e-02 3.72286463e-04 9.99840360e-01 -7.69913334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.22, Y:-6.85, Z:-0.77 [[ 9.51362384e-01 3.07598006e-01 1.71195943e-02 3.72187998e+01] [-3.07541748e-01 9.51516343e-01 -5.89260840e-03 -6.85191773e+00] [-1.81021284e-02 3.41016027e-04 9.99836085e-01 -7.71386094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.674319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.25, Y:-6.86, Z:-0.77 [[ 9.50938319e-01 3.08890484e-01 1.74064113e-02 3.72507532e+01] [-3.08832453e-01 9.51097557e-01 -5.99614118e-03 -6.85844011e+00] [-1.84073462e-02 3.26295722e-04 9.99830517e-01 -7.71242019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.704319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.28, Y:-6.87, Z:-0.77 [[ 9.49770925e-01 3.12400484e-01 1.84696509e-02 3.72809581e+01] [-3.12335691e-01 9.49950451e-01 -6.36845979e-03 -6.86621917e+00] [-1.95347631e-02 2.79846777e-04 9.99809139e-01 -7.71127192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.31, Y:-6.88, Z:-0.77 [[ 9.49074331e-01 3.14500196e-01 1.86424298e-02 3.73112847e+01] [-3.14434485e-01 9.49257377e-01 -6.43329622e-03 -6.87523366e+00] [-1.97197370e-02 2.43853486e-04 9.99805517e-01 -7.72012440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.34, Y:-6.88, Z:-0.77 [[ 9.48181360e-01 3.17178920e-01 1.86986683e-02 3.73425322e+01] [-3.17113221e-01 9.48365697e-01 -6.45833139e-03 -6.88399578e+00] [-1.97816222e-02 1.94074503e-04 9.99804306e-01 -7.72883387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.79431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.37, Y:-6.89, Z:-0.77 [[ 9.46658392e-01 3.21683664e-01 1.89079035e-02 3.73741478e+01] [-3.21617270e-01 9.46847194e-01 -6.53625424e-03 -6.89087503e+00] [-2.00055016e-02 1.06491618e-04 9.99799864e-01 -7.73349944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.40, Y:-6.90, Z:-0.77 [[ 9.46003593e-01 3.23561807e-01 1.96203880e-02 3.74036307e+01] [-3.23490588e-01 9.46207034e-01 -6.78882864e-03 -6.89955861e+00] [-2.07615548e-02 7.52454370e-05 9.99784453e-01 -7.73587446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.854319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.43, Y:-6.91, Z:-0.77 [[ 9.44854310e-01 3.26895862e-01 1.97339324e-02 3.74349777e+01] [-3.26824473e-01 9.45060366e-01 -6.83145995e-03 -6.90767252e+00] [-2.08829334e-02 5.20232915e-06 9.99781928e-01 -7.73858112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.884319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.47, Y:-6.92, Z:-0.77 [[ 9.44366311e-01 3.28289121e-01 1.99630828e-02 3.74658937e+01] [-3.28216238e-01 9.44577288e-01 -6.91727034e-03 -6.91775790e+00] [-2.11275392e-02 -1.97708615e-05 9.99776788e-01 -7.74770578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.50, Y:-6.93, Z:-0.78 [[ 9.44135161e-01 3.28943671e-01 2.01211151e-02 3.74967208e+01] [-3.28869631e-01 9.44349544e-01 -6.97892804e-03 -6.92858535e+00] [-2.12970400e-02 -2.81723386e-05 9.99773192e-01 -7.75427929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.53, Y:-6.94, Z:-0.78 [[ 9.44177958e-01 3.28736941e-01 2.14477917e-02 3.75260474e+01] [-3.28652586e-01 9.44421528e-01 -7.44677097e-03 -6.94122495e+00] [-2.27037849e-02 -1.77951923e-05 9.99742236e-01 -7.75465046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.97431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.56, Y:-6.96, Z:-0.78 [[ 9.44767071e-01 3.27009635e-01 2.19061583e-02 3.75551400e+01] [-3.26921007e-01 9.45021004e-01 -7.61295893e-03 -6.95546170e+00] [-2.31912906e-02 3.08895877e-05 9.99731045e-01 -7.75878078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.59, Y:-6.97, Z:-0.78 [[ 9.45095546e-01 3.26084159e-01 2.15297368e-02 3.75854157e+01] [-3.25998160e-01 9.45340742e-01 -7.48875878e-03 -6.96837273e+00] [-2.27949030e-02 5.89379705e-05 9.99740161e-01 -7.76842768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.034319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.62, Y:-6.98, Z:-0.78 [[ 9.45514750e-01 3.24879872e-01 2.13290009e-02 3.76155856e+01] [-3.24795007e-01 9.45755285e-01 -7.42586102e-03 -6.98136617e+00] [-2.25845281e-02 9.37081273e-05 9.99744933e-01 -7.77973969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.064319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.65, Y:-6.99, Z:-0.78 [[ 9.45890846e-01 3.23779079e-01 2.13919647e-02 3.76458947e+01] [-3.23693272e-01 9.46132703e-01 -7.45477480e-03 -6.99455639e+00] [-2.26533375e-02 1.26968192e-04 9.99743372e-01 -7.78978041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.094319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.67, Y:-7.01, Z:-0.78 [[ 9.46937969e-01 3.20681527e-01 2.17218979e-02 3.76732564e+01] [-3.20592074e-01 9.47187053e-01 -7.57682544e-03 -7.00991839e+00] [-2.30044484e-02 2.10915405e-04 9.99735340e-01 -7.79440034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.70, Y:-7.02, Z:-0.78 [[ 9.47459114e-01 3.19103918e-01 2.22242516e-02 3.77027600e+01] [-3.19009704e-01 9.47719696e-01 -7.75804725e-03 -7.02121837e+00] [-2.35379842e-02 2.60680669e-04 9.99722909e-01 -7.79998971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.15431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.73, Y:-7.04, Z:-0.78 [[ 9.48550265e-01 3.15857264e-01 2.20586200e-02 3.77310758e+01] [-3.15763425e-01 9.48806656e-01 -7.70645713e-03 -7.03593928e+00] [-2.33635059e-02 3.44656564e-04 9.99726977e-01 -7.80530459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.76, Y:-7.05, Z:-0.78 [[ 9.49056194e-01 3.14328578e-01 2.21333466e-02 3.77603048e+01] [-3.14233538e-01 9.49314170e-01 -7.73889968e-03 -7.04866716e+00] [-2.34440569e-02 3.89610881e-04 9.99725074e-01 -7.81934644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.214319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.79, Y:-7.06, Z:-0.78 [[ 9.49512856e-01 3.12970448e-01 2.17906914e-02 3.77898453e+01] [-3.12877821e-01 9.49762770e-01 -7.62559165e-03 -7.06128935e+00] [-2.30825722e-02 4.22773279e-04 9.99733473e-01 -7.83343126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.82, Y:-7.08, Z:-0.78 [[ 9.50203865e-01 3.10888857e-01 2.14646822e-02 3.78178421e+01] [-3.10798306e-01 9.50446156e-01 -7.51784156e-03 -7.07548674e+00] [-2.27382379e-02 4.72295248e-04 9.99741341e-01 -7.84963039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.274319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.85, Y:-7.09, Z:-0.79 [[ 9.50492873e-01 3.10007780e-01 2.14120322e-02 3.78473754e+01] [-3.09917314e-01 9.50733889e-01 -7.50533939e-03 -7.08687656e+00] [-2.26838583e-02 4.97812106e-04 9.99742564e-01 -7.86322218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.30432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.88, Y:-7.10, Z:-0.79 [[ 9.50704885e-01 3.09391062e-01 2.09139440e-02 3.78757075e+01] [-3.09304473e-01 9.50934758e-01 -7.33679285e-03 -7.09885688e+00] [-2.21577344e-02 5.06348387e-04 9.99754359e-01 -7.88383324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.33431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.91, Y:-7.11, Z:-0.79 [[ 9.50594605e-01 3.09761281e-01 2.04412510e-02 3.79065817e+01] [-3.09678530e-01 9.50814234e-01 -7.17644948e-03 -7.11084252e+00] [-2.16588185e-02 4.91677619e-04 9.99765299e-01 -7.89691787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.94, Y:-7.12, Z:-0.79 [[ 9.50550200e-01 3.09894075e-01 2.04934148e-02 3.79387531e+01] [-3.09810782e-01 9.50770959e-01 -7.20159540e-03 -7.12002233e+00] [-2.17162754e-02 4.96397065e-04 9.99764051e-01 -7.90367191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.97, Y:-7.13, Z:-0.79 [[ 9.50409506e-01 3.10318846e-01 2.05908640e-02 3.79686992e+01] [-3.10234701e-01 9.50632404e-01 -7.24313202e-03 -7.13214647e+00] [-2.18220230e-02 4.95940989e-04 9.99761748e-01 -7.90838644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.00, Y:-7.14, Z:-0.79 [[ 9.50047351e-01 3.11410375e-01 2.08232837e-02 3.79991518e+01] [-3.11324477e-01 9.50275406e-01 -7.32960778e-03 -7.14343741e+00] [-2.20703703e-02 4.80676533e-04 9.99756304e-01 -7.91305861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.454319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.03, Y:-7.15, Z:-0.79 [[ 9.49733650e-01 3.12335730e-01 2.12693514e-02 3.80290610e+01] [-3.12246194e-01 9.49971666e-01 -7.49321144e-03 -7.15411380e+00] [-2.25456789e-02 4.75281010e-04 9.99745701e-01 -7.91604292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.06, Y:-7.17, Z:-0.79 [[ 9.49382743e-01 3.13368028e-01 2.17459623e-02 3.80592725e+01] [-3.13274549e-01 9.49631645e-01 -7.66784854e-03 -7.16536294e+00] [-2.30535125e-02 4.67266544e-04 9.99734123e-01 -7.92220358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.09, Y:-7.18, Z:-0.79 [[ 9.49405120e-01 3.13250384e-01 2.24525117e-02 3.80888075e+01] [-3.13150531e-01 9.49670445e-01 -7.92401358e-03 -7.17795388e+00] [-2.38046871e-02 4.92083086e-04 9.99716507e-01 -7.92638283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.12, Y:-7.19, Z:-0.79 [[ 9.49326040e-01 3.13497437e-01 2.23478563e-02 3.81198874e+01] [-3.13398411e-01 9.49588920e-01 -7.89425173e-03 -7.19005573e+00] [-2.36961045e-02 4.90436067e-04 9.99719088e-01 -7.93236332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.15, Y:-7.20, Z:-0.79 [[ 9.49659982e-01 3.12356449e-01 2.40700581e-02 3.81503471e+01] [-3.12240987e-01 9.49964803e-01 -8.51108655e-03 -7.19903448e+00] [-2.55242007e-02 5.66979602e-04 9.99674044e-01 -7.93508462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.18, Y:-7.21, Z:-0.79 [[ 9.49789626e-01 3.11962814e-01 2.40597068e-02 3.81793534e+01] [-3.11847133e-01 9.50094133e-01 -8.51498507e-03 -7.21107542e+00] [-2.55153450e-02 5.84493890e-04 9.99674260e-01 -7.94060174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.634319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.21, Y:-7.22, Z:-0.79 [[ 9.49894639e-01 3.11595685e-01 2.46638189e-02 3.82098022e+01] [-3.11473801e-01 9.50214581e-01 -8.73624163e-03 -7.22259295e+00] [-2.61580955e-02 6.16375663e-04 9.99657628e-01 -7.94825796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.24, Y:-7.24, Z:-0.79 [[ 9.50043593e-01 3.11052343e-01 2.57606508e-02 3.82380134e+01] [-3.10918954e-01 9.50392548e-01 -9.13285996e-03 -7.23559460e+00] [-2.73235281e-02 6.67140475e-04 9.99626420e-01 -7.94343669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.69432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.27, Y:-7.25, Z:-0.79 [[ 9.50061856e-01 3.10968764e-01 2.60940167e-02 3.82697915e+01] [-3.10831647e-01 9.50419885e-01 -9.25901992e-03 -7.24541965e+00] [-2.76795383e-02 6.85795470e-04 9.99616613e-01 -7.94728660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.30, Y:-7.26, Z:-0.80 [[ 9.49934691e-01 3.11357070e-01 2.60932645e-02 3.82998577e+01] [-3.11219851e-01 9.50292749e-01 -9.26802978e-03 -7.25676318e+00] [-2.76819066e-02 6.83281127e-04 9.99616549e-01 -7.95152129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.75431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.33, Y:-7.27, Z:-0.80 [[ 9.49731626e-01 3.12058730e-01 2.50835984e-02 3.83293720e+01] [-3.11931975e-01 9.50062595e-01 -8.91676140e-03 -7.26636134e+00] [-2.66135419e-02 6.44153894e-04 9.99645589e-01 -7.97034016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.36, Y:-7.28, Z:-0.80 [[ 9.49530731e-01 3.12682936e-01 2.49153085e-02 3.83600278e+01] [-3.12557960e-01 9.49857352e-01 -8.86191792e-03 -7.27635836e+00] [-2.64369595e-02 6.27185410e-04 9.99650286e-01 -7.98572968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.814319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.39, Y:-7.29, Z:-0.80 [[ 9.49148930e-01 3.13919732e-01 2.38895659e-02 3.83905553e+01] [-3.13805049e-01 9.49449352e-01 -8.50411849e-03 -7.28610657e+00] [-2.53515434e-02 5.75008565e-04 9.99678433e-01 -8.00315350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.42, Y:-7.30, Z:-0.80 [[ 9.48764195e-01 3.15117996e-01 2.33912654e-02 3.84196599e+01] [-3.15008241e-01 9.49052348e-01 -8.33363139e-03 -7.29702271e+00] [-2.48256126e-02 5.38209693e-04 9.99691652e-01 -8.01402258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.87432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.45, Y:-7.31, Z:-0.80 [[ 9.48669946e-01 3.15401778e-01 2.33891336e-02 3.84501489e+01] [-3.15291962e-01 9.48958076e-01 -8.33961053e-03 -7.30807626e+00] [-2.48256353e-02 5.37132046e-04 9.99691652e-01 -8.02092361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.48, Y:-7.32, Z:-0.80 [[ 9.48218106e-01 3.16746773e-01 2.35352086e-02 3.84813642e+01] [-3.16635798e-01 9.48509999e-01 -8.39954676e-03 -7.31725624e+00] [-2.49839100e-02 5.12512755e-04 9.99687722e-01 -8.02385944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.51, Y:-7.33, Z:-0.80 [[ 9.48052184e-01 3.17268504e-01 2.31895006e-02 3.85113596e+01] [-3.17160750e-01 9.48335620e-01 -8.28314299e-03 -7.32849069e+00] [-2.46194098e-02 4.98052386e-04 9.99696772e-01 -8.02523266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.54, Y:-7.34, Z:-0.80 [[ 9.47937833e-01 3.17594793e-01 2.33968271e-02 3.85425811e+01] [-3.17485013e-01 9.48226395e-01 -8.36485023e-03 -7.33958257e+00] [-2.48421219e-02 5.01216062e-04 9.99691261e-01 -8.03217288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.994319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.57, Y:-7.35, Z:-0.80 [[ 9.47929995e-01 3.17651102e-01 2.29456215e-02 3.85744128e+01] [-3.17545343e-01 9.48207535e-01 -8.21125767e-03 -7.34943682e+00] [-2.43655262e-02 4.97422195e-04 9.99702993e-01 -8.04179551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.024319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.60, Y:-7.36, Z:-0.81 [[ 9.47908414e-01 3.17828624e-01 2.13214518e-02 3.86043284e+01] [-3.17737196e-01 9.48148063e-01 -7.63703777e-03 -7.36132023e+00] [-2.26431624e-02 4.64594063e-04 9.99743503e-01 -8.05883128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.05432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.63, Y:-7.37, Z:-0.81 [[ 9.47810869e-01 3.18119550e-01 2.13192204e-02 3.86347982e+01] [-3.18028055e-01 9.48050493e-01 -7.64326174e-03 -7.37241974e+00] [-2.26431684e-02 4.64256333e-04 9.99743503e-01 -8.06573433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.66, Y:-7.39, Z:-0.81 [[ 9.47857577e-01 3.17992281e-01 2.11405515e-02 3.86635988e+01] [-3.17902120e-01 9.48093185e-01 -7.58644259e-03 -7.38619135e+00] [-2.24556430e-02 4.70240950e-04 9.99747730e-01 -8.07277955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.11431999999999 meters Centerline goodness [0,1] 0.9999574341293151 Centerline is valid? [True, True] Translation: X:38.69, Y:-7.40, Z:-0.81 [[ 9.48070571e-01 3.17422718e-01 2.01248569e-02 3.86934454e+01] [-3.17340753e-01 9.48284030e-01 -7.22812143e-03 -7.39657671e+00] [-2.13784503e-02 4.66331967e-04 9.99771346e-01 -8.08256011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.72, Y:-7.41, Z:-0.81 [[ 9.48197917e-01 3.17051583e-01 1.99750923e-02 3.87214583e+01] [-3.16970634e-01 9.48408175e-01 -7.17986774e-03 -7.40984083e+00] [-2.12209292e-02 4.76417975e-04 9.99774697e-01 -8.09148197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.174319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.75, Y:-7.42, Z:-0.81 [[ 9.48249712e-01 3.16927349e-01 1.94817773e-02 3.87533699e+01] [-3.16850215e-01 9.48449699e-01 -7.00776711e-03 -7.41783780e+00] [-2.06984389e-02 4.72307794e-04 9.99785653e-01 -8.09948488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.204319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.78, Y:-7.43, Z:-0.81 [[ 9.48536359e-01 3.16101109e-01 1.89437264e-02 3.87818239e+01] [-3.16027880e-01 9.48725385e-01 -6.82085820e-03 -7.42968228e+00] [-2.01284750e-02 4.83086307e-04 9.99797285e-01 -8.10648244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.81, Y:-7.45, Z:-0.81 [[ 9.48578928e-01 3.15988471e-01 1.86896941e-02 3.88101718e+01] [-3.15917066e-01 9.48762906e-01 -6.73464215e-03 -7.44517729e+00] [-1.98601577e-02 4.83946315e-04 9.99802650e-01 -8.11205552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.84, Y:-7.45, Z:-0.81 [[ 9.48549543e-01 3.16086657e-01 1.85199984e-02 3.88420030e+01] [-3.16016444e-01 9.48730200e-01 -6.67942666e-03 -7.45357931e+00] [-1.96817595e-02 4.83143048e-04 9.99806179e-01 -8.11201969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.29431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.87, Y:-7.47, Z:-0.81 [[ 9.48486172e-01 3.16319658e-01 1.77723388e-02 3.88723257e+01] [-3.16254930e-01 9.48652549e-01 -6.41568997e-03 -7.46578309e+00] [-1.88891834e-02 4.64603447e-04 9.99821476e-01 -8.11807083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.90, Y:-7.48, Z:-0.81 [[ 9.48288362e-01 3.16925724e-01 1.75290615e-02 3.89020573e+01] [-3.16862747e-01 9.48450252e-01 -6.33394209e-03 -7.47740738e+00] [-1.86328320e-02 4.52096999e-04 9.99826292e-01 -8.12609490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.354319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.93, Y:-7.49, Z:-0.81 [[ 9.47732731e-01 3.18594276e-01 1.73308052e-02 3.89330199e+01] [-3.18532892e-01 9.47891086e-01 -6.26786353e-03 -7.48571462e+00] [-1.84246212e-02 4.19827911e-04 9.99830164e-01 -8.12554991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.384319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.96, Y:-7.50, Z:-0.81 [[ 9.47341825e-01 3.19772378e-01 1.70027345e-02 3.89624721e+01] [-3.19713391e-01 9.47494312e-01 -6.15445557e-03 -7.49712466e+00] [-1.80780191e-02 3.94371267e-04 9.99836501e-01 -8.13342662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.99, Y:-7.51, Z:-0.81 [[ 9.46874212e-01 3.21159095e-01 1.69133785e-02 3.89917499e+01] [-3.21100850e-01 9.47025183e-01 -6.12746339e-03 -7.50750171e+00] [-1.79852859e-02 3.71036865e-04 9.99838183e-01 -8.13925002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.02, Y:-7.52, Z:-0.81 [[ 9.46151210e-01 3.23298540e-01 1.66115155e-02 3.90221777e+01] [-3.23242607e-01 9.46296965e-01 -6.02253233e-03 -7.51667163e+00] [-1.76665026e-02 3.28676668e-04 9.99843881e-01 -8.13649818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.47431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.05, Y:-7.53, Z:-0.81 [[ 9.45813624e-01 3.24297588e-01 1.63604391e-02 3.90523845e+01] [-3.24243397e-01 9.45955062e-01 -5.93639983e-03 -7.52744976e+00] [-1.74014003e-02 3.09963480e-04 9.99848536e-01 -8.14037228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.08, Y:-7.54, Z:-0.81 [[ 9.45517351e-01 3.25175327e-01 1.60606611e-02 3.90824220e+01] [-3.25123148e-01 9.45653700e-01 -5.83245528e-03 -7.53798548e+00] [-1.70843941e-02 2.92994968e-04 9.99854008e-01 -8.14363758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.534319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.11, Y:-7.55, Z:-0.82 [[ 9.45181400e-01 3.26155420e-01 1.59612855e-02 3.91115349e+01] [-3.26103939e-01 9.45316119e-01 -5.80143341e-03 -7.55029581e+00] [-1.69806294e-02 2.78368883e-04 9.99855780e-01 -8.15120581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.564319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.14, Y:-7.56, Z:-0.82 [[ 9.44792257e-01 3.27285324e-01 1.58716214e-02 3.91426559e+01] [-3.27234503e-01 9.44925526e-01 -5.77331750e-03 -7.55958927e+00] [-1.68870223e-02 2.60843533e-04 9.99857370e-01 -8.15369139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.594319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.17, Y:-7.57, Z:-0.82 [[ 9.44381567e-01 3.28484496e-01 1.55367879e-02 3.91725594e+01] [-3.28435882e-01 9.44509332e-01 -5.65618403e-03 -7.57040075e+00] [-1.65326099e-02 2.38757302e-04 9.99863299e-01 -8.15849744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.20, Y:-7.58, Z:-0.82 [[ 9.44108147e-01 3.29287760e-01 1.51452372e-02 3.92027782e+01] [-3.29241600e-01 9.44229592e-01 -5.51789418e-03 -7.58226709e+00] [-1.61175561e-02 2.23046720e-04 9.99870079e-01 -8.16100327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.65431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.23, Y:-7.59, Z:-0.82 [[ 9.43894458e-01 3.29884424e-01 1.54764007e-02 3.92317599e+01] [-3.29836198e-01 9.44021301e-01 -5.64499293e-03 -7.59463808e+00] [-1.64722472e-02 2.23600374e-04 9.99864298e-01 -8.16200122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.26, Y:-7.61, Z:-0.82 [[ 9.43696572e-01 3.30458597e-01 1.52936240e-02 3.92612121e+01] [-3.30411547e-01 9.43820465e-01 -5.58026183e-03 -7.60608547e+00] [-1.62784808e-02 2.12883994e-04 9.99867474e-01 -8.16605592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.714319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.29, Y:-7.62, Z:-0.82 [[ 9.43346015e-01 3.31482398e-01 1.47552066e-02 3.92928066e+01] [-3.31438661e-01 9.43461384e-01 -5.38808648e-03 -7.61687377e+00] [-1.57070234e-02 1.92384001e-04 9.99876619e-01 -8.16800744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.32, Y:-7.63, Z:-0.82 [[ 9.42855955e-01 3.32932286e-01 1.33694377e-02 3.93238791e+01] [-3.32896466e-01 9.42950724e-01 -4.88613806e-03 -7.62875715e+00] [-1.42334741e-02 1.56285805e-04 9.99898687e-01 -8.18210830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.774319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.35, Y:-7.64, Z:-0.82 [[ 9.42537780e-01 3.33870500e-01 1.23702200e-02 3.93545679e+01] [-3.33839864e-01 9.42618943e-01 -4.52478647e-03 -7.64016354e+00] [-1.31710964e-02 1.35109627e-04 9.99913248e-01 -8.19545671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.80432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.38, Y:-7.65, Z:-0.82 [[ 9.42277465e-01 3.34623581e-01 1.18421775e-02 3.93843119e+01] [-3.34595514e-01 9.42351868e-01 -4.33568426e-03 -7.65202288e+00] [-1.26103203e-02 1.23078108e-04 9.99920479e-01 -8.20978854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.83431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.41, Y:-7.66, Z:-0.82 [[ 9.41988765e-01 3.35464831e-01 1.09779186e-02 3.94146891e+01] [-3.35440734e-01 9.42052725e-01 -4.02222011e-03 -7.66484475e+00] [-1.16910915e-02 1.06445078e-04 9.99931651e-01 -8.21445890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.44, Y:-7.68, Z:-0.82 [[ 9.41970238e-01 3.35507811e-01 1.12507357e-02 3.94444525e+01] [-3.35482454e-01 9.42037417e-01 -4.12639579e-03 -7.67752750e+00] [-1.19830520e-02 1.12517604e-04 9.99928194e-01 -8.21937779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.47, Y:-7.69, Z:-0.82 [[ 9.41884655e-01 3.35740381e-01 1.14757350e-02 3.94740487e+01] [-3.35713970e-01 9.41954555e-01 -4.21271975e-03 -7.69012068e+00] [-1.22240010e-02 1.15331534e-04 9.99925277e-01 -8.22565905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.50, Y:-7.70, Z:-0.82 [[ 9.42369791e-01 3.34383484e-01 1.12633430e-02 3.95015598e+01] [-3.34357886e-01 9.42437089e-01 -4.13964601e-03 -7.70398532e+00] [-1.19992215e-02 1.35089776e-04 9.99927998e-01 -8.23346316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.954319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.53, Y:-7.72, Z:-0.82 [[ 9.42597381e-01 3.33738814e-01 1.13394039e-02 3.95322202e+01] [-3.33712822e-01 9.42665573e-01 -4.16767250e-03 -7.71705957e+00] [-1.20801798e-02 1.44332703e-04 9.99927022e-01 -8.23555945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.56, Y:-7.73, Z:-0.82 [[ 9.42863688e-01 3.32977255e-01 1.15850604e-02 3.95615556e+01] [-3.32950015e-01 9.42934845e-01 -4.26214665e-03 -7.73037251e+00] [-1.23431551e-02 1.61377259e-04 9.99923807e-01 -8.24340348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.01431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.59, Y:-7.74, Z:-0.82 [[ 9.43037073e-01 3.32473189e-01 1.19439235e-02 3.95926350e+01] [-3.32444148e-01 9.43112691e-01 -4.39779261e-03 -7.74269604e+00] [-1.27266139e-02 1.76594008e-04 9.99918998e-01 -8.23687844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.62, Y:-7.76, Z:-0.82 [[ 9.43558483e-01 3.31004318e-01 1.15555614e-02 3.96220014e+01] [-3.30976976e-01 9.43629220e-01 -4.25879055e-03 -7.75610134e+00] [-1.23138435e-02 1.93793173e-04 9.99924163e-01 -8.23333693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.07431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.65, Y:-7.77, Z:-0.82 [[ 9.43773715e-01 3.30369366e-01 1.21349469e-02 3.96518222e+01] [-3.30339112e-01 9.43851702e-01 -4.47606963e-03 -7.77021885e+00] [-1.29323466e-02 2.15749277e-04 9.99916350e-01 -8.24155751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.68, Y:-7.78, Z:-0.83 [[ 9.43700770e-01 3.30593998e-01 1.16818237e-02 3.96825383e+01] [-3.30565931e-01 9.43773047e-01 -4.31281805e-03 -7.78295493e+00] [-1.24507821e-02 2.08396797e-04 9.99922464e-01 -8.25113881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.134319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.71, Y:-7.79, Z:-0.83 [[ 9.43595744e-01 3.30890122e-01 1.17813168e-02 3.97132848e+01] [-3.30861545e-01 9.43669266e-01 -4.35377371e-03 -7.79478038e+00] [-1.25582872e-02 2.10217682e-04 9.99921120e-01 -8.26124002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.74, Y:-7.81, Z:-0.83 [[ 9.43225915e-01 3.31948693e-01 1.16162939e-02 3.97430417e+01] [-3.31920937e-01 9.43297422e-01 -4.29717089e-03 -7.80594715e+00] [-1.23840604e-02 1.97511777e-04 9.99923295e-01 -8.27908150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.77, Y:-7.82, Z:-0.83 [[ 9.42940851e-01 3.32752434e-01 1.17630403e-02 3.97733468e+01] [-3.32723988e-01 9.43014199e-01 -4.35519103e-03 -7.81731754e+00] [-1.25419145e-02 1.92841851e-04 9.99921329e-01 -8.29084523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.80, Y:-7.83, Z:-0.83 [[ 9.42568025e-01 3.33809850e-01 1.16833944e-02 3.98034994e+01] [-3.33781824e-01 9.42640415e-01 -4.32926115e-03 -7.82807249e+00] [-1.24583898e-02 1.80918434e-04 9.99922375e-01 -8.30418078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.83, Y:-7.84, Z:-0.83 [[ 9.41788499e-01 3.35998903e-01 1.17966250e-02 3.98322943e+01] [-3.35970442e-01 9.41862364e-01 -4.37607314e-03 -7.83879550e+00] [-1.25811529e-02 1.58018040e-04 9.99920842e-01 -8.32441255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.86, Y:-7.85, Z:-0.83 [[ 9.41408770e-01 3.37036795e-01 1.24790292e-02 3.98610876e+01] [-3.37005014e-01 9.41491463e-01 -4.63086442e-03 -7.85120967e+00] [-1.33096711e-02 1.54040977e-04 9.99911411e-01 -8.33951013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.314319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.89, Y:-7.86, Z:-0.83 [[ 9.41116530e-01 3.37832412e-01 1.29976278e-02 3.98913587e+01] [-3.37797959e-01 9.41206268e-01 -4.82707723e-03 -7.86162433e+00] [-1.38641919e-02 1.52270051e-04 9.99903876e-01 -8.33072258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.92, Y:-7.87, Z:-0.83 [[ 9.40872937e-01 3.38492386e-01 1.34543938e-02 3.99213143e+01] [-3.38455478e-01 9.40969118e-01 -5.00081274e-03 -7.87431386e+00] [-1.43529061e-02 1.51416085e-04 9.99896980e-01 -8.34219443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.37432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.95, Y:-7.89, Z:-0.84 [[ 9.40895557e-01 3.38415656e-01 1.37983289e-02 3.99506820e+01] [-3.38376751e-01 9.40996715e-01 -5.13390208e-03 -7.88637723e+00] [-1.47215750e-02 1.61431945e-04 9.99891619e-01 -8.35265362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.98, Y:-7.90, Z:-0.84 [[ 9.40985905e-01 3.38152064e-01 1.40964125e-02 3.99799205e+01] [-3.38111357e-01 9.41091468e-01 -5.24965520e-03 -7.89962199e+00] [-1.50411952e-02 1.73694404e-04 9.99886860e-01 -8.36211954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.43431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.01, Y:-7.91, Z:-0.84 [[ 9.40897433e-01 3.38370008e-01 1.47566347e-02 4.00102419e+01] [-3.38325346e-01 9.41013127e-01 -5.50051894e-03 -7.91166041e+00] [-1.57473976e-02 1.82880621e-04 9.99875985e-01 -8.36069564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.04, Y:-7.92, Z:-0.84 [[ 9.40930919e-01 3.38252237e-01 1.53111308e-02 4.00407982e+01] [-3.38204047e-01 9.41055464e-01 -5.71290958e-03 -7.92463363e+00] [-1.63410277e-02 1.97166874e-04 9.99866457e-01 -8.36315936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.494319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.07, Y:-7.94, Z:-0.84 [[ 9.40818968e-01 3.38545274e-01 1.57087934e-02 4.00711555e+01] [-3.38494494e-01 9.40950082e-01 -5.86698146e-03 -7.93717418e+00] [-1.67674293e-02 2.02427370e-04 9.99859396e-01 -8.36475479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.524319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.10, Y:-7.95, Z:-0.84 [[ 9.40798741e-01 3.38563081e-01 1.65157075e-02 4.01014210e+01] [-3.38506841e-01 9.40943671e-01 -6.17460568e-03 -7.95089505e+00] [-1.76308440e-02 2.18381266e-04 9.99844541e-01 -8.36684947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.55432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.13, Y:-7.96, Z:-0.84 [[ 9.40680592e-01 3.38877754e-01 1.67896149e-02 4.01311789e+01] [-3.38819567e-01 9.40830388e-01 -6.28353219e-03 -7.96263638e+00] [-1.79255292e-02 2.22146721e-04 9.99839300e-01 -8.37895156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.16, Y:-7.97, Z:-0.84 [[ 9.40499066e-01 3.39389836e-01 1.66146212e-02 4.01619973e+01] [-3.39332879e-01 9.40645785e-01 -6.22123204e-03 -7.97423463e+00] [-1.77398964e-02 2.13175669e-04 9.99842613e-01 -8.39314893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.19, Y:-7.99, Z:-0.84 [[ 9.40197461e-01 3.40249644e-01 1.60907930e-02 4.01903907e+01] [-3.40196241e-01 9.40335122e-01 -6.03131386e-03 -7.98705353e+00] [-1.71828902e-02 1.96598679e-04 9.99852344e-01 -8.41598631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64431999999999 meters Centerline goodness [0,1] 0.9998696388997523 Centerline is valid? [True, True] Translation: X:40.22, Y:-8.00, Z:-0.84 [[ 9.39996834e-01 3.40821867e-01 1.56973795e-02 4.02204805e+01] [-3.40771090e-01 9.40127875e-01 -5.88579512e-03 -7.99981478e+00] [-1.67635518e-02 1.83415636e-04 9.99859465e-01 -8.42747688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.674319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.25, Y:-8.01, Z:-0.84 [[ 9.39875233e-01 3.41147912e-01 1.58949126e-02 4.02504397e+01] [-3.41095802e-01 9.40009610e-01 -5.96539916e-03 -8.01343314e+00] [-1.69764541e-02 1.85042944e-04 9.99855872e-01 -8.44100243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.704319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.28, Y:-8.03, Z:-0.84 [[ 9.39826027e-01 3.41271617e-01 1.61469318e-02 4.02804017e+01] [-3.41217760e-01 9.39964705e-01 -6.06574488e-03 -8.02599456e+00] [-1.72476126e-02 1.91125012e-04 9.99851231e-01 -8.44844149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.31, Y:-8.04, Z:-0.85 [[ 9.39820674e-01 3.41285475e-01 1.61655276e-02 4.03094334e+01] [-3.41231395e-01 9.39959672e-01 -6.07859307e-03 -8.03995838e+00] [-1.72694795e-02 1.96601912e-04 9.99850852e-01 -8.46263040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76431999999999 meters Centerline goodness [0,1] 0.999847294938918 Centerline is valid? [True, True] Translation: X:40.34, Y:-8.05, Z:-0.85 [[ 9.39847735e-01 3.41182729e-01 1.67505526e-02 4.03396631e+01] [-3.41124545e-01 9.39996968e-01 -6.30427753e-03 -8.05171091e+00] [-1.78963792e-02 2.11036328e-04 9.99839825e-01 -8.47535540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.79431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.37, Y:-8.07, Z:-0.85 [[ 9.40019654e-01 3.40698011e-01 1.69680594e-02 4.03683258e+01] [-3.40638114e-01 9.40172757e-01 -6.39241438e-03 -8.06529362e+00] [-1.81307900e-02 2.29027421e-04 9.99835597e-01 -8.48393930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.40, Y:-8.08, Z:-0.85 [[ 9.40126467e-01 3.40365061e-01 1.77158766e-02 4.03985152e+01] [-3.40299590e-01 9.40293338e-01 -6.68035897e-03 -8.07838652e+00] [-1.89318815e-02 2.51676759e-04 9.99820744e-01 -8.48989376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.854319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.43, Y:-8.09, Z:-0.85 [[ 9.40679380e-01 3.38758220e-01 1.91094802e-02 4.04277327e+01] [-3.38681565e-01 9.40873408e-01 -7.21294858e-03 -8.09193372e+00] [-2.04230474e-02 3.13043331e-04 9.99791379e-01 -8.48573500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.884319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.46, Y:-8.11, Z:-0.85 [[ 9.40703077e-01 3.38641338e-01 1.99941275e-02 4.04568659e+01] [-3.38557253e-01 9.40915475e-01 -7.55351741e-03 -8.10641405e+00] [-2.13707172e-02 3.36460178e-04 9.99771564e-01 -8.48489082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91432 meters Centerline goodness [0,1] 0.9998691128029493 Centerline is valid? [True, True] Translation: X:40.49, Y:-8.11, Z:-0.85 [[ 9.40452178e-01 3.39209291e-01 2.20625991e-02 4.04894395e+01] [-3.39106868e-01 9.40710861e-01 -8.34316446e-03 -8.11476277e+00] [-2.35846055e-02 3.64768319e-04 9.99721778e-01 -8.48216469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94431999999999 meters Centerline goodness [0,1] 0.999890877346137 Centerline is valid? [True, True] Translation: X:40.52, Y:-8.13, Z:-0.85 [[ 9.40415624e-01 3.39303420e-01 2.21730396e-02 4.05182251e+01] [-3.39199813e-01 9.40676911e-01 -8.39260618e-03 -8.12758177e+00] [-2.37053063e-02 3.71447100e-04 9.99718921e-01 -8.48923070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.97431999999999 meters Centerline goodness [0,1] 0.999890877346137 Centerline is valid? [True, True] Translation: X:40.55, Y:-8.14, Z:-0.85 [[ 9.40315850e-01 3.39579938e-01 2.21713158e-02 4.05484752e+01] [-3.39476301e-01 9.40577126e-01 -8.39715757e-03 -8.13922979e+00] [-2.37053388e-02 3.69344086e-04 9.99718921e-01 -8.49612689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.58, Y:-8.15, Z:-0.85 [[ 