+ python -m lidar_slam --no-model /working/7ae021bb-bbd1-4800-97eb-4863a0eb229e Lidar SLAM 0.0.13 ===================================================== The recording path: /working/7ae021bb-bbd1-4800-97eb-4863a0eb229e 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 0.022260615 Adjusted end_distance from 9.223372036854776e+18 to 23.002260615 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.022260615 meters Centerline goodness [0,1] 0.9926702445340071 Centerline is valid? [0, True] SLAMing on 0.052260614999999996 meters Centerline goodness [0,1] 0.9893089524447141 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.01, Z:0.00 [[ 9.99903586e-01 -1.37243753e-02 2.11189307e-03 3.09428206e-02] [ 1.37240930e-02 9.99905809e-01 1.48071541e-04 -1.32743625e-02] [-2.11372633e-03 -1.19073448e-04 9.99997759e-01 1.80307770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.082260615 meters Centerline goodness [0,1] 0.9881904523869033 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.02, Z:0.00 [[ 9.99804369e-01 -1.96074733e-02 2.60199496e-03 6.27254006e-02] [ 1.96070650e-02 9.99807746e-01 1.82350346e-04 -2.01020646e-02] [-2.60507014e-03 -1.31297188e-04 9.99996598e-01 2.35359273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11226061499999998 meters Centerline goodness [0,1] 0.9866057391996982 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.03, Z:0.00 [[ 9.99682809e-01 -2.49840039e-02 3.17494343e-03 9.39646529e-02] [ 2.49834232e-02 9.99687841e-01 2.22431685e-04 -2.51789030e-02] [-3.17950957e-03 -1.43040176e-04 9.99994935e-01 2.59036023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14226061499999998 meters Centerline goodness [0,1] 0.9824932464976023 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.03, Z:0.00 [[ 9.99454719e-01 -3.27183521e-02 4.44671719e-03 1.25008378e-01] [ 3.27172897e-02 9.99464598e-01 3.11480843e-04 -3.12477164e-02] [-4.45452754e-03 -1.65826464e-04 9.99990065e-01 2.87016574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17226061499999998 meters Centerline goodness [0,1] 0.979042793735868 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.03, Z:0.00 [[ 9.99244595e-01 -3.85148268e-02 5.18145725e-03 1.56898445e-01] [ 3.85134643e-02 9.99258016e-01 3.62516622e-04 -3.39926244e-02] [-5.19157496e-03 -1.62686907e-04 9.99986510e-01 2.70549682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20226061499999998 meters Centerline goodness [0,1] 0.9762248290571482 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.03, Z:0.00 [[ 9.99129631e-01 -4.10682215e-02 7.30623603e-03 1.88140312e-01] [ 4.10655839e-02 9.99156323e-01 5.10726588e-04 -3.27644269e-02] [-7.32104655e-03 -2.10247219e-04 9.99973179e-01 4.57456802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23226061499999998 meters Centerline goodness [0,1] 0.9704615770549377 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.03, Z:0.01 [[ 9.98825390e-01 -4.68184847e-02 1.24848080e-02 2.20963422e-01] [ 4.68112486e-02 9.98903373e-01 8.71345271e-04 -3.36666925e-02] [-1.25119119e-02 -2.85892326e-04 9.99921682e-01 9.16107727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.262260615 meters Centerline goodness [0,1] 0.9672090007946799 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.03, Z:0.01 [[ 9.98622180e-01 -5.04826995e-02 1.43261395e-02 2.53254346e-01] [ 5.04735656e-02 9.98724898e-01 9.98645784e-04 -3.32513320e-02] [-1.43582865e-02 -2.74178488e-04 9.99896877e-01 9.93856299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29226061499999995 meters Centerline goodness [0,1] 0.9593022036776886 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.03, Z:0.01 [[ 9.98116799e-01 -5.87216644e-02 1.77375586e-02 2.85926237e-01] [ 5.87089972e-02 9.98274376e-01 1.23447123e-03 -3.12341086e-02] [-1.77794404e-02 -1.90792198e-04 9.99841915e-01 1.12160995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3222606149999999 meters Centerline goodness [0,1] 0.9489517819706499 Centerline is valid? [True, False] Translation: X:0.30, Y:-0.02, Z:0.01 [[ 0.99752354 -0.06764846 0.01924785 0.29619976] [ 0.06757981 0.99770505 0.00419581 -0.0242307 ] [-0.01948752 -0.00288465 0.99980594 0.01015142] [ 0. 0. 0. 1. ]] SLAMing on 0.35226061499999994 meters Centerline goodness [0,1] 0.9438934898836356 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.02, Z:0.01 [[ 0.99743726 -0.0689945 0.01893889 0.29713556] [ 0.06894566 0.99761522 0.0032205 -0.02176138] [-0.01911592 -0.00190649 0.99981546 0.00991 ] [ 0. 0. 0. 1. ]] SLAMing on 0.3822606149999999 meters Centerline goodness [0,1] 0.9370585399593385 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.02, Z:0.01 [[ 9.97327078e-01 -7.06591621e-02 1.86005729e-02 2.98052080e-01] [ 7.06348617e-02 9.97500311e-01 1.96101018e-03 -1.83033480e-02] [-1.86926406e-02 -6.41919658e-04 9.99825071e-01 9.82606359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.41226061499999994 meters Centerline goodness [0,1] 0.9234897627147294 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:0.01 [[ 0.9966446 -0.07980751 0.01817436 0.30951961] [ 0.07970903 0.99679962 0.00608128 -0.00556127] [-0.01860153 -0.00461221 0.99981634 0.0102844 ] [ 0. 0. 0. 1. ]] SLAMing on 0.4422606149999999 meters Centerline goodness [0,1] 0.9175787027255441 Centerline is valid? [False, False] Translation: X:0.31, Y:0.00, Z:0.01 [[ 0.99645912 -0.08222379 0.0175634 0.31033618] [ 0.08216966 0.99661118 0.00378276 0.0021803 ] [-0.01781491 -0.00232619 0.9998386 0.01079858] [ 0. 0. 0. 1. ]] SLAMing on 0.47226061499999994 meters Centerline goodness [0,1] 0.9052938936143202 Centerline is valid? [False, False] Translation: X:0.32, Y:0.02, Z:0.01 [[ 0.99600997 -0.08823715 0.01335465 0.32294647] [ 0.08815185 0.99608351 0.00684765 0.02024495] [-0.01390657 -0.00564309 0.99988738 0.01099597] [ 0. 0. 0. 1. ]] SLAMing on 0.502260615 meters Centerline goodness [0,1] 0.900082471610734 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:0.01 [[ 0.99608699 -0.08756979 0.01192651 0.32578608] [ 0.08748277 0.99613679 0.00763314 0.02864391] [-0.01254887 -0.00655991 0.99989974 0.01012653] [ 0. 0. 0. 1. ]] SLAMing on 0.5322606149999999 meters Centerline goodness [0,1] 0.8903531892461782 Centerline is valid? [False, False] Translation: X:0.34, Y:0.05, Z:0.01 [[ 0.99608396 -0.08807148 0.00775648 0.33517001] [ 0.08798024 0.99605687 0.01140965 0.0475662 ] [-0.00873076 -0.01068255 0.99990482 0.00927221] [ 0. 0. 0. 1. ]] SLAMing on 0.5622606149999999 meters Centerline goodness [0,1] 0.883231946416838 Centerline is valid? [False, False] Translation: X:0.35, Y:0.07, Z:0.01 [[ 0.99603776 -0.08888301 0.00293121 0.34508387] [ 0.08882662 0.99592344 0.01569514 0.06940776] [-0.00431429 -0.01537259 0.99987253 0.00924506] [ 0. 0. 0. 1. ]] SLAMing on 0.5922606149999999 meters Centerline goodness [0,1] 0.8791690489803697 Centerline is valid? [False, False] Translation: X:0.35, Y:0.08, Z:0.01 [[ 0.99623849 -0.08664238 0.00140671 0.34820259] [ 0.08660291 0.9960785 0.01809862 0.07904424] [-0.0029693 -0.01790872 0.99983522 0.00798577] [ 0. 0. 0. 1. ]] SLAMing on 0.6222606149999999 meters Centerline goodness [0,1] 0.8738212556282389 Centerline is valid? [False, False] Translation: X:0.36, Y:0.10, Z:0.01 [[ 0.99585978 -0.09080992 -0.00410471 0.3617468 ] [ 0.09087769 0.99562888 0.02154931 0.10377954] [ 0.00212987 -0.02183312 0.99975936 0.00821259] [ 0. 0. 0. 1. ]] SLAMing on 0.6522606149999999 meters Centerline goodness [0,1] 0.8712153337291154 Centerline is valid? [False, False] Translation: X:0.37, Y:0.12, Z:0.01 [[ 0.99577313 -0.09157299 -0.007089 0.36663799] [ 0.09170891 0.99554074 0.02209327 0.11564159] [ 0.00503424 -0.02265001 0.99973078 0.00827811] [ 0. 0. 0. 1. ]] SLAMing on 0.6822606149999999 meters Centerline goodness [0,1] 0.8691176470588236 Centerline is valid? [False, False] Translation: X:0.39, Y:0.14, Z:0.01 [[ 0.99524117 -0.09731474 -0.00498473 0.38505925] [ 0.09739432 0.99505396 0.01954375 0.14389333] [ 0.00305818 -0.01993623 0.99979658 0.00868689] [ 0. 0. 0. 1. ]] SLAMing on 0.7122606149999999 meters Centerline goodness [0,1] 0.8700871709459022 Centerline is valid? [False, False] Translation: X:0.41, Y:0.17, Z:0.01 [[ 0.99437727 -0.10581401 -0.00415252 0.40697177] [ 0.10587197 0.99421791 0.01794056 0.17310081] [ 0.00223014 -0.01827932 0.99983043 0.00897051] [ 0. 0. 0. 1. ]] SLAMing on 0.7422606149999998 meters Centerline goodness [0,1] 0.8683229275060701 Centerline is valid? [False, False] Translation: X:0.42, Y:0.19, Z:0.01 [[ 0.99400616 -0.109179 -0.00563055 0.42378936] [ 0.10927127 0.99380809 0.02013133 0.18633566] [ 0.00339777 -0.02062592 0.99978149 0.00754192] [ 0. 0. 0. 1. ]] SLAMing on 0.7722606149999999 meters Centerline goodness [0,1] 0.8691847075080608 Centerline is valid? [False, False] Translation: X:0.43, Y:0.20, Z:0.01 [[ 0.99365999 -0.1120294 -0.00944608 0.42994923] [ 0.11220032 0.99348265 0.02008283 0.19920697] [ 0.00713465 -0.02101536 0.9997537 0.00798187] [ 0. 0. 0. 1. ]] SLAMing on 0.8022606149999999 meters Centerline goodness [0,1] 0.8700937514017854 Centerline is valid? [False, False] Translation: X:0.46, Y:0.23, Z:0.01 [[ 0.99291908 -0.11787309 -0.0147525 0.45535542] [ 0.1181676 0.99277156 0.02100124 0.22823849] [ 0.01217038 -0.0225958 0.9996706 0.00768943] [ 0. 0. 0. 1. ]] SLAMing on 0.8322606149999998 meters Centerline goodness [0,1] 0.8709787660621525 Centerline is valid? [False, False] Translation: X:0.49, Y:0.26, Z:0.01 [[ 0.99271121 -0.11956827 -0.01509578 0.48648898] [ 0.11989856 0.99251291 0.02329064 0.2591631 ] [ 0.01219794 -0.02493084 0.99961476 0.00753918] [ 0. 0. 0. 1. ]] SLAMing on 0.8622606149999998 meters Centerline goodness [0,1] 0.8718447051201962 Centerline is valid? [False, False] Translation: X:0.49, Y:0.27, Z:0.01 [[ 0.99286807 -0.11810507 -0.01625405 0.48831355] [ 0.11848324 0.99264901 0.02469149 0.27317156] [ 0.01321838 -0.02644122 0.99956297 0.00705895] [ 0. 0. 0. 1. ]] SLAMing on 0.8922606149999999 meters Centerline goodness [0,1] 0.8728962337023947 Centerline is valid? [False, False] Translation: X:0.50, Y:0.29, Z:0.01 [[ 0.99331485 -0.11458292 -0.01401276 0.49680064] [ 0.11487101 0.99314006 0.02185102 0.28885835] [ 0.01141288 -0.0233146 0.99966303 0.00700804] [ 0. 0. 0. 1. ]] SLAMing on 0.9222606149999999 meters Centerline goodness [0,1] 0.8763227989345619 Centerline is valid? [False, False] Translation: X:0.52, Y:0.32, Z:0.01 [[ 0.99367204 -0.11171682 -0.01162904 0.52311283] [ 0.11192189 0.99353915 0.01880009 0.32063691] [ 0.00945362 -0.01998267 0.99975563 0.00681596] [ 0. 0. 0. 1. ]] SLAMing on 0.9522606149999998 meters Centerline goodness [0,1] 0.8806963268513062 Centerline is valid? [False, False] Translation: X:0.55, Y:0.35, Z:0.01 [[ 0.99413572 -0.10772146 -0.00950015 0.55161204] [ 0.10786751 0.99402833 0.01650081 0.3508956 ] [ 0.00766593 -0.01742881 0.99981872 0.00612301] [ 0. 0. 0. 1. ]] SLAMing on 0.9822606149999998 meters Centerline goodness [0,1] 0.8811273301114508 Centerline is valid? [False, False] Translation: X:0.55, Y:0.36, Z:0.00 [[ 0.99370552 -0.11159404 -0.00980363 0.55489348] [ 0.11170641 0.99367146 0.01177765 0.35590605] [ 0.00842728 -0.01279865 0.99988258 0.00463438] [ 0. 0. 0. 1. ]] SLAMing on 1.012260615 meters Centerline goodness [0,1] 0.8838627200314682 Centerline is valid? [False, False] Translation: X:0.56, Y:0.36, Z:0.00 [[ 0.99320014 -0.11595854 -0.01034903 0.55775173] [ 0.11604857 0.99320658 0.00856856 0.35725566] [ 0.00928513 -0.00971128 0.99990973 0.00478105] [ 0. 0. 0. 1. ]] SLAMing on 1.0422606149999998 meters Centerline goodness [0,1] 0.8861748417721519 Centerline is valid? [False, False] Translation: X:0.56, Y:0.36, Z:0.00 [[ 0.99348432 -0.11337439 -0.01162572 0.55960416] [ 0.11351782 0.99345703 0.01252307 0.35736013] [ 0.01012986 -0.0137612 0.999854 0.00450556] [ 0. 0. 0. 1. ]] SLAMing on 1.0722606149999998 meters Centerline goodness [0,1] 0.8865095830863465 Centerline is valid? [False, False] Translation: X:0.56, Y:0.36, Z:0.00 [[ 0.99344262 -0.11368836 -0.01211264 0.56091504] [ 0.11384001 0.99341836 0.0126652 0.35912298] [ 0.01059303 -0.01396105 0.99984643 0.00443705] [ 0. 0. 0. 1. ]] SLAMing on 1.1022606149999998 meters Centerline goodness [0,1] 0.8865095830863465 Centerline is valid? [False, False] Translation: X:0.56, Y:0.36, Z:0.00 [[ 0.99344262 -0.11368836 -0.01211264 0.56091504] [ 0.11384001 0.99341836 0.0126652 0.35912298] [ 0.01059303 -0.01396105 0.99984643 0.00443705] [ 0. 0. 0. 1. ]] SLAMing on 1.1322606149999999 meters Centerline goodness [0,1] 0.8907613005551149 Centerline is valid? [False, False] Translation: X:0.56, Y:0.36, Z:0.00 [[ 0.99340733 -0.11388674 -0.01310296 0.56461014] [ 0.11405384 0.9933921 0.01280061 0.36288853] [ 0.01155856 -0.01421066 0.99983221 0.00346131] [ 0. 0. 0. 1. ]] SLAMing on 1.1622606149999999 meters Centerline goodness [0,1] 0.892499938260934 Centerline is valid? [False, False] Translation: X:0.58, Y:0.37, Z:0.00 [[ 0.99340546 -0.11440266 -0.0075916 0.57503947] [ 0.11444888 0.99341125 0.00596177 0.36801847] [ 0.00685954 -0.00679131 0.99995341 0.0035867 ] [ 0. 0. 0. 1. ]] SLAMing on 1.192260615 meters Centerline goodness [0,1] 0.8929918406586634 Centerline is valid? [False, False] Translation: X:0.58, Y:0.37, Z:0.00 [[ 0.9934538 -0.11394884 -0.00807474 0.57828006] [ 0.11400205 0.99345947 0.00646646 0.36832359] [ 0.00728508 -0.00734467 0.99994649 0.00129746] [ 0. 0. 0. 1. ]] SLAMing on 1.2222606149999997 meters Centerline goodness [0,1] 0.8962720861081759 Centerline is valid? [False, False] Translation: X:0.59, Y:0.37, Z:-0.00 [[ 0.99357378 -0.11293504 -0.00753767 0.59390545] [ 0.11295695 0.99359662 0.00254563 0.37145564] [ 0.00720191 -0.00338071 0.99996835 -0.00333887] [ 0. 0. 0. 1. ]] SLAMing on 1.2522606149999997 meters Centerline goodness [0,1] 0.8964106333455837 Centerline is valid? [False, False] Translation: X:0.59, Y:0.37, Z:-0.00 [[ 0.99348262 -0.11374393 -0.00738941 0.59405223] [ 0.11376486 0.99350462 0.00247619 0.37248301] [ 0.00705976 -0.00330071 0.99996963 -0.00283316] [ 0. 0. 0. 1. ]] SLAMing on 1.2822606149999998 meters Centerline goodness [0,1] 0.8994609164420485 Centerline is valid? [False, False] Translation: X:0.59, Y:0.37, Z:-0.00 [[ 0.99333887 -0.11501587 -0.00701679 0.59288864] [ 0.11503307 0.99335945 0.00209687 0.374099 ] [ 0.00672903 -0.00289007 0.99997318 -0.00106104] [ 0. 0. 0. 1. ]] SLAMing on 1.3122606149999998 meters Centerline goodness [0,1] 0.9038546962144021 Centerline is valid? [False, False] Translation: X:0.59, Y:0.38, Z:0.00 [[ 9.93020562e-01 -1.17667393e-01 -8.03417121e-03 5.94127990e-01] [ 1.17682254e-01 9.93050313e-01 1.40107305e-03 3.75865989e-01] [ 7.81347562e-03 -2.33677372e-03 9.99966744e-01 7.04825694e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3422606149999998 meters Centerline goodness [0,1] 0.9050615796848497 Centerline is valid? [False, False] Translation: X:0.60, Y:0.37, Z:-0.00 [[ 9.92950765e-01 -1.18199171e-01 -8.81674637e-03 5.96974608e-01] [ 1.18220927e-01 9.92985330e-01 1.98677408e-03 3.74972007e-01] [ 8.52006475e-03 -3.01509276e-03 9.99959158e-01 -9.57937757e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3722606149999999 meters Centerline goodness [0,1] 0.9085934432665881 Centerline is valid? [False, False] Translation: X:0.60, Y:0.38, Z:-0.00 [[ 9.92442606e-01 -1.22350755e-01 -9.37901989e-03 6.01750986e-01] [ 1.22348452e-01 9.92486867e-01 -8.21044358e-04 3.75689266e-01] [ 9.40900947e-03 -3.32669164e-04 9.99955679e-01 -3.74641494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4022606149999999 meters Centerline goodness [0,1] 0.9095470008076161 Centerline is valid? [False, False] Translation: X:0.60, Y:0.37, Z:-0.01 [[ 9.92368812e-01 -1.22916631e-01 -9.77970017e-03 6.04209088e-01] [ 1.22922767e-01 9.92416240e-01 2.65457416e-05 3.73700307e-01] [ 9.70227035e-03 -1.22849097e-03 9.99952177e-01 -5.68276273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4322606149999997 meters Centerline goodness [0,1] 0.9132573543736606 Centerline is valid? [False, False] Translation: X:0.61, Y:0.38, Z:-0.01 [[ 0.9918994 -0.1266122 -0.01024313 0.6087218 ] [ 0.12658901 0.99195106 -0.00288404 0.37504367] [ 0.01052584 0.00156401 0.99994338 -0.00822346] [ 0. 0. 0. 1. ]] SLAMing on 1.4622606149999997 meters Centerline goodness [0,1] 0.9150766381558106 Centerline is valid? [False, False] Translation: X:0.61, Y:0.38, Z:-0.01 [[ 0.99189167 -0.12662192 -0.01085344 0.61054231] [ 0.12659849 0.99195003 -0.00282222 0.3765728 ] [ 0.01112342 0.00142531 0.99993712 -0.00886073] [ 0. 