9.40192658e-01 3.39924842e-01 2.21103598e-02 4.05793000e+01] [-3.39821692e-01 9.40452533e-01 -8.38152393e-03 -8.14963220e+00] [-2.36428321e-02 3.66667380e-04 9.99720402e-01 -8.50787279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.034319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.61, Y:-8.16, Z:-0.85 [[ 9.40155973e-01 3.40007424e-01 2.23986098e-02 4.06083731e+01] [-3.39901401e-01 9.40422676e-01 -8.49871449e-03 -8.16196127e+00] [-2.39537866e-02 3.76798367e-04 9.99712996e-01 -8.51249640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.064319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.64, Y:-8.17, Z:-0.85 [[ 9.40262500e-01 3.39711207e-01 2.24215830e-02 4.06394779e+01] [-3.39604705e-01 9.40529714e-01 -8.51484058e-03 -8.17347689e+00] [-2.39807518e-02 3.91710219e-04 9.99712344e-01 -8.52434462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.094319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.67, Y:-8.19, Z:-0.85 [[ 9.40264736e-01 3.39692061e-01 2.26170155e-02 4.06700521e+01] [-3.39583496e-01 9.40536624e-01 -8.59696513e-03 -8.18542114e+00] [-2.41924522e-02 4.03057971e-04 9.99707239e-01 -8.52985269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.70, Y:-8.20, Z:-0.85 [[ 9.40098083e-01 3.40148384e-01 2.26863871e-02 4.07003006e+01] [-3.40039096e-01 9.40371691e-01 -8.63111481e-03 -8.19674929e+00] [-2.42694959e-02 3.99835944e-04 9.99705372e-01 -8.53657426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.15431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.73, Y:-8.21, Z:-0.85 [[ 9.40307419e-01 3.39551663e-01 2.29483216e-02 4.07312429e+01] [-3.39439478e-01 9.40587309e-01 -8.73815296e-03 -8.20670749e+00] [-2.45519544e-02 4.26983758e-04 9.99698464e-01 -8.54775500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.76, Y:-8.22, Z:-0.86 [[ 9.40373862e-01 3.39337441e-01 2.33901921e-02 4.07611317e+01] [-3.39220653e-01 9.40664606e-01 -8.91333393e-03 -8.21879658e+00] [-2.50269538e-02 4.47429994e-04 9.99686677e-01 -8.55047828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.214319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.79, Y:-8.23, Z:-0.86 [[ 9.40452715e-01 3.39110886e-01 2.35052892e-02 4.07924250e+01] [-3.38992736e-01 9.40746297e-01 -8.96272581e-03 -8.23038609e+00] [-2.51518717e-02 4.60897504e-04 9.99683535e-01 -8.55924609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.82, Y:-8.24, Z:-0.86 [[ 9.40707283e-01 3.38388606e-01 2.37267667e-02 4.08214904e+01] [-3.38267793e-01 9.41006328e-01 -9.05490487e-03 -8.24143052e+00] [-2.53911143e-02 4.92013950e-04 9.99677473e-01 -8.56734927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.274319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.85, Y:-8.25, Z:-0.86 [[ 9.40938034e-01 3.37701384e-01 2.43596329e-02 4.08514115e+01] [-3.37573632e-01 9.41253151e-01 -9.30319608e-03 -8.25370674e+00] [-2.60702834e-02 5.30561293e-04 9.99659972e-01 -8.56583231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.30432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.88, Y:-8.26, Z:-0.86 [[ 9.41583242e-01 3.35886291e-01 2.45233960e-02 4.08821982e+01] [-3.35756011e-01 9.41902357e-01 -9.37291374e-03 -8.26306567e+00] [-2.62468777e-02 5.91500890e-04 9.99655316e-01 -8.57671328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.33431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.91, Y:-8.28, Z:-0.86 [[ 9.41837391e-01 3.35157062e-01 2.47401138e-02 4.09102707e+01] [-3.35024030e-01 9.42162064e-01 -9.46279022e-03 -8.27599927e+00] [-2.64807177e-02 6.23877013e-04 9.99649130e-01 -8.57995859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.94, Y:-8.29, Z:-0.86 [[ 9.42036805e-01 3.34625641e-01 2.43380202e-02 4.09414110e+01] [-3.34496600e-01 9.42350932e-01 -9.31368207e-03 -8.28565164e+00] [-2.60515529e-02 6.32846274e-04 9.99660400e-01 -8.59623619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.39431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.97, Y:-8.30, Z:-0.86 [[ 9.42168342e-01 3.34208307e-01 2.49724461e-02 4.09696239e+01] [-3.34072096e-01 9.42498998e-01 -9.56422067e-03 -8.29899385e+00] [-2.67329474e-02 6.68508528e-04 9.99642387e-01 -8.59862106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.00, Y:-8.31, Z:-0.86 [[ 9.42283527e-01 3.33880065e-01 2.50171456e-02 4.10011835e+01] [-3.33743055e-01 9.42615315e-01 -9.58860633e-03 -8.30666986e+00] [-2.67829891e-02 6.85887179e-04 9.99641036e-01 -8.61018984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.454319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.03, Y:-8.32, Z:-0.86 [[ 9.42273358e-01 3.33894530e-01 2.52063662e-02 4.10320825e+01] [-3.33755226e-01 9.42610182e-01 -9.66922159e-03 -8.31843678e+00] [-2.69882777e-02 6.98293436e-04 9.99635506e-01 -8.61752085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.06, Y:-8.33, Z:-0.86 [[ 9.42188235e-01 3.34114705e-01 2.54694447e-02 4.10630184e+01] [-3.33972312e-01 9.42532155e-01 -9.77917450e-03 -8.33029597e+00] [-2.72731366e-02 7.07733826e-04 9.99627768e-01 -8.62000217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.51431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.09, Y:-8.34, Z:-0.86 [[ 9.41948107e-01 3.34763003e-01 2.58359212e-02 4.10925560e+01] [-3.34616475e-01 9.42302091e-01 -9.92889626e-03 -8.34117779e+00] [-2.76690697e-02 7.07380148e-04 9.99616888e-01 -8.62278305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.12, Y:-8.35, Z:-0.86 [[ 9.41879086e-01 3.34924938e-01 2.62501908e-02 4.11231040e+01] [-3.34773512e-01 9.42244536e-01 -1.00960570e-02 -8.35216680e+00] [-2.81155201e-02 7.21396339e-04 9.99604420e-01 -8.62573984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.15, Y:-8.36, Z:-0.86 [[ 9.41435820e-01 3.36139082e-01 2.66291994e-02 4.11542152e+01] [-3.35983551e-01 9.41812097e-01 -1.02483183e-02 -8.35933362e+00] [-2.85245624e-02 7.01160933e-04 9.99592846e-01 -8.63761627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.18, Y:-8.37, Z:-0.86 [[ 9.41123474e-01 3.36990627e-01 2.69058222e-02 4.11844344e+01] [-3.36831947e-01 9.41507749e-01 -1.03633524e-02 -8.36924219e+00] [-2.88243927e-02 6.90453707e-04 9.99584252e-01 -8.64741864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.634319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.22, Y:-8.38, Z:-0.87 [[ 9.40938367e-01 3.37523007e-01 2.67059835e-02 4.12153405e+01] [-3.37366688e-01 9.41317036e-01 -1.02934492e-02 -8.37978286e+00] [-2.86130732e-02 6.75792106e-04 9.99590334e-01 -8.65481301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.25, Y:-8.39, Z:-0.87 [[ 9.40386903e-01 3.39008633e-01 2.73060206e-02 4.12450438e+01] [-3.38845701e-01 9.40783039e-01 -1.05292738e-02 -8.39021400e+00] [-2.92585557e-02 6.49063472e-04 9.99571666e-01 -8.65818836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.28, Y:-8.40, Z:-0.87 [[ 9.39971927e-01 3.40170971e-01 2.71383009e-02 4.12761172e+01] [-3.40010282e-01 9.40363403e-01 -1.04727398e-02 -8.39998731e+00] [-2.90823871e-02 6.16780081e-04 9.99576828e-01 -8.66895743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.31, Y:-8.41, Z:-0.87 [[ 9.39518919e-01 3.41441285e-01 2.68709673e-02 4.13066081e+01] [-3.41284024e-01 9.39902927e-01 -1.03779784e-02 -8.41026791e+00] [-2.87995711e-02 5.79675196e-04 9.99585038e-01 -8.67885702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.75431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.34, Y:-8.42, Z:-0.87 [[ 9.38962532e-01 3.42982601e-01 2.66889316e-02 4.13380729e+01] [-3.42827887e-01 9.39341604e-01 -1.03146184e-02 -8.41926072e+00] [-2.86077584e-02 5.35330228e-04 9.99590571e-01 -8.69424940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.37, Y:-8.43, Z:-0.87 [[ 9.38740101e-01 3.43629245e-01 2.61909266e-02 4.13670789e+01] [-3.43480391e-01 9.39105256e-01 -1.01261660e-02 -8.42976278e+00] [-2.80756836e-02 5.09768435e-04 9.99605670e-01 -8.70290114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.814319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.40, Y:-8.44, Z:-0.87 [[ 9.38621240e-01 3.43963762e-01 2.60595112e-02 4.13975162e+01] [-3.43816306e-01 9.38982788e-01 -1.00832494e-02 -8.44111120e+00] [-2.79377049e-02 5.04667112e-04 9.99609539e-01 -8.71180451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.43, Y:-8.45, Z:-0.87 [[ 9.38752728e-01 3.43638646e-01 2.56085138e-02 4.14289035e+01] [-3.43495882e-01 9.39101814e-01 -9.91775210e-03 -8.45219921e+00] [-2.74571247e-02 5.13897788e-04 9.99622850e-01 -8.72866108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.87432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.46, Y:-8.47, Z:-0.87 [[ 9.38861616e-01 3.43379963e-01 2.50811991e-02 4.14580130e+01] [-3.43242690e-01 9.39196429e-01 -9.72236743e-03 -8.46579964e+00] [-2.68946388e-02 5.19019359e-04 9.99638139e-01 -8.73078536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.49, Y:-8.48, Z:-0.87 [[ 9.39416565e-01 3.41906526e-01 2.44222165e-02 4.14880819e+01] [-3.41775666e-01 9.39733803e-01 -9.47485445e-03 -8.47776156e+00] [-2.61898970e-02 5.53915894e-04 9.99656832e-01 -8.74768010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.93431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.52, Y:-8.49, Z:-0.88 [[ 9.39628795e-01 3.41349160e-01 2.40515648e-02 4.15181167e+01] [-3.41221872e-01 9.39936396e-01 -9.33838595e-03 -8.48869330e+00] [-2.57945913e-02 5.67696383e-04 9.99667103e-01 -8.76153556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.55, Y:-8.50, Z:-0.88 [[ 9.39901001e-01 3.40611580e-01 2.38717563e-02 4.15468505e+01] [-3.40485760e-01 9.40203916e-01 -9.27601863e-03 -8.50101673e+00] [-2.56038381e-02 5.90546102e-04 9.99671994e-01 -8.77004802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.994319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.57, Y:-8.51, Z:-0.88 [[ 9.40421525e-01 3.39214382e-01 2.32584981e-02 4.15749693e+01] [-3.39094351e-01 9.40708892e-01 -9.04437277e-03 -8.51368961e+00] [-2.49474573e-02 6.18697503e-04 9.99688572e-01 -8.78017825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.024319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.60, Y:-8.53, Z:-0.88 [[ 9.40583243e-01 3.38805801e-01 2.26669992e-02 4.16029838e+01] [-3.38691525e-01 9.40856124e-01 -8.82075190e-03 -8.52653787e+00] [-2.43149069e-02 6.19530897e-04 9.99704157e-01 -8.78696853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.05432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.63, Y:-8.54, Z:-0.88 [[ 9.40852741e-01 3.38079484e-01 2.23244721e-02 4.16335233e+01] [-3.37968281e-01 9.41117346e-01 -8.69377620e-03 -8.53750908e+00] [-2.39491353e-02 6.34599728e-04 9.99712977e-01 -8.79684708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.66, Y:-8.55, Z:-0.88 [[ 9.40826110e-01 3.38164810e-01 2.21538254e-02 4.16636561e+01] [-3.38055156e-01 9.41086691e-01 -8.63437378e-03 -8.54952609e+00] [-2.37685116e-02 6.34229380e-04 9.99717288e-01 -8.80502552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.69, Y:-8.56, Z:-0.88 [[ 9.40785088e-01 3.38310329e-01 2.16688865e-02 4.16930661e+01] [-3.38205284e-01 9.41034395e-01 -8.45303137e-03 -8.56197974e+00] [-2.32509153e-02 6.23953954e-04 9.99729466e-01 -8.81090846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.72, Y:-8.57, Z:-0.88 [[ 9.40704196e-01 3.38548390e-01 2.14616581e-02 4.17241998e+01] [-3.38445241e-01 9.40948779e-01 -8.37941724e-03 -8.57382549e+00] [-2.30311592e-02 6.18956914e-04 9.99734556e-01 -8.81923133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.174319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.75, Y:-8.59, Z:-0.88 [[ 9.40526996e-01 3.39045502e-01 2.13802911e-02 4.17539108e+01] [-3.38943084e-01 9.40769777e-01 -8.35537493e-03 -8.58648551e+00] [-2.29467840e-02 6.11753868e-04 9.99736501e-01 -8.82414658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.204319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.78, Y:-8.60, Z:-0.88 [[ 9.40030631e-01 3.40458195e-01 2.07516220e-02 4.17839684e+01] [-3.40361904e-01 9.40259484e-01 -8.11650439e-03 -8.59764944e+00] [-2.22752398e-02 5.66701162e-04 9.99751715e-01 -8.83457252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.81, Y:-8.61, Z:-0.88 [[ 9.39652482e-01 3.41521926e-01 2.03957486e-02 4.18124590e+01] [-3.41429023e-01 9.39873653e-01 -7.98362375e-03 -8.61011585e+00] [-2.18960093e-02 5.38131351e-04 9.99760109e-01 -8.84167460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.84, Y:-8.62, Z:-0.89 [[ 9.39134834e-01 3.42947185e-01 2.03221999e-02 4.18433866e+01] [-3.42855155e-01 9.39354549e-01 -7.96072857e-03 -8.62011394e+00] [-2.18198604e-02 5.08626491e-04 9.99761789e-01 -8.85104103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.29431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.87, Y:-8.63, Z:-0.89 [[ 9.38598655e-01 3.44427501e-01 2.00564596e-02 4.18722859e+01] [-3.44338068e-01 9.38812799e-01 -7.86276452e-03 -8.63073067e+00] [-2.15374134e-02 4.73777639e-04 9.99767931e-01 -8.85900496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.90, Y:-8.64, Z:-0.89 [[ 9.37396795e-01 3.47712031e-01 1.95855307e-02 4.19027443e+01] [-3.47627349e-01 9.37601295e-01 -7.68360382e-03 -8.64022946e+00] [-2.10351004e-02 3.94119468e-04 9.99778660e-01 -8.86684442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.354319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.93, Y:-8.65, Z:-0.89 [[ 9.36562125e-01 3.49957259e-01 1.95269885e-02 4.19326754e+01] [-3.49873445e-01 9.36765603e-01 -7.66659628e-03 -8.65062048e+00] [-2.09751922e-02 3.48268961e-04 9.99779936e-01 -8.87366809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.384319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.96, Y:-8.66, Z:-0.89 [[ 9.35056072e-01 3.53984024e-01 1.91168164e-02 4.19636930e+01] [-3.53904417e-01 9.35251434e-01 -7.51126497e-03 -8.65911893e+00] [-2.05378978e-02 2.57928147e-04 9.99789042e-01 -8.88232882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.99, Y:-8.67, Z:-0.89 [[ 9.34263234e-01 3.56066635e-01 1.92031737e-02 4.19939133e+01] [-3.55986625e-01 9.34460542e-01 -7.55110251e-03 -8.66937195e+00] [-2.06333038e-02 2.18644447e-04 9.99787087e-01 -8.88741638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.02, Y:-8.68, Z:-0.89 [[ 9.33505022e-01 3.58034391e-01 1.94871342e-02 4.20231092e+01] [-3.57952298e-01 9.33708381e-01 -7.66886760e-03 -8.68019272e+00] [-2.09410188e-02 1.83461968e-04 9.99780696e-01 -8.88837962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.05, Y:-8.69, Z:-0.89 [[ 9.32219317e-01 3.61365009e-01 1.95569659e-02 4.20544858e+01] [-3.61282940e-01 9.32424430e-01 -7.70195258e-03 -8.68958593e+00] [-2.10186089e-02 1.14310831e-04 9.99779078e-01 -8.88845853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.08, Y:-8.70, Z:-0.89 [[ 9.31682234e-01 3.62767391e-01 1.91842267e-02 4.20846248e+01] [-3.62688676e-01 9.31879720e-01 -7.55719146e-03 -8.70072684e+00] [-2.06188945e-02 8.29992242e-05 9.99787405e-01 -8.89626988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.534319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.11, Y:-8.71, Z:-0.89 [[ 9.30830934e-01 3.64991076e-01 1.83108228e-02 4.21142887e+01] [-3.64919723e-01 9.31011016e-01 -7.21683350e-03 -8.71119176e+00] [-1.96816576e-02 3.56714662e-05 9.99806297e-01 -8.91533394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.564319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.14, Y:-8.72, Z:-0.89 [[ 9.30534687e-01 3.65765901e-01 1.79025564e-02 4.21449148e+01] [-3.65697730e-01 9.30706885e-01 -7.06155710e-03 -8.72284612e+00] [-1.92449093e-02 2.40996025e-05 9.99814799e-01 -8.92673239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.594319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.17, Y:-8.74, Z:-0.89 [[ 9.30447634e-01 3.65995976e-01 1.77241875e-02 4.21739196e+01] [-3.65929072e-01 9.30616433e-01 -6.99777392e-03 -8.73538544e+00] [-1.90555773e-02 2.52666821e-05 9.99818426e-01 -8.94253503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62431999999999 meters Centerline goodness [0,1] 0.9998710731015514 Centerline is valid? [True, True] Translation: X:42.20, Y:-8.75, Z:-0.90 [[ 9.30548818e-01 3.65769563e-01 1.70741009e-02 4.22033734e+01] [-3.65707336e-01 9.30705445e-01 -6.74677341e-03 -8.75042890e+00] [-1.83587231e-02 3.40780541e-05 9.99831464e-01 -8.95754156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.65431999999999 meters Centerline goodness [0,1] 0.999806937383358 Centerline is valid? [True, True] Translation: X:42.23, Y:-8.76, Z:-0.90 [[ 9.30780020e-01 3.65163840e-01 1.74334109e-02 4.22322292e+01] [-3.65098743e-01 9.30943267e-01 -6.89496036e-03 -8.76438748e+00] [-1.87473067e-02 5.27749497e-05 9.99824252e-01 -8.95927921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.26, Y:-8.78, Z:-0.90 [[ 9.31532810e-01 3.63216263e-01 1.79044685e-02 4.22611494e+01] [-3.63147128e-01 9.31704855e-01 -7.08709872e-03 -8.77972759e+00] [-1.92558298e-02 9.99086604e-05 9.99814584e-01 -8.95491521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.714319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.29, Y:-8.79, Z:-0.90 [[ 9.31800295e-01 3.62525186e-01 1.79916745e-02 4.22908356e+01] [-3.62455122e-01 9.31973967e-01 -7.12809227e-03 -8.79360108e+00] [-1.93518852e-02 1.20783922e-04 9.99812727e-01 -8.96025631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.32, Y:-8.81, Z:-0.90 [[ 9.32062959e-01 3.61864397e-01 1.76860820e-02 4.23211566e+01] [-3.61796456e-01 9.32230733e-01 -7.01323138e-03 -8.80749975e+00] [-1.90253479e-02 1.38011397e-04 9.99818992e-01 -8.96416656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.774319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.35, Y:-8.82, Z:-0.90 [[ 9.32358280e-01 3.61093401e-01 1.78771804e-02 4.23502914e+01] [-3.61023716e-01 9.32529640e-01 -7.09556676e-03 -8.82101559e+00] [-1.92331629e-02 1.61524325e-04 9.99815013e-01 -8.97218080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.80432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.38, Y:-8.84, Z:-0.90 [[ 9.32691854e-01 3.60246879e-01 1.75525356e-02 4.23800099e+01] [-3.60179444e-01 9.32856985e-01 -6.97241751e-03 -8.83539424e+00] [-1.88857971e-02 1.81054510e-04 9.99821631e-01 -8.98303474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.83431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.41, Y:-8.85, Z:-0.90 [[ 9.32814008e-01 3.59948089e-01 1.71871804e-02 4.24097459e+01] [-3.59883272e-01 9.32972313e-01 -6.83323040e-03 -8.84895926e+00] [-1.84947716e-02 1.88754339e-04 9.99828939e-01 -8.99012554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.44, Y:-8.86, Z:-0.90 [[ 9.32703561e-01 3.60234286e-01 1.71850811e-02 4.24398010e+01] [-3.60169420e-01 9.32861846e-01 -6.83850557e-03 -8.86110121e+00] [-1.84947706e-02 1.88757822e-04 9.99828939e-01 -8.99702850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.47, Y:-8.88, Z:-0.90 [[ 9.32931188e-01 3.59645034e-01 1.71711502e-02 4.24698331e+01] [-3.59580061e-01 9.33089174e-01 -6.83903336e-03 -8.87554210e+00] [-1.84818388e-02 2.05944269e-04 9.99829175e-01 -9.00063868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.50, Y:-8.89, Z:-0.90 [[ 9.33010643e-01 3.59452365e-01 1.68860349e-02 4.24989394e+01] [-3.59389389e-01 9.33163411e-01 -6.73160794e-03 -8.88940472e+00] [-1.81771224e-02 2.12000069e-04 9.99834760e-01 -9.01244698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.954319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.53, Y:-8.90, Z:-0.90 [[ 9.33075999e-01 3.59273228e-01 1.70859044e-02 4.25296001e+01] [-3.59208615e-01 9.33232392e-01 -6.81712502e-03 -8.90168541e+00] [-1.83943299e-02 2.23491693e-04 9.99830785e-01 -9.01849013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.56, Y:-8.92, Z:-0.90 [[ 9.33309482e-01 3.58666976e-01 1.70707695e-02 4.25595262e+01] [-3.58602263e-01 9.33465555e-01 -6.81723519e-03 -8.91609333e+00] [-1.83800925e-02 2.40973657e-04 9.99831043e-01 -9.03347003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.59, Y:-8.93, Z:-0.90 [[ 9.33437064e-01 3.58351586e-01 1.67149250e-02 4.25876514e+01] [-3.58289385e-01 9.33586675e-01 -6.68105913e-03 -8.93056364e+00] [-1.79989994e-02 2.47568009e-04 9.99837974e-01 -9.04567137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.62, Y:-8.94, Z:-0.91 [[ 9.33629322e-01 3.57887834e-01 1.58929985e-02 4.26154893e+01] [-3.57831444e-01 9.33764551e-01 -6.35775156e-03 -8.94497962e+00] [-1.71156806e-02 2.48768662e-04 9.99853485e-01 -9.06254744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.65, Y:-8.96, Z:-0.91 [[ 9.33621780e-01 3.57912369e-01 1.57831579e-02 4.26467661e+01] [-3.57856693e-01 9.33755147e-01 -6.31770337e-03 -8.95656480e+00] [-1.69987891e-02 2.50236778e-04 9.99855479e-01 -9.06264066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.68, Y:-8.97, Z:-0.91 [[ 9.33630001e-01 3.57884042e-01 1.59384358e-02 4.26753038e+01] [-3.57827159e-01 9.33766001e-01 -6.38582195e-03 -8.97012213e+00] [-1.71681533e-02 2.58789732e-04 9.99852583e-01 -9.07666235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.134319999999995 meters Centerline goodness [0,1] 0.9999349198429399 Centerline is valid? [True, True] Translation: X:42.70, Y:-8.98, Z:-0.91 [[ 9.33614886e-01 3.57929227e-01 1.58086398e-02 4.27049750e+01] [-3.57873182e-01 9.33748682e-01 -6.33914391e-03 -8.98319303e+00] [-1.70302614e-02 2.60830890e-04 9.99854941e-01 -9.08975762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.74, Y:-9.00, Z:-0.91 [[ 9.33512227e-01 3.58192416e-01 1.59096051e-02 4.27353687e+01] [-3.58135604e-01 9.33647752e-01 -6.38476138e-03 -8.99541429e+00] [-1.71409401e-02 2.62456796e-04 9.99853049e-01 -9.09425871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.76, Y:-9.01, Z:-0.91 [[ 9.33430751e-01 3.58365581e-01 1.67673605e-02 4.27646097e+01] [-3.58302389e-01 9.33581294e-01 -6.73537904e-03 -9.00881928e+00] [-1.80674221e-02 2.79224589e-04 9.99836732e-01 -9.09514594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.79, Y:-9.02, Z:-0.91 [[ 9.33276251e-01 3.58733892e-01 1.74767027e-02 4.27936824e+01] [-3.58665191e-01 9.33439827e-01 -7.02636602e-03 -9.02210781e+00] [-1.88340460e-02 2.89255618e-04 9.99822582e-01 -9.09636427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.82, Y:-9.03, Z:-0.91 [[ 9.33109146e-01 3.59158160e-01 1.76843865e-02 4.28239629e+01] [-3.59087783e-01 9.33276664e-01 -7.11562820e-03 -9.03425044e+00] [-1.90600612e-02 2.89410606e-04 9.99818299e-01 -9.09768307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.85, Y:-9.05, Z:-0.91 [[ 9.32830620e-01 3.59818368e-01 1.89149679e-02 4.28542122e+01] [-3.59737847e-01 9.33022321e-01 -7.61776957e-03 -9.04753043e+00] [-2.03891006e-02 3.01658884e-04 9.99792075e-01 -9.09463671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.314319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.89, Y:-9.06, Z:-0.91 [[ 9.32551868e-01 3.60506341e-01 1.95497177e-02 4.28851224e+01] [-3.60420327e-01 9.32756714e-01 -7.88042252e-03 -9.05977631e+00] [-2.10760727e-02 3.02787101e-04 9.99777829e-01 -9.09603617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.91, Y:-9.07, Z:-0.91 [[ 9.32375973e-01 3.60942744e-01 1.98841698e-02 4.29137674e+01] [-3.60853709e-01 9.32587928e-01 -8.02233994e-03 -9.07315258e+00] [-2.14393421e-02 3.04560610e-04 9.99770105e-01 -9.09822974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.37431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.94, Y:-9.08, Z:-0.91 [[ 9.31776897e-01 3.62469943e-01 2.01830171e-02 4.29440021e+01] [-3.62378471e-01 9.31995420e-01 -8.14743360e-03 -9.08389860e+00] [-2.17636793e-02 2.77699536e-04 9.99763105e-01 -9.10358906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.97, Y:-9.10, Z:-0.91 [[ 9.31442527e-01 3.63312705e-01 2.04620888e-02 4.29730020e+01] [-3.63218750e-01 9.31667219e-01 -8.26633795e-03 -9.09659694e+00] [-2.20671230e-02 2.67404379e-04 9.99756456e-01 -9.11353658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.43431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.00, Y:-9.11, Z:-0.91 [[ 9.31065276e-01 3.64290552e-01 2.02446630e-02 4.30043772e+01] [-3.64198674e-01 9.31285312e-01 -8.18493323e-03 -9.10758069e+00] [-2.18352512e-02 2.47627677e-04 9.99761552e-01 -9.12601464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.03, Y:-9.12, Z:-0.91 [[ 9.29932485e-01 3.67157194e-01 2.05223748e-02 4.30339756e+01] [-3.67063321e-01 9.30158889e-01 -8.30419542e-03 -9.11658267e+00] [-2.21380145e-02 1.89330024e-04 9.99754906e-01 -9.13595648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.494319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.07, Y:-9.13, Z:-0.91 [[ 9.29159537e-01 3.69093257e-01 2.08019594e-02 4.30651160e+01] [-3.68997209e-01 9.29392353e-01 -8.42107120e-03 -9.12601907e+00] [-2.24413425e-02 1.48653675e-04 9.99748150e-01 -9.14058227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.524319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.10, Y:-9.13, Z:-0.92 [[ 9.27641446e-01 3.72917993e-01 2.03351377e-02 4.30964512e+01] [-3.72826994e-01 9.27864304e-01 -8.23807271e-03 -9.13442475e+00] [-2.19403740e-02 6.04894075e-05 9.99759279e-01 -9.15679344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.55432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.13, Y:-9.14, Z:-0.92 [[ 9.26884005e-01 3.74848504e-01 1.93556212e-02 4.31265111e+01] [-3.74766367e-01 9.27086079e-01 -7.84675843e-03 -9.14499146e+00] [-2.08856726e-02 1.91990470e-05 9.99781870e-01 -9.17556092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58431999999999 meters Centerline goodness [0,1] 0.999956361414763 Centerline is valid? [True, True] Translation: X:43.16, Y:-9.16, Z:-0.92 [[ 9.26180398e-01 3.76605891e-01 1.89175369e-02 4.31578699e+01] [-3.76527677e-01 9.26373576e-01 -7.67501827e-03 -9.15645411e+00] [-2.04151634e-02 -1.45247350e-05 9.99791589e-01 -9.19042729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.61431999999999 meters Centerline goodness [0,1] 0.9998472282845918 Centerline is valid? [True, True] Translation: X:43.19, Y:-9.17, Z:-0.92 [[ 9.25288242e-01 3.78808540e-01 1.85945902e-02 4.31876572e+01] [-3.78733280e-01 9.25475060e-01 -7.55088161e-03 -9.16739871e+00] [-2.00691679e-02 -5.56481666e-05 9.99798592e-01 -9.20768792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.22, Y:-9.18, Z:-0.92 [[ 9.24886281e-01 3.79775239e-01 1.88715532e-02 4.32181950e+01] [-3.79697834e-01 9.25078787e-01 -7.66763379e-03 -9.17922823e+00] [-2.03696510e-02 -7.37985781e-05 9.99792514e-01 -9.21669864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.674319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.25, Y:-9.19, Z:-0.92 [[ 9.24431719e-01 3.80899556e-01 1.84803800e-02 4.32478059e+01] [-3.80825419e-01 9.24616418e-01 -7.51532966e-03 -9.18996254e+00] [-1.99498485e-02 -9.03893311e-05 9.99800978e-01 -9.23211069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.704319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.28, Y:-9.20, Z:-0.92 [[ 9.24297406e-01 3.81224189e-01 1.85046849e-02 4.32781928e+01] [-3.81149796e-01 9.24482617e-01 -7.53149476e-03 -9.20229027e+00] [-1.99784475e-02 -9.17158073e-05 9.99800407e-01 -9.24021179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.31, Y:-9.21, Z:-0.92 [[ 9.24154535e-01 3.81554308e-01 1.88336139e-02 4.33082174e+01] [-3.81477177e-01 9.24346418e-01 -7.67217674e-03 -9.21469941e+00] [-2.03361357e-02 -9.43169508e-05 9.99793195e-01 -9.24599710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.34, Y:-9.23, Z:-0.92 [[ 9.24225940e-01 3.81362098e-01 1.92188110e-02 4.33376937e+01] [-3.81281593e-01 9.24425737e-01 -7.83604413e-03 -9.22723028e+00] [-2.07547337e-02 -8.55036091e-05 9.99784594e-01 -9.24793783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.79431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.37, Y:-9.24, Z:-0.92 [[ 9.24645676e-01 3.80316796e-01 1.97359689e-02 4.33673021e+01] [-3.80231520e-01 9.24856276e-01 -8.05357601e-03 -9.24206439e+00] [-2.13158449e-02 -5.75332237e-05 9.99772790e-01 -9.24977509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.40, Y:-9.26, Z:-0.93 [[ 9.25154481e-01 3.79084901e-01 1.95914327e-02 4.33960212e+01] [-3.79000447e-01 9.25361895e-01 -8.00148143e-03 -9.25711924e+00] [-2.11624061e-02 -2.25553637e-05 9.99776051e-01 -9.25672678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.854319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.42, Y:-9.27, Z:-0.93 [[ 9.25371277e-01 3.78577831e-01 1.91526690e-02 4.34248533e+01] [-3.78496882e-01 9.25569460e-01 -7.82844590e-03 -9.27045658e+00] [-2.06908015e-02 -5.00650195e-06 9.99785922e-01 -9.26721474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.884319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.46, Y:-9.28, Z:-0.93 [[ 9.25206527e-01 3.78952682e-01 1.96913010e-02 4.34562856e+01] [-3.78867062e-01 9.25416049e-01 -8.05510205e-03 -9.28177776e+00] [-2.12751485e-02 -7.75236575e-06 9.99773658e-01 -9.27092356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.49, Y:-9.29, Z:-0.93 [[ 9.25020073e-01 3.79399214e-01 1.98519630e-02 4.34867204e+01] [-3.79312146e-01 9.25233071e-01 -8.12773825e-03 -9.29306154e+00] [-2.14513502e-02 -1.17696541e-05 9.99769893e-01 -9.28217847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94431999999999 meters Centerline goodness [0,1] 0.9999781606936163 Centerline is valid? [True, True] Translation: X:43.52, Y:-9.31, Z:-0.93 [[ 9.25286197e-01 3.78785853e-01 1.91502037e-02 4.35155354e+01] [-3.78704567e-01 9.25484347e-01 -7.84690058e-03 -9.30708690e+00] [-2.06955087e-02 8.35921325e-06 9.99785825e-01 -9.29612684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.97431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.55, Y:-9.32, Z:-0.93 [[ 9.25557788e-01 3.78137310e-01 1.88402490e-02 4.35454344e+01] [-3.78058377e-01 9.25749520e-01 -7.72591398e-03 -9.32130794e+00] [-2.03628078e-02 2.80658834e-05 9.99792656e-01 -9.30442111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.58, Y:-9.34, Z:-0.93 [[ 9.26461128e-01 3.75909292e-01 1.90258461e-02 4.35751393e+01] [-3.75828190e-01 9.26656461e-01 -7.80864121e-03 -9.33664730e+00] [-2.05657640e-02 8.39532557e-05 9.99788499e-01 -9.30564836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.034319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.60, Y:-9.35, Z:-0.93 [[ 9.26744616e-01 3.75175083e-01 1.96995745e-02 4.36036959e+01] [-3.75087809e-01 9.26953960e-01 -8.09265222e-03 -9.35016160e+00] [-2.12967600e-02 1.10751650e-04 9.99773192e-01 -9.30794925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.064319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.63, Y:-9.36, Z:-0.93 [[ 9.26755660e-01 3.75121952e-01 2.01858531e-02 4.36334195e+01] [-3.75030149e-01 9.26975462e-01 -8.29946758e-03 -9.36302737e+00] [-2.18251030e-02 1.21275064e-04 9.99761797e-01 -9.30948351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.094319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.66, Y:-9.37, Z:-0.93 [[ 9.26741980e-01 3.75134432e-01 2.05781311e-02 4.36643247e+01] [-3.75038874e-01 9.26970410e-01 -8.46770392e-03 -9.37442343e+00] [-2.22518459e-02 1.29777585e-04 9.99752389e-01 -9.31617193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12431999999999 meters Centerline goodness [0,1] 0.9999782386351272 Centerline is valid? [True, True] Translation: X:43.70, Y:-9.39, Z:-0.93 [[ 9.26427032e-01 3.75883699e-01 2.10807660e-02 4.36957248e+01] [-3.75783436e-01 9.26666839e-01 -8.68209126e-03 -9.38588365e+00] [-2.27983034e-02 1.21521356e-04 9.99740078e-01 -9.32479320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.15431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.73, Y:-9.40, Z:-0.93 [[ 9.26109020e-01 3.76649694e-01 2.13796924e-02 4.37259592e+01] [-3.76546593e-01 9.26355761e-01 -8.81292034e-03 -9.39817396e+00] [-2.31245849e-02 1.11274698e-04 9.99732585e-01 -9.32674900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18431999999999 meters Centerline goodness [0,1] 0.9999565425231411 Centerline is valid? [True, True] Translation: X:43.76, Y:-9.41, Z:-0.93 [[ 9.25057749e-01 3.79221177e-01 2.14350147e-02 4.37566027e+01] [-3.79118050e-01 9.25306055e-01 -8.84352633e-03 -9.40955240e+00] [-2.31876014e-02 5.43715735e-05 9.99731130e-01 -9.33024224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.214319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.79, Y:-9.42, Z:-0.93 [[ 9.24289856e-01 3.81105265e-01 2.11433191e-02 4.37871525e+01] [-3.81005247e-01 9.24531653e-01 -8.73070369e-03 -9.42046287e+00] [-2.28749849e-02 1.39853435e-05 9.99738333e-01 -9.34418363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.244319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.82, Y:-9.43, Z:-0.94 [[ 9.23634033e-01 3.82707900e-01 2.08527288e-02 4.38182032e+01] [-3.82610854e-01 9.23869397e-01 -8.61807881e-03 -9.43153231e+00] [-2.25634048e-02 -1.85294624e-05 9.99745414e-01 -9.35947807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.274319999999996 meters Centerline goodness [0,1] 0.9999564630589055 Centerline is valid? [True, True] Translation: X:43.85, Y:-9.44, Z:-0.94 [[ 9.22187344e-01 3.86216572e-01 2.01807597e-02 4.38486760e+01] [-3.86126367e-01 9.22408126e-01 -8.34733894e-03 -9.44022763e+00] [-2.18387773e-02 -9.45130796e-05 9.99761501e-01 -9.38021022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30431999999999 meters Centerline goodness [0,1] 0.9999564583197266 Centerline is valid? [True, True] Translation: X:43.88, Y:-9.45, Z:-0.94 [[ 9.21470227e-01 3.87920268e-01 2.02604470e-02 4.38799511e+01] [-3.87829612e-01 9.21692926e-01 -8.38707662e-03 -9.45134942e+00] [-2.19274277e-02 -1.29159899e-04 9.99759557e-01 -9.38854111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.33431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.91, Y:-9.46, Z:-0.94 [[ 9.20295718e-01 3.90641181e-01 2.13368059e-02 4.39105153e+01] [-3.90541182e-01 9.20543008e-01 -8.84056651e-03 -9.46201892e+00] [-2.30949368e-02 -1.96965903e-04 9.99733257e-01 -9.38173221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.94, Y:-9.47, Z:-0.94 [[ 9.19920072e-01 3.91480439e-01 2.21388144e-02 4.39402064e+01] [-3.91372850e-01 9.20186404e-01 -9.18012655e-03 -9.47432936e+00] [-2.39656759e-02 -2.19548199e-04 9.99712758e-01 -9.38040535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.39431999999999 meters Centerline goodness [0,1] 0.9998472682841683 Centerline is valid? [True, True] Translation: X:43.97, Y:-9.49, Z:-0.94 [[ 9.19475304e-01 3.92515643e-01 2.22853330e-02 4.39698623e+01] [-3.92406746e-01 9.19745297e-01 -9.24847344e-03 -9.48751372e+00] [-2.41270008e-02 -2.41172094e-04 9.99708872e-01 -9.38377702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.00, Y:-9.50, Z:-0.94 [[ 9.19246219e-01 3.93068001e-01 2.19985470e-02 4.39991303e+01] [-3.92961867e-01 9.19509373e-01 -9.13698910e-03 -9.49932660e+00] [-2.38193282e-02 -2.45447401e-04 9.99716249e-01 -9.38081234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.454319999999996 meters Centerline goodness [0,1] 0.9998257346374191 Centerline is valid? [True, True] Translation: X:44.03, Y:-9.51, Z:-0.94 [[ 9.19103685e-01 3.93373120e-01 2.24945380e-02 4.40297632e+01] [-3.93262103e-01 9.19378880e-01 -9.34849637e-03 -9.51194312e+00] [-2.43584503e-02 -2.54011833e-04 9.99703257e-01 -9.38630850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.06, Y:-9.52, Z:-0.94 [[ 9.19049952e-01 3.93498216e-01 2.25019810e-02 4.40597140e+01] [-3.93386975e-01 9.19325346e-01 -9.35929323e-03 -9.52426544e+00] [-2.43695066e-02 -2.50328229e-04 9.99702988e-01 -9.38582466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.51431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.09, Y:-9.54, Z:-0.94 [[ 9.19046336e-01 3.93473617e-01 2.30726265e-02 4.40892730e+01] [-3.93356461e-01 9.19335875e-01 -9.60435640e-03 -9.53797629e+00] [-2.49905541e-02 -2.48918142e-04 9.99687656e-01 -9.39000742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.12, Y:-9.55, Z:-0.94 [[ 9.19452421e-01 3.92491164e-01 2.36205904e-02 4.41173461e+01] [-3.92367848e-01 9.19755749e-01 -9.84041878e-03 -9.55114373e+00] [-2.55874512e-02 -2.20163368e-04 9.99672563e-01 -9.38510101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.57431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.15, Y:-9.56, Z:-0.94 [[ 9.19579591e-01 3.92178491e-01 2.38622577e-02 4.41471525e+01] [-3.92052403e-01 9.19889117e-01 -9.94612906e-03 -9.56467080e+00] [-2.58512890e-02 -2.08998169e-04 9.99665778e-01 -9.38524870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.18, Y:-9.58, Z:-0.94 [[ 9.19960980e-01 3.91276347e-01 2.39711250e-02 4.41762835e+01] [-3.91148579e-01 9.20273214e-01 -1.00000269e-02 -9.57824678e+00] [-2.59727583e-02 -1.76636962e-04 9.99662635e-01 -9.38372044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.634319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.21, Y:-9.59, Z:-0.94 [[ 9.20311005e-01 3.90490745e-01 2.33373734e-02 4.42052144e+01] [-3.90369201e-01 9.20606842e-01 -9.74315619e-03 -9.59124715e+00] [-2.52891580e-02 -1.43457958e-04 9.99680168e-01 -9.39396441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.23, Y:-9.60, Z:-0.94 [[ 9.20609594e-01 3.89811561e-01 2.29111779e-02 4.42340810e+01] [-3.89694034e-01 9.20894637e-01 -9.57218963e-03 -9.60417386e+00] [-2.48301311e-02 -1.16099722e-04 9.99691678e-01 -9.40813956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.69431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.26, Y:-9.62, Z:-0.94 [[ 9.21469260e-01 3.87843127e-01 2.17281261e-02 4.42621391e+01] [-3.87736721e-01 9.21725396e-01 -9.08456458e-03 -9.61724104e+00] [-2.35507515e-02 -5.36453526e-05 9.99722641e-01 -9.42716493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.29, Y:-9.63, Z:-0.94 [[ 9.21725482e-01 3.87249746e-01 2.14422652e-02 4.42919409e+01] [-3.87145821e-01 9.21974855e-01 -8.97109283e-03 -9.63052457e+00] [-2.32432827e-02 -3.23984781e-05 9.99729838e-01 -9.44315037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.75431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.32, Y:-9.64, Z:-0.95 [[ 9.22002530e-01 3.86616149e-01 2.09591694e-02 4.43224876e+01] [-3.86516523e-01 9.22240724e-01 -8.77635071e-03 -9.64376610e+00] [-2.27224785e-02 -9.24772583e-06 9.99741811e-01 -9.45325322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.35, Y:-9.66, Z:-0.95 [[ 9.21884369e-01 3.86897966e-01 2.09564885e-02 4.43523143e+01] [-3.86798267e-01 9.22122532e-01 -8.78274787e-03 -9.65645283e+00] [-2.27224775e-02 -9.25544461e-06 9.99741811e-01 -9.46015567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.814319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.38, Y:-9.67, Z:-0.95 [[ 9.22580443e-01 3.85254362e-01 2.06010417e-02 4.43813250e+01] [-3.85157444e-01 9.22810422e-01 -8.64104017e-03 -9.66937254e+00] [-2.23398544e-02 3.74100977e-05 9.99750434e-01 -9.47051878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.41, Y:-9.68, Z:-0.95 [[ 9.22855283e-01 3.84596883e-01 2.05758271e-02 4.44106211e+01] [-3.84499886e-01 9.23084630e-01 -8.63732986e-03 -9.68214295e+00] [-2.23151199e-02 5.96023050e-05 9.99750985e-01 -9.48128355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.87431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.44, Y:-9.69, Z:-0.95 [[ 9.23117068e-01 3.83957357e-01 2.07756285e-02 4.44415674e+01] [-3.83858148e-01 9.23350822e-01 -8.72815697e-03 -9.69425720e+00] [-2.25344337e-02 8.22164057e-05 9.99746064e-01 -9.49085939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.47, Y:-9.70, Z:-0.95 [[ 9.23083425e-01 3.84035861e-01 2.08194342e-02 4.44722390e+01] [-3.83936088e-01 9.23318174e-01 -8.75387234e-03 -9.70458471e+00] [-2.25847629e-02 8.72223401e-05 9.99744928e-01 -9.49619645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.50, Y:-9.72, Z:-0.95 [[ 9.22851668e-01 3.84595646e-01 2.07602750e-02 4.45029912e+01] [-3.84496474e-01 9.23085144e-01 -8.73375998e-03 -9.71663091e+00] [-2.25224675e-02 7.77124284e-05 9.99746334e-01 -9.50434671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.53, Y:-9.73, Z:-0.95 [[ 9.22540725e-01 3.85343974e-01 2.07034449e-02 4.45336750e+01] [-3.85245370e-01 9.22773004e-01 -8.71704812e-03 -9.72801613e+00] [-2.24636420e-02 6.59255794e-05 9.99747658e-01 -9.50980426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.994319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.56, Y:-9.74, Z:-0.95 [[ 9.22561421e-01 3.85334599e-01 1.99416760e-02 4.45628386e+01] [-3.85242970e-01 9.22776919e-01 -8.40310362e-03 -9.74052644e+00] [-2.16397249e-02 6.99887398e-05 9.99765831e-01 -9.52734716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.024319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.59, Y:-9.75, Z:-0.95 [[ 9.22774741e-01 3.84859206e-01 1.92398029e-02 4.45931612e+01] [-3.84773683e-01 9.22975289e-01 -8.11345330e-03 -9.75415237e+00] [-2.08803998e-02 8.39199530e-05 9.99781977e-01 -9.54231085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.05431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.62, Y:-9.77, Z:-0.96 [[ 9.23401229e-01 3.83340206e-01 1.95052762e-02 4.46236469e+01] [-3.83251823e-01 9.23607206e-01 -8.23222672e-03 -9.76747715e+00] [-2.11709572e-02 1.26215591e-04 9.99775862e-01 -9.56151678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.65, Y:-9.78, Z:-0.96 [[ 9.23783627e-01 3.82406960e-01 1.97161875e-02 4.46535641e+01] [-3.82316296e-01 9.23993989e-01 -8.32811707e-03 -9.78191612e+00] [-2.14023687e-02 1.55558397e-04 9.99770931e-01 -9.57108365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.11431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.68, Y:-9.80, Z:-0.96 [[ 9.24306745e-01 3.81145066e-01 1.96336098e-02 4.46813327e+01] [-3.81054733e-01 9.24515225e-01 -8.29991696e-03 -9.79585336e+00] [-2.13150436e-02 1.90189300e-04 9.99772791e-01 -9.58097378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.71, Y:-9.81, Z:-0.96 [[ 9.25348730e-01 3.78574663e-01 2.02719558e-02 4.47090833e+01] [-3.78477615e-01 9.25570719e-01 -8.57552855e-03 -9.81077764e+00] [-2.20096065e-02 2.62872967e-04 9.99757725e-01 -9.58832012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.174319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.74, Y:-9.83, Z:-0.96 [[ 9.25843260e-01 3.77326693e-01 2.09481450e-02 4.47380465e+01] [-3.77222608e-01 9.26080165e-01 -8.86747740e-03 -9.82524347e+00] [-2.27455975e-02 3.07780310e-04 9.99741238e-01 -9.59363218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.204319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.77, Y:-9.84, Z:-0.96 [[ 9.26703233e-01 3.75154767e-01 2.19093368e-02 4.47659155e+01] [-3.75040152e-01 9.26962110e-01 -9.28064922e-03 -9.84057451e+00] [-2.37908049e-02 3.83526609e-04 9.99716885e-01 -9.58821532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.23432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.80, Y:-9.85, Z:-0.96 [[ 9.27148021e-01 3.74035443e-01 2.22269088e-02 4.47956013e+01] [-3.73917064e-01 9.27414314e-01 -9.41911318e-03 -9.85269271e+00] [-2.41366356e-02 4.21891655e-04 9.99708580e-01 -9.59744252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.83, Y:-9.86, Z:-0.96 [[ 9.27493673e-01 3.73143361e-01 2.27929567e-02 4.48257588e+01] [-3.73018425e-01 9.27773581e-01 -9.66627066e-03 -9.86469390e+00] [-2.47536078e-02 4.63212053e-04 9.99693475e-01 -9.60655931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.29431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.85, Y:-9.88, Z:-0.96 [[ 9.28129430e-01 3.71527263e-01 2.33077957e-02 4.48533709e+01] [-3.71395917e-01 9.28421896e-01 -9.89220619e-03 -9.87907869e+00] [-2.53146922e-02 5.24827533e-04 9.99679394e-01 -9.61450679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.88, Y:-9.89, Z:-0.96 [[ 9.28413406e-01 3.70804289e-01 2.35101674e-02 4.48813068e+01] [-3.70670252e-01 9.28710865e-01 -9.98465755e-03 -9.89258642e+00] [-2.55365018e-02 5.55370237e-04 9.99673736e-01 -9.62098323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.354319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.91, Y:-9.91, Z:-0.96 [[ 9.28652177e-01 3.70173854e-01 2.40094004e-02 4.49109505e+01] [-3.70033726e-01 9.28962308e-01 -1.02015174e-02 -9.90579036e+00] [-2.60801630e-02 5.89373417e-04 9.99659681e-01 -9.62761158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.384319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.94, Y:-9.92, Z:-0.96 [[ 9.28782660e-01 3.69824703e-01 2.43405022e-02 4.49395795e+01] [-3.69680362e-01 9.29101346e-01 -1.03498052e-02 -9.91891616e+00] [-2.64424070e-02 6.14513909e-04 9.99650150e-01 -9.63294488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.97, Y:-9.93, Z:-0.96 [[ 9.28727440e-01 3.69943618e-01 2.46386305e-02 4.49698788e+01] [-3.69795559e-01 9.29053996e-01 -1.04841225e-02 -9.93054365e+00] [-2.67691523e-02 6.25636158e-04 9.99641446e-01 -9.64110883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.00, Y:-9.94, Z:-0.97 [[ 9.28791230e-01 3.69808922e-01 2.42530926e-02 4.49989958e+01] [-3.69665191e-01 9.29107619e-01 -1.03285673e-02 -9.94406346e+00] [-2.63533295e-02 6.27558580e-04 9.99652494e-01 -9.65433572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.47431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.03, Y:-9.96, Z:-0.97 [[ 9.28895410e-01 3.69577399e-01 2.37878868e-02 4.50294560e+01] [-3.69438849e-01 9.29199736e-01 -1.01384003e-02 -9.95609311e+00] [-2.58506217e-02 6.29344009e-04 9.99665619e-01 -9.67410021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.06, Y:-9.97, Z:-0.97 [[ 9.28918082e-01 3.69550034e-01 2.33231274e-02 4.50580686e+01] [-3.69416630e-01 9.29210622e-01 -9.94849936e-03 -9.97150356e+00] [-2.53485660e-02 6.25389848e-04 9.99678478e-01 -9.68615591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.534319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.09, Y:-9.98, Z:-0.97 [[ 9.28614608e-01 3.70326938e-01 2.30839584e-02 4.50885821e+01] [-3.70196323e-01 9.28901283e-01 -9.85334286e-03 -9.98305776e+00] [-2.50916769e-02 6.04361591e-04 9.99684972e-01 -9.69606843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.564319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.12, Y:-10.00, Z:-0.97 [[ 9.28437368e-01 3.70784314e-01 2.28702045e-02 4.51191077e+01] [-3.70656166e-01 9.28718819e-01 -9.76532867e-03 -9.99547456e+00] [-2.48608200e-02 5.89513737e-04 9.99690748e-01 -9.71287753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.594319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.15, Y:-10.01, Z:-0.97 [[ 9.28120227e-01 3.71629502e-01 2.20081155e-02 4.51492998e+01] [-3.71510898e-01 9.28380961e-01 -9.40447102e-03 -1.00069198e+01] [-2.39268943e-02 5.52225021e-04 9.99713558e-01 -9.73898339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.18, Y:-10.02, Z:-0.97 [[ 9.27741491e-01 3.72562522e-01 2.22012077e-02 4.51781919e+01] [-3.72441927e-01 9.28006938e-01 -9.49395223e-03 -1.00185354e+01] [-2.41399655e-02 5.39272836e-04 9.99708443e-01 -9.74417448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.65431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.21, Y:-10.03, Z:-0.98 [[ 9.27384499e-01 3.73469241e-01 2.18795873e-02 4.52062241e+01] [-3.73352218e-01 9.27642421e-01 -9.36267165e-03 -1.00321934e+01] [-2.37931033e-02 5.14004090e-04 9.99716772e-01 -9.75443048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.24, Y:-10.04, Z:-0.98 [[ 9.27079095e-01 3.74252198e-01 2.14392918e-02 4.52373944e+01] [-3.74139912e-01 9.27326832e-01 -9.18007930e-03 -1.00422404e+01] [-2.33168954e-02 4.89364852e-04 9.99728004e-01 -9.77083029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.714319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.27, Y:-10.06, Z:-0.98 [[ 9.26943482e-01 3.74605179e-01 2.11362564e-02 4.52678837e+01] [-3.74496045e-01 9.27184303e-01 -9.05428532e-03 -1.00551234e+01] [-2.29889873e-02 4.77366321e-04 9.99735604e-01 -9.78584952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.744319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.30, Y:-10.07, Z:-0.98 [[ 9.27147974e-01 3.74108385e-01 2.09654499e-02 4.52966543e+01] [-3.74000709e-01 9.27384857e-01 -8.98870700e-03 -1.00687843e+01] [-2.28057914e-02 4.92768362e-04 9.99739793e-01 -9.80120202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.774319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.33, Y:-10.08, Z:-0.98 [[ 9.27193085e-01 3.73958002e-01 2.16424648e-02 4.53252768e+01] [-3.73843048e-01 9.27445493e-01 -9.28613893e-03 -1.00829785e+01] [-2.35448324e-02 5.19158810e-04 9.99722647e-01 -9.79603790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.35, Y:-10.10, Z:-0.98 [[ 9.27276862e-01 3.73715290e-01 2.22374389e-02 4.53545792e+01] [-3.73593671e-01 9.27543305e-01 -9.54913656e-03 -1.00955742e+01] [-2.41948459e-02 5.46926933e-04 9.99707112e-01 -9.79643577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.83431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.39, Y:-10.11, Z:-0.98 [[ 9.27187832e-01 3.73908656e-01 2.26945220e-02 4.53850741e+01] [-3.73781856e-01 9.27465365e-01 -9.75301282e-03 -1.01085369e+01] [-2.46951191e-02 5.60074260e-04 9.99694872e-01 -9.79788917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.41, Y:-10.12, Z:-0.98 [[ 9.28187977e-01 3.71401381e-01 2.29802627e-02 4.54126441e+01] [-3.71270403e-01 9.28472187e-01 -9.88361738e-03 -1.01240158e+01] [-2.50073239e-02 6.41963439e-04 9.99687062e-01 -9.79904112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.89431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.44, Y:-10.14, Z:-0.98 [[ 9.28196291e-01 3.71301425e-01 2.42259534e-02 4.54423121e+01] [-3.71155700e-01 9.28512135e-01 -1.04241228e-02 -1.01350978e+01] [-2.63645834e-02 6.84031422e-04 9.99652160e-01 -9.80066712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.47, Y:-10.15, Z:-0.98 [[ 9.28745590e-01 3.69921178e-01 2.42888994e-02 4.54683132e+01] [-3.69774034e-01 9.29062854e-01 -1.04583608e-02 -1.01526901e+01] [-2.64346833e-02 7.31752141e-04 9.99650275e-01 -9.79992536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.954319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.50, Y:-10.17, Z:-0.98 [[ 9.30125338e-01 3.66483519e-01 2.35941769e-02 4.54972627e+01] [-3.66343416e-01 9.30424189e-01 -1.01651056e-02 -1.01669423e+01] [-2.56779366e-02 8.11250939e-04 9.99669938e-01 -9.81871900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.53, Y:-10.18, Z:-0.98 [[ 9.30835829e-01 3.64698079e-01 2.32372696e-02 4.55271144e+01] [-3.64561556e-01 9.31125442e-01 -1.00141596e-02 -1.01796635e+01] [-2.52889577e-02 8.50123403e-04 9.99679822e-01 -9.83290658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.01431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.55, Y:-10.20, Z:-0.98 [[ 9.32452788e-01 3.60522282e-01 2.35686704e-02 4.55534187e+01] [-3.60380343e-01 9.32750083e-01 -1.01632006e-02 -1.01951971e+01] [-2.56477395e-02 9.83019280e-04 9.99670559e-01 -9.83975805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04431999999999 meters Centerline goodness [0,1] 0.999978321663162 Centerline is valid? [True, True] Translation: X:45.58, Y:-10.21, Z:-0.98 [[ 9.33279062e-01 3.58344314e-01 2.40737300e-02 4.55838705e+01] [-3.58195479e-01 9.33588890e-01 -1.03818549e-02 -1.02063061e+01] [-2.61952456e-02 1.06606657e-03 9.99656277e-01 -9.84880660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.07431999999999 meters Centerline goodness [0,1] 0.9998485078018482 Centerline is valid? [True, True] Translation: X:45.61, Y:-10.22, Z:-0.99 [[ 9.34070603e-01 3.56274378e-01 2.40972400e-02 4.56101898e+01] [-3.56124481e-01 9.34380701e-01 -1.03951400e-02 -1.02237001e+01] [-2.62195181e-02 1.12817762e-03 9.99655573e-01 -9.85102581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104319999999994 meters Centerline goodness [0,1] 0.9997619150686118 Centerline is valid? [True, True] Translation: X:45.64, Y:-10.24, Z:-0.99 [[ 9.34697689e-01 3.54599976e-01 2.44762658e-02 4.56393421e+01] [-3.54444586e-01 9.35017336e-01 -1.05649090e-02 -1.02373377e+01] [-2.66320493e-02 1.19951615e-03 9.99644584e-01 -9.85223031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.134319999999995 meters Centerline goodness [0,1] 0.9986803392177224 Centerline is valid? [True, True] Translation: X:45.66, Y:-10.25, Z:-0.99 [[ 9.36087701e-01 3.50943382e-01 2.40532418e-02 4.56642002e+01] [-3.50792068e-01 9.36395802e-01 -1.03839712e-02 -1.02545944e+01] [-2.61675406e-02 1.28262125e-03 9.99656748e-01 -9.86113267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16432 meters Centerline goodness [0,1] 0.9985509127087119 Centerline is valid? [True, True] Translation: X:45.69, Y:-10.27, Z:-0.99 [[ 9.36147705e-01 3.50781270e-01 2.40826792e-02 4.56936424e+01] [-3.50629497e-01 9.36456532e-01 -1.03980444e-02 -1.02674043e+01] [-2.61998215e-02 1.29000775e-03 9.99655893e-01 -9.86500938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.19431999999999 meters Centerline goodness [0,1] 0.9998918357634232 Centerline is valid? [True, True] Translation: X:45.73, Y:-10.27, Z:-0.99 [[ 9.36170116e-01 3.50740627e-01 2.38018169e-02 4.57252468e+01] [-3.50592177e-01 9.36471765e-01 -1.02838668e-02 -1.02748097e+01] [-2.58966994e-02 1.28271793e-03 9.99663801e-01 -9.87957749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22431999999999 meters Centerline goodness [0,1] 0.999956655541589 Centerline is valid? [True, True] Translation: X:45.76, Y:-10.28, Z:-0.99 [[ 9.35760621e-01 3.51907451e-01 2.26540644e-02 4.57569407e+01] [-3.51773145e-01 9.36034035e-01 -9.79488276e-03 -1.02822223e+01] [-2.46518676e-02 1.19657407e-03 9.99695380e-01 -9.90203703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.25431999999999 meters Centerline goodness [0,1] 0.9999783727669882 Centerline is valid? [True, True] Translation: X:45.79, Y:-10.29, Z:-0.99 [[ 9.35190422e-01 3.53432973e-01 2.24501283e-02 4.57869379e+01] [-3.53301334e-01 9.35459141e-01 -9.71401634e-03 -1.02935475e+01] [-2.44344314e-02 1.15279474e-03 9.99700770e-01 -9.91699374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284319999999994 meters Centerline goodness [0,1] 0.9999351098806022 Centerline is valid? [True, True] Translation: X:45.81, Y:-10.31, Z:-0.99 [[ 9.34489889e-01 3.55375619e-01 2.09001849e-02 4.58140182e+01] [-3.55261881e-01 9.34723010e-01 -9.04931914e-03 -1.03072273e+01] [-2.27517911e-02 1.03145823e-03 9.99740612e-01 -9.93720378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.314319999999995 meters Centerline goodness [0,1] 0.9999783765082385 Centerline is valid? [True, True] Translation: X:45.84, Y:-10.32, Z:-0.99 [[ 9.34106599e-01 3.56399681e-01 2.05944054e-02 4.58438106e+01] [-3.56289478e-01 9.34333068e-01 -8.91772048e-03 -1.03198440e+01] [-2.24203067e-02 9.92531609e-04 9.99748141e-01 -9.94641968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344319999999996 meters Centerline goodness [0,1] 0.9999137949613155 Centerline is valid? [True, True] Translation: X:45.87, Y:-10.34, Z:-1.00 [[ 9.33631431e-01 3.57648846e-01 2.04854591e-02 4.58708128e+01] [-3.57539965e-01 9.33855650e-01 -8.87684973e-03 -1.03351453e+01] [-2.23052567e-02 9.63335593e-04 9.99750743e-01 -9.95286216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.37431999999999 meters Centerline goodness [0,1] 0.9999568909772816 Centerline is valid? [True, True] Translation: X:45.90, Y:-10.34, Z:-1.00 [[ 9.33147184e-01 3.58861839e-01 2.13193037e-02 4.59018962e+01] [-3.58744081e-01 9.33390177e-01 -9.24455015e-03 -1.03447199e+01] [-2.32167449e-02 9.78351949e-04 9.99729976e-01 -9.95099668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.93, Y:-10.35, Z:-1.00 [[ 9.32907448e-01 3.59448545e-01 2.19188763e-02 4.59325058e+01] [-3.59324064e-01 9.33164374e-01 -9.51147857e-03 -1.03545421e+01] [-2.38728016e-02 9.97349476e-04 9.99714507e-01 -9.95177574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43431999999999 meters Centerline goodness [0,1] 0.9999783961285862 Centerline is valid? [True, True] Translation: X:45.96, Y:-10.37, Z:-0.99 [[ 9.32619197e-01 3.60160409e-01 2.24925211e-02 4.59591901e+01] [-3.60029353e-01 9.32889842e-01 -9.76771281e-03 -1.03708787e+01] [-2.45009879e-02 1.01158867e-03 9.99699294e-01 -9.94987016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.99, Y:-10.38, Z:-1.00 [[ 9.32340451e-01 3.60844797e-01 2.30719825e-02 4.59903232e+01] [-3.60706932e-01 9.32625316e-01 -1.00264127e-02 -1.03802321e+01] [-2.51354938e-02 1.02580613e-03 9.99683527e-01 -9.95419695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.494319999999995 meters Centerline goodness [0,1] 0.9999783559153284 Centerline is valid? [True, True] Translation: X:46.02, Y:-10.39, Z:-1.00 [[ 9.31698619e-01 3.62452731e-01 2.37844673e-02 4.60188730e+01] [-3.62306541e-01 9.32001597e-01 -1.03437344e-02 -1.03937336e+01] [-2.59162763e-02 1.01997495e-03 9.99663597e-01 -9.95088994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.524319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.05, Y:-10.41, Z:-1.00 [[ 9.31431527e-01 3.63122279e-01 2.40316741e-02 4.60480068e+01] [-3.62973058e-01 9.31740936e-01 -1.04588213e-02 -1.04069814e+01] [-2.61891256e-02 1.01882566e-03 9.99656487e-01 -9.95862385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.55431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.08, Y:-10.42, Z:-1.00 [[ 9.31330968e-01 3.63367865e-01 2.42161842e-02 4.60774035e+01] [-3.63216221e-01 9.31645179e-01 -1.05468825e-02 -1.04207453e+01] [-2.63932895e-02 1.02692737e-03 9.99651109e-01 -9.96752609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58431999999999 meters Centerline goodness [0,1] 0.9999783956618489 Centerline is valid? [True, True] Translation: X:46.11, Y:-10.44, Z:-1.00 [[ 9.31210399e-01 3.63661501e-01 2.44439477e-02 4.61063555e+01] [-3.63506862e-01 9.31530590e-01 -1.06546547e-02 -1.04351570e+01] [-2.66449727e-02 1.03618255e-03 9.99644423e-01 -9.97331807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61431999999999 meters Centerline goodness [0,1] 0.999935163172682 Centerline is valid? [True, True] Translation: X:46.13, Y:-10.45, Z:-1.00 [[ 9.31573915e-01 3.62686267e-01 2.50741542e-02 4.61333317e+01] [-3.62522975e-01 9.31910652e-01 -1.09374873e-02 -1.04511081e+01] [-2.73337478e-02 1.09912092e-03 9.99625759e-01 -9.97809872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.16, Y:-10.46, Z:-1.00 [[ 9.31896145e-01 3.61891326e-01 2.45813634e-02 4.61646780e+01] [-3.61733927e-01 9.32219632e-01 -1.07295572e-02 -1.04603207e+01] [-2.67981632e-02 1.10691986e-03 9.99640252e-01 -9.99723688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.674319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.19, Y:-10.47, Z:-1.00 [[ 9.31783216e-01 3.62182196e-01 2.45783470e-02 4.61943366e+01] [-3.62024716e-01 9.32106664e-01 -1.07364630e-02 -1.04734469e+01] [-2.67981968e-02 1.10608695e-03 9.99640252e-01 -1.00041425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.704319999999996 meters Centerline goodness [0,1] 0.9999566188751274 Centerline is valid? [True, True] Translation: X:46.22, Y:-10.50, Z:-1.00 [[ 9.32795102e-01 3.59586540e-01 2.43067564e-02 4.62186012e+01] [-3.59431433e-01 9.33111001e-01 -1.06257044e-02 -1.04964518e+01] [-2.65017621e-02 1.17499270e-03 9.99648076e-01 -1.00103381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73431999999999 meters Centerline goodness [0,1] 0.9999132452772898 Centerline is valid? [True, True] Translation: X:46.25, Y:-10.51, Z:-1.00 [[ 9.33160323e-01 3.58643858e-01 2.42155767e-02 4.62473118e+01] [-3.58489481e-01 9.33473696e-01 -1.05901632e-02 -1.05117301e+01] [-2.64027008e-02 1.20129065e-03 9.99650666e-01 -1.00193629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.28, Y:-10.52, Z:-1.00 [[ 9.33402127e-01 3.58018938e-01 2.41435195e-02 4.62777632e+01] [-3.57865083e-01 9.33713525e-01 -1.05657442e-02 -1.05210606e+01] [-2.63258672e-02 1.22196544e-03 9.99652667e-01 -1.00321671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.31, Y:-10.53, Z:-1.00 [[ 9.33339479e-01 3.58156346e-01 2.45244384e-02 4.63090686e+01] [-3.57997439e-01 9.33660797e-01 -1.07401287e-02 -1.05324175e+01] [-2.67441519e-02 1.24449999e-03 9.99641537e-01 -1.00388507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.34, Y:-10.55, Z:-1.00 [[ 9.33373192e-01 3.58068727e-01 2.45208329e-02 4.63354348e+01] [-3.57909603e-01 9.33694389e-01 -1.07473108e-02 -1.05498767e+01] [-2.67432399e-02 1.25501023e-03 9.99641548e-01 -1.00413001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.854319999999994 meters Centerline goodness [0,1] 0.999956686518679 Centerline is valid? [True, True] Translation: X:46.36, Y:-10.57, Z:-1.00 [[ 9.33428606e-01 3.57938150e-01 2.43170549e-02 4.63629073e+01] [-3.57781426e-01 9.33744454e-01 -1.06651590e-02 -1.05650522e+01] [-2.65233824e-02 1.25497388e-03 9.99647405e-01 -1.00457861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.884319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.39, Y:-10.57, Z:-1.01 [[ 9.33058287e-01 3.58893256e-01 2.44512441e-02 4.63947094e+01] [-3.58734932e-01 9.33377785e-01 -1.07311748e-02 -1.05727586e+01] [-2.66735943e-02 1.24129614e-03 9.99643426e-01 -1.00625509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91432 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.42, Y:-10.59, Z:-1.01 [[ 9.32677137e-01 3.59922069e-01 2.38634258e-02 4.64228599e+01] [-3.59771424e-01 9.32981613e-01 -1.04800572e-02 -1.05851884e+01] [-2.60361414e-02 1.18913106e-03 9.99660295e-01 -1.00723538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.45, Y:-10.59, Z:-1.01 [[ 9.31924419e-01 3.61873663e-01 2.37556133e-02 4.64533974e+01] [-3.61724911e-01 9.32226457e-01 -1.04365269e-02 -1.05943393e+01] [-2.59223155e-02 1.13305719e-03 9.99663318e-01 -1.00807496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.97431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.48, Y:-10.61, Z:-1.01 [[ 9.30628344e-01 3.65322498e-01 2.16877474e-02 4.64834124e+01] [-3.65199420e-01 9.30880537e-01 -9.52943240e-03 -1.06050390e+01] [-2.36700180e-02 9.48007113e-04 9.99719376e-01 -1.01071349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.51, Y:-10.62, Z:-1.01 [[ 9.30069578e-01 3.66803064e-01 2.06419883e-02 4.65119504e+01] [-3.66691898e-01 9.30298210e-01 -9.07156196e-03 -1.06178846e+01] [-2.25306815e-02 8.67933929e-04 9.99745775e-01 -1.01233664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.034319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.54, Y:-10.63, Z:-1.01 [[ 9.29266350e-01 3.68881802e-01 1.97551936e-02 4.65416774e+01] [-3.68780332e-01 9.29475979e-01 -8.68742149e-03 -1.06292650e+01] [-2.15666096e-02 7.87601614e-04 9.99767103e-01 -1.01365391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.064319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.57, Y:-10.64, Z:-1.01 [[ 9.28903005e-01 3.69808012e-01 1.95253920e-02 4.65710454e+01] [-3.69708964e-01 9.29107880e-01 -8.59241359e-03 -1.06418436e+01] [-2.13187389e-02 7.62806366e-04 9.99772439e-01 -1.01432727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.094319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.60, Y:-10.65, Z:-1.02 [[ 9.28593956e-01 3.70584634e-01 1.95011347e-02 4.65995081e+01] [-3.70485873e-01 9.28798400e-01 -8.58782205e-03 -1.06548520e+01] [-2.12951376e-02 7.49704721e-04 9.99772952e-01 -1.01505475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.63, Y:-10.67, Z:-1.02 [[ 9.28539621e-01 3.70692983e-01 2.00221191e-02 4.66299935e+01] [-3.70588769e-01 9.28755143e-01 -8.82320382e-03 -1.06670826e+01] [-2.18663458e-02 7.72721859e-04 9.99760604e-01 -1.01531676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.15431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.66, Y:-10.68, Z:-1.02 [[ 9.28601372e-01 3.70500067e-01 2.07169656e-02 4.66594232e+01] [-3.70388277e-01 9.28832085e-01 -9.13683560e-03 -1.06802485e+01] [-2.26277806e-02 8.11156874e-04 9.99743630e-01 -1.01558544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.69, Y:-10.69, Z:-1.02 [[ 9.28770666e-01 3.70053149e-01 2.11119893e-02 4.66888172e+01] [-3.69936788e-01 9.29010202e-01 -9.31761949e-03 -1.06941785e+01] [-2.30612679e-02 8.43830137e-04 9.99733697e-01 -1.01577027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.214319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.72, Y:-10.71, Z:-1.02 [[ 9.28951802e-01 3.69586171e-01 2.13216453e-02 4.67156452e+01] [-3.69467211e-01 9.29196053e-01 -9.41669501e-03 -1.07093900e+01] [-2.32922690e-02 8.70006952e-04 9.99728320e-01 -1.01587131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.244319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.74, Y:-10.73, Z:-1.02 [[ 9.29712111e-01 3.67698262e-01 2.08177598e-02 4.67427328e+01] [-3.67584257e-01 9.29944717e-01 -9.19989397e-03 -1.07259951e+01] [-2.27421508e-02 9.00972077e-04 9.99740958e-01 -1.01632126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.274319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.77, Y:-10.74, Z:-1.02 [[ 9.30012683e-01 3.66966582e-01 2.02962225e-02 4.67719429e+01] [-3.66857922e-01 9.30233689e-01 -8.97492964e-03 -1.07396093e+01] [-2.21737292e-02 9.00968395e-04 9.99753727e-01 -1.01728981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.80, Y:-10.75, Z:-1.02 [[ 9.30644981e-01 3.65387835e-01 1.97901168e-02 4.67997906e+01] [-3.65284045e-01 9.30854920e-01 -8.75694306e-03 -1.07541944e+01] [-2.16214080e-02 9.20591199e-04 9.99765806e-01 -1.01962025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.33431999999999 meters Centerline goodness [0,1] 0.9999783507609707 Centerline is valid? [True, True] Translation: X:46.83, Y:-10.77, Z:-1.02 [[ 9.30905911e-01 3.64712334e-01 1.99774280e-02 4.68284063e+01] [-3.64606292e-01 9.31119761e-01 -8.84543870e-03 -1.07678967e+01] [-2.18274186e-02 9.50375227e-04 9.99761302e-01 -1.02065154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36431999999999 meters Centerline goodness [0,1] 0.9999566790131479 Centerline is valid? [True, True] Translation: X:46.86, Y:-10.78, Z:-1.02 [[ 9.31102705e-01 3.64173316e-01 2.06288234e-02 4.68560384e+01] [-3.64059971e-01 9.31330659e-01 -9.14010499e-03 -1.07822891e+01] [-2.25408380e-02 1.00024763e-03 9.99745423e-01 -1.02075433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.39431999999999 meters Centerline goodness [0,1] 0.9999783122600794 Centerline is valid? [True, True] Translation: X:46.89, Y:-10.79, Z:-1.02 [[ 9.31405922e-01 3.63302816e-01 2.22277431e-02 4.68852221e+01] [-3.63170811e-01 9.31670456e-01 -9.85506960e-03 -1.07949092e+01] [-2.42893061e-02 1.10660268e-03 9.99704359e-01 -1.01931662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.92, Y:-10.80, Z:-1.02 [[ 9.31385737e-01 3.63296599e-01 2.31557656e-02 4.69180038e+01] [-3.63153155e-01 9.31672816e-01 -1.02737329e-02 -1.08011453e+01] [-2.53060096e-02 1.15971896e-03 9.99679079e-01 -1.01901452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.454319999999996 meters Centerline goodness [0,1] 0.9999782971981683 Centerline is valid? [True, True] Translation: X:46.94, Y:-10.82, Z:-1.02 [[ 9.31088215e-01 3.64068417e-01 2.29983419e-02 4.69441147e+01] [-3.63926964e-01 9.31371512e-01 -1.02113833e-02 -1.08201407e+01] [-2.51376426e-02 1.13798190e-03 9.99683352e-01 -1.01876571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.98, Y:-10.83, Z:-1.02 [[ 9.30870236e-01 3.64649544e-01 2.26122713e-02 4.69772003e+01] [-3.64512792e-01 9.31144177e-01 -1.00472244e-02 -1.08257133e+01] [-2.47190005e-02 1.11020002e-03 9.99693822e-01 -1.02077637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.51431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.00, Y:-10.84, Z:-1.02 [[ 9.30585923e-01 3.65408266e-01 2.20599104e-02 4.70037653e+01] [-3.65278159e-01 9.30846740e-01 -9.80877452e-03 -1.08428151e+01] [-2.41186030e-02 1.06990400e-03 9.99708532e-01 -1.02231001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.04, Y:-10.85, Z:-1.02 [[ 9.29882512e-01 3.67212880e-01 2.17534761e-02 4.70366971e+01] [-3.67086700e-01 9.30136372e-01 -9.67904680e-03 -1.08485167e+01] [-2.37879700e-02 1.01496458e-03 9.99716511e-01 -1.02440300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.57431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.07, Y:-10.86, Z:-1.03 [[ 9.29561322e-01 3.68057904e-01 2.11926350e-02 4.70664096e+01] [-3.67938210e-01 9.29802361e-01 -9.43628108e-03 -1.08605807e+01] [-2.31780599e-02 9.74021731e-04 9.99730878e-01 -1.02571123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.09, Y:-10.87, Z:-1.03 [[ 9.29253107e-01 3.68866440e-01 2.06449221e-02 4.70947824e+01] [-3.68752903e-01 9.29481939e-01 -9.19898253e-03 -1.08739792e+01] [-2.25822782e-02 9.35308131e-04 9.99744550e-01 -1.02690081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.634319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.12, Y:-10.89, Z:-1.03 [[ 9.28693189e-01 3.70301067e-01 2.01514317e-02 4.71243137e+01] [-3.70193100e-01 9.28911372e-01 -8.98505749e-03 -1.08860159e+01] [-2.20460704e-02 8.84440714e-04 9.99756565e-01 -1.02816980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.15, Y:-10.90, Z:-1.03 [[ 9.28385656e-01 3.71107074e-01 1.94836457e-02 4.71528045e+01] [-3.71006192e-01 9.28589699e-01 -8.69342316e-03 -1.08989110e+01] [-2.13185035e-02 8.42296177e-04 9.99772380e-01 -1.02962618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.69431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.18, Y:-10.91, Z:-1.03 [[ 9.27844071e-01 3.72481324e-01 1.90537013e-02 4.71822717e+01] [-3.72385018e-01 9.28039345e-01 -8.50714945e-03 -1.09111348e+01] [-2.08513388e-02 7.97995276e-04 9.99782269e-01 -1.03075499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.21, Y:-10.92, Z:-1.03 [[ 9.26687678e-01 3.75368781e-01 1.86608253e-02 4.72130391e+01] [-3.75276866e-01 9.26875264e-01 -8.33777403e-03 -1.09194914e+01] [-2.04259975e-02 7.23536402e-04 9.99791106e-01 -1.03182838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.24, Y:-10.93, Z:-1.03 [[ 9.26210506e-01 3.76560556e-01 1.83370154e-02 4.72412797e+01] [-3.76472023e-01 9.26391752e-01 -8.19379738e-03 -1.09329577e+01] [-2.00727207e-02 6.85807921e-04 9.99798287e-01 -1.03303183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.27, Y:-10.95, Z:-1.03 [[ 9.25793043e-01 3.77608377e-01 1.78649210e-02 4.72705226e+01] [-3.77524480e-01 9.25965168e-01 -7.98587840e-03 -1.09450954e+01] [-1.95578291e-02 6.48825659e-04 9.99808517e-01 -1.03420981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.814319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.30, Y:-10.96, Z:-1.03 [[ 9.25547898e-01 3.78226045e-01 1.74970756e-02 4.72980740e+01] [-3.78145571e-01 9.25713057e-01 -7.82705732e-03 -1.09591364e+01] [-1.91576683e-02 6.27874813e-04 9.99816278e-01 -1.03482086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.33, Y:-10.97, Z:-1.03 [[ 9.25448717e-01 3.78446711e-01 1.79655151e-02 4.73283298e+01] [-3.78361804e-01 9.25622856e-01 -8.04205628e-03 -1.09731793e+01] [-1.96727811e-02 6.45045979e-04 9.99806264e-01 -1.03493720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.87431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.36, Y:-10.98, Z:-1.04 [[ 9.25640184e-01 3.77968854e-01 1.81602586e-02 4.73578883e+01] [-3.77881870e-01 9.25818070e-01 -8.13595865e-03 -1.09847718e+01] [-1.98882345e-02 6.68537784e-04 9.99801986e-01 -1.03510108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.38, Y:-11.00, Z:-1.04 [[ 9.26413881e-01 3.76030981e-01 1.89214984e-02 4.73829638e+01] [-3.75936012e-01 9.26606791e-01 -8.48351356e-03 -1.10038562e+01] [-2.07228528e-02 7.45972081e-04 9.99784980e-01 -1.03572439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.41, Y:-11.01, Z:-1.04 [[ 9.26826471e-01 3.75003441e-01 1.91079208e-02 4.74137871e+01] [-3.74906308e-01 9.27023091e-01 -8.57018413e-03 -1.10145691e+01] [-2.09273324e-02 7.79393444e-04 9.99780696e-01 -1.03627724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.44, Y:-11.03, Z:-1.03 [[ 9.27056396e-01 3.74339748e-01 2.08852189e-02 4.74418364e+01] [-3.74223368e-01 9.27291210e-01 -9.37462584e-03 -1.10291060e+01] [-2.28759749e-02 8.75069909e-04 9.99737928e-01 -1.03420316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.994319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.47, Y:-11.04, Z:-1.03 [[ 9.27181383e-01 3.74046982e-01 2.05800481e-02 4.74713135e+01] [-3.73933770e-01 9.27409343e-01 -9.24371717e-03 -1.10429432e+01] [-2.25437134e-02 8.75027480e-04 9.99745475e-01 -1.03453302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.024319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.50, Y:-11.06, Z:-1.04 [[ 9.27252613e-01 3.73901584e-01 2.00048969e-02 4.74982206e+01] [-3.73794441e-01 9.27467986e-01 -8.99167445e-03 -1.10577845e+01] [-2.19159028e-02 8.59834373e-04 9.99759448e-01 -1.03520195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.05431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.53, Y:-11.07, Z:-1.04 [[ 9.26333744e-01 3.76158148e-01 2.02692369e-02 4.75286258e+01] [-3.76048556e-01 9.26555109e-01 -9.11663008e-03 -1.10669646e+01] [-2.22098597e-02 8.22824806e-04 9.99752992e-01 -1.03610686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.56, Y:-11.08, Z:-1.04 [[ 9.26131776e-01 3.76700200e-01 1.94137023e-02 4.75581852e+01] [-3.76599660e-01 9.26334901e-01 -8.73769664e-03 -1.10792289e+01] [-2.12750821e-02 7.81064818e-04 9.99773355e-01 -1.03819624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.11431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.59, Y:-11.09, Z:-1.04 [[ 9.25641565e-01 3.77941166e-01 1.86592471e-02 4.75882094e+01] [-3.77848425e-01 9.25829328e-01 -8.40379281e-03 -1.10907947e+01] [-2.04514175e-02 7.28532805e-04 9.99790582e-01 -1.04015196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.62, Y:-11.10, Z:-1.04 [[ 9.25362909e-01 3.78615420e-01 1.88109051e-02 4.76159607e+01] [-3.78521178e-01 9.25553801e-01 -8.47822652e-03 -1.11045203e+01] [-2.06204920e-02 7.25110405e-04 9.99787112e-01 -1.04119181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.174319999999994 meters Centerline goodness [0,1] 0.9999135639734641 Centerline is valid? [True, True] Translation: X:47.65, Y:-11.12, Z:-1.04 [[ 9.25207044e-01 3.79012173e-01 1.84850637e-02 4.76466560e+01] [-3.78921139e-01 9.25391415e-01 -8.33669460e-03 -1.11159844e+01] [-2.02656280e-02 7.08787197e-04 9.99794380e-01 -1.04215223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.204319999999996 meters Centerline goodness [0,1] 0.9999783601307048 Centerline is valid? [True, True] Translation: X:47.68, Y:-11.13, Z:-1.04 [[ 9.25388156e-01 3.78623914e-01 1.73404771e-02 4.76753362e+01] [-3.78543622e-01 9.25550361e-01 -7.82654884e-03 -1.11297770e+01] [-1.90128034e-02 6.78468605e-04 9.99819010e-01 -1.04308513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.71, Y:-11.14, Z:-1.04 [[ 9.24936500e-01 3.79701206e-01 1.78735687e-02 4.77059066e+01] [-3.79615975e-01 9.25108928e-01 -8.07362844e-03 -1.11413065e+01] [-1.96005644e-02 6.82501424e-04 9.99807658e-01 -1.04314036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.73, Y:-11.15, Z:-1.04 [[ 9.24665805e-01 3.80383472e-01 1.73655551e-02 4.77349775e+01] [-3.80303107e-01 9.24828628e-01 -7.84573339e-03 -1.11543689e+01] [-1.90445498e-02 6.50506833e-04 9.99818424e-01 -1.04425887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.29431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.76, Y:-11.17, Z:-1.04 [[ 9.24634684e-01 3.80454200e-01 1.74728884e-02 4.77643562e+01] [-3.80372742e-01 9.24799528e-01 -7.89997348e-03 -1.11695598e+01] [-1.91644971e-02 6.58379010e-04 9.99816127e-01 -1.04436591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.79, Y:-11.18, Z:-1.04 [[ 9.24771586e-01 3.80114077e-01 1.76295680e-02 4.77921016e+01] [-3.80030952e-01 9.24939365e-01 -7.97791021e-03 -1.11839973e+01] [-1.93387974e-02 6.77963166e-04 9.99812758e-01 -1.04474228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.354319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.82, Y:-11.20, Z:-1.05 [[ 9.24730472e-01 3.80214935e-01 1.76112702e-02 4.78207857e+01] [-3.80131944e-01 9.24897910e-01 -7.97252406e-03 -1.11985971e+01] [-1.93198998e-02 6.77829544e-04 9.99813124e-01 -1.04538800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.384319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.85, Y:-11.21, Z:-1.05 [[ 9.24925757e-01 3.79716222e-01 1.81089953e-02 4.78500364e+01] [-3.79628248e-01 9.25102741e-01 -8.20438029e-03 -1.12110752e+01] [-1.98680175e-02 7.13756468e-04 9.99802357e-01 -1.04562759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.88, Y:-11.23, Z:-1.05 [[ 9.24974044e-01 3.79591278e-01 1.82614102e-02 4.78789926e+01] [-3.79501672e-01 9.25154004e-01 -8.27944917e-03 -1.12250773e+01] [-2.00374235e-02 7.28039884e-04 9.99798966e-01 -1.04599420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.91, Y:-11.24, Z:-1.05 [[ 9.25206518e-01 3.79033096e-01 1.80779264e-02 4.79074923e+01] [-3.78945060e-01 9.25382822e-01 -8.20208371e-03 -1.12390289e+01] [-1.98378638e-02 7.38080391e-04 9.99802938e-01 -1.04659228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.47431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.94, Y:-11.25, Z:-1.05 [[ 9.25292416e-01 3.78812069e-01 1.83128967e-02 4.79366314e+01] [-3.78721564e-01 9.25473307e-01 -8.31473867e-03 -1.12517276e+01] [-2.00978204e-02 7.58075736e-04 9.99797731e-01 -1.04750890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.96, Y:-11.27, Z:-1.05 [[ 9.25473166e-01 3.78387105e-01 1.79615625e-02 4.79634143e+01] [-3.78299844e-01 9.25647138e-01 -8.16110747e-03 -1.12675178e+01] [-1.97141267e-02 7.58029686e-04 9.99805370e-01 -1.04801362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.534319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.99, Y:-11.28, Z:-1.05 [[ 9.25431205e-01 3.78487587e-01 1.80064033e-02 4.79928090e+01] [-3.78399852e-01 9.25606054e-01 -8.18438914e-03 -1.12816928e+01] [-1.97645256e-02 7.60468764e-04 9.99804373e-01 -1.04772855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.564319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.02, Y:-11.30, Z:-1.05 [[ 9.25514342e-01 3.78274799e-01 1.82038138e-02 4.80212375e+01] [-3.78184950e-01 9.25693020e-01 -8.28101834e-03 -1.12957328e+01] [-1.99836439e-02 7.79792831e-04 9.99800003e-01 -1.04747126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.594319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.05, Y:-11.31, Z:-1.05 [[ 9.25398357e-01 3.78558559e-01 1.82016128e-02 4.80506863e+01] [-3.78468670e-01 9.25577015e-01 -8.28585304e-03 -1.13093197e+01] [-1.99836751e-02 7.78974580e-04 9.99800003e-01 -1.04816175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.08, Y:-11.32, Z:-1.05 [[ 9.25231931e-01 3.78964602e-01 1.82127556e-02 4.80812369e+01] [-3.78874547e-01 9.25410842e-01 -8.29766929e-03 -1.13223834e+01] [-1.99988044e-02 7.76919068e-04 9.99799702e-01 -1.04920885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.65431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.11, Y:-11.33, Z:-1.05 [[ 9.24744089e-01 3.80173990e-01 1.77794193e-02 4.81095342e+01] [-3.80088264e-01 9.24914694e-01 -8.10681880e-03 -1.13344776e+01] [-1.95264478e-02 7.38984131e-04 9.99809068e-01 -1.05015775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.14, Y:-11.35, Z:-1.05 [[ 9.24387210e-01 3.81055783e-01 1.74578649e-02 4.81402866e+01] [-3.80973189e-01 9.24551774e-01 -7.96528215e-03 -1.13453622e+01] [-1.91759168e-02 7.12026471e-04 9.99815872e-01 -1.05162362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.714319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.17, Y:-11.36, Z:-1.05 [[ 9.24003474e-01 3.82018607e-01 1.67141939e-02 4.81686853e+01] [-3.81942956e-01 9.24154391e-01 -7.63155298e-03 -1.13583428e+01] [-1.83618909e-02 6.67712851e-04 9.99831183e-01 -1.05311715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.744319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.20, Y:-11.37, Z:-1.05 [[ 9.23320975e-01 3.83655743e-01 1.69306700e-02 4.81963841e+01] [-3.83578340e-01 9.23475962e-01 -7.73328232e-03 -1.13737163e+01] [-1.86019850e-02 6.46063461e-04 9.99826759e-01 -1.05360623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.774319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.23, Y:-11.39, Z:-1.05 [[ 9.22680573e-01 3.85166239e-01 1.75365001e-02 4.82263605e+01] [-3.85083349e-01 9.22846983e-01 -8.01623846e-03 -1.13868211e+01] [-1.92710906e-02 6.43413311e-04 9.99814088e-01 -1.05328203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.26, Y:-11.40, Z:-1.05 [[ 9.22113172e-01 3.86500645e-01 1.80152287e-02 4.82566554e+01] [-3.86413386e-01 9.22288919e-01 -8.23685333e-03 -1.13986234e+01] [-1.97987949e-02 6.33985424e-04 9.99803784e-01 -1.05350812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.83431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.28, Y:-11.41, Z:-1.05 [[ 9.21625893e-01 3.87693554e-01 1.73038091e-02 4.82844226e+01] [-3.87613161e-01 9.21788132e-01 -7.91688456e-03 -1.14130600e+01] [-1.90197710e-02 5.89221664e-04 9.99818934e-01 -1.05490311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.31, Y:-11.43, Z:-1.06 [[ 9.21152490e-01 3.88847383e-01 1.66073131e-02 4.83122162e+01] [-3.88773434e-01 9.21302021e-01 -7.60288479e-03 -1.14261760e+01] [-1.82567130e-02 5.46934114e-04 9.99833183e-01 -1.05589276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.89431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.34, Y:-11.43, Z:-1.06 [[ 9.19883681e-01 3.91804169e-01 1.74214146e-02 4.83427138e+01] [-3.91723211e-01 9.20048491e-01 -7.98126998e-03 -1.14345821e+01] [-1.91556411e-02 5.17467529e-04 9.99816380e-01 -1.05573417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.37, Y:-11.45, Z:-1.06 [[ 9.19432191e-01 3.92874037e-01 1.71591987e-02 4.83708494e+01] [-3.92795675e-01 9.19592167e-01 -7.86161233e-03 -1.14488880e+01] [-1.88680881e-02 4.88160423e-04 9.99821863e-01 -1.05626396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.954319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.40, Y:-11.46, Z:-1.06 [[ 9.18971990e-01 3.93957449e-01 1.69708474e-02 4.84015439e+01] [-3.93880934e-01 9.19128562e-01 -7.77790830e-03 -1.14590506e+01] [-1.86625555e-02 4.63186639e-04 9.99825732e-01 -1.05628512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.43, Y:-11.47, Z:-1.06 [[ 9.18246525e-01 3.95611552e-01 1.77431453e-02 4.84301110e+01] [-3.95528102e-01 9.18417821e-01 -8.13804416e-03 -1.14717163e+01] [-1.95151251e-02 4.54818208e-04 9.99809458e-01 -1.05672794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.01431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.46, Y:-11.49, Z:-1.06 [[ 9.18220633e-01 3.95688153e-01 1.73711001e-02 4.84605465e+01] [-3.95608083e-01 9.18384824e-01 -7.97241694e-03 -1.14854115e+01] [-1.91079457e-02 4.48290097e-04 9.99817326e-01 -1.05733687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.49, Y:-11.50, Z:-1.06 [[ 9.18143026e-01 3.95816571e-01 1.85101623e-02 4.84897898e+01] [-3.95725530e-01 9.18329467e-01 -8.50264424e-03 -1.14992839e+01] [-2.03639150e-02 4.81699725e-04 9.99792518e-01 -1.05673100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.07431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.52, Y:-11.51, Z:-1.06 [[ 9.18434500e-01 3.95129496e-01 1.87283260e-02 4.85196256e+01] [-3.95036016e-01 9.18625289e-01 -8.60950560e-03 -1.15120782e+01] [-2.06061835e-02 5.08903679e-04 9.99787541e-01 -1.05759659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.55, Y:-11.53, Z:-1.06 [[ 9.18319021e-01 3.95383516e-01 1.90276185e-02 4.85495348e+01] [-3.95286945e-01 9.18515981e-01 -8.75350126e-03 -1.15257318e+01] [-2.09381618e-02 5.17137515e-04 9.99780639e-01 -1.05771464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.134319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.58, Y:-11.54, Z:-1.06 [[ 9.18414430e-01 3.95130177e-01 1.96743051e-02 4.85784063e+01] [-3.95026705e-01 9.18624974e-01 -9.05864802e-03 -1.15396193e+01] [-2.16526532e-02 5.47717129e-04 9.99765404e-01 -1.05807345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.61, Y:-11.55, Z:-1.06 [[ 9.18850416e-01 3.94141366e-01 1.91441248e-02 4.86068052e+01] [-3.94043051e-01 9.19049655e-01 -8.82070765e-03 -1.15547772e+01] [-2.10710070e-02 5.61301546e-04 9.99777824e-01 -1.05868553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.63, Y:-11.57, Z:-1.06 [[ 9.19855251e-01 3.91765552e-01 1.96486520e-02 4.86341764e+01] [-3.91661300e-01 9.20064859e-01 -9.05988564e-03 -1.15699787e+01] [-2.16273853e-02 6.38166812e-04 9.99765897e-01 -1.05914633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.66, Y:-11.59, Z:-1.06 [[ 9.20540968e-01 3.90157780e-01 1.95251733e-02 4.86609815e+01] [-3.90054344e-01 9.20747766e-01 -9.00891202e-03 -1.15858689e+01] [-2.14926568e-02 6.77193928e-04 9.99768777e-01 -1.06012414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.69, Y:-11.60, Z:-1.06 [[ 9.20717643e-01 3.89703173e-01 2.02597532e-02 4.86908120e+01] [-3.89591556e-01 9.20940236e-01 -9.35419349e-03 -1.15977129e+01] [-2.23033808e-02 7.19542216e-04 9.99750990e-01 -1.06018776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.72, Y:-11.61, Z:-1.06 [[ 9.21082121e-01 3.88819929e-01 2.06588661e-02 4.87206818e+01] [-3.88703491e-01 9.21313455e-01 -9.54534911e-03 -1.16093625e+01] [-2.27447133e-02 7.61877025e-04 9.99741015e-01 -1.06100497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.314319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.75, Y:-11.63, Z:-1.06 [[ 9.22296914e-01 3.85951228e-01 2.02497388e-02 4.87472202e+01] [-3.85838523e-01 9.22518820e-01 -9.36272698e-03 -1.16253040e+01] [-2.22943211e-02 8.22084883e-04 9.99751113e-01 -1.06236910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.78, Y:-11.64, Z:-1.06 [[ 9.23379692e-01 3.83345998e-01 2.03909598e-02 4.87759388e+01] [-3.83231056e-01 9.23604380e-01 -9.42906284e-03 -1.16393608e+01] [-2.24477732e-02 8.92156091e-04 9.99747619e-01 -1.06287047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.37431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.81, Y:-11.65, Z:-1.06 [[ 9.23451305e-01 3.83185578e-01 2.01618223e-02 4.88055429e+01] [-3.83073121e-01 9.23670950e-01 -9.32523170e-03 -1.16528939e+01] [-2.21961839e-02 8.87945180e-04 9.99753240e-01 -1.06365991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.83, Y:-11.67, Z:-1.06 [[ 9.23379452e-01 3.83380850e-01 1.97360301e-02 4.88339055e+01] [-3.83272997e-01 9.23589934e-01 -9.13478217e-03 -1.16671824e+01] [-2.17300993e-02 8.70582747e-04 9.99763494e-01 -1.06455540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.86, Y:-11.68, Z:-1.07 [[ 9.23205151e-01 3.83831058e-01 1.91302996e-02 4.88648223e+01] [-3.83729682e-01 9.23402953e-01 -8.86102593e-03 -1.16787352e+01] [-2.10661121e-02 8.39681003e-04 9.99777732e-01 -1.06668828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.89, Y:-11.69, Z:-1.07 [[ 9.23332899e-01 3.83543156e-01 1.87351138e-02 4.88935692e+01] [-3.83445721e-01 9.23522577e-01 -8.68499686e-03 -1.16917588e+01] [-2.06333717e-02 8.35244097e-04 9.99786760e-01 -1.06801533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.494319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.92, Y:-11.70, Z:-1.07 [[ 9.23444639e-01 3.83230027e-01 1.96149250e-02 4.89222829e+01] [-3.83123016e-01 9.23652510e-01 -9.09923646e-03 -1.17046936e+01] [-2.16044753e-02 8.87711925e-04 9.99766202e-01 -1.06909030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.524319999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.95, Y:-11.72, Z:-1.07 [[ 9.23866589e-01 3.82222252e-01 1.94081584e-02 4.89504877e+01] [-3.82117188e-01 9.24069982e-01 -9.00685564e-03 -1.17204776e+01] [-2.13771172e-02 9.04942094e-04 9.99771074e-01 -1.07036623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.55431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.98, Y:-11.73, Z:-1.07 [[ 9.24035735e-01 3.81785433e-01 1.99460024e-02 4.89787570e+01] [-3.81674216e-01 9.24250500e-01 -9.26315935e-03 -1.17345473e+01] [-2.19716420e-02 9.46615426e-04 9.99758146e-01 -1.07079700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.01, Y:-11.75, Z:-1.07 [[ 9.24595302e-01 3.80375944e-01 2.09205540e-02 4.90078892e+01] [-3.80253078e-01 9.24831375e-01 -9.72239333e-03 -1.17479535e+01] [-2.30461493e-02 1.03417414e-03 9.99733867e-01 -1.07251498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.03, Y:-11.76, Z:-1.07 [[ 9.25049461e-01 3.79262521e-01 2.10579030e-02 4.90338766e+01] [-3.79137604e-01 9.25288488e-01 -9.79244562e-03 -1.17645621e+01] [-2.31985428e-02 1.07465366e-03 9.99730300e-01 -1.07401869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64431999999999 meters Centerline goodness [0,1] 0.9999783376297035 Centerline is valid? [True, True] Translation: X:49.06, Y:-11.78, Z:-1.07 [[ 9.25769410e-01 3.77380474e-01 2.31295817e-02 4.90620470e+01] [-3.77229124e-01 9.26057479e-01 -1.07579531e-02 -1.17785625e+01] [-2.54791635e-02 1.23423208e-03 9.99674592e-01 -1.07414744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.674319999999994 meters Centerline goodness [0,1] 0.9999784594175426 Centerline is valid? [True, True] Translation: X:49.09, Y:-11.79, Z:-1.07 [[ 9.25247594e-01 3.78526566e-01 2.51898349e-02 4.90920214e+01] [-3.78347245e-01 9.25589490e-01 -1.17242751e-02 -1.17901710e+01] [-2.77533960e-02 1.31735270e-03 9.99613932e-01 -1.07358915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.704319999999996 meters Centerline goodness [0,1] 0.9999784077904692 Centerline is valid? [True, True] Translation: X:49.12, Y:-11.80, Z:-1.07 [[ 9.24939532e-01 3.79183311e-01 2.65871764e-02 4.91217665e+01] [-3.78983544e-01 9.25320548e-01 -1.23837007e-02 -1.18036234e+01] [-2.92973532e-02 1.37807200e-03 9.99569790e-01 -1.07382528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73431999999999 meters Centerline goodness [0,1] 0.9999785061794734 Centerline is valid? [True, True] Translation: X:49.15, Y:-11.82, Z:-1.07 [[ 9.24280231e-01 3.80705953e-01 2.77314150e-02 4.91509632e+01] [-3.80489003e-01 9.24695100e-01 -1.29263312e-02 -1.18151283e+01] [-3.05642348e-02 1.39605399e-03 9.99531830e-01 -1.07460055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76431999999999 meters Centerline goodness [0,1] 0.9999784626650299 Centerline is valid? [True, True] Translation: X:49.18, Y:-11.83, Z:-1.08 [[ 9.24303324e-01 3.80637475e-01 2.79011974e-02 4.91782879e+01] [-3.80417611e-01 9.24723264e-01 -1.30125461e-02 -1.18292969e+01] [-3.07539491e-02 1.41343278e-03 9.99525986e-01 -1.07625116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.79431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.21, Y:-11.84, Z:-1.08 [[ 9.24554499e-01 3.80036960e-01 2.77648546e-02 4.92065367e+01] [-3.79818796e-01 9.24970194e-01 -1.29546529e-02 -1.18435571e+01] [-3.06049099e-02 1.43166902e-03 9.99530535e-01 -1.07834167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82431999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.24, Y:-11.85, Z:-1.08 [[ 9.24946211e-01 3.79058045e-01 2.80981351e-02 4.92380977e+01] [-3.78833894e-01 9.25371698e-01 -1.31187360e-02 -1.18514336e+01] [-3.09739814e-02 1.48959919e-03 9.99519081e-01 -1.08132688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.854319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.26, Y:-11.87, Z:-1.08 [[ 9.25599321e-01 3.77350491e-01 2.95381973e-02 4.92635013e+01] [-3.77101572e-01 9.26069076e-01 -1.38011539e-02 -1.18700464e+01] [-3.25622833e-02 1.63543802e-03 9.99468370e-01 -1.08193046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.884319999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.29, Y:-11.89, Z:-1.08 [[ 9.26022443e-01 3.76313518e-01 2.95054563e-02 4.92919568e+01] [-3.76064324e-01 9.26490863e-01 -1.37951210e-02 -1.18851194e+01] [-3.25278262e-02 1.67864215e-03 9.99469421e-01 -1.08359852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91431999999999 meters Centerline goodness [0,1] 0.9999784217681204 Centerline is valid? [True, True] Translation: X:49.32, Y:-11.90, Z:-1.09 [[ 9.26415795e-01 3.75294454e-01 3.01305137e-02 4.93215356e+01] [-3.75033732e-01 9.26903974e-01 -1.40969342e-02 -1.18964991e+01] [-3.32185941e-02 1.75966352e-03 9.99446561e-01 -1.08590021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94431999999999 meters Centerline goodness [0,1] 0.999978383052313 Centerline is valid? [True, True] Translation: X:49.35, Y:-11.91, Z:-1.09 [[ 9.26906621e-01 3.74001791e-01 3.10930160e-02 4.93497770e+01] [-3.73723082e-01 9.27426090e-01 -1.45569431e-02 -1.19104720e+01] [-3.42807971e-02 1.87274915e-03 9.99410486e-01 -1.08804252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.97431999999999 meters Centerline goodness [0,1] 0.999913776379039 Centerline is valid? [True, True] Translation: X:49.38, Y:-11.93, Z:-1.09 [[ 9.26805902e-01 3.74202328e-01 3.16770729e-02 4.93787167e+01] [-3.73912798e-01 9.27345119e-01 -1.48408223e-02 -1.19250759e+01] [-3.49290492e-02 1.91009876e-03 9.99387969e-01 -1.08902381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00431999999999 meters Centerline goodness [0,1] 0.9932620667314545 Centerline is valid? [True, True] Translation: X:49.40, Y:-11.95, Z:-1.09 [[ 9.26656364e-01 3.74521418e-01 3.22752168e-02 4.94019289e+01] [-3.74220682e-01 9.27216227e-01 -1.51310912e-02 -1.19507515e+01] [-3.55930225e-02 1.94326829e-03 9.99364478e-01 -1.08633921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.034319999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.44, Y:-11.95, Z:-1.09 [[ 9.26316954e-01 3.75321143e-01 3.27252308e-02 4.94358283e+01] [-3.75012129e-01 9.26892791e-01 -1.53511109e-02 -1.19533877e+01] [-3.60943770e-02 1.94763581e-03 9.99346488e-01 -1.09047578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.064319999999995 meters Centerline goodness [0,1] 0.9999784054591 Centerline is valid? [True, True] Translation: X:49.47, Y:-11.96, Z:-1.09 [[ 9.25459903e-01 3.77340641e-01 3.37343669e-02 4.94661234e+01] [-3.77013321e-01 9.26072514e-01 -1.58320801e-02 -1.19638779e+01] [-3.72145572e-02 1.93364967e-03 9.99305428e-01 -1.09281132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09431999999999 meters Centerline goodness [0,1] 0.9999784557049294 Centerline is valid? [True, True] Translation: X:49.50, Y:-11.98, Z:-1.09 [[ 9.24907840e-01 3.78726764e-01 3.33395672e-02 4.94959122e+01] [-3.78407847e-01 9.25506663e-01 -1.56498567e-02 -1.19772246e+01] [-3.67830112e-02 1.85872127e-03 9.99321547e-01 -1.09430635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12431999999999 meters Centerline goodness [0,1] 0.9996981457524795 Centerline is valid? [True, True] Translation: X:49.52, Y:-11.99, Z:-1.10 [[ 9.23639515e-01 3.81659688e-01 3.50132719e-02 4.95229943e+01] [-3.81309922e-01 9.24301101e-01 -1.64382980e-02 -1.19902164e+01] [-3.86366414e-02 1.83215366e-03 9.99251647e-01 -1.09542833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.15431999999999 meters Centerline goodness [0,1] 0.9996120606047544 Centerline is valid? [True, True] Translation: X:49.55, Y:-12.00, Z:-1.10 [[ 9.23019612e-01 3.83101870e-01 3.56055118e-02 4.95526334e+01] [-3.82741003e-01 9.23704331e-01 -1.67222519e-02 -1.20022466e+01] [-3.92952914e-02 1.80727717e-03 9.99226007e-01 -1.09700056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18431999999999 meters Centerline goodness [0,1] 0.9997633492534744 Centerline is valid? [True, True] Translation: X:49.58, Y:-12.01, Z:-1.10 [[ 9.21766639e-01 3.85942469e-01 3.73453288e-02 4.95817770e+01] [-3.85547467e-01 9.22521142e-01 -1.75469013e-02 -1.20127921e+01] [-4.12239497e-02 1.77575131e-03 9.99148354e-01 -1.09682290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.214319999999994 meters Centerline goodness [0,1] 0.9995061728395062 Centerline is valid? [True, True] Translation: X:49.61, Y:-12.02, Z:-1.10 [[ 9.20845148e-01 3.88016165e-01 3.85703282e-02 4.96115404e+01] [-3.87596312e-01 9.21650916e-01 -1.81297415e-02 -1.20246534e+01] [-4.25830110e-02 1.74496748e-03 9.99091408e-01 -1.09784215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.244319999999995 meters Centerline goodness [0,1] 0.9995695406999269 Centerline is valid? [True, True] Translation: X:49.64, Y:-12.04, Z:-1.10 [[ 9.20895212e-01 3.87855363e-01 3.89900752e-02 4.96409538e+01] [-3.87425616e-01 9.21718523e-01 -1.83400100e-02 -1.20375138e+01] [-4.30511458e-02 1.78347345e-03 9.99071278e-01 -1.09947231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.274319999999996 meters Centerline goodness [0,1] 0.9994430759344544 Centerline is valid? [True, True] Translation: X:49.67, Y:-12.05, Z:-1.10 [[ 9.21179733e-01 3.87209184e-01 3.86904167e-02 4.96693121e+01] [-3.86784920e-01 9.21990113e-01 -1.82114874e-02 -1.20515555e+01] [-4.27238369e-02 1.81118339e-03 9.99085278e-01 -1.10108193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30431999999999 meters Centerline goodness [0,1] 0.9985861788269569 Centerline is valid? [True, True] Translation: X:49.70, Y:-12.07, Z:-1.10 [[ 9.22495919e-01 3.83938344e-01 3.99077266e-02 4.96962791e+01] [-3.83483575e-01 9.23356498e-01 -1.87916395e-02 -1.20677169e+01] [-4.40638896e-02 2.03125305e-03 9.99026650e-01 -1.10295216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.33431999999999 meters Centerline goodness [0,1] 0.9975808178120317 Centerline is valid? [True, True] Translation: X:49.72, Y:-12.08, Z:-1.10 [[ 9.23091633e-01 3.82390161e-01 4.09829496e-02 4.97232797e+01] [-3.81908675e-01 9.23998409e-01 -1.93055464e-02 -1.20833850e+01] [-4.52504312e-02 2.16904439e-03 9.98973320e-01 -1.10419990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36431999999999 meters Centerline goodness [0,1] 0.9956769545112377 Centerline is valid? [True, True] Translation: X:49.75, Y:-12.10, Z:-1.11 [[ 9.23974509e-01 3.80133511e-01 4.20668633e-02 4.97520599e+01] [-3.79623539e-01 9.24928650e-01 -1.98232528e-02 -1.20954480e+01] [-4.64443298e-02 2.34660876e-03 9.98918124e-01 -1.10715427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.39431999999999 meters Centerline goodness [0,1] 0.9866534849233811 Centerline is valid? [True, True] Translation: X:49.77, Y:-12.12, Z:-1.11 [[ 9.26048299e-01 3.74908835e-01 4.33349040e-02 4.97741986e+01] [-3.74361856e-01 9.27057784e-01 -2.04222096e-02 -1.21187390e+01] [-4.78304269e-02 2.68901742e-03 9.98851851e-01 -1.10574261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424319999999994 meters Centerline goodness [0,1] 0.9897678417884781 Centerline is valid? [True, True] Translation: X:49.80, Y:-12.13, Z:-1.11 [[ 9.26929019e-01 3.72585586e-01 4.45261142e-02 4.98042932e+01] [-3.72005350e-01 9.27993341e-01 -2.09851777e-02 -1.21282958e+01] [-4.91387122e-02 2.88781743e-03 9.98787789e-01 -1.11012188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.454319999999996 meters Centerline goodness [0,1] 0.9819916389752386 Centerline is valid? [True, True] Translation: X:49.83, Y:-12.14, Z:-1.11 [[ 9.27819623e-01 3.70011830e-01 4.73496814e-02 4.98307853e+01] [-3.69352168e-01 9.29021468e-01 -2.23178689e-02 -1.21438961e+01] [-5.22467461e-02 3.21824923e-03 9.98629020e-01 -1.10955745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48431999999999 meters Centerline goodness [0,1] 0.9819916389752386 Centerline is valid? [True, True] Translation: X:49.86, Y:-12.16, Z:-1.11 [[ 9.27706712e-01 3.70295384e-01 4.73453748e-02 4.98600990e+01] [-3.69635626e-01 9.28908504e-01 -2.23270022e-02 -1.21578954e+01] [-5.22471072e-02 3.21237258e-03 9.98629020e-01 -1.11024733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.51431999999999 meters Centerline goodness [0,1] 0.9796247340254046 Centerline is valid? [True, True] Translation: X:49.89, Y:-12.17, Z:-1.11 [[ 9.28029059e-01 3.69322654e-01 4.86090845e-02 4.98889900e+01] [-3.68625303e-01 9.29295142e-01 -2.29330666e-02 -1.21717080e+01] [-5.36418871e-02 3.36401368e-03 9.98554571e-01 -1.11171874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54431999999999 meters Centerline goodness [0,1] 0.9727621428263586 Centerline is valid? [True, True] Translation: X:49.92, Y:-12.19, Z:-1.11 [[ 9.28186057e-01 3.68843289e-01 4.92470526e-02 4.99156315e+01] [-3.68126449e-01 9.29485221e-01 -2.32409591e-02 -1.21878805e+01] [-5.43466793e-02 3.44279161e-03 9.98516192e-01 -1.11200205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.57431999999999 meters Centerline goodness [0,1] 0.9738840486178337 Centerline is valid? [True, True] Translation: X:49.94, Y:-12.20, Z:-1.11 [[ 9.28147642e-01 3.68924265e-01 4.93643834e-02 4.99448991e+01] [-3.68203399e-01 9.29453025e-01 -2.33094567e-02 -1.22002131e+01] [-5.44812996e-02 3.45848352e-03 9.98508802e-01 -1.11464539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604319999999994 meters Centerline goodness [0,1] 0.9693226404518605 Centerline is valid? [True, True] Translation: X:49.97, Y:-12.21, Z:-1.12 [[ 9.28104472e-01 3.68930670e-01 5.01223505e-02 4.99733638e+01] [-3.68186827e-01 9.29450242e-01 -2.36792678e-02 -1.22140075e+01] [-5.53222390e-02 3.52244509e-03 9.98462339e-01 -1.11757249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 704.24 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%| | 0/1621 [00:00