0. 0. 1. ]] SLAMing on 1.4922606149999997 meters Centerline goodness [0,1] 0.9196754663333089 Centerline is valid? [False, False] Translation: X:0.61, Y:0.38, Z:-0.01 [[ 0.99178793 -0.12738664 -0.0113728 0.61217341] [ 0.12735975 0.99185187 -0.00306075 0.38031412] [ 0.01167003 0.00158718 0.99993064 -0.00858373] [ 0. 0. 0. 1. ]] SLAMing on 1.5222606149999998 meters Centerline goodness [0,1] 0.9198999362338746 Centerline is valid? [False, False] Translation: X:0.61, Y:0.38, Z:-0.01 [[ 0.9918181 -0.12705528 -0.01240246 0.61481331] [ 0.12702606 0.99189448 -0.00311944 0.38320234] [ 0.01269827 0.00151848 0.99991822 -0.00945078] [ 0. 0. 0. 1. ]] SLAMing on 1.5522606149999998 meters Centerline goodness [0,1] 0.9239455982717141 Centerline is valid? [False, False] Translation: X:0.62, Y:0.38, Z:-0.01 [[ 0.99165817 -0.12826788 -0.01270516 0.61692371] [ 0.12824093 0.99173875 -0.00291695 0.38324111] [ 0.01297435 0.00126329 0.99991503 -0.0105109 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5822606149999998 meters Centerline goodness [0,1] 0.9254493065051768 Centerline is valid? [False, False] Translation: X:0.62, Y:0.38, Z:-0.01 [[ 9.91622491e-01 -1.28538627e-01 -1.27536681e-02 6.18136881e-01] [ 1.28519732e-01 9.91704300e-01 -2.29366472e-03 3.82591099e-01] [ 1.29426920e-02 6.35351528e-04 9.99916038e-01 -1.15761022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6122606149999998 meters Centerline goodness [0,1] 0.9284754951039047 Centerline is valid? [False, False] Translation: X:0.62, Y:0.38, Z:-0.01 [[ 9.91531826e-01 -1.29253660e-01 -1.25749557e-02 6.19400203e-01] [ 1.29238756e-01 9.91611500e-01 -1.99406988e-03 3.83398595e-01] [ 1.27272115e-02 3.52012120e-04 9.99918944e-01 -1.24951688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6422606149999996 meters Centerline goodness [0,1] 0.9313840728768733 Centerline is valid? [False, False] Translation: X:0.62, Y:0.39, Z:-0.01 [[ 9.91550319e-01 -1.29025265e-01 -1.34330197e-02 6.21590343e-01] [ 1.29010185e-01 9.91641278e-01 -1.98681427e-03 3.85020159e-01] [ 1.35770861e-02 2.37029969e-04 9.99907799e-01 -1.32500068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6722606149999997 meters Centerline goodness [0,1] 0.9319241377626987 Centerline is valid? [False, False] Translation: X:0.62, Y:0.39, Z:-0.01 [[ 0.99136533 -0.13042008 -0.01361583 0.62486786] [ 0.13038272 0.9914572 -0.0035999 0.38879121] [ 0.01396902 0.00179355 0.99990082 -0.01495963] [ 0. 0. 0. 1. ]] SLAMing on 1.7022606149999997 meters Centerline goodness [0,1] 0.9347985886503969 Centerline is valid? [False, False] Translation: X:0.63, Y:0.39, Z:-0.02 [[ 0.99141623 -0.12991856 -0.01466354 0.62758442] [ 0.12988358 0.9915237 -0.00331759 0.39018402] [ 0.01497027 0.00138456 0.99988698 -0.01611765] [ 0. 0. 0. 1. ]] SLAMing on 1.7322606149999997 meters Centerline goodness [0,1] 0.9383410274039878 Centerline is valid? [False, False] Translation: X:0.63, Y:0.39, Z:-0.02 [[ 9.91622780e-01 -1.28239021e-01 -1.54601098e-02 6.32068361e-01] [ 1.28231784e-01 9.91743147e-01 -1.46257515e-03 3.91730224e-01] [ 1.55200172e-02 -5.32154632e-04 9.99879416e-01 -1.91760907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7622606149999998 meters Centerline goodness [0,1] 0.9403150381491509 Centerline is valid? [False, False] Translation: X:0.64, Y:0.39, Z:-0.02 [[ 9.91758535e-01 -1.27026896e-01 -1.67085422e-02 6.35339897e-01] [ 1.27030351e-01 9.91898459e-01 -8.58635034e-04 3.93781649e-01] [ 1.66822470e-02 -1.27093336e-03 9.99860034e-01 -2.04873918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7922606149999998 meters Centerline goodness [0,1] 0.9437405843273814 Centerline is valid? [False, False] Translation: X:0.64, Y:0.40, Z:-0.02 [[ 0.99212459 -0.12404145 -0.01739325 0.63891607] [ 0.12408573 0.99227039 0.00148566 0.39669224] [ 0.01707452 -0.00363221 0.99984762 -0.02219422] [ 0. 0. 0. 1. ]] SLAMing on 1.8222606149999998 meters Centerline goodness [0,1] 0.9451939708425995 Centerline is valid? [False, False] Translation: X:0.64, Y:0.40, Z:-0.02 [[ 0.99227892 -0.1226557 -0.01838841 0.64187626] [ 0.12271916 0.99243863 0.002359 0.39818231] [ 0.01796002 -0.0045974 0.99982814 -0.02329375] [ 0. 0. 0. 1. ]] SLAMing on 1.8522606149999996 meters Centerline goodness [0,1] 0.9459798377182198 Centerline is valid? [False, False] Translation: X:0.65, Y:0.40, Z:-0.02 [[ 0.99246019 -0.12099569 -0.01956585 0.64505978] [ 0.12107772 0.99263831 0.00305944 0.40024238] [ 0.01905163 -0.00540536 0.99980389 -0.02395349] [ 0. 0. 0. 1. ]] SLAMing on 1.8822606149999996 meters Centerline goodness [0,1] 0.9504050582888757 Centerline is valid? [False, True] Translation: X:0.67, Y:0.40, Z:-0.02 [[ 9.94007607e-01 -1.07971033e-01 -1.70626017e-02 6.66758060e-01] [ 1.07995792e-01 9.94151208e-01 5.33685825e-04 4.04138182e-01] [ 1.69051835e-02 -2.37317695e-03 9.99854281e-01 -2.06671155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9122606149999997 meters Centerline goodness [0,1] 0.9525585558705058 Centerline is valid? [True, True] Translation: X:0.69, Y:0.43, Z:-0.02 [[ 9.96526460e-01 -8.17367552e-02 -1.59410618e-02 6.93970881e-01] [ 8.17127193e-02 9.96653596e-01 -2.15444252e-03 4.27471314e-01] [ 1.60638137e-02 8.44371470e-04 9.99870612e-01 -1.69622511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9422606149999997 meters Centerline goodness [0,1] 0.948762233736327 Centerline is valid? [True, False] Translation: X:0.70, Y:0.43, Z:-0.02 [[ 0.99772771 -0.065562 -0.01552566 0.69878872] [ 0.06549356 0.99784107 -0.00487681 0.43039433] [ 0.01581188 0.0038489 0.99986758 -0.01808907] [ 0. 0. 0. 1. ]] SLAMing on 1.9722606149999997 meters Centerline goodness [0,1] 0.89698693006086 Centerline is valid? [False, False] Translation: X:0.73, Y:0.43, Z:-0.02 [[ 0.99886872 -0.04606949 -0.01178501 0.72889686] [ 0.04603186 0.99893403 -0.00344435 0.4328223 ] [ 0.01193112 0.00289797 0.99992462 -0.01945053] [ 0. 0. 0. 1. ]] SLAMing on 2.002260615 meters Centerline goodness [0,1] 0.7982449579936679 Centerline is valid? [False, False] Translation: X:0.73, Y:0.43, Z:-0.02 [[ 0.9990907 -0.04106962 -0.01144853 0.730453 ] [ 0.04110118 0.99915177 0.00253518 0.4291594 ] [ 0.0113347 -0.00300342 0.99993125 -0.02192768] [ 0. 0. 0. 1. ]] SLAMing on 2.0322606149999998 meters Centerline goodness [0,1] 0.7779275525709524 Centerline is valid? [False, False] Translation: X:0.75, Y:0.42, Z:-0.02 [[ 0.99935079 -0.03539735 -0.00671011 0.74819085] [ 0.0353768 0.99936906 -0.00315747 0.42267952] [ 0.00681764 0.00291804 0.9999725 -0.01825196] [ 0. 0. 0. 1. ]] SLAMing on 2.0622606149999996 meters Centerline goodness [0,1] 0.8402376951365043 Centerline is valid? [False, False] Translation: X:0.75, Y:0.41, Z:-0.02 [[ 0.99914828 -0.04075592 -0.00645573 0.74873528] [ 0.0407225 0.99915682 -0.00522743 0.41014671] [ 0.00666334 0.00496008 0.9999655 -0.01679731] [ 0. 0. 0. 1. ]] SLAMing on 2.092260615 meters Centerline goodness [0,1] 0.879811297931535 Centerline is valid? [False, False] Translation: X:0.75, Y:0.40, Z:-0.02 [[ 0.99901839 -0.04384854 -0.00628941 0.74989605] [ 0.04380798 0.99901916 -0.0064476 0.40320865] [ 0.00656596 0.00616574 0.99995944 -0.01771329] [ 0. 0. 0. 1. ]] SLAMing on 2.1222606149999996 meters Centerline goodness [0,1] 0.8234523185435829 Centerline is valid? [False, False] Translation: X:0.75, Y:0.40, Z:-0.02 [[ 0.99888964 -0.0466544 -0.00654598 0.7521552 ] [ 0.04660282 0.99888286 -0.00782313 0.39598243] [ 0.00690365 0.00750938 0.99994797 -0.01914542] [ 0. 0. 0. 1. ]] SLAMing on 2.152260615 meters Centerline goodness [0,1] 0.8409863945578231 Centerline is valid? [False, False] Translation: X:0.76, Y:0.38, Z:-0.02 [[ 0.99880596 -0.04851764 -0.00571777 0.75638474] [ 0.04846729 0.99878741 -0.00863938 0.37983509] [ 0.00613 0.00835194 0.99994633 -0.02218939] [ 0. 0. 0. 1. ]] SLAMing on 2.1822606149999997 meters Centerline goodness [0,1] 0.7893025866504514 Centerline is valid? [False, False] Translation: X:0.76, Y:0.37, Z:-0.03 [[ 0.99889931 -0.04646971 -0.00638297 0.7602435 ] [ 0.04643519 0.99890642 -0.00545331 0.37139133] [ 0.0066294 0.00515091 0.99996476 -0.02522313] [ 0. 0. 0. 1. ]] SLAMing on 2.2122606149999995 meters Centerline goodness [0,1] 0.7746407282473083 Centerline is valid? [False, False] Translation: X:0.77, Y:0.36, Z:-0.03 [[ 0.99893313 -0.04534873 -0.00872376 0.76903553] [ 0.04530862 0.99896178 -0.0047414 0.35847658] [ 0.00892972 0.00434108 0.99995071 -0.02754268] [ 0. 0. 0. 1. ]] SLAMing on 2.2422606149999997 meters Centerline goodness [0,1] 0.7780232424347026 Centerline is valid? [False, False] Translation: X:0.77, Y:0.35, Z:-0.03 [[ 0.99899105 -0.04400041 -0.0089912 0.77116622] [ 0.04398535 0.99903043 -0.00186546 0.35114236] [ 0.00906456 0.0014681 0.99995784 -0.02967011] [ 0. 0. 0. 1. ]] SLAMing on 2.2722606149999995 meters Centerline goodness [0,1] 0.7810456031976745 Centerline is valid? [False, False] Translation: X:0.77, Y:0.34, Z:-0.03 [[ 0.99878652 -0.04886378 -0.006149 0.7692971 ] [ 0.04883856 0.99879791 -0.0041871 0.33708893] [ 0.0063462 0.00388171 0.99997233 -0.0304553 ] [ 0. 0. 0. 1. ]] SLAMing on 2.302260615 meters Centerline goodness [0,1] 0.7989227600878086 Centerline is valid? [False, False] Translation: X:0.77, Y:0.33, Z:-0.03 [[ 0.99864395 -0.05176348 -0.00555078 0.76987562] [ 0.05173241 0.99864527 -0.0056022 0.32965209] [ 0.00583325 0.00530744 0.9999689 -0.03182886] [ 0. 0. 0. 1. ]] SLAMing on 2.3322606149999996 meters Centerline goodness [0,1] 0.8232977557002529 Centerline is valid? [False, False] Translation: X:0.77, Y:0.32, Z:-0.03 [[ 0.99805625 -0.06208191 -0.00543749 0.77146053] [ 0.06200519 0.99798727 -0.01329513 0.31926974] [ 0.00625194 0.01293213 0.99989683 -0.03201662] [ 0. 0. 0. 1. ]] SLAMing on 2.362260615 meters Centerline goodness [0,1] 0.8370574999443046 Centerline is valid? [False, False] Translation: X:0.77, Y:0.32, Z:-0.03 [[ 0.99782914 -0.06550739 -0.00676699 0.77411944] [ 0.06539558 0.99773747 -0.01559981 0.31540584] [ 0.00777358 0.01512342 0.99985542 -0.03210265] [ 0. 0. 0. 1. ]] SLAMing on 2.3922606149999996 meters Centerline goodness [0,1] 0.8565054276644394 Centerline is valid? [False, False] Translation: X:0.78, Y:0.31, Z:-0.03 [[ 0.99748738 -0.07031111 -0.00867567 0.77851823] [ 0.07014842 0.99737747 -0.01781517 0.31032292] [ 0.00990553 0.01716182 0.99980366 -0.03313747] [ 0. 0. 0. 1. ]] SLAMing on 2.4222606149999995 meters Centerline goodness [0,1] 0.865799809173009 Centerline is valid? [False, False] Translation: X:0.78, Y:0.31, Z:-0.04 [[ 0.99745987 -0.07070145 -0.00866627 0.78084535] [ 0.07054292 0.99735687 -0.01740613 0.30781102] [ 0.00987401 0.01675057 0.99981094 -0.03583507] [ 0. 0. 0. 1. ]] SLAMing on 2.4522606149999997 meters Centerline goodness [0,1] 0.860412101896731 Centerline is valid? [False, False] Translation: X:0.79, Y:0.31, Z:-0.04 [[ 9.97040381e-01 -7.68763985e-02 -7.05579835e-04 7.94081082e-01] [ 7.68542559e-02 9.96905056e-01 -1.65448836e-02 3.09510443e-01] [ 1.97530717e-03 1.64416902e-02 9.99862875e-01 -4.08254858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4822606149999995 meters Centerline goodness [0,1] 0.8498604898356881 Centerline is valid? [False, False] Translation: X:0.80, Y:0.31, Z:-0.04 [[ 9.97045039e-01 -7.68148016e-02 -8.22343799e-04 7.95066215e-01] [ 7.67902712e-02 9.96906192e-01 -1.67719802e-02 3.11159711e-01] [ 2.10813596e-03 1.66592717e-02 9.99859002e-01 -4.14254741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5122606149999998 meters Centerline goodness [0,1] 0.8253174638290341 Centerline is valid? [False, False] Translation: X:0.81, Y:0.32, Z:-0.05 [[ 0.99711548 -0.07580596 0.00376548 0.81117839] [ 0.07583268 0.99709199 -0.00754745 0.31861976] [-0.00318239 0.00781122 0.99996443 -0.04537214] [ 0. 0. 0. 1. ]] SLAMing on 2.5422606149999996 meters Centerline goodness [0,1] 0.810350156753654 Centerline is valid? [False, False] Translation: X:0.81, Y:0.32, Z:-0.05 [[ 0.99734267 -0.07276895 0.00350512 0.81146218] [ 0.07278466 0.99733714 -0.00458451 0.32182863] [-0.00316217 0.00482745 0.99998335 -0.0450598 ] [ 0. 0. 0. 1. ]] SLAMing on 2.572260615 meters Centerline goodness [0,1] 0.8136477738142422 Centerline is valid? [False, False] Translation: X:0.83, Y:0.33, Z:-0.05 [[ 0.99726644 -0.07247089 0.01440886 0.83330595] [ 0.07250554 0.99736621 -0.00189673 0.33309972] [-0.01423345 0.00293627 0.99989439 -0.04709085] [ 0. 0. 0. 1. ]] SLAMing on 2.6022606149999996 meters Centerline goodness [0,1] 0.7930415754923413 Centerline is valid? [False, False] Translation: X:0.83, Y:0.34, Z:-0.05 [[ 0.99720345 -0.07300924 0.01596636 0.83275949] [ 0.07305939 0.99732426 -0.0025797 0.33620923] [-0.0157353 0.00373898 0.9998692 -0.04832126] [ 0. 0. 0. 1. ]] SLAMing on 2.6322606149999994 meters Centerline goodness [0,1] 0.7945681694731124 Centerline is valid? [False, False] Translation: X:0.85, Y:0.35, Z:-0.06 [[ 0.99672826 -0.07816029 0.02058482 0.85169738] [ 0.07811455 0.99693982 0.00301825 0.34519814] [-0.02075773 -0.0014004 0.99978355 -0.0578724 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6622606149999997 meters Centerline goodness [0,1] 0.7581716369318922 Centerline is valid? [False, False] Translation: X:0.86, Y:0.35, Z:-0.06 [[ 0.99669811 -0.07899979 0.01875949 0.85633454] [ 0.07896213 0.99687385 0.00274067 0.34868691] [-0.01891736 -0.00125033 0.99982027 -0.05960169] [ 0. 0. 0. 1. ]] SLAMing on 2.6922606149999995 meters Centerline goodness [0,1] 0.5817742387950195 Centerline is valid? [False, False] Translation: X:0.87, Y:0.36, Z:-0.07 [[ 0.99617606 -0.08457876 0.02190183 0.86951384] [ 0.08436854 0.99638084 0.01035274 0.35657735] [-0.02269819 -0.00846532 0.99970652 -0.06613244] [ 0. 0. 0. 1. ]] SLAMing on 2.7222606149999997 meters Centerline goodness [0,1] 0.5711090561087335 Centerline is valid? [False, False] Translation: X:0.87, Y:0.36, Z:-0.07 [[ 0.99618572 -0.08459546 0.02139196 0.87112142] [ 0.08439219 0.99638005 0.01023478 0.36007927] [-0.02218034 -0.00839042 0.99971878 -0.06715812] [ 0. 0. 0. 1. ]] SLAMing on 2.7522606149999995 meters Centerline goodness [0,1] 0.5192069392812888 Centerline is valid? [False, False] Translation: X:0.89, Y:0.37, Z:-0.08 [[ 0.99644382 -0.08048678 0.02493175 0.8862671 ] [ 0.08018749 0.99669785 0.01278164 0.36782503] [-0.02587817 -0.01073697 0.99960744 -0.07562984] [ 0. 0. 0. 1. ]] SLAMing on 2.7822606149999998 meters Centerline goodness [0,1] 0.5340773555972056 Centerline is valid? [False, False] Translation: X:0.89, Y:0.37, Z:-0.08 [[ 0.99678478 -0.07599051 0.02540773 0.88959766] [ 0.07558409 0.99700137 0.01659246 0.37079051] [-0.02659241 -0.01461869 0.99953946 -0.08082535] [ 0. 0. 0. 1. ]] SLAMing on 2.8122606149999996 meters Centerline goodness [0,1] 0.5223861558739742 Centerline is valid? [False, False] Translation: X:0.92, Y:0.38, Z:-0.08 [[ 0.9971947 -0.06808325 0.03110293 0.91905865] [ 0.06725249 0.99737008 0.02701893 0.38301376] [-0.03286067 -0.02485139 0.99915093 -0.08364443] [ 0. 0. 0. 1. ]] SLAMing on 2.8422606149999994 meters Centerline goodness [0,1] 0.5201826908844861 Centerline is valid? [False, False] Translation: X:0.95, Y:0.39, Z:-0.08 [[ 0.99707145 -0.06717212 0.03655714 0.94793771] [ 0.06598836 0.99728513 0.03267883 0.39338331] [-0.03865299 -0.03017078 0.99879711 -0.08325103] [ 0. 0. 0. 1. ]] SLAMing on 2.8722606149999996 meters Centerline goodness [0,1] 0.4725424154306396 Centerline is valid? [False, False] Translation: X:0.95, Y:0.39, Z:-0.08 [[ 0.99680682 -0.07115714 0.03623284 0.95075092] [ 0.07013327 0.99712217 0.02878711 0.39429352] [-0.03817698 -0.02615406 0.99892867 -0.08461434] [ 0. 0. 0. 1. ]] SLAMing on 2.9022606149999994 meters Centerline goodness [0,1] 0.5144875880576988 Centerline is valid? [False, False] Translation: X:0.95, Y:0.39, Z:-0.09 [[ 0.99626031 -0.07838486 0.03634838 0.95344788] [ 0.07764867 0.99675443 0.02124357 0.39460698] [-0.03789558 -0.01834173 0.99911336 -0.08591108] [ 0. 0. 0. 1. ]] SLAMing on 2.9322606149999997 meters Centerline goodness [0,1] 0.5259111498981839 Centerline is valid? [False, False] Translation: X:0.98, Y:0.39, Z:-0.09 [[ 0.99467146 -0.09296358 0.04456977 0.98122337] [ 0.09252125 0.9956397 0.01189113 0.39175815] [-0.04548087 -0.00770411 0.9989355 -0.08946175] [ 0. 0. 0. 1. ]] SLAMing on 2.9622606149999995 meters Centerline goodness [0,1] 0.5323355276777212 Centerline is valid? [False, False] Translation: X:0.98, Y:0.39, Z:-0.09 [[ 0.99412738 -0.09909244 0.04349067 0.98486759] [ 0.09887795 0.99507452 0.00706095 0.38929323] [-0.04397614 -0.00271921 0.99902888 -0.08947392] [ 0. 0. 0. 1. ]] SLAMing on 2.9922606149999997 meters Centerline goodness [0,1] 0.5323355276777212 Centerline is valid? [False, False] Translation: X:0.98, Y:0.39, Z:-0.09 [[ 0.99413139 -0.09905758 0.04347853 0.98486171] [ 0.09884292 0.99507797 0.00706476 0.38925253] [-0.04396435 -0.00272575 0.99902938 -0.089463 ] [ 0. 0. 0. 1. ]] SLAMing on 3.0222606149999995 meters Centerline goodness [0,1] 0.5319306777670163 Centerline is valid? [False, False] Translation: X:1.02, Y:0.39, Z:-0.09 [[ 9.93062301e-01 -1.09396481e-01 4.31239559e-02 1.01515671e+00] [ 1.09280797e-01 9.93998152e-01 5.03803610e-03 3.87047416e-01] [-4.34162759e-02 -2.90463459e-04 9.99057027e-01 -8.92613841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0522606149999993 meters Centerline goodness [0,1] 0.5369735301969321 Centerline is valid? [False, False] Translation: X:1.02, Y:0.39, Z:-0.09 [[ 0.9926538 -0.11314957 0.04284393 1.01916431] [ 0.11319835 0.99357157 0.00129366 0.38644046] [-0.04271488 0.00356571 0.99908094 -0.09164161] [ 0. 0. 0. 1. ]] SLAMing on 3.0822606149999996 meters Centerline goodness [0,1] 0.5380505709624797 Centerline is valid? [False, False] Translation: X:1.05, Y:0.39, Z:-0.10 [[ 0.99321096 -0.1086872 0.04146181 1.04876164] [ 0.10895736 0.9940371 -0.00430608 0.38596275] [-0.04074657 0.00879442 0.99913081 -0.09540272] [ 0. 0. 0. 1. ]] SLAMing on 3.1122606149999994 meters Centerline goodness [0,1] 0.5425352341827501 Centerline is valid? [False, False] Translation: X:1.05, Y:0.39, Z:-0.10 [[ 0.99331031 -0.1076318 0.04183318 1.051523 ] [ 0.10788378 0.99415622 -0.00380679 0.38670028] [-0.04117898 0.00829444 0.99911736 -0.09906539] [ 0. 0. 0. 1. ]] SLAMing on 3.1422606149999996 meters Centerline goodness [0,1] 0.5578656704296272 Centerline is valid? [False, False] Translation: X:1.08, Y:0.39, Z:-0.10 [[ 0.99330181 -0.10430351 0.04972213 1.08042919] [ 0.10427133 0.99454358 0.00324768 0.38943124] [-0.04978957 0.00195867 0.99875781 -0.10327768] [ 0. 0. 0. 1. ]] SLAMing on 3.1722606149999995 meters Centerline goodness [0,1] 0.5753152495641244 Centerline is valid? [False, False] Translation: X:1.10, Y:0.39, Z:-0.10 [[ 0.9930688 -0.10325326 0.0561527 1.10451353] [ 0.10289289 0.99464916 0.00927902 0.39122465] [-0.05681032 -0.003437 0.99837907 -0.10349824] [ 0. 0. 0. 1. ]] SLAMing on 3.2022606149999997 meters Centerline goodness [0,1] 0.5788546433923292 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:-0.10 [[ 0.99271452 -0.10340281 0.06185264 1.12865668] [ 0.10268241 0.99460522 0.01472311 0.39131357] [-0.06304137 -0.00826467 0.99797669 -0.10315107] [ 0. 0. 0. 1. ]] SLAMing on 3.2322606149999995 meters Centerline goodness [0,1] 0.5914843954363442 Centerline is valid? [False, False] Translation: X:1.17, Y:0.39, Z:-0.10 [[ 0.99183293 -0.10874977 0.06664027 1.16800761] [ 0.10822394 0.99406047 0.01146121 0.38743262] [-0.06749086 -0.00415553 0.99771124 -0.10086863] [ 0. 0. 0. 1. ]] SLAMing on 3.2622606149999993 meters Centerline goodness [0,1] 0.6143269462038001 Centerline is valid? [False, False] Translation: X:1.21, Y:0.38, Z:-0.10 [[ 0.99124067 -0.11444982 0.06590274 1.2128249 ] [ 0.11479095 0.99338868 -0.0014005 0.3794142 ] [-0.06530675 0.00895327 0.99782507 -0.10056525] [ 0. 0. 0. 1. ]] SLAMing on 3.2922606149999996 meters Centerline goodness [0,1] 0.6198469316387907 Centerline is valid? [False, False] Translation: X:1.22, Y:0.37, Z:-0.10 [[ 0.99094074 -0.11765686 0.06475578 1.22233835] [ 0.11827366 0.99296432 -0.00576206 0.37153601] [-0.06362223 0.01336876 0.99788451 -0.1027279 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3222606149999994 meters Centerline goodness [0,1] 0.6184657162253904 Centerline is valid? [False, False] Translation: X:1.23, Y:0.36, Z:-0.11 [[ 0.99048966 -0.12129781 0.06493901 1.22683953] [ 0.12212158 0.99247565 -0.00885507 0.36414587] [-0.06337629 0.01670132 0.99784994 -0.10542439] [ 0. 0. 0. 1. ]] SLAMing on 3.3522606149999996 meters Centerline goodness [0,1] 0.6310063643595862 Centerline is valid? [False, False] Translation: X:1.26, Y:0.35, Z:-0.11 [[ 0.98959413 -0.12752774 0.06663436 1.26310975] [ 0.12829974 0.99170768 -0.00742014 0.35172425] [-0.06513554 0.0158921 0.99774987 -0.11161314] [ 0. 0. 0. 1. ]] SLAMing on 3.3822606149999994 meters Centerline goodness [0,1] 0.6445076926138964 Centerline is valid? [False, False] Translation: X:1.30, Y:0.33, Z:-0.12 [[ 0.98975324 -0.12755892 0.06416584 1.30285101] [ 0.12877425 0.99155807 -0.01515852 0.3331634 ] [-0.06169055 0.0232661 0.99782411 -0.11786128] [ 0. 0. 0. 1. ]] SLAMing on 3.4122606149999997 meters Centerline goodness [0,1] 0.6540075159564949 Centerline is valid? [False, False] Translation: X:1.32, Y:0.32, Z:-0.12 [[ 0.98980327 -0.12743507 0.06363803 1.31743834] [ 0.12883889 0.99149391 -0.01844914 0.32132824] [-0.06074565 0.02646007 0.9978025 -0.1230906 ] [ 0. 0. 0. 1. ]] SLAMing on 3.4422606149999995 meters Centerline goodness [0,1] 0.664494140157857 Centerline is valid? [False, False] Translation: X:1.33, Y:0.31, Z:-0.13 [[ 0.98986131 -0.12745447 0.06268921 1.33148329] [ 0.12901278 0.9914108 -0.02145527 0.30938204] [-0.05941618 0.02932545 0.99780245 -0.12753907] [ 0. 0. 0. 1. ]] SLAMing on 3.4722606149999993 meters Centerline goodness [0,1] 0.6793464182524659 Centerline is valid? [False, False] Translation: X:1.38, Y:0.28, Z:-0.13 [[ 0.99022917 -0.12742033 0.05665915 1.3773823 ] [ 0.12898859 0.99133274 -0.02492662 0.28330393] [-0.05299191 0.03199145 0.99808236 -0.13415938] [ 0. 0. 0. 1. ]] SLAMing on 3.5022606149999995 meters Centerline goodness [0,1] 0.6862055880649478 Centerline is valid? [False, False] Translation: X:1.40, Y:0.27, Z:-0.14 [[ 0.99039653 -0.12759453 0.05323864 1.39686878] [ 0.12913517 0.99127112 -0.02656438 0.26922053] [-0.04938445 0.03318425 0.99822842 -0.13926437] [ 0. 0. 0. 1. ]] SLAMing on 3.5322606149999993 meters Centerline goodness [0,1] 0.671125663858164 Centerline is valid? [False, False] Translation: X:1.44, Y:0.24, Z:-0.15 [[ 0.9914072 -0.12519478 0.03792127 1.44211485] [ 0.12603458 0.9918115 -0.02062103 0.23844671] [-0.03502911 0.02522323 0.99906794 -0.1466226 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5622606149999996 meters Centerline goodness [0,1] 0.6613877224555089 Centerline is valid? [False, False] Translation: X:1.46, Y:0.22, Z:-0.15 [[ 0.99167259 -0.12523134 0.03004311 1.46211223] [ 0.12578979 0.99190303 -0.01747279 0.22295391] [-0.02761171 0.0211064 0.99939587 -0.14833281] [ 0. 0. 0. 1. ]] SLAMing on 3.5922606149999994 meters Centerline goodness [0,1] 0.6383286460425874 Centerline is valid? [False, False] Translation: X:1.50, Y:0.19, Z:-0.16 [[ 0.99049831 -0.13628019 0.01846094 1.50201207] [ 0.13675433 0.99022424 -0.0274627 0.19199392] [-0.01453785 0.02972637 0.99945235 -0.15596396] [ 0. 0. 0. 1. ]] SLAMing on 3.6222606149999996 meters Centerline goodness [0,1] 0.6138325051801485 Centerline is valid? [False, False] Translation: X:1.52, Y:0.17, Z:-0.16 [[ 9.90055155e-01 -1.40519396e-01 6.71484099e-03 1.51595633e+00] [ 1.40676845e-01 9.89212665e-01 -4.08451813e-02 1.70669810e-01] [-9.02865525e-04 4.13836050e-02 9.99142924e-01 -1.60434185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6522606149999994 meters Centerline goodness [0,1] 0.5680024286581664 Centerline is valid? [False, False] Translation: X:1.56, Y:0.13, Z:-0.17 [[ 0.98977377 -0.14238474 -0.00862945 1.55944616] [ 0.14174012 0.98849383 -0.05281756 0.13154637] [ 0.01605057 0.0510543 0.99856689 -0.17254741] [ 0. 0. 0. 1. ]] SLAMing on 3.6822606149999992 meters Centerline goodness [0,1] 0.552884029104508 Centerline is valid? [False, False] Translation: X:1.58, Y:0.11, Z:-0.18 [[ 0.98988823 -0.14093839 -0.01605163 1.58193698] [ 0.14002755 0.98897574 -0.04815886 0.11293671] [ 0.02266211 0.04542422 0.9987107 -0.17745829] [ 0. 0. 0. 1. ]] SLAMing on 3.7122606149999995 meters Centerline goodness [0,1] 0.5037191860822524 Centerline is valid? [False, False] Translation: X:1.62, Y:0.08, Z:-0.18 [[ 0.98948254 -0.13952263 -0.03818026 1.62415784] [ 0.1384559 0.9899351 -0.02929937 0.08376836] [ 0.04188391 0.02370493 0.99884124 -0.18080187] [ 0. 0. 0. 1. ]] SLAMing on 3.7422606149999993 meters Centerline goodness [0,1] 0.38002553962761576 Centerline is valid? [False, False] Translation: X:1.64, Y:0.07, Z:-0.19 [[ 0.98925104 -0.13796958 -0.0484435 1.64332688] [ 0.13708876 0.99033459 -0.02107297 0.0713874 ] [ 0.0508827 0.0142054 0.9986036 -0.18822663] [ 0. 0. 0. 1. ]] SLAMing on 3.7722606149999995 meters Centerline goodness [0,1] 0.20729038577770365 Centerline is valid? [False, False] Translation: X:1.69, Y:0.05, Z:-0.20 [[ 0.98810742 -0.1369138 -0.06998809 1.68580172] [ 0.13642768 0.99058092 -0.01170197 0.04892607] [ 0.07093103 0.00201449 0.99747919 -0.19900491] [ 0. 0. 0. 1. ]] SLAMing on 3.8022606149999993 meters Centerline goodness [0,1] 0.16788934900048347 Centerline is valid? [False, False] Translation: X:1.70, Y:0.04, Z:-0.21 [[ 0.98714582 -0.1401993 -0.07672864 1.70390016] [ 0.13992729 0.99012145 -0.00893663 0.03656712] [ 0.07722358 -0.00191467 0.99701196 -0.20754446] [ 0. 0. 0. 1. ]] SLAMing on 3.8322606149999996 meters Centerline goodness [0,1] 0.14370288342774395 Centerline is valid? [False, False] Translation: X:1.74, Y:0.02, Z:-0.22 [[ 0.98529658 -0.14546657 -0.08961103 1.74206343] [ 0.1451789 0.98935733 -0.00975479 0.01556373] [ 0.09007633 -0.00339827 0.99592907 -0.21509247] [ 0. 0. 0. 1. ]] SLAMing on 3.8622606149999994 meters Centerline goodness [0,1] 0.1686538091058929 Centerline is valid? [False, False] Translation: X:1.76, Y:0.01, Z:-0.21 [[ 0.98506166 -0.14365169 -0.09496163 1.75865035] [ 0.14337482 0.98962025 -0.00976799 0.00895235] [ 0.09537915 -0.00399303 0.99543301 -0.21328825] [ 0. 0. 0. 1. ]] SLAMing on 3.892260614999999 meters Centerline goodness [0,1] 0.17347048570014423 Centerline is valid? [False, False] Translation: X:1.77, Y:0.00, Z:-0.21 [[ 0.98485769 -0.14362499 -0.09709377 1.76597322] [ 0.14353506 0.98961333 -0.007947 0.00427427] [ 0.09722667 -0.0061097 0.99524351 -0.2146019 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9222606149999995 meters Centerline goodness [0,1] 0.17214877884830826 Centerline is valid? [False, False] Translation: X:1.78, Y:0.00, Z:-0.21 [[ 9.83725832e-01 -1.50515904e-01 -9.81246648e-02 1.78183579e+00] [ 1.51146333e-01 9.88510873e-01 -1.01967696e-03 1.60517731e-03] [ 9.71507756e-02 -1.38281007e-02 9.95173608e-01 -2.11849903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9522606149999993 meters Centerline goodness [0,1] 0.22573238028221176 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.04, Z:-0.21 [[ 0.96435312 -0.22690634 -0.1361491 1.71775013] [ 0.22724977 0.97374673 -0.01322294 -0.03837522] [ 0.13557511 -0.01818827 0.99060011 -0.20985147] [ 0. 0. 0. 1. ]] SLAMing on 3.9822606149999995 meters Centerline goodness [0,1] 0.22127944624316176 Centerline is valid? [False, False] Translation: X:1.81, Y:0.01, Z:-0.20 [[ 9.77193330e-01 -1.88476694e-01 -9.78250014e-02 1.80567267e+00] [ 1.87685699e-01 9.82076599e-01 -1.73098663e-02 8.18631299e-03] [ 9.93341511e-02 -1.44526787e-03 9.95053083e-01 -1.97380589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.012260615 meters Centerline goodness [0,1] 0.1812610028036774 Centerline is valid? [False, False] Translation: X:1.81, Y:0.00, Z:-0.20 [[ 0.97699367 -0.18905985 -0.09869017 1.80761669] [ 0.1884576 0.9819594 -0.01547485 0.00218848] [ 0.09983541 -0.00348008 0.99499788 -0.19617548] [ 0. 0. 0. 1. ]] SLAMing on 4.042260615 meters Centerline goodness [0,1] 0.18813307719175687 Centerline is valid? [False, False] Translation: X:1.97, Y:0.05, Z:-0.14 [[ 9.83992797e-01 -1.26277931e-01 -1.25746016e-01 1.97372644e+00] [ 1.25116314e-01 9.91994271e-01 -1.71252516e-02 5.25797609e-02] [ 1.26901869e-01 1.11824622e-03 9.91914646e-01 -1.44035878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.072260615 meters Centerline goodness [0,1] 0.19324007298635848 Centerline is valid? [False, False] Translation: X:1.98, Y:0.06, Z:-0.14 [[ 9.85025365e-01 -1.27154486e-01 -1.16433527e-01 1.98067054e+00] [ 1.26164713e-01 9.91882485e-01 -1.58619643e-02 6.15439783e-02] [ 1.17505296e-01 9.34634662e-04 9.93071816e-01 -1.40967152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.102260615 meters Centerline goodness [0,1] 0.20575953612150844 Centerline is valid? [False, False] Translation: X:2.01, Y:0.09, Z:-0.13 [[ 0.98372671 -0.14450957 -0.10676491 2.00826667] [ 0.14437242 0.989482 -0.00905368 0.08634982] [ 0.1069503 -0.00650756 0.99424307 -0.13170022] [ 0. 0. 0. 1. ]] SLAMing on 4.132260615 meters Centerline goodness [0,1] 0.21822116425016225 Centerline is valid? [False, False] Translation: X:2.04, Y:0.11, Z:-0.12 [[ 0.9815717 -0.15825804 -0.10710454 2.03891938] [ 0.15857136 0.98733142 -0.00563918 0.11350036] [ 0.10664012 -0.01144845 0.99423177 -0.12125955] [ 0. 0. 0. 1. ]] SLAMing on 4.162260615 meters Centerline goodness [0,1] 0.21787721620624556 Centerline is valid? [False, False] Translation: X:2.04, Y:0.12, Z:-0.12 [[ 0.98098465 -0.15999976 -0.10985984 2.04457919] [ 0.16025113 0.98705424 -0.0065952 0.12418418] [ 0.10949285 -0.01113538 0.99392521 -0.12073879] [ 0. 0. 0. 1. ]] SLAMing on 4.1922606149999995 meters Centerline goodness [0,1] 0.21819167389418903 Centerline is valid? [False, False] Translation: X:2.05, Y:0.13, Z:-0.12 [[ 0.98033006 -0.16385671 -0.11001796 2.04808571] [ 0.16356926 0.98646253 -0.01169484 0.1339333 ] [ 0.11044488 -0.00653076 0.99386079 -0.12366035] [ 0. 0. 0. 1. ]] SLAMing on 4.222260615 meters Centerline goodness [0,1] 0.20900959860383939 Centerline is valid? [False, False] Translation: X:2.07, Y:0.16, Z:-0.13 [[ 0.97940971 -0.16742977 -0.11280021 2.07374909] [ 0.1659078 0.98587732 -0.02281475 0.15502192] [ 0.11502704 0.00363055 0.99335573 -0.12680528] [ 0. 0. 0. 1. ]] SLAMing on 4.252260615 meters Centerline goodness [0,1] 0.21312515034223356 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:-0.13 [[ 9.78904423e-01 -1.67345620e-01 -1.17224463e-01 2.08275999e+00] [ 1.66166848e-01 9.85898290e-01 -1.98277601e-02 1.65147357e-01] [ 1.18889487e-01 -6.93374405e-05 9.92907491e-01 -1.25609942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.282260615 meters Centerline goodness [0,1] 0.20105426627878997 Centerline is valid? [False, False] Translation: X:2.11, Y:0.19, Z:-0.12 [[ 0.97690538 -0.17189607 -0.12691576 2.11350078] [ 0.1723211 0.98501069 -0.00770632 0.19094652] [ 0.12633807 -0.01434192 0.99188356 -0.12166395] [ 0. 0. 0. 1. ]] SLAMing on 4.312260615 meters Centerline goodness [0,1] 0.24241825762563085 Centerline is valid? [False, False] Translation: X:2.14, Y:0.20, Z:-0.12 [[ 0.97542889 -0.17778159 -0.1301237 2.14124574] [ 0.17672951 0.98406264 -0.0196824 0.20438886] [ 0.13154904 -0.00379792 0.99130239 -0.12156275] [ 0. 0. 0. 1. ]] SLAMing on 4.342260615 meters Centerline goodness [0,1] 0.25445676662948136 Centerline is valid? [False, False] Translation: X:2.16, Y:0.20, Z:-0.12 [[ 0.97492566 -0.17956253 -0.13144299 2.15773274] [ 0.17732861 0.9837359 -0.02860479 0.20488334] [ 0.13444154 0.00457895 0.99091095 -0.12260795] [ 0. 0. 0. 1. ]] SLAMing on 4.372260615 meters Centerline goodness [0,1] 0.2764614679099425 Centerline is valid? [False, False] Translation: X:2.17, Y:0.21, Z:-0.12 [[ 0.9743468 -0.18111323 -0.1335901 2.17167739] [ 0.1777769 0.98339018 -0.03659414 0.2053413 ] [ 0.13799887 0.01190614 0.99036082 -0.12244476] [ 0. 0. 0. 1. ]] SLAMing on 4.402260614999999 meters Centerline goodness [0,1] 0.4574363457545624 Centerline is valid? [False, False] Translation: X:2.19, Y:0.21, Z:-0.12 [[ 0.97468986 -0.1786413 -0.13441343 2.18569546] [ 0.17436911 0.98374066 -0.04300842 0.2076452 ] [ 0.13991104 0.01848232 0.98999157 -0.12101395] [ 0. 0. 0. 1. ]] SLAMing on 4.432260615 meters Centerline goodness [0,1] 0.4449851606145251 Centerline is valid? [False, False] Translation: X:2.20, Y:0.21, Z:-0.12 [[ 0.97598543 -0.17666093 -0.12744944 2.19849989] [ 0.17274477 0.98410285 -0.04124102 0.21489464] [ 0.13270903 0.01823441 0.99098729 -0.11889748] [ 0. 0. 0. 1. ]] SLAMing on 4.462260615 meters Centerline goodness [0,1] 0.3432507372034681 Centerline is valid? [False, False] Translation: X:2.20, Y:0.22, Z:-0.11 [[ 0.97901077 -0.16415708 -0.12079057 2.2019904 ] [ 0.16198856 0.98640586 -0.02762598 0.22165092] [ 0.12368352 0.00747945 0.99229353 -0.11020346] [ 0. 0. 0. 1. ]] SLAMing on 4.492260615 meters Centerline goodness [0,1] 0.37952030728268693 Centerline is valid? [False, False] Translation: X:2.21, Y:0.23, Z:-0.11 [[ 0.98059011 -0.15898723 -0.11474362 2.21435679] [ 0.15741913 0.98727189 -0.02265905 0.22841851] [ 0.11688565 0.0041564 0.99313668 -0.10689048] [ 0. 0. 0. 1. ]] SLAMing on 4.5222606149999995 meters Centerline goodness [0,1] 0.4085993314544144 Centerline is valid? [False, False] Translation: X:2.23, Y:0.23, Z:-0.10 [[ 0.98133234 -0.15910802 -0.10803464 2.22655086] [ 0.15751046 0.98724433 -0.0232183 0.23454994] [ 0.1103508 0.00576829 0.99387596 -0.10274122] [ 0. 0. 0. 1. ]] SLAMing on 4.552260615 meters Centerline goodness [0,1] 0.42593807399632644 Centerline is valid? [False, False] Translation: X:2.23, Y:0.23, Z:-0.10 [[ 0.98122099 -0.15943538 -0.10856212 2.2280659 ] [ 0.15788696 0.98719467 -0.02276815 0.23267051] [ 0.11080199 0.00520004 0.9938289 -0.10241844] [ 0. 0. 0. 1. ]] SLAMing on 4.582260615 meters Centerline goodness [0,1] 0.5026684383645196 Centerline is valid? [False, False] Translation: X:2.23, Y:0.24, Z:-0.10 [[ 0.98013251 -0.16590574 -0.1086993 2.23230606] [ 0.16369378 0.98608401 -0.02902875 0.2355365 ] [ 0.11200268 0.01065862 0.99365074 -0.1044034 ] [ 0. 0. 0. 1. ]] SLAMing on 4.612260614999999 meters Centerline goodness [0,1] 0.5873788527023487 Centerline is valid? [False, False] Translation: X:2.23, Y:0.24, Z:-0.11 [[ 0.97985163 -0.16724979 -0.10917097 2.23492309] [ 0.16487353 0.98584283 -0.03050638 0.23795994] [ 0.1127276 0.01189232 0.99355476 -0.10585055] [ 0. 0. 0. 1. ]] SLAMing on 4.642260615 meters Centerline goodness [0,1] 0.7303662635875496 Centerline is valid? [False, False] Translation: X:2.24, Y:0.24, Z:-0.11 [[ 0.98011958 -0.16523804 -0.10982717 2.23586806] [ 0.1630984 0.98620526 -0.02825069 0.2420878 ] [ 0.11298022 0.00977641 0.99354914 -0.10622891] [ 0. 0. 0. 1. ]] SLAMing on 4.672260615 meters Centerline goodness [0,1] 0.8020260239280412 Centerline is valid? [False, False] Translation: X:2.24, Y:0.24, Z:-0.11 [[ 0.98058408 -0.16193389 -0.11059959 2.23637903] [ 0.16013628 0.98677811 -0.0250067 0.24389574] [ 0.11318669 0.00681017 0.9935504 -0.10620566] [ 0. 0. 0. 1. ]] SLAMing on 4.702260615 meters Centerline goodness [0,1] 0.8062865017389592 Centerline is valid? [False, False] Translation: X:2.24, Y:0.25, Z:-0.11 [[ 0.98017519 -0.16409168 -0.11104283 2.23952488] [ 0.16200139 0.98640296 -0.02765392 0.24891377] [ 0.11407076 0.00911659 0.9934308 -0.10834135] [ 0. 0. 0. 1. ]] SLAMing on 4.7322606149999995 meters Centerline goodness [0,1] 0.8021927521008403 Centerline is valid? [False, False] Translation: X:2.24, Y:0.25, Z:-0.11 [[ 0.97996487 -0.16489212 -0.11171143 2.2423157 ] [ 0.16271681 0.98626454 -0.02838118 0.24962627] [ 0.11485685 0.00963523 0.99333532 -0.10956303] [ 0. 0. 0. 1. ]] SLAMing on 4.762260615 meters Centerline goodness [0,1] 0.8493479827876194 Centerline is valid? [False, False] Translation: X:2.24, Y:0.25, Z:-0.11 [[ 0.9798691 -0.16521659 -0.11207154 2.24326055] [ 0.16304637 0.98621173 -0.0283251 0.24899732] [ 0.11520605 0.00948203 0.99329636 -0.10935848] [ 0. 0. 0. 1. ]] SLAMing on 4.792260615 meters Centerline goodness [0,1] 0.8875622107744696 Centerline is valid? [False, False] Translation: X:2.24, Y:0.24, Z:-0.11 [[ 0.97918451 -0.16989752 -0.11105188 2.24127402] [ 0.16746457 0.98539218 -0.03094934 0.24453909] [ 0.11468788 0.01170786 0.99333258 -0.10611477] [ 0. 0. 0. 1. ]] SLAMing on 4.822260614999999 meters Centerline goodness [0,1] 0.9340642606974265 Centerline is valid? [False, False] Translation: X:2.24, Y:0.24, Z:-0.10 [[ 0.97929792 -0.16937722 -0.11084652 2.23979069] [ 0.16715494 0.98550076 -0.02911139 0.24020816] [ 0.11417013 0.00998018 0.99341108 -0.10390691] [ 0. 0. 0. 1. ]] SLAMing on 4.852260615 meters Centerline goodness [0,1] 0.947048440870759 Centerline is valid? [False, False] Translation: X:2.23, Y:0.24, Z:-0.10 [[ 0.97996457 -0.16568899 -0.11052875 2.23428604] [ 0.16399014 0.98616136 -0.0243516 0.23676245] [ 0.11303398 0.00573808 0.99357455 -0.0985162 ] [ 0. 0. 0. 1. ]] SLAMing on 4.882260615 meters Centerline goodness [0,1] 0.9548953938497673 Centerline is valid? [False, True] Translation: X:2.23, Y:0.24, Z:-0.10 [[ 9.80734511e-01 -1.60921676e-01 -1.10743096e-01 2.23105290e+00] [ 1.59711190e-01 9.86965704e-01 -1.97745889e-02 2.37399039e-01] [ 1.12481798e-01 1.70671009e-03 9.93652320e-01 -9.59849463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.912260615 meters Centerline goodness [0,1] 0.9614389740245626 Centerline is valid? [True, True] Translation: X:2.25, Y:0.26, Z:-0.08 [[ 0.98186854 -0.15880128 -0.10351967 2.25367406] [ 0.15749147 0.98730214 -0.02075864 0.26288621] [ 0.10550169 0.00407879 0.99441076 -0.08157552] [ 0. 0. 0. 1. ]] SLAMing on 4.9422606149999995 meters Centerline goodness [0,1] 0.9614389740245626 Centerline is valid? [True, True] Translation: X:2.28, Y:0.27, Z:-0.08 [[ 0.98182594 -0.15906773 -0.10351463 2.28046633] [ 0.15775675 0.98725926 -0.02078375 0.26856632] [ 0.1055018 0.00407589 0.99441076 -0.07913844] [ 0. 0. 0. 1. ]] SLAMing on 4.972260615 meters Centerline goodness [0,1] 0.9628246330235386 Centerline is valid? [True, True] Translation: X:2.31, Y:0.28, Z:-0.08 [[ 0.98169386 -0.1593747 -0.1042922 2.30786648] [ 0.15804252 0.98720964 -0.02096873 0.28066204] [ 0.10630015 0.00410227 0.99432562 -0.08001321] [ 0. 0. 0. 1. ]] SLAMing on 5.002260615 meters Centerline goodness [0,1] 0.9568150268957141 Centerline is valid? [True, True] Translation: X:2.34, Y:0.29, Z:-0.10 [[ 0.98051736 -0.16025672 -0.11359353 2.33839778] [ 0.15867834 0.9870656 -0.02286245 0.28905667] [ 0.11578813 0.0043922 0.99326422 -0.0964974 ] [ 0. 0. 0. 1. ]] SLAMing on 5.032260614999999 meters Centerline goodness [0,1] 0.9555029019846532 Centerline is valid? [True, True] Translation: X:2.37, Y:0.29, Z:-0.11 [[ 0.97911624 -0.16360918 -0.12067902 2.36973369] [ 0.16185164 0.98651607 -0.02429188 0.28774911] [ 0.12302617 0.00425247 0.99239432 -0.11115142] [ 0. 0. 0. 1. ]] SLAMing on 5.062260615 meters Centerline goodness [0,1] 0.9535015224010439 Centerline is valid? [True, True] Translation: X:2.40, Y:0.29, Z:-0.11 [[ 0.97895935 -0.16377765 -0.12171879 2.39827553] [ 0.1619892 0.98648799 -0.02451418 0.29147401] [ 0.124089 0.00428126 0.99226186 -0.11315723] [ 0. 0. 0. 1. ]] SLAMing on 5.092260615 meters Centerline goodness [0,1] 0.9531161657895881 Centerline is valid? [True, True] Translation: X:2.42, Y:0.30, Z:-0.11 [[ 0.97924431 -0.16290505 -0.12059238 2.42495277] [ 0.1611394 0.98663203 -0.02431751 0.29799458] [ 0.12294175 0.0043806 0.99240422 -0.11020574] [ 0. 0. 0. 1. ]] SLAMing on 5.122260615 meters Centerline goodness [0,1] 0.8992091864370058 Centerline is valid? [True, False] Translation: X:2.43, Y:0.29, Z:-0.11 [[ 9.80147780e-01 -1.56658187e-01 -1.21525887e-01 2.42512767e+00] [ 1.55678696e-01 9.87651426e-01 -1.75728313e-02 2.92274267e-01] [ 1.22778144e-01 -1.69502003e-03 9.92432695e-01 -1.09245474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.152260614999999 meters Centerline goodness [0,1] 0.8542230497759109 Centerline is valid? [False, False] Translation: X:2.43, Y:0.29, Z:-0.11 [[ 0.98029621 -0.15546525 -0.12186015 2.42547614] [ 0.1546751 0.98783622 -0.0159756 0.28870081] [ 0.12286152 -0.00318791 0.9924187 -0.10861382] [ 0. 0. 0. 1. ]] SLAMing on 5.182260615 meters Centerline goodness [0,1] 0.8016553995493153 Centerline is valid? [False, False] Translation: X:2.43, Y:0.28, Z:-0.11 [[ 0.98059436 -0.15326881 -0.1222431 2.42527907] [ 0.15291066 0.98816269 -0.01236218 0.28049031] [ 0.12269081 -0.00656999 0.9924232 -0.1068876 ] [ 0. 0. 0. 1. ]] SLAMing on 5.212260615 meters Centerline goodness [0,1] 0.8124905259966652 Centerline is valid? [False, False] Translation: X:2.42, Y:0.28, Z:-0.11 [[ 0.9807171 -0.1524999 -0.12222011 2.42496001] [ 0.15228759 0.98827353 -0.01113213 0.27779404] [ 0.12248455 -0.00769514 0.99244059 -0.10636597] [ 0. 0. 0. 1. ]] SLAMing on 5.242260614999999 meters Centerline goodness [0,1] 0.8161058731943603 Centerline is valid? [False, False] Translation: X:2.42, Y:0.27, Z:-0.10 [[ 0.98140514 -0.14832578 -0.12183355 2.42196509] [ 0.14869501 0.98886425 -0.00610684 0.26968067] [ 0.12138265 -0.01212276 0.99253176 -0.10399357] [ 0. 0. 0. 1. ]] SLAMing on 5.2722606149999995 meters Centerline goodness [0,1] 0.9392864864864865 Centerline is valid? [False, False] Translation: X:2.42, Y:0.27, Z:-0.10 [[ 0.98168678 -0.1466878 -0.12154736 2.42051441] [ 0.14731067 0.9890826 -0.00389484 0.26523035] [ 0.1207917 -0.01408171 0.99257799 -0.10279445] [ 0. 0. 0. 1. ]] SLAMing on 5.302260615 meters Centerline goodness [0,1] 0.9817191754181253 Centerline is valid? [False, True] Translation: X:2.41, Y:0.25, Z:-0.10 [[ 0.98156727 -0.1488686 -0.11984922 2.41449446] [ 0.14953732 0.98875008 -0.00344523 0.25355392] [ 0.11901381 -0.01454021 0.99278613 -0.09726542] [ 0. 0. 0. 1. ]] SLAMing on 5.332260615 meters Centerline goodness [0,1] 0.9833473362200823 Centerline is valid? [True, True] Translation: X:2.44, Y:0.25, Z:-0.08 [[ 0.98196673 -0.15251082 -0.11172194 2.44356674] [ 0.15085823 0.98828432 -0.02314931 0.25161338] [ 0.11394356 0.00587767 0.99346984 -0.0838038 ] [ 0. 0. 0. 1. ]] SLAMing on 5.362260614999999 meters Centerline goodness [0,1] 0.9850543770862495 Centerline is valid? [True, True] Translation: X:2.47, Y:0.26, Z:-0.07 [[ 0.9825002 -0.15307584 -0.10611856 2.47089428] [ 0.15158717 0.98819896 -0.02200333 0.25659831] [ 0.10823443 0.00553207 0.99411001 -0.07054468] [ 0. 0. 0. 1. ]] SLAMing on 5.392260615 meters Centerline goodness [0,1] 0.985782092309014 Centerline is valid? [True, True] Translation: X:2.50, Y:0.27, Z:-0.07 [[ 0.98281336 -0.15228757 -0.10433791 2.4970675 ] [ 0.15084097 0.98832062 -0.02166455 0.26699665] [ 0.10641855 0.00555378 0.99430591 -0.06587808] [ 0. 0. 0. 1. ]] SLAMing on 5.422260615 meters Centerline goodness [0,1] 0.9876355376505379 Centerline is valid? [True, True] Translation: X:2.52, Y:0.28, Z:-0.06 [[ 0.98294407 -0.15131671 -0.10451898 2.52357549] [ 0.14985831 0.98846901 -0.02171417 0.28004436] [ 0.10659949 0.00568077 0.99428581 -0.06373646] [ 0. 0. 0. 1. ]] SLAMing on 5.452260614999999 meters Centerline goodness [0,1] 0.9887623581891097 Centerline is valid? [True, True] Translation: X:2.55, Y:0.29, Z:-0.06 [[ 0.98326552 -0.14953063 -0.10406489 2.54966548] [ 0.14807167 0.98873961 -0.02165085 0.29328658] [ 0.10613054 0.00587948 0.99433482 -0.06110318] [ 0. 0. 0. 1. ]] SLAMing on 5.4822606149999995 meters Centerline goodness [0,1] 0.9900692791111683 Centerline is valid? [True, True] Translation: X:2.58, Y:0.30, Z:-0.06 [[ 0.98378849 -0.14615251 -0.10392135 2.57810999] [ 0.14467788 0.98924236 -0.02163005 0.30360698] [ 0.10596469 0.00624427 0.99435029 -0.05786884] [ 0. 0. 0. 1. ]] SLAMing on 5.512260615 meters Centerline goodness [0,1] 0.990972252004975 Centerline is valid? [True, True] Translation: X:2.61, Y:0.31, Z:-0.06 [[ 0.98401647 -0.14283292 -0.10635014 2.6076506 ] [ 0.14126883 0.98972373 -0.022137 0.31312113] [ 0.10841915 0.00675921 0.99408229 -0.05793002] [ 0. 0. 0. 1. ]] SLAMing on 5.542260615 meters Centerline goodness [0,1] 0.9918117122524222 Centerline is valid? [True, True] Translation: X:2.64, Y:0.32, Z:-0.06 [[ 0.98361361 -0.1446347 -0.10763398 2.63671045] [ 0.14304293 0.98946282 -0.02240637 0.31518204] [ 0.10974056 0.00664293 0.99393807 -0.0601842 ] [ 0. 0. 0. 1. ]] SLAMing on 5.572260614999999 meters Centerline goodness [0,1] 0.9921511440886963 Centerline is valid? [True, True] Translation: X:2.66, Y:0.32, Z:-0.06 [[ 0.98332007 -0.14669148 -0.10753252 2.66488209] [ 0.14511147 0.98916134 -0.02241664 0.31900197] [ 0.10965534 0.00643853 0.99394882 -0.05902089] [ 0. 0. 0. 1. ]] SLAMing on 5.602260615 meters Centerline goodness [0,1] 0.9932874428149985 Centerline is valid? [True, True] Translation: X:2.69, Y:0.32, Z:-0.05 [[ 0.98363324 -0.14606941 -0.10549583 2.69305382] [ 0.14454429 0.98925369 -0.02200205 0.32376607] [ 0.10757597 0.00639313 0.99417631 -0.0544515 ] [ 0. 0. 0. 1. ]] SLAMing on 5.632260615 meters Centerline goodness [0,1] 0.993889019465396 Centerline is valid? [True, True] Translation: X:2.72, Y:0.33, Z:-0.05 [[ 0.98356695 -0.14621088 -0.10591708 2.72127388] [ 0.14467086 0.98923251 -0.02212185 0.3292499 ] [ 0.10801108 0.00643521 0.99412886 -0.05136836] [ 0. 0. 0. 1. ]] SLAMing on 5.662260614999999 meters Centerline goodness [0,1] 0.994199808081885 Centerline is valid? [True, True] Translation: X:2.75, Y:0.33, Z:-0.05 [[ 0.98320839 -0.14734784 -0.10765626 2.74838544] [ 0.14575987 0.98906373 -0.02251678 0.33376464] [ 0.1097967 0.00644673 0.99393316 -0.05055395] [ 0. 0. 0. 1. ]] SLAMing on 5.6922606149999995 meters Centerline goodness [0,1] 0.9947746710175528 Centerline is valid? [True, True] Translation: X:2.78, Y:0.33, Z:-0.05 [[ 0.98220898 -0.15185291 -0.11048176 2.77863917] [ 0.15020711 0.9883842 -0.02311921 0.33206618] [ 0.11270914 0.00611275 0.99360922 -0.05197567] [ 0. 0. 0. 1. ]] SLAMing on 5.722260615 meters Centerline goodness [0,1] 0.996265551311325 Centerline is valid? [True, True] Translation: X:2.81, Y:0.33, Z:-0.05 [[ 0.9814092 -0.15787788 -0.10913553 2.80912954] [ 0.15630862 0.98744411 -0.02284195 0.33199594] [ 0.11137148 0.00535848 0.9937644 -0.04947644] [ 0. 0. 0. 1. ]] SLAMing on 5.752260615 meters Centerline goodness [0,1] 0.9963784325003728 Centerline is valid? [True, True] Translation: X:2.84, Y:0.34, Z:-0.05 [[ 0.98095789 -0.16033038 -0.10961653 2.83666057] [ 0.15876192 0.98705019 -0.02294704 0.33669278] [ 0.11187613 0.00510715 0.99370904 -0.04651968] [ 0. 0. 0. 1. ]] SLAMing on 5.782260614999999 meters Centerline goodness [0,1] 0.9966651798041589 Centerline is valid? [True, True] Translation: X:2.86, Y:0.35, Z:-0.04 [[ 0.98118714 -0.15894662 -0.10957993 2.86086026] [ 0.15736933 0.98727309 -0.02295086 0.35349199] [ 0.11183328 0.00527457 0.99371299 -0.04198587] [ 0. 0. 0. 1. ]] SLAMing on 5.812260615 meters Centerline goodness [0,1] 0.9972955706984667 Centerline is valid? [True, True] Translation: X:2.89, Y:0.36, Z:-0.03 [[ 0.98234145 -0.15459752 -0.10537971 2.88952437] [ 0.15311311 0.9879619 -0.02208309 0.35821392] [ 0.10752513 0.00555812 0.99418683 -0.03179559] [ 0. 0. 0. 1. ]] SLAMing on 5.842260615 meters Centerline goodness [0,1] 0.9970547103445353 Centerline is valid? [True, True] Translation: X:2.91, Y:0.38, Z:-0.02 [[ 0.98348997 -0.1492919 -0.10227122 2.91450577] [ 0.1478653 0.98877522 -0.02143404 0.37709844] [ 0.10432318 0.0059578 0.9945256 -0.02243404] [ 0. 0. 0. 1. ]] SLAMing on 5.872260614999999 meters Centerline goodness [0,1] 0.9967280684980985 Centerline is valid? [True, True] Translation: X:2.94, Y:0.39, Z:-0.01 [[ 0.98482787 -0.14132826 -0.10069953 2.94062353] [ 0.13990355 0.98994012 -0.02110842 0.39473173] [ 0.10266972 0.00669993 0.99469294 -0.01352789] [ 0. 0. 0. 1. ]] SLAMing on 5.902260614999999 meters Centerline goodness [0,1] 0.9977519511367492 Centerline is valid? [True, True] Translation: X:2.97, Y:0.41, Z:-0.01 [[ 0.98577376 -0.13665652 -0.09785235 2.9683811 ] [ 0.13528846 0.99059388 -0.02051348 0.40931372] [ 0.09973524 0.00698335 0.9949895 -0.00963269] [ 0. 0. 0. 1. ]] SLAMing on 5.932260615 meters Centerline goodness [0,1] 0.9864060812670719 Centerline is valid? [True, True] Translation: X:2.99, Y:0.43, Z:-0.01 [[ 0.98585327 -0.13680847 -0.0968337 2.9917146 ] [ 0.13546949 0.99057352 -0.02030083 0.42836999] [ 0.09869823 0.00689563 0.99509352 -0.0063377 ] [ 0. 0. 0. 1. ]] SLAMing on 5.962260615 meters Centerline goodness [0,1] 0.9980301200991294 Centerline is valid? [True, True] Translation: X:3.02, Y:0.42, Z:-0.00 [[ 9.85598873e-01 -1.40032503e-01 -9.47932434e-02 3.02356876e+00] [ 1.38762946e-01 9.90125916e-01 -1.98875710e-02 4.19364497e-01] [ 9.66421533e-02 6.44737788e-03 9.95298310e-01 -2.89518798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.992260614999999 meters Centerline goodness [0,1] 0.9994285593345891 Centerline is valid? [True, True] Translation: X:3.06, Y:0.41, Z:0.00 [[ 9.84078513e-01 -1.51590675e-01 -9.27887286e-02 3.05621421e+00] [ 1.50424998e-01 9.88429659e-01 -1.94712305e-02 4.07901922e-01] [ 9.46667884e-02 5.20347523e-03 9.95495416e-01 8.49527502e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0222606149999995 meters Centerline goodness [0,1] 0.9994083840432725 Centerline is valid? [True, True] Translation: X:3.09, Y:0.41, Z:0.00 [[ 0.98305595 -0.15817037 -0.09264524 3.08729026] [ 0.1570372 0.98740129 -0.01944276 0.40573944] [ 0.09455329 0.00456457 0.99550934 0.00400514] [ 0. 0. 0. 1. ]] SLAMing on 6.052260615 meters Centerline goodness [0,1] 0.9995998399359743 Centerline is valid? [True, True] Translation: X:3.12, Y:0.40, Z:0.01 [[ 0.98256562 -0.16210202 -0.09103707 3.11688781] [ 0.16102464 0.98676543 -0.01910646 0.40467018] [ 0.09292943 0.00411414 0.9956642 0.0115031 ] [ 0. 0. 0. 1. ]] SLAMing on 6.082260614999999 meters Centerline goodness [0,1] 0.9996832837144486 Centerline is valid? [True, True] Translation: X:3.15, Y:0.42, Z:0.02 [[ 0.98423132 -0.15263733 -0.08938986 3.14507324] [ 0.15155938 0.98827002 -0.01876507 0.41624339] [ 0.09120557 0.00492129 0.99581993 0.01976625] [ 0. 0. 0. 1. ]] SLAMing on 6.112260614999999 meters Centerline goodness [0,1] 0.9998947124597275 Centerline is valid? [True, True] Translation: X:3.17, Y:0.43, Z:0.02 [[ 0.98519178 -0.14683106 -0.08853127 3.1736417 ] [ 0.14575028 0.9891468 -0.01858663 0.42626481] [ 0.09029952 0.00540794 0.99589997 0.02381587] [ 0. 0. 0. 1. ]] SLAMing on 6.142260615 meters Centerline goodness [0,1] 0.9998943341997929 Centerline is valid? [True, True] Translation: X:3.20, Y:0.44, Z:0.03 [[ 0.98576661 -0.14228902 -0.08954338 3.20130734] [ 0.14116456 0.98980762 -0.01880032 0.4395048 ] [ 0.0913058 0.00589238 0.99580547 0.0257535 ] [ 0. 0. 0. 1. ]] SLAMing on 6.172260615 meters Centerline goodness [0,1] 0.9999153707817624 Centerline is valid? [True, True] Translation: X:3.23, Y:0.45, Z:0.02 [[ 0.98576404 -0.14135047 -0.09104557 3.22675557] [ 0.14018375 0.98994094 -0.019117 0.45481676] [ 0.09283193 0.00608174 0.99566322 0.02451562] [ 0. 0. 0. 1. ]] SLAMing on 6.202260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.26, Y:0.45, Z:0.03 [[ 0.98518476 -0.14526442 -0.091155 3.25818844] [ 0.14411046 0.98937627 -0.01915127 0.45263355] [ 0.09296859 0.00573115 0.99565255 0.02624946] [ 0. 0. 0. 1. ]] SLAMing on 6.2322606149999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.29, Y:0.44, Z:0.03 [[ 0.98349683 -0.15607693 -0.09150943 3.28943268] [ 0.15496024 0.98773358 -0.01922777 0.44349145] [ 0.09338795 0.00473013 0.99561856 0.02971854] [ 0. 0. 0. 1. ]] SLAMing on 6.262260615 meters Centerline goodness [0,1] 0.9999788341870212 Centerline is valid? [True, True] Translation: X:3.32, Y:0.44, Z:0.03 [[ 0.98273972 -0.16110446 -0.09092847 3.32024346] [ 0.16002305 0.9869283 -0.01910898 0.44169039] [ 0.09281843 0.0042285 0.99567407 0.0333282 ] [ 0. 0. 0. 1. ]] SLAMing on 6.292260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.35, Y:0.44, Z:0.04 [[ 9.81151355e-01 -1.73381806e-01 -8.53274117e-02 3.34963290e+00] [ 1.72475671e-01 9.84850471e-01 -1.79358000e-02 4.35920043e-01] [ 8.71444830e-02 2.88083191e-03 9.96191518e-01 4.44265243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.322260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.38, Y:0.44, Z:0.05 [[ 9.80287792e-01 -1.80117973e-01 -8.11995071e-02 3.37691697e+00] [ 1.79320343e-01 9.83642613e-01 -1.70711716e-02 4.35865420e-01] [ 8.29461202e-02 2.17393770e-03 9.96551662e-01 5.39746416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.352260615 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.41, Y:0.43, Z:0.06 [[ 9.79429389e-01 -1.86341082e-01 -7.74278524e-02 3.40577877e+00] [ 1.85635091e-01 9.82483855e-01 -1.62814933e-02 4.34305560e-01] [ 7.91055261e-02 1.57324661e-03 9.96865006e-01 6.14748218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.382260615 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.44, Y:0.44, Z:0.07 [[ 9.77861616e-01 -1.93854180e-01 -7.87858898e-02 3.43500472e+00] [ 1.93144778e-01 9.81029829e-01 -1.66002868e-02 4.35362185e-01] [ 8.05093430e-02 1.01570012e-03 9.96753337e-01 6.92806173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.412260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.46, Y:0.45, Z:0.07 [[ 9.77927488e-01 -1.93185969e-01 -7.96053308e-02 3.45989283e+00] [ 1.92459948e-01 9.81161568e-01 -1.67674025e-02 4.49456262e-01] [ 8.13449181e-02 1.07646602e-03 9.96685430e-01 7.47890983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4422606149999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.49, Y:0.46, Z:0.08 [[ 9.78471056e-01 -1.90767700e-01 -7.87532641e-02 3.48581449e+00] [ 1.90046891e-01 9.81634357e-01 -1.66183134e-02 4.63151453e-01] [ 8.04771472e-02 1.29372565e-03 9.96755615e-01 8.00140730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.472260615 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.51, Y:0.49, Z:0.09 [[ 9.79644290e-01 -1.85484323e-01 -7.67634752e-02 3.50971069e+00] [ 1.84780928e-01 9.82645728e-01 -1.62290379e-02 4.89650691e-01] [ 7.84415331e-02 1.71425815e-03 9.96917242e-01 8.67004656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.502260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.54, Y:0.50, Z:0.09 [[ 9.79911879e-01 -1.84032649e-01 -7.68420000e-02 3.53599345e+00] [ 1.83323428e-01 9.82918425e-01 -1.62447149e-02 5.02983159e-01] [ 7.85189755e-02 1.83145024e-03 9.96910937e-01 8.96743586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.532260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.56, Y:0.52, Z:0.09 [[ 9.80268033e-01 -1.82039721e-01 -7.70462401e-02 3.56267240e+00] [ 1.81318512e-01 9.83289098e-01 -1.63139944e-02 5.16405924e-01] [ 7.87285229e-02 2.02217757e-03 9.96894042e-01 9.33039262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.562260615 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.59, Y:0.53, Z:0.10 [[ 9.81523582e-01 -1.74938369e-01 -7.75114511e-02 3.58739670e+00] [ 1.74183766e-01 9.84575849e-01 -1.64442603e-02 5.34240516e-01] [ 7.91926348e-02 2.63919282e-03 9.96855838e-01 9.63696992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.592260615 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.61, Y:0.54, Z:0.10 [[ 9.82406814e-01 -1.70367543e-01 -7.64967488e-02 3.61469204e+00] [ 1.69618182e-01 9.85376093e-01 -1.62365898e-02 5.44286900e-01] [ 7.81442554e-02 2.97569699e-03 9.96937621e-01 9.93613771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.622260614999999 meters Centerline goodness [0,1] 0.9999155530221462 Centerline is valid? [True, True] Translation: X:3.64, Y:0.56, Z:0.11 [[ 9.84025926e-01 -1.62930255e-01 -7.17405681e-02 3.64140631e+00] [ 1.62251168e-01 9.86631902e-01 -1.52331082e-02 5.58941250e-01] [ 7.32634674e-02 3.34978244e-03 9.97306996e-01 1.06371015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.652260614999999 meters Centerline goodness [0,1] 0.9998737294021087 Centerline is valid? [True, True] Translation: X:3.67, Y:0.57, Z:0.11 [[ 9.84368087e-01 -1.61360153e-01 -7.05859113e-02 3.66937609e+00] [ 1.60698734e-01 9.86889693e-01 -1.49883506e-02 5.66779425e-01] [ 7.20790309e-02 3.41098740e-03 9.97393091e-01 1.09132623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.682260615 meters Centerline goodness [0,1] 0.9998944746950319 Centerline is valid? [True, True] Translation: X:3.70, Y:0.58, Z:0.11 [[ 9.84458784e-01 -1.62116004e-01 -6.75226123e-02 3.69681935e+00] [ 1.61512896e-01 9.86766501e-01 -1.43337529e-02 5.75505436e-01] [ 6.89527827e-02 3.20521631e-03 9.97614776e-01 1.14503932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.712260614999999 meters Centerline goodness [0,1] 0.9999370396020902 Centerline is valid? [True, True] Translation: X:3.72, Y:0.58, Z:0.12 [[ 9.84191477e-01 -1.63987831e-01 -6.68963906e-02 3.72428360e+00] [ 1.63398180e-01 9.86457571e-01 -1.42300874e-02 5.78628176e-01] [ 6.83240121e-02 3.07438228e-03 9.97658447e-01 1.19624734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.742260614999999 meters Centerline goodness [0,1] 0.99997891496405 Centerline is valid? [True, True] Translation: X:3.76, Y:0.57, Z:0.13 [[ 9.83240682e-01 -1.71060139e-01 -6.30570373e-02 3.75518593e+00] [ 1.70550825e-01 9.85257583e-01 -1.34130902e-02 5.69374071e-01] [ 6.44218692e-02 2.43386624e-03 9.97919786e-01 1.28569936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7722606149999995 meters Centerline goodness [0,1] 0.9999579805449923 Centerline is valid? [True, True] Translation: X:3.78, Y:0.57, Z:0.13 [[ 9.82480046e-01 -1.75646093e-01 -6.23009570e-02 3.78462476e+00] [ 1.75156416e-01 9.84451063e-01 -1.32790697e-02 5.67816827e-01] [ 6.36646601e-02 2.13400868e-03 9.97969066e-01 1.33772701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.802260615 meters Centerline goodness [0,1] 0.9999579805449923 Centerline is valid? [True, True] Translation: X:3.81, Y:0.57, Z:0.14 [[ 9.82415434e-01 -1.76006752e-01 -6.23019987e-02 3.81133870e+00] [ 1.75518108e-01 9.84386707e-01 -1.32741985e-02 5.73739597e-01] [ 6.36656079e-02 2.10564857e-03 9.97969066e-01 1.36601457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.832260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.84, Y:0.57, Z:0.14 [[ 9.81158568e-01 -1.81351370e-01 -6.66299136e-02 3.84086280e+00] [ 1.80801915e-01 9.83416488e-01 -1.42365492e-02 5.74873225e-01] [ 6.81067734e-02 1.92149628e-03 9.97676188e-01 1.36976845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.862260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.87, Y:0.58, Z:0.14 [[ 9.80915047e-01 -1.82579698e-01 -6.68604873e-02 3.86947721e+00] [ 1.82029729e-01 9.83189342e-01 -1.42791729e-02 5.80590678e-01] [ 6.83436056e-02 1.83605919e-03 9.97660153e-01 1.40165970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.892260615 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.90, Y:0.59, Z:0.15 [[ 9.80635025e-01 -1.85759262e-01 -6.20358219e-02 3.89619318e+00] [ 1.85290852e-01 9.82594112e-01 -1.32706856e-02 5.86006518e-01] [ 6.34211861e-02 1.51902885e-03 9.97985694e-01 1.50934158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.922260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.92, Y:0.59, Z:0.16 [[ 9.80019387e-01 -1.89591662e-01 -6.01415284e-02 3.92300624e+00] [ 1.89158534e-01 9.81862250e-01 -1.28674116e-02 5.90765915e-01] [ 6.14902504e-02 1.23402947e-03 9.98106921e-01 1.56729954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.952260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.95, Y:0.59, Z:0.16 [[ 9.79032236e-01 -1.94560864e-01 -6.03485770e-02 3.95188812e+00] [ 1.94132630e-01 9.80889988e-01 -1.29365324e-02 5.94327663e-01] [ 6.17122578e-02 9.49654301e-04 9.98093530e-01 1.59001979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9822606149999995 meters Centerline goodness [0,1] 0.9999788646066703 Centerline is valid? [True, True] Translation: X:3.98, Y:0.60, Z:0.16 [[ 9.76852430e-01 -2.04837710e-01 -6.16509805e-02 3.98081625e+00] [ 2.04409083e-01 9.78795891e-01 -1.32487669e-02 5.95001610e-01] [ 6.30575735e-02 3.40069691e-04 9.98009833e-01 1.63764352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.012260615 meters Centerline goodness [0,1] 0.9998738037648544 Centerline is valid? [True, True] Translation: X:4.01, Y:0.60, Z:0.15 [[ 9.74829156e-01 -2.11440689e-01 -7.07174051e-02 4.01285114e+00] [ 2.10893305e-01 9.77390826e-01 -1.52048390e-02 5.95037087e-01] [ 7.23334646e-02 -9.17069105e-05 9.97380500e-01 1.53867005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.042260614999999 meters Centerline goodness [0,1] 0.9999578725645076 Centerline is valid? [True, True] Translation: X:4.04, Y:0.60, Z:0.15 [[ 9.74638265e-01 -2.11223308e-01 -7.39254130e-02 4.04001331e+00] [ 2.10624467e-01 9.77437828e-01 -1.58942149e-02 6.01852624e-01] [ 7.56147238e-02 -7.93906546e-05 9.97137106e-01 1.53600561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.072260614999999 meters Centerline goodness [0,1] 0.9999788976112096 Centerline is valid? [True, True] Translation: X:4.07, Y:0.61, Z:0.16 [[ 9.75036174e-01 -2.09446311e-01 -7.37340009e-02 4.06637072e+00] [ 2.08845362e-01 9.77820147e-01 -1.58548197e-02 6.13766750e-01] [ 7.54193251e-02 6.00186351e-05 9.97151905e-01 1.56492097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.102260615 meters Centerline goodness [0,1] 0.9996618694393372 Centerline is valid? [True, True] Translation: X:4.09, Y:0.64, Z:0.17 [[ 9.76440012e-01 -2.05523419e-01 -6.57649447e-02 4.09107325e+00] [ 2.05034328e-01 9.78652133e-01 -1.41748795e-02 6.38641052e-01] [ 6.72742731e-02 3.56848233e-04 9.97734456e-01 1.67528672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.132260614999999 meters Centerline goodness [0,1] 0.9996620622650276 Centerline is valid? [True, True] Translation: X:4.12, Y:0.66, Z:0.18 [[ 9.76997006e-01 -2.03764355e-01 -6.29042004e-02 4.11508520e+00] [ 2.03313329e-01 9.79019856e-01 -1.35576888e-02 6.57860146e-01] [ 6.43470349e-02 4.56559000e-04 9.97927478e-01 1.75373815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.162260614999999 meters Centerline goodness [0,1] 0.9997252747252747 Centerline is valid? [True, True] Translation: X:4.14, Y:0.67, Z:0.18 [[ 9.77056020e-01 -2.03431364e-01 -6.30651548e-02 4.14093817e+00] [ 2.02977650e-01 9.79089094e-01 -1.35874664e-02 6.68270535e-01] [ 6.45105221e-02 4.74898946e-04 9.97916914e-01 1.77416908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1922606149999995 meters Centerline goodness [0,1] 0.9994918806766455 Centerline is valid? [True, True] Translation: X:4.17, Y:0.68, Z:0.18 [[ 9.77672890e-01 -2.00069728e-01 -6.42481506e-02 4.16534748e+00] [ 1.99589536e-01 9.79781382e-01 -1.38730232e-02 6.80635638e-01] [ 6.57247138e-02 7.40020118e-04 9.97837519e-01 1.79442923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.222260615 meters Centerline goodness [0,1] 0.9995766927000657 Centerline is valid? [True, True] Translation: X:4.19, Y:0.69, Z:0.18 [[ 9.78304802e-01 -1.97339226e-01 -6.30630183e-02 4.19196517e+00] [ 1.96870054e-01 9.80334833e-01 -1.36307734e-02 6.91440121e-01] [ 6.45127598e-02 9.19831245e-04 9.97916458e-01 1.83770053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.252260614999999 meters Centerline goodness [0,1] 0.999322435843144 Centerline is valid? [True, True] Translation: X:4.22, Y:0.70, Z:0.19 [[ 9.79224098e-01 -1.92490885e-01 -6.37763603e-02 4.21796126e+00] [ 1.91998791e-01 9.81297923e-01 -1.38148869e-02 7.04812870e-01] [ 6.52428497e-02 1.28288613e-03 9.97868591e-01 1.85862548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.282260614999999 meters Centerline goodness [0,1] 0.999305774692332 Centerline is valid? [True, True] Translation: X:4.24, Y:0.73, Z:0.18 [[ 9.80881066e-01 -1.81252352e-01 -7.08513864e-02 4.24229028e+00] [ 1.80614804e-01 9.83434007e-01 -1.53572941e-02 7.25563985e-01] [ 7.24612085e-02 2.26686982e-03 9.97368655e-01 1.81861304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.312260615 meters Centerline goodness [0,1] 0.9991955458644707 Centerline is valid? [True, True] Translation: X:4.27, Y:0.74, Z:0.18 [[ 9.82194246e-01 -1.71481745e-01 -7.67363975e-02 4.27005403e+00] [ 1.70702960e-01 9.85181940e-01 -1.66446842e-02 7.41028140e-01] [ 7.84535724e-02 3.24918284e-03 9.96912473e-01 1.77125992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.342260614999999 meters Centerline goodness [0,1] 0.9992999427225864 Centerline is valid? [True, True] Translation: X:4.30, Y:0.75, Z:0.18 [[ 9.82592209e-01 -1.68200504e-01 -7.88742154e-02 4.29776297e+00] [ 1.67367290e-01 9.85746204e-01 -1.71058855e-02 7.49673023e-01] [ 8.06271770e-02 3.60714614e-03 9.96737802e-01 1.76577314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.372260614999999 meters Centerline goodness [0,1] 0.9993612944432616 Centerline is valid? [True, True] Translation: X:4.33, Y:0.76, Z:0.17 [[ 0.98311243 -0.16248272 -0.08419803 4.32592169] [ 0.16150889 0.98670163 -0.01829684 0.76222835] [ 0.08605125 0.00438912 0.99628104 0.17122955] [ 0. 0. 0. 1. ]] SLAMing on 7.402260614999999 meters Centerline goodness [0,1] 0.9994086089637985 Centerline is valid? [True, True] Translation: X:4.35, Y:0.77, Z:0.17 [[ 0.98329697 -0.15997143 -0.08681132 4.35366193] [ 0.15892627 0.9871102 -0.01886515 0.77049758] [ 0.08871022 0.00475344 0.99604613 0.17015988] [ 0. 0. 0. 1. ]] SLAMing on 7.432260615 meters Centerline goodness [0,1] 0.9996810478640838 Centerline is valid? [True, True] Translation: X:4.38, Y:0.78, Z:0.17 [[ 0.98398251 -0.15442542 -0.08905738 4.38338004] [ 0.15329951 0.98798955 -0.01938831 0.7777906 ] [ 0.09098181 0.0054253 0.99583778 0.16993208] [ 0. 0. 0. 1. ]] SLAMing on 7.462260614999999 meters Centerline goodness [0,1] 0.9995321040430464 Centerline is valid? [True, True] Translation: X:4.41, Y:0.79, Z:0.17 [[ 0.98401105 -0.15411758 -0.08927504 4.41021288] [ 0.15298478 0.98803738 -0.01943681 0.78606083] [ 0.09120263 0.00546831 0.99581734 0.1723362 ] [ 0. 0. 0. 1. ]] SLAMing on 7.492260614999999 meters Centerline goodness [0,1] 0.999467473267158 Centerline is valid? [True, True] Translation: X:4.44, Y:0.78, Z:0.17 [[ 0.98355745 -0.15689907 -0.08942835 4.44143819] [ 0.15577271 0.98760079 -0.01948198 0.78471817] [ 0.09137621 0.00523115 0.9958027 0.17449758] [ 0. 0. 0. 1. ]] SLAMing on 7.5222606149999995 meters Centerline goodness [0,1] 0.9994908026223664 Centerline is valid? [True, True] Translation: X:4.47, Y:0.78, Z:0.18 [[ 9.82172681e-01 -1.65525094e-01 -8.90969550e-02 4.47255324e+00] [ 1.64442165e-01 9.86195699e-01 -1.94118069e-02 7.79254332e-01] [ 9.10801749e-02 4.41445024e-03 9.95833778e-01 1.78545800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.552260614999999 meters Centerline goodness [0,1] 0.9994694059468981 Centerline is valid? [True, True] Translation: X:4.50, Y:0.78, Z:0.18 [[ 9.81434204e-01 -1.69000566e-01 -9.06957072e-02 4.50442884e+00] [ 1.67892755e-01 9.85607135e-01 -1.97635673e-02 7.75064915e-01] [ 9.27303902e-02 4.16948880e-03 9.95682525e-01 1.78203250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.582260614999999 meters Centerline goodness [0,1] 0.9998301161580769 Centerline is valid? [True, True] Translation: X:4.53, Y:0.78, Z:0.18 [[ 9.81134037e-01 -1.69960090e-01 -9.21388594e-02 4.53192225e+00] [ 1.68820756e-01 9.85442228e-01 -2.00790495e-02 7.78206609e-01] [ 9.42101599e-02 4.14528704e-03 9.95543702e-01 1.79048721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.612260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.56, Y:0.78, Z:0.18 [[ 9.80999456e-01 -1.69713014e-01 -9.40082967e-02 4.56121276e+00] [ 1.68524142e-01 9.85484275e-01 -2.05026076e-02 7.79305998e-01] [ 9.61232575e-02 4.27037933e-03 9.95360278e-01 1.78646065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.642260615 meters Centerline goodness [0,1] 0.9999787730842709 Centerline is valid? [True, True] Translation: X:4.59, Y:0.79, Z:0.18 [[ 0.98180192 -0.16362963 -0.09638641 4.58961374] [ 0.16234693 0.98650904 -0.02105673 0.78820457] [ 0.09853157 0.0050255 0.99512124 0.17862646] [ 0. 0. 0. 1. ]] SLAMing on 7.672260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.62, Y:0.80, Z:0.18 [[ 0.98251599 -0.1601387 -0.09496276 4.61824483] [ 0.15887729 0.98708031 -0.02074786 0.7952083 ] [ 0.09705841 0.00529768 0.99526459 0.18348353] [ 0. 0. 0. 1. ]] SLAMing on 7.702260614999999 meters Centerline goodness [0,1] 0.9998719016204445 Centerline is valid? [True, True] Translation: X:4.64, Y:0.80, Z:0.19 [[ 0.98281209 -0.15884199 -0.09407236 4.64490637] [ 0.15759791 0.98728937 -0.02055734 0.79985954] [ 0.09614201 0.0053784 0.9953531 0.18905249] [ 0. 0. 0. 1. ]] SLAMing on 7.7322606149999995 meters Centerline goodness [0,1] 0.999914920769967 Centerline is valid? [True, True] Translation: X:4.68, Y:0.80, Z:0.19 [[ 0.98241378 -0.1605711 -0.09528947 4.67548457] [ 0.15930159 0.98701011 -0.02083359 0.79545405] [ 0.09739694 0.00528744 0.99523157 0.18956365] [ 0. 0. 0. 1. ]] SLAMing on 7.762260614999999 meters Centerline goodness [0,1] 0.9999787193292332 Centerline is valid? [True, True] Translation: X:4.70, Y:0.80, Z:0.19 [[ 0.98230576 -0.16158243 -0.09469168 4.70302125] [ 0.16033037 0.98684559 -0.02073532 0.80078934] [ 0.09679653 0.00518647 0.99529068 0.19367623] [ 0. 0. 0. 1. ]] SLAMing on 7.792260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.73, Y:0.80, Z:0.20 [[ 0.98235863 -0.16161976 -0.09407748 4.7318861 ] [ 0.16038105 0.98683951 -0.02063251 0.80429203] [ 0.09617399 0.00518028 0.99535106 0.19682238] [ 0. 0. 0. 1. ]] SLAMing on 7.822260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.76, Y:0.81, Z:0.20 [[ 0.98352874 -0.15469328 -0.09349439 4.75958811] [ 0.15343551 0.9879452 -0.02053858 0.81346425] [ 0.09554451 0.00585492 0.99540794 0.20025861] [ 0. 0. 0. 1. ]] SLAMing on 7.852260615 meters Centerline goodness [0,1] 0.9999148809397145 Centerline is valid? [True, True] Translation: X:4.79, Y:0.83, Z:0.20 [[ 0.98517412 -0.14464959 -0.09224122 4.78766689] [ 0.14338135 0.98945999 -0.02026636 0.82671404] [ 0.09420052 0.00674023 0.99553043 0.20456734] [ 0. 0. 0. 1. ]] SLAMing on 7.882260614999999 meters Centerline goodness [0,1] 0.9996808103162106 Centerline is valid? [True, True] Translation: X:4.81, Y:0.84, Z:0.21 [[ 0.98589191 -0.14056887 -0.09087096 4.81492009] [ 0.13932075 0.99004598 -0.01996726 0.83749639] [ 0.0927732 0.00702534 0.99566248 0.20972652] [ 0. 0. 0. 1. ]] SLAMing on 7.912260614999999 meters Centerline goodness [0,1] 0.9998086856705567 Centerline is valid? [True, True] Translation: X:4.84, Y:0.84, Z:0.21 [[ 0.98638073 -0.13818461 -0.08920802 4.84469277] [ 0.1369719 0.9903809 -0.01960535 0.83975143] [ 0.09105907 0.00711935 0.99582004 0.21463595] [ 0. 0. 0. 1. ]] SLAMing on 7.9422606149999995 meters Centerline goodness [0,1] 0.9995337896543686 Centerline is valid? [True, True] Translation: X:4.87, Y:0.85, Z:0.22 [[ 0.98653056 -0.13856872 -0.08692623 4.8714561 ] [ 0.13741865 0.99032875 -0.01910681 0.84743251] [ 0.08873315 0.00690417 0.99603151 0.22089711] [ 0. 0. 0. 1. ]] SLAMing on 7.972260614999999 meters Centerline goodness [0,1] 0.9998300656371476 Centerline is valid? [True, True] Translation: X:4.90, Y:0.85, Z:0.22 [[ 0.98653943 -0.13871031 -0.08659905 4.90096541] [ 0.13756882 0.99030915 -0.01904211 0.84799111] [ 0.08840116 0.00687246 0.99606124 0.22325772] [ 0. 0. 0. 1. ]] SLAMing on 8.002260614999999 meters Centerline goodness [0,1] 0.9998726790450928 Centerline is valid? [True, True] Translation: X:4.93, Y:0.85, Z:0.22 [[ 0.98618745 -0.13940978 -0.08943835 4.93092074] [ 0.13819191 0.99020956 -0.01969811 0.84695888] [ 0.09130882 0.00706637 0.99579755 0.22355571] [ 0. 0. 0. 1. ]] SLAMing on 8.032260614999998 meters Centerline goodness [0,1] 0.99980899019483 Centerline is valid? [True, True] Translation: X:4.96, Y:0.86, Z:0.23 [[ 0.98586301 -0.14074313 -0.09091473 4.95674792] [ 0.13948708 0.99002075 -0.02005689 0.85764761] [ 0.09283034 0.00709191 0.99565668 0.22533581] [ 0. 0. 0. 1. ]] SLAMing on 8.062260615 meters Centerline goodness [0,1] 0.9999363381716323 Centerline is valid? [True, True] Translation: X:4.99, Y:0.86, Z:0.23 [[ 0.98529324 -0.14539773 -0.08975929 4.986644 ] [ 0.14419157 0.98935141 -0.01981371 0.86408344] [ 0.09168435 0.00657978 0.99576638 0.22766484] [ 0. 0. 0. 1. ]] SLAMing on 8.092260614999999 meters Centerline goodness [0,1] 0.9999575173116955 Centerline is valid? [True, True] Translation: X:5.02, Y:0.86, Z:0.23 [[ 0.98470305 -0.14953031 -0.089446 5.01754268] [ 0.14834942 0.98873787 -0.01974543 0.86290033] [ 0.09139119 0.00617412 0.99579593 0.23046115] [ 0. 0. 0. 1. ]] SLAMing on 8.122260615 meters Centerline goodness [0,1] 0.9999787856930714 Centerline is valid? [True, True] Translation: X:5.05, Y:0.86, Z:0.23 [[ 0.98373576 -0.15537566 -0.09012418 5.04924227] [ 0.1542007 0.98783914 -0.0198994 0.85972597] [ 0.09212007 0.00567853 0.99573171 0.23440808] [ 0. 0. 0. 1. ]] SLAMing on 8.152260615 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.08, Y:0.86, Z:0.24 [[ 0.98316294 -0.15835976 -0.0911747 5.07730205] [ 0.15716976 0.98736636 -0.02013296 0.86457166] [ 0.09321108 0.00546408 0.99563138 0.23767051] [ 0. 0. 0. 1. ]] SLAMing on 8.182260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.11, Y:0.86, Z:0.24 [[ 9.81809284e-01 -1.66730169e-01 -9.08382095e-02 5.10805518e+00] [ 1.65583940e-01 9.85991555e-01 -2.00652251e-02 8.64970967e-01] [ 9.29111858e-02 4.65887571e-03 9.95663501e-01 2.40927345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.212260615 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.14, Y:0.87, Z:0.25 [[ 9.81207989e-01 -1.71248782e-01 -8.89085901e-02 5.13747881e+00] [ 1.70168869e-01 9.85219098e-01 -1.96439645e-02 8.69309147e-01] [ 9.09584459e-02 4.14534071e-03 9.95846061e-01 2.46155074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.242260615 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.17, Y:0.87, Z:0.25 [[ 9.80209482e-01 -1.79183148e-01 -8.41591988e-02 5.16732682e+00] [ 1.78244777e-01 9.83810442e-01 -1.85960793e-02 8.67424521e-01] [ 8.61288025e-02 3.22711561e-03 9.96278784e-01 2.54922527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.272260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.20, Y:0.87, Z:0.26 [[ 9.79575633e-01 -1.82658438e-01 -8.40682717e-02 5.19507758e+00] [ 1.81734670e-01 9.83172094e-01 -1.85780462e-02 8.69539047e-01] [ 8.60470156e-02 2.92048172e-03 9.96286797e-01 2.58638800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.302260615 meters Centerline goodness [0,1] 0.999978898056511 Centerline is valid? [True, True] Translation: X:5.22, Y:0.87, Z:0.26 [[ 9.79155550e-01 -1.86231244e-01 -8.10699282e-02 5.22255881e+00] [ 1.85383744e-01 9.82502703e-01 -1.79249988e-02 8.74629560e-01] [ 8.29896184e-02 2.52231519e-03 9.96547220e-01 2.64780881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.332260615 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.25, Y:0.89, Z:0.27 [[ 9.79775379e-01 -1.84174609e-01 -7.82299152e-02 5.24873139e+00] [ 1.83376575e-01 9.82890019e-01 -1.73275235e-02 8.86549507e-01] [ 8.00826927e-02 2.63154698e-03 9.96784750e-01 2.71444121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.362260614999999 meters Centerline goodness [0,1] 0.9998521335023236 Centerline is valid? [True, True] Translation: X:5.28, Y:0.91, Z:0.28 [[ 9.82376798e-01 -1.71890981e-01 -7.34119646e-02 5.27510015e+00] [ 1.71153611e-01 9.85110057e-01 -1.62670669e-02 9.06072838e-01] [ 7.51150267e-02 3.41566625e-03 9.97169026e-01 2.79879391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.392260615 meters Centerline goodness [0,1] 0.9997888424342244 Centerline is valid? [True, True] Translation: X:5.30, Y:0.92, Z:0.28 [[ 9.84241547e-01 -1.61607343e-01 -7.17749528e-02 5.30269439e+00] [ 1.60875335e-01 9.86846598e-01 -1.59034292e-02 9.20470649e-01] [ 7.34009789e-02 4.10599615e-03 9.97294057e-01 2.82841046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.422260614999999 meters Centerline goodness [0,1] 0.992608458275587 Centerline is valid? [True, True] Translation: X:5.33, Y:0.95, Z:0.29 [[ 9.87104854e-01 -1.44007717e-01 -6.98983894e-02 5.32702401e+00] [ 1.43269445e-01 9.89562504e-01 -1.54892295e-02 9.45387065e-01] [ 7.13993938e-02 5.27519015e-03 9.97433857e-01 2.86651126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.452260614999998 meters Centerline goodness [0,1] 0.983451735986677 Centerline is valid? [True, True] Translation: X:5.36, Y:0.96, Z:0.29 [[ 0.98781451 -0.13876524 -0.07047478 5.35615132] [ 0.13800135 0.99030888 -0.01561856 0.95539205] [ 0.07195911 0.00570262 0.99739128 0.28819662] [ 0. 0. 0. 1. ]] SLAMing on 8.482260615 meters Centerline goodness [0,1] 0.9654403098164674 Centerline is valid? [True, True] Translation: X:5.38, Y:0.97, Z:0.29 [[ 0.98827048 -0.13228632 -0.07630071 5.38486913] [ 0.13137142 0.99118898 -0.01690995 0.9650521 ] [ 0.07786538 0.00668787 0.99694145 0.28580661] [ 0. 0. 0. 1. ]] SLAMing on 8.512260614999999 meters Centerline goodness [0,1] 0.9900156203824882 Centerline is valid? [True, True] Translation: X:5.41, Y:0.97, Z:0.28 [[ 0.98818284 -0.1308684 -0.07980054 5.41407574] [ 0.12986334 0.99137427 -0.01767962 0.9670136 ] [ 0.08142591 0.00710753 0.99665405 0.28359444] [ 0. 0. 0. 1. ]] SLAMing on 8.542260615 meters Centerline goodness [0,1] 0.9843878910960208 Centerline is valid? [True, True] Translation: X:5.44, Y:0.97, Z:0.28 [[ 0.98812374 -0.12900584 -0.08348039 5.44213374] [ 0.12789624 0.99161447 -0.01852827 0.9740407 ] [ 0.08517061 0.0076314 0.99633716 0.28277355] [ 0. 0. 0. 1. ]] SLAMing on 8.572260615 meters Centerline goodness [0,1] 0.97162820241372 Centerline is valid? [True, True] Translation: X:5.47, Y:0.98, Z:0.28 [[ 0.98837926 -0.12528633 -0.08608002 5.47210939] [ 0.12409178 0.99208667 -0.01911194 0.97744179] [ 0.0877933 0.00820802 0.9961049 0.28098535] [ 0. 0. 0. 1. ]] SLAMing on 8.602260614999999 meters Centerline goodness [0,1] 0.9868215086516902 Centerline is valid? [True, True] Translation: X:5.50, Y:0.98, Z:0.28 [[ 0.98827354 -0.12542319 -0.08708865 5.50075248] [ 0.124201 0.99206868 -0.01933494 0.97813998] [ 0.08882297 0.00829171 0.99601292 0.28141146] [ 0. 0. 0. 1. ]] SLAMing on 8.632260615 meters Centerline goodness [0,1] 0.9913822308799864 Centerline is valid? [True, True] Translation: X:5.53, Y:0.98, Z:0.28 [[ 0.98794026 -0.12674395 -0.08893826 5.53019392] [ 0.12547129 0.99190005 -0.01977998 0.98163913] [ 0.09072486 0.00838224 0.99584072 0.28073715] [ 0. 0. 0. 1. ]] SLAMing on 8.662260615 meters Centerline goodness [0,1] 0.9968661994198234 Centerline is valid? [True, True] Translation: X:5.56, Y:0.97, Z:0.28 [[ 0.98673982 -0.13296215 -0.09308921 5.56447139] [ 0.13159186 0.99108711 -0.02073441 0.97083327] [ 0.0950164 0.00820968 0.99544185 0.27674796] [ 0. 0. 0. 1. ]] SLAMing on 8.692260614999999 meters Centerline goodness [0,1] 0.996583287636563 Centerline is valid? [True, True] Translation: X:5.59, Y:0.97, Z:0.28 [[ 0.98612671 -0.13604936 -0.09510355 5.5946736 ] [ 0.134633 0.99066906 -0.02118421 0.96989682] [ 0.09709825 0.00808624 0.99524195 0.27670661] [ 0. 0. 0. 1. ]] SLAMing on 8.722260615 meters Centerline goodness [0,1] 0.996583287636563 Centerline is valid? [True, True] Translation: X:5.62, Y:0.98, Z:0.28 [[ 0.98607948 -0.13639168 -0.09510298 5.62139405] [ 0.13497665 0.99062224 -0.02118677 0.97606005] [ 0.09710083 0.00805516 0.99524195 0.27954134] [ 0. 0. 0. 1. ]] SLAMing on 8.752260614999999 meters Centerline goodness [0,1] 0.9968642074708138 Centerline is valid? [True, True] Translation: X:5.65, Y:0.98, Z:0.28 [[ 0.9856255 -0.13790125 -0.09759932 5.65122283] [ 0.13641431 0.99041243 -0.02177979 0.97764077] [ 0.09966704 0.00815277 0.99498744 0.27864003] [ 0. 0. 0. 1. ]] SLAMing on 8.782260614999998 meters Centerline goodness [0,1] 0.9969173599087876 Centerline is valid? [True, True] Translation: X:5.68, Y:0.98, Z:0.28 [[ 0.98575703 -0.13651252 -0.09822118 5.6796991 ] [ 0.13499668 0.99060293 -0.02194822 0.98381573] [ 0.1002944 0.00837607 0.99492255 0.28074448] [ 0. 0. 0. 1. ]] SLAMing on 8.812260615 meters Centerline goodness [0,1] 0.9957731000084538 Centerline is valid? [True, True] Translation: X:5.71, Y:0.99, Z:0.29 [[ 0.98625137 -0.13587358 -0.09405635 5.70683623] [ 0.13448059 0.99069319 -0.02102312 0.99056657] [ 0.09603748 0.00808532 0.99534488 0.28701185] [ 0. 0. 0. 1. ]] SLAMing on 8.842260614999999 meters Centerline goodness [0,1] 0.996401811793591 Centerline is valid? [True, True] Translation: X:5.74, Y:0.99, Z:0.29 [[ 0.98609228 -0.13960768 -0.09017602 5.73717085] [ 0.1383416 0.99017912 -0.02017195 0.9913546 ] [ 0.09210657 0.00741631 0.99572154 0.29379437] [ 0. 0. 0. 1. ]] SLAMing on 8.872260614999998 meters Centerline goodness [0,1] 0.9969872537659328 Centerline is valid? [True, True] Translation: X:5.77, Y:0.98, Z:0.30 [[ 0.9850391 -0.15022413 -0.08444339 5.76900914] [ 0.14915268 0.98863366 -0.01889331 0.98385327] [ 0.0863218 0.00601569 0.99624914 0.3035966 ] [ 0. 0. 0. 1. ]] SLAMing on 8.902260615 meters Centerline goodness [0,1] 0.9979131974452478 Centerline is valid? [True, True] Translation: X:5.80, Y:0.98, Z:0.31 [[ 9.84338214e-01 -1.56003318e-01 -8.21050877e-02 5.79922249e+00] [ 1.55010299e-01 9.87742001e-01 -1.83724180e-02 9.82988702e-01] [ 8.39648018e-02 5.35753894e-03 9.96454318e-01 3.09440205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.932260614999999 meters Centerline goodness [0,1] 0.9982312065698041 Centerline is valid? [True, True] Translation: X:5.83, Y:0.98, Z:0.32 [[ 9.83164606e-01 -1.64838406e-01 -7.88394364e-02 5.82834043e+00] [ 1.63951189e-01 9.86310687e-01 -1.76418780e-02 9.82717388e-01] [ 8.06682378e-02 4.41905076e-03 9.96731211e-01 3.18154769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.962260615 meters Centerline goodness [0,1] 0.9986100873960198 Centerline is valid? [True, True] Translation: X:5.86, Y:0.99, Z:0.32 [[ 9.82840259e-01 -1.67737555e-01 -7.67407151e-02 5.85735432e+00] [ 1.66905946e-01 9.85823294e-01 -1.71708780e-02 9.85182910e-01] [ 7.85329856e-02 4.06774855e-03 9.96903217e-01 3.23750297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.992260615 meters Centerline goodness [0,1] 0.9989265417806777 Centerline is valid? [True, True] Translation: X:5.89, Y:0.99, Z:0.33 [[ 9.82759671e-01 -1.69960554e-01 -7.27793914e-02 5.88511565e+00] [ 1.69217431e-01 9.85443896e-01 -1.63030262e-02 9.87634047e-01] [ 7.44908784e-02 3.70641505e-03 9.97214807e-01 3.29725928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.022260614999999 meters Centerline goodness [0,1] 0.9964483113717084 Centerline is valid? [True, True] Translation: X:5.91, Y:1.00, Z:0.34 [[ 9.83500816e-01 -1.67918068e-01 -6.73028066e-02 5.91135125e+00] [ 1.67275556e-01 9.85794367e-01 -1.51114020e-02 1.00029501e+00] [ 6.88842050e-02 3.60396174e-03 9.97618152e-01 3.42805397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.052260615 meters Centerline goodness [0,1] 0.9967874015748032 Centerline is valid? [True, True] Translation: X:5.94, Y:1.01, Z:0.35 [[ 9.84735361e-01 -1.60787584e-01 -6.66604946e-02 5.93932611e+00] [ 1.60140893e-01 9.86980661e-01 -1.49689242e-02 1.01322469e+00] [ 6.81994362e-02 4.06535781e-03 9.97663425e-01 3.45690650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.082260615 meters Centerline goodness [0,1] 0.9966444360555345 Centerline is valid? [True, True] Translation: X:5.97, Y:1.02, Z:0.35 [[ 9.85123827e-01 -1.58366286e-01 -6.67170549e-02 5.96818922e+00] [ 1.57712949e-01 9.87371343e-01 -1.49819001e-02 1.02083046e+00] [ 6.82471360e-02 4.23688329e-03 9.97659450e-01 3.48234033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.112260614999999 meters Centerline goodness [0,1] 0.9958586069859862 Centerline is valid? [True, True] Translation: X:5.99, Y:1.03, Z:0.35 [[ 9.85060460e-01 -1.57970598e-01 -6.85651595e-02 5.99494471e+00] [ 1.57279463e-01 9.87434083e-01 -1.53980955e-02 1.02814961e+00] [ 7.01360218e-02 4.38416359e-03 9.97527803e-01 3.50127809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.142260615 meters Centerline goodness [0,1] 0.996875 Centerline is valid? [True, True] Translation: X:6.03, Y:1.03, Z:0.35 [[ 9.84219335e-01 -1.60771963e-01 -7.39234445e-02 6.02645661e+00] [ 1.59975267e-01 9.86981202e-01 -1.66138715e-02 1.03008595e+00] [ 7.56320948e-02 4.52577078e-03 9.97125520e-01 3.45924991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.172260614999999 meters Centerline goodness [0,1] 0.9980211776098352 Centerline is valid? [True, True] Translation: X:6.06, Y:1.03, Z:0.35 [[ 9.82795059e-01 -1.68797460e-01 -7.49752555e-02 6.05591676e+00] [ 1.68001105e-01 9.85642786e-01 -1.68501258e-02 1.03123291e+00] [ 7.67430782e-02 3.96429460e-03 9.97043020e-01 3.46154200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.202260614999998 meters Centerline goodness [0,1] 0.9983817409944937 Centerline is valid? [True, True] Translation: X:6.09, Y:1.04, Z:0.35 [[ 9.81974113e-01 -1.73082652e-01 -7.59554916e-02 6.08586146e+00] [ 1.72277609e-01 9.84900417e-01 -1.70760972e-02 1.03550170e+00] [ 7.77641716e-02 3.68285492e-03 9.96964979e-01 3.47722335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.232260615 meters Centerline goodness [0,1] 0.9993897948448185 Centerline is valid? [True, True] Translation: X:6.12, Y:1.04, Z:0.35 [[ 9.80710129e-01 -1.78885805e-01 -7.87877636e-02 6.11658319e+00] [ 1.78037963e-01 9.83864155e-01 -1.77146528e-02 1.03798555e+00] [ 8.06853564e-02 3.34572646e-03 9.96734006e-01 3.47424954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.262260614999999 meters Centerline goodness [0,1] 0.9996418790815251 Centerline is valid? [True, True] Translation: X:6.15, Y:1.04, Z:0.35 [[ 9.80191167e-01 -1.80927098e-01 -8.05646404e-02 6.14538636e+00] [ 1.80047385e-01 9.83491141e-01 -1.81139231e-02 1.04372808e+00] [ 8.25119097e-02 3.24965460e-03 9.96584780e-01 3.49071234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.292260614999998 meters Centerline goodness [0,1] 0.9998524980508671 Centerline is valid? [True, True] Translation: X:6.17, Y:1.05, Z:0.35 [[ 9.79639636e-01 -1.83153948e-01 -8.22241710e-02 6.17385458e+00] [ 1.82244145e-01 9.83079231e-01 -1.85012974e-02 1.04821239e+00] [ 8.42214604e-02 3.13973051e-03 9.96442115e-01 3.50805936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.322260615 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.20, Y:1.05, Z:0.36 [[ 9.78168330e-01 -1.90933505e-01 -8.20433739e-02 6.20223819e+00] [ 1.90054228e-01 9.81599857e-01 -1.84691854e-02 1.05111611e+00] [ 8.40601504e-02 2.47328211e-03 9.96457613e-01 3.56176985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.352260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.23, Y:1.05, Z:0.36 [[ 9.75856723e-01 -2.01800772e-01 -8.35470193e-02 6.23184485e+00] [ 2.00928187e-01 9.79425332e-01 -1.88117565e-02 1.05428165e+00] [ 8.56242941e-02 1.57062801e-03 9.96326259e-01 3.57899256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.382260615 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.26, Y:1.06, Z:0.36 [[ 9.74326904e-01 -2.07647892e-01 -8.70025114e-02 6.25917738e+00] [ 2.06724429e-01 9.78203012e-01 -1.95927821e-02 1.06085697e+00] [ 8.91745186e-02 1.10423027e-03 9.96015404e-01 3.58950832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.412260615 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.29, Y:1.07, Z:0.35 [[ 9.71681024e-01 -2.16399786e-01 -9.49058494e-02 6.28753091e+00] [ 2.15340823e-01 9.76304776e-01 -2.13849138e-02 1.07339039e+00] [ 9.72847248e-02 3.42211298e-04 9.95256532e-01 3.52629226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.442260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.31, Y:1.09, Z:0.35 [[ 9.70747534e-01 -2.19887118e-01 -9.64307007e-02 6.31411041e+00] [ 2.18810364e-01 9.75525323e-01 -2.17340634e-02 1.08769874e+00] [ 9.88496310e-02 -1.74823693e-06 9.95102382e-01 3.53085820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.472260615 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.34, Y:1.10, Z:0.35 [[ 9.70105250e-01 -2.22154719e-01 -9.76887104e-02 6.33964106e+00] [ 2.21057801e-01 9.75011405e-01 -2.20501513e-02 1.10140575e+00] [ 1.00146152e-01 -2.03883919e-04 9.94972717e-01 3.54048007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.502260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.36, Y:1.12, Z:0.35 [[ 9.69743470e-01 -2.22824885e-01 -9.97330088e-02 6.36428553e+00] [ 2.21681022e-01 9.74858458e-01 -2.25502119e-02 1.11814383e+00] [ 1.02250316e-01 -2.40994548e-04 9.94758672e-01 3.51545926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.532260614999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.39, Y:1.13, Z:0.35 [[ 9.69726295e-01 -2.22288486e-01 -1.01087797e-01 6.39030449e+00] [ 2.21107599e-01 9.74980925e-01 -2.28828826e-02 1.12902729e+00] [ 1.03645275e-01 -1.61147088e-04 9.94614313e-01 3.51902874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.562260615 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.42, Y:1.15, Z:0.36 [[ 9.70365585e-01 -2.20908716e-01 -9.79283958e-02 6.41509980e+00] [ 2.19790124e-01 9.75294488e-01 -2.22027589e-02 1.14640861e+00] [ 1.00413808e-01 2.10988706e-05 9.94945761e-01 3.57245733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.592260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.44, Y:1.16, Z:0.37 [[ 9.71104749e-01 -2.19551978e-01 -9.35547746e-02 6.44109068e+00] [ 2.18521756e-01 9.75600786e-01 -2.12449551e-02 1.15843150e+00] [ 9.59364835e-02 1.87323085e-04 9.95387440e-01 3.65220181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.622260614999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.47, Y:1.18, Z:0.38 [[ 9.72476378e-01 -2.17671459e-01 -8.31193742e-02 6.46525256e+00] [ 2.16849390e-01 9.76022032e-01 -1.89032988e-02 1.17519567e+00] [ 8.52410491e-02 3.58625909e-04 9.96360294e-01 3.83552621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.652260615 meters Centerline goodness [0,1] 0.9999579787792835 Centerline is valid? [True, True] Translation: X:6.49, Y:1.19, Z:0.39 [[ 9.72373585e-01 -2.18995405e-01 -8.08122755e-02 6.49069567e+00] [ 2.18222592e-01 9.75725861e-01 -1.83832932e-02 1.18637479e+00] [ 8.28764838e-02 2.40364542e-04 9.96559798e-01 3.92220583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.682260614999999 meters Centerline goodness [0,1] 0.9998948010688211 Centerline is valid? [True, True] Translation: X:6.52, Y:1.20, Z:0.39 [[ 9.70785374e-01 -2.25209237e-01 -8.28043287e-02 6.51707643e+00] [ 2.24419776e-01 9.74310379e-01 -1.88427474e-02 1.19882771e+00] [ 8.49206777e-02 -2.90665300e-04 9.96387673e-01 3.94886721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.712260614999998 meters Centerline goodness [0,1] 0.9999368886083938 Centerline is valid? [True, True] Translation: X:6.54, Y:1.21, Z:0.40 [[ 9.70062884e-01 -2.27754277e-01 -8.42970325e-02 6.54393206e+00] [ 2.26942835e-01 9.73718516e-01 -1.92146217e-02 1.20730161e+00] [ 8.64577936e-02 -4.91216157e-04 9.96255393e-01 3.97597345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.742260615 meters Centerline goodness [0,1] 0.9996018190581973 Centerline is valid? [True, True] Translation: X:6.57, Y:1.22, Z:0.40 [[ 9.69137791e-01 -2.32304970e-01 -8.25005629e-02 6.57049682e+00] [ 2.31543442e-01 9.72642610e-01 -1.88145671e-02 1.21845314e+00] [ 8.46142802e-02 -8.68556328e-04 9.96413403e-01 3.99553236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.772260614999999 meters Centerline goodness [0,1] 0.9994315071377438 Centerline is valid? [True, True] Translation: X:6.60, Y:1.23, Z:0.40 [[ 9.68408099e-01 -2.35576510e-01 -8.17891302e-02 6.59710517e+00] [ 2.34838904e-01 9.71855143e-01 -1.86619792e-02 1.22716419e+00] [ 8.38835108e-02 -1.13485783e-03 9.96474921e-01 4.02241184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.802260615 meters Centerline goodness [0,1] 0.9992198865672901 Centerline is valid? [True, True] Translation: X:6.62, Y:1.24, Z:0.40 [[ 9.67113451e-01 -2.40814915e-01 -8.18519936e-02 6.62276573e+00] [ 2.40094383e-01 9.70569764e-01 -1.86821012e-02 1.24492826e+00] [ 8.39419987e-02 -1.58449257e-03 9.96469382e-01 4.04501322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.832260615 meters Centerline goodness [0,1] 0.9990091704437651 Centerline is valid? [True, True] Translation: X:6.65, Y:1.26, Z:0.41 [[ 9.66370295e-01 -2.43691305e-01 -8.21157816e-02 6.64954272e+00] [ 2.42974210e-01 9.69851152e-01 -1.87690323e-02 1.25720029e+00] [ 8.42139354e-02 -1.81418193e-03 9.96446046e-01 4.07093589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.862260614999999 meters Centerline goodness [0,1] 0.9988630860896478 Centerline is valid? [True, True] Translation: X:6.68, Y:1.27, Z:0.41 [[ 9.65126268e-01 -2.48428343e-01 -8.25508590e-02 6.67584951e+00] [ 2.47718179e-01 9.68647760e-01 -1.89003114e-02 1.27037523e+00] [ 8.46580777e-02 -2.20816142e-03 9.96407614e-01 4.09903079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.892260615 meters Centerline goodness [0,1] 0.9985246074401939 Centerline is valid? [True, True] Translation: X:6.70, Y:1.28, Z:0.41 [[ 9.64458498e-01 -2.50922241e-01 -8.28120454e-02 6.70282949e+00] [ 2.50216618e-01 9.68004188e-01 -1.89614494e-02 1.28356734e+00] [ 8.49202562e-02 -2.43341892e-03 9.96384779e-01 4.10408726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.922260614999999 meters Centerline goodness [0,1] 0.998064339666309 Centerline is valid? [True, True] Translation: X:6.73, Y:1.30, Z:0.41 [[ 9.64083055e-01 -2.52460266e-01 -8.25086526e-02 6.72719843e+00] [ 2.51763174e-01 9.67603945e-01 -1.89184954e-02 1.30479076e+00] [ 8.46118662e-02 -2.53363943e-03 9.96410765e-01 4.12656833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.952260614999998 meters Centerline goodness [0,1] 0.9979797129508817 Centerline is valid? [True, True] Translation: X:6.75, Y:1.32, Z:0.42 [[ 9.64538685e-01 -2.51220118e-01 -8.09541741e-02 6.75207256e+00] [ 2.50542595e-01 9.67927121e-01 -1.85875641e-02 1.32338065e+00] [ 8.30273107e-02 -2.35404423e-03 9.96544492e-01 4.17507925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.982260615 meters Centerline goodness [0,1] 0.9975810353168844 Centerline is valid? [True, True] Translation: X:6.77, Y:1.36, Z:0.43 [[ 9.66537695e-01 -2.43878711e-01 -7.95490981e-02 6.77305515e+00] [ 2.43197150e-01 9.69804315e-01 -1.82957829e-02 1.35745336e+00] [ 8.16090105e-02 -1.66255016e-03 9.96663035e-01 4.26246377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.012260614999999 meters Centerline goodness [0,1] 0.9975166259786177 Centerline is valid? [True, True] Translation: X:6.80, Y:1.38, Z:0.43 [[ 9.67764398e-01 -2.39096086e-01 -7.91525820e-02 6.79770932e+00] [ 2.38405279e-01 9.70995105e-01 -1.82051871e-02 1.37915461e+00] [ 8.12095587e-02 -1.25206143e-03 9.96696263e-01 4.31456182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.042260614999998 meters Centerline goodness [0,1] 0.9976301826646813 Centerline is valid? [True, True] Translation: X:6.82, Y:1.41, Z:0.44 [[ 9.70406326e-01 -2.28564596e-01 -7.79088467e-02 6.81986508e+00] [ 2.27859600e-01 9.73528689e-01 -1.79414109e-02 1.40734773e+00] [ 7.99472688e-02 -3.41820034e-04 9.96799036e-01 4.37344738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.072260615 meters Centerline goodness [0,1] 0.9976060478790424 Centerline is valid? [True, True] Translation: X:6.85, Y:1.42, Z:0.44 [[ 9.71693221e-01 -2.23340810e-01 -7.70140739e-02 6.84680789e+00] [ 2.22633558e-01 9.74740412e-01 -1.77603143e-02 1.41871283e+00] [ 7.90353331e-02 1.11659663e-04 9.96871809e-01 4.40690328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.102260614999999 meters Centerline goodness [0,1] 0.9982454308093994 Centerline is valid? [True, True] Translation: X:6.87, Y:1.44, Z:0.44 [[ 9.74382681e-01 -2.10997430e-01 -7.78362033e-02 6.87079659e+00] [ 2.10233101e-01 9.77485932e-01 -1.79804183e-02 1.43956747e+00] [ 7.98776158e-02 1.15606179e-03 9.96804008e-01 4.44029308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.132260614999998 meters Centerline goodness [0,1] 0.9987658711067416 Centerline is valid? [True, True] Translation: X:6.90, Y:1.46, Z:0.45 [[ 9.75519969e-01 -2.05607317e-01 -7.80155134e-02 6.89555142e+00] [ 2.04821498e-01 9.78633250e-01 -1.80309736e-02 1.45718589e+00] [ 8.00558755e-02 1.61032050e-03 9.96789077e-01 4.48034375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.162260615 meters Centerline goodness [0,1] 0.9986961367794579 Centerline is valid? [True, True] Translation: X:6.92, Y:1.48, Z:0.45 [[ 9.78131304e-01 -1.93650798e-01 -7.58849121e-02 6.91983453e+00] [ 1.92870504e-01 9.81067259e-01 -1.75499946e-02 1.48454197e+00] [ 7.78467732e-02 2.53023785e-03 9.96962125e-01 4.53376803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.192260614999999 meters Centerline goodness [0,1] 0.9994108487985524 Centerline is valid? [True, True] Translation: X:6.95, Y:1.50, Z:0.46 [[ 9.79512394e-01 -1.86954137e-01 -7.48573308e-02 6.94764545e+00] [ 1.86175331e-01 9.82363997e-01 -1.73125208e-02 1.49921726e+00] [ 7.67737940e-02 3.02124042e-03 9.97043959e-01 4.57010712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.222260615 meters Centerline goodness [0,1] 0.9998109005336807 Centerline is valid? [True, True] Translation: X:6.97, Y:1.52, Z:0.46 [[ 9.81358622e-01 -1.75616613e-01 -7.80644594e-02 6.97332466e+00] [ 1.74733732e-01 9.84450195e-01 -1.80537204e-02 1.52110652e+00] [ 8.00211055e-02 4.07667984e-03 9.96784833e-01 4.55418531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.252260614999999 meters Centerline goodness [0,1] 0.9998318338518456 Centerline is valid? [True, True] Translation: X:7.00, Y:1.53, Z:0.45 [[ 9.81633327e-01 -1.72934668e-01 -8.05581212e-02 6.99907544e+00] [ 1.71985461e-01 9.84923325e-01 -1.86291339e-02 1.53277836e+00] [ 8.25651957e-02 4.43215309e-03 9.96575810e-01 4.54842194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.282260614999998 meters Centerline goodness [0,1] 0.9998528638991067 Centerline is valid? [True, True] Translation: X:7.02, Y:1.55, Z:0.45 [[ 9.81624023e-01 -1.71894688e-01 -8.28643036e-02 7.02452580e+00] [ 1.70885032e-01 9.85104275e-01 -1.91800277e-02 1.54716845e+00] [ 8.49269246e-02 4.66730673e-03 9.96376251e-01 4.53601718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.312260615 meters Centerline goodness [0,1] 0.9998951188303652 Centerline is valid? [True, True] Translation: X:7.05, Y:1.56, Z:0.46 [[ 9.81520989e-01 -1.72838229e-01 -8.21187893e-02 7.05161367e+00] [ 1.71849495e-01 9.84939716e-01 -1.90133102e-02 1.55506933e+00] [ 8.41682839e-02 4.54989053e-03 9.96441167e-01 4.56821181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.342260614999999 meters Centerline goodness [0,1] 0.9998528391531945 Centerline is valid? [True, True] Translation: X:7.08, Y:1.56, Z:0.46 [[ 9.80186458e-01 -1.80618521e-01 -8.13108700e-02 7.08096726e+00] [ 1.79673007e-01 9.83545587e-01 -1.88597271e-02 1.55999832e+00] [ 8.33793633e-02 3.87668061e-03 9.96510338e-01 4.59819192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.372260614999998 meters Centerline goodness [0,1] 0.9997677266776469 Centerline is valid? [True, True] Translation: X:7.11, Y:1.56, Z:0.46 [[ 9.78397500e-01 -1.89526235e-01 -8.25720147e-02 7.11240761e+00] [ 1.88582619e-01 9.81870549e-01 -1.91525658e-02 1.56054572e+00] [ 8.47049431e-02 3.16717570e-03 9.96401045e-01 4.61329762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.402260615 meters Centerline goodness [0,1] 0.9993252788496004 Centerline is valid? [True, True] Translation: X:7.15, Y:1.55, Z:0.46 [[ 9.73217746e-01 -2.12998969e-01 -8.64792350e-02 7.14701110e+00] [ 2.12055617e-01 9.77051707e-01 -2.00593378e-02 1.54771501e+00] [ 8.87673024e-02 1.18369604e-03 9.96051688e-01 4.59340431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.432260614999999 meters Centerline goodness [0,1] 0.9986712224753227 Centerline is valid? [True, True] Translation: X:7.18, Y:1.54, Z:0.46 [[ 9.70491941e-01 -2.24320454e-01 -8.84631418e-02 7.17703191e+00] [ 2.23380084e-01 9.74515424e-01 -2.05189444e-02 1.54336466e+00] [ 9.08115150e-02 1.52566109e-04 9.95868086e-01 4.60481373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.462260614999998 meters Centerline goodness [0,1] 0.9978969948055771 Centerline is valid? [True, True] Translation: X:7.21, Y:1.53, Z:0.46 [[ 9.66640007e-01 -2.38286671e-01 -9.39497733e-02 7.20792687e+00] [ 2.37290459e-01 9.71194097e-01 -2.18005604e-02 1.53371465e+00] [ 9.64382482e-02 -1.22009101e-03 9.95338222e-01 4.57185349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.492260615 meters Centerline goodness [0,1] 0.997544080604534 Centerline is valid? [True, True] Translation: X:7.23, Y:1.54, Z:0.46 [[ 9.66592451e-01 -2.38683128e-01 -9.34312438e-02 7.23421541e+00] [ 2.37698154e-01 9.71096718e-01 -2.16968179e-02 1.54480396e+00] [ 9.59094386e-02 -1.23645380e-03 9.95389296e-01 4.60473697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.522260614999999 meters Centerline goodness [0,1] 0.9976690955670817 Centerline is valid? [True, True] Translation: X:7.26, Y:1.56, Z:0.47 [[ 9.67237668e-01 -2.37617226e-01 -8.93831471e-02 7.26049719e+00] [ 2.36710664e-01 9.71358276e-01 -2.07644060e-02 1.55512213e+00] [ 9.17570403e-02 -1.07382852e-03 9.95780846e-01 4.66865592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.552260614999998 meters Centerline goodness [0,1] 0.9974090557679851 Centerline is valid? [True, True] Translation: X:7.29, Y:1.56, Z:0.48 [[ 9.67819094e-01 -2.36633922e-01 -8.56188534e-02 7.28619470e+00] [ 2.35795882e-01 9.71598454e-01 -1.99184642e-02 1.56221860e+00] [ 8.79005299e-02 -9.11103140e-04 9.96128840e-01 4.75098219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.582260615 meters Centerline goodness [0,1] 0.997731759566514 Centerline is valid? [True, True] Translation: X:7.31, Y:1.58, Z:0.48 [[ 9.68172844e-01 -2.36496469e-01 -8.19192521e-02 7.31201688e+00] [ 2.35727774e-01 9.71631980e-01 -1.90712527e-02 1.57639965e+00] [ 8.41056490e-02 -8.46373966e-04 9.96456483e-01 4.81497686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.612260614999999 meters Centerline goodness [0,1] 0.997731759566514 Centerline is valid? [True, True] Translation: X:7.34, Y:1.58, Z:0.48 [[ 9.68089718e-01 -2.36838493e-01 -8.19135295e-02 7.33851904e+00] [ 2.36068944e-01 9.71548663e-01 -1.90957974e-02 1.58278585e+00] [ 8.41055999e-02 -8.50795254e-04 9.96456484e-01 4.84323216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.642260615 meters Centerline goodness [0,1] 0.9976955629111325 Centerline is valid? [True, True] Translation: X:7.36, Y:1.59, Z:0.49 [[ 9.68140846e-01 -2.36626325e-01 -8.19224351e-02 7.36290081e+00] [ 2.35852955e-01 9.71600403e-01 -1.91321679e-02 1.59435361e+00] [ 8.41230456e-02 -7.99015155e-04 9.96455054e-01 4.88982361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.672260614999999 meters Centerline goodness [0,1] 0.9982341812066429 Centerline is valid? [True, True] Translation: X:7.39, Y:1.61, Z:0.50 [[ 9.69121022e-01 -2.33416184e-01 -7.95067928e-02 7.38715497e+00] [ 2.32676289e-01 9.72376799e-01 -1.85770100e-02 1.61479777e+00] [ 8.16467354e-02 -4.95974593e-04 9.96661209e-01 4.97025617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.702260614999998 meters Centerline goodness [0,1] 0.998391107210765 Centerline is valid? [True, True] Translation: X:7.41, Y:1.63, Z:0.50 [[ 9.69780019e-01 -2.31080359e-01 -7.82852658e-02 7.41355860e+00] [ 2.30353471e-01 9.72934630e-01 -1.83162238e-02 1.62783988e+00] [ 8.03989657e-02 -2.70574849e-04 9.96762727e-01 5.01150688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.732260615 meters Centerline goodness [0,1] 0.9992849180810567 Centerline is valid? [True, True] Translation: X:7.44, Y:1.65, Z:0.50 [[ 9.71889045e-01 -2.22325099e-01 -7.74805421e-02 7.43747172e+00] [ 2.21582916e-01 9.74972472e-01 -1.81573667e-02 1.64640267e+00] [ 7.95782340e-02 4.78581377e-04 9.96828509e-01 5.04487812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.762260614999999 meters Centerline goodness [0,1] 0.9992822916007008 Centerline is valid? [True, True] Translation: X:7.46, Y:1.66, Z:0.50 [[ 9.72969402e-01 -2.17256504e-01 -7.82953025e-02 7.46413508e+00] [ 2.16481858e-01 9.76114127e-01 -1.83525595e-02 1.65779584e+00] [ 8.04123638e-02 9.06966331e-04 9.96761270e-01 5.04634343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.792260614999998 meters Centerline goodness [0,1] 0.9994289340101523 Centerline is valid? [True, True] Translation: X:7.49, Y:1.68, Z:0.51 [[ 9.75185569e-01 -2.07460634e-01 -7.72864202e-02 7.48855981e+00] [ 2.06672668e-01 9.78241850e-01 -1.81464063e-02 1.67743921e+00] [ 7.93694756e-02 1.72312292e-03 9.96843778e-01 5.10416092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.822260615 meters Centerline goodness [0,1] 0.9999152506462138 Centerline is valid? [True, True] Translation: X:7.52, Y:1.69, Z:0.51 [[ 9.75899878e-01 -2.04014301e-01 -7.74441267e-02 7.51616961e+00] [ 2.03211466e-01 9.78965829e-01 -1.81935600e-02 1.68902793e+00] [ 7.95269001e-02 2.01755845e-03 9.96830679e-01 5.13254904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.852260614999999 meters Centerline goodness [0,1] 0.9999365227142888 Centerline is valid? [True, True] Translation: X:7.54, Y:1.70, Z:0.51 [[ 9.76400641e-01 -1.97451591e-01 -8.74909021e-02 7.54255377e+00] [ 1.96399690e-01 9.80308379e-01 -2.05583249e-02 1.70368524e+00] [ 8.98273384e-02 2.88997558e-03 9.95953160e-01 5.07345661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.882260614999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.57, Y:1.71, Z:0.50 [[ 9.76417017e-01 -1.95155501e-01 -9.23262641e-02 7.56944987e+00] [ 1.93972957e-01 9.80766828e-01 -2.17007112e-02 1.71170433e+00] [ 9.47855504e-02 3.28014524e-03 9.95492310e-01 5.04378804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.912260615 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.60, Y:1.72, Z:0.51 [[ 9.76764429e-01 -1.94722855e-01 -8.95224029e-02 7.59621617e+00] [ 1.93607954e-01 9.80852964e-01 -2.10575956e-02 1.71651064e+00] [ 9.19087094e-02 3.23606106e-03 9.95762179e-01 5.08871644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.942260614999999 meters Centerline goodness [0,1] 0.9999155868822015 Centerline is valid? [True, True] Translation: X:7.63, Y:1.71, Z:0.52 [[ 9.77047869e-01 -1.96844051e-01 -8.14240780e-02 7.62519055e+00] [ 1.95929128e-01 9.80430915e-01 -1.91571789e-02 1.71396697e+00] [ 8.36016600e-02 2.76413215e-03 9.96495420e-01 5.19583379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.972260614999998 meters Centerline goodness [0,1] 0.9997040419414849 Centerline is valid? [True, True] Translation: X:7.66, Y:1.71, Z:0.52 [[ 9.76374765e-01 -2.00700583e-01 -8.00724297e-02 7.65524789e+00] [ 1.99826710e-01 9.79649646e-01 -1.88641551e-02 1.70974603e+00] [ 8.22289744e-02 2.41787485e-03 9.96610531e-01 5.21989495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.002260614999999 meters Centerline goodness [0,1] 0.999684714982344 Centerline is valid? [True, True] Translation: X:7.69, Y:1.71, Z:0.52 [[ 9.75089609e-01 -2.06224924e-01 -8.16794649e-02 7.68606538e+00] [ 2.05332074e-01 9.78502521e-01 -1.92757943e-02 1.70622678e+00] [ 8.38987115e-02 2.02421279e-03 9.96472232e-01 5.23734938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.032260614999998 meters Centerline goodness [0,1] 0.9985857519788918 Centerline is valid? [True, True] Translation: X:7.72, Y:1.69, Z:0.53 [[ 9.71102999e-01 -2.24696094e-01 -8.04402323e-02 7.72049868e+00] [ 2.23892818e-01 9.74428797e-01 -1.89874885e-02 1.69130788e+00] [ 8.26496933e-02 4.28816698e-04 9.96578569e-01 5.28166234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.062260615 meters Centerline goodness [0,1] 0.9973043551512089 Centerline is valid? [True, True] Translation: X:7.75, Y:1.68, Z:0.53 [[ 9.67881620e-01 -2.38578149e-01 -7.92820023e-02 7.75063442e+00] [ 2.37844367e-01 9.71123015e-01 -1.87121930e-02 1.68100305e+00] [ 8.14568975e-02 -7.45590031e-04 9.96676586e-01 5.33347583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.092260614999999 meters Centerline goodness [0,1] 0.9972194135490394 Centerline is valid? [True, True] Translation: X:7.78, Y:1.68, Z:0.53 [[ 9.67178476e-01 -2.40986857e-01 -8.05675532e-02 7.77910360e+00] [ 2.40236274e-01 9.70527913e-01 -1.90289779e-02 1.68181173e+00] [ 8.27787929e-02 -9.50830922e-04 9.96567493e-01 5.32448354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.122260614999998 meters Centerline goodness [0,1] 0.9973840766212396 Centerline is valid? [True, True] Translation: X:7.81, Y:1.68, Z:0.53 [[ 9.66598413e-01 -2.40437803e-01 -8.87534276e-02 7.80955383e+00] [ 2.39520654e-01 9.70664075e-01 -2.10026128e-02 1.68220815e+00] [ 9.11995858e-02 -9.57186811e-04 9.95832174e-01 5.26673827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.152260615 meters Centerline goodness [0,1] 0.997528673721564 Centerline is valid? [True, True] Translation: X:7.84, Y:1.69, Z:0.53 [[ 9.66619562e-01 -2.39130357e-01 -9.19961636e-02 7.83714909e+00] [ 2.38138095e-01 9.70987095e-01 -2.17786148e-02 1.68860825e+00] [ 9.45350156e-02 -8.56156083e-04 9.95521169e-01 5.26120342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.182260614999999 meters Centerline goodness [0,1] 0.997843916462332 Centerline is valid? [True, True] Translation: X:7.86, Y:1.70, Z:0.53 [[ 9.66839641e-01 -2.37504985e-01 -9.38748722e-02 7.86419604e+00] [ 2.36463094e-01 9.71386066e-01 -2.22332167e-02 1.69664543e+00] [ 9.64692426e-02 -7.01987506e-04 9.95335718e-01 5.28359830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.212260614999998 meters Centerline goodness [0,1] 0.9980991403890426 Centerline is valid? [True, True] Translation: X:7.89, Y:1.71, Z:0.53 [[ 9.66965509e-01 -2.35280492e-01 -9.80856433e-02 7.89067396e+00] [ 2.34128054e-01 9.71927399e-01 -2.32633844e-02 1.71004609e+00] [ 1.00805545e-01 -4.69710423e-04 9.94906037e-01 5.27084753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.242260615 meters Centerline goodness [0,1] 0.9986267799045084 Centerline is valid? [True, True] Translation: X:7.92, Y:1.72, Z:0.53 [[ 9.66708791e-01 -2.34905891e-01 -1.01456079e-01 7.91641375e+00] [ 2.33667046e-01 9.72018031e-01 -2.40968661e-02 1.71881538e+00] [ 1.04277634e-01 -4.12289959e-04 9.94548141e-01 5.26278775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.272260614999999 meters Centerline goodness [0,1] 0.9989202007156317 Centerline is valid? [True, True] Translation: X:7.94, Y:1.73, Z:0.52 [[ 9.66582126e-01 -2.33448854e-01 -1.05927460e-01 7.94218211e+00] [ 2.32087297e-01 9.72369051e-01 -2.51776828e-02 1.73487987e+00] [ 1.08878285e-01 -2.48119753e-04 9.94055058e-01 5.24249973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.302260614999998 meters Centerline goodness [0,1] 0.9990263726029717 Centerline is valid? [True, True] Translation: X:7.97, Y:1.75, Z:0.53 [[ 9.66722908e-01 -2.32665232e-01 -1.06365919e-01 7.96745893e+00] [ 2.31283929e-01 9.72556874e-01 -2.53154166e-02 1.74508220e+00] [ 1.09336923e-01 -1.27734558e-04 9.94004739e-01 5.25815974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.332260615 meters Centerline goodness [0,1] 0.9993444148373726 Centerline is valid? [True, True] Translation: X:7.99, Y:1.76, Z:0.53 [[ 9.67232817e-01 -2.31319221e-01 -1.04652263e-01 7.99306433e+00] [ 2.29972444e-01 9.72877904e-01 -2.49250569e-02 1.75534867e+00] [ 1.07579519e-01 4.11962958e-05 9.94196482e-01 5.29617141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.362260614999999 meters Centerline goodness [0,1] 0.9996402801582768 Centerline is valid? [True, True] Translation: X:8.02, Y:1.77, Z:0.53 [[ 9.68936038e-01 -2.24638474e-01 -1.03443273e-01 8.01776150e+00] [ 2.23280676e-01 9.74441839e-01 -2.46747238e-02 1.77069139e+00] [ 1.06342346e-01 8.11345183e-04 9.94329245e-01 5.34301748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.392260614999998 meters Centerline goodness [0,1] 0.9997459242007198 Centerline is valid? [True, True] Translation: X:8.04, Y:1.78, Z:0.54 [[ 9.69968414e-01 -2.20070380e-01 -1.03587183e-01 8.04448764e+00] [ 2.18681418e-01 9.75483094e-01 -2.47218526e-02 1.78323429e+00] [ 1.06488093e-01 1.32682416e-03 9.94313092e-01 5.38273787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.422260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.07, Y:1.80, Z:0.54 [[ 9.71232664e-01 -2.14020213e-01 -1.04414847e-01 8.06914559e+00] [ 2.12570380e-01 9.76827103e-01 -2.49528555e-02 1.80042384e+00] [ 1.07335668e-01 2.03952458e-03 9.94220747e-01 5.43651160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.452260614999998 meters Centerline goodness [0,1] 0.9999576728534846 Centerline is valid? [True, True] Translation: X:8.10, Y:1.81, Z:0.55 [[ 9.71211726e-01 -2.16025778e-01 -1.00402424e-01 8.09720497e+00] [ 2.14695540e-01 9.76386085e-01 -2.40007910e-02 1.80530715e+00] [ 1.03216319e-01 1.75389698e-03 9.94657386e-01 5.50793630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.482260615 meters Centerline goodness [0,1] 0.9998731018146441 Centerline is valid? [True, True] Translation: X:8.12, Y:1.81, Z:0.56 [[ 9.71215240e-01 -2.18596501e-01 -9.46389356e-02 8.12481448e+00] [ 2.17424179e-01 9.75814296e-01 -2.26536196e-02 1.80722986e+00] [ 9.73020283e-02 1.42474775e-03 9.95253880e-01 5.58351785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.512260614999999 meters Centerline goodness [0,1] 0.998799266920857 Centerline is valid? [True, True] Translation: X:8.15, Y:1.81, Z:0.57 [[ 9.71055180e-01 -2.23142260e-01 -8.52019360e-02 8.15318854e+00] [ 2.22209032e-01 9.74785491e-01 -2.04057093e-02 1.80514351e+00] [ 8.76069871e-02 8.82429993e-04 9.96154725e-01 5.71887158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.542260614999998 meters Centerline goodness [0,1] 0.9990546814276411 Centerline is valid? [True, True] Translation: X:8.18, Y:1.81, Z:0.58 [[ 9.71037448e-01 -2.23075408e-01 -8.55782507e-02 8.17817760e+00] [ 2.22130974e-01 9.74800755e-01 -2.05260388e-02 1.81391900e+00] [ 8.80005979e-02 9.21972213e-04 9.96119995e-01 5.78410214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.572260615 meters Centerline goodness [0,1] 0.9996834441278886 Centerline is valid? [True, True] Translation: X:8.20, Y:1.83, Z:0.58 [[ 9.70760227e-01 -2.21639758e-01 -9.21976071e-02 8.20363043e+00] [ 2.20535342e-01 9.75127940e-01 -2.21283595e-02 1.83054260e+00] [ 9.48089869e-02 1.14850048e-03 9.95494820e-01 5.77521120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.602260614999999 meters Centerline goodness [0,1] 0.9998734150509504 Centerline is valid? [True, True] Translation: X:8.23, Y:1.84, Z:0.58 [[ 9.70324309e-01 -2.22616151e-01 -9.44075494e-02 8.23052430e+00] [ 2.21459522e-01 9.74905543e-01 -2.26905842e-02 1.84050552e+00] [ 9.70897337e-02 1.10977475e-03 9.95275013e-01 5.79411207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.632260614999998 meters Centerline goodness [0,1] 0.9994932432432433 Centerline is valid? [True, True] Translation: X:8.26, Y:1.85, Z:0.58 [[ 9.69440110e-01 -2.27011029e-01 -9.30154044e-02 8.25760991e+00] [ 2.25905453e-01 9.73891942e-01 -2.23877383e-02 1.84647092e+00] [ 9.56692164e-02 6.90884360e-04 9.95412941e-01 5.81558171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.662260615 meters Centerline goodness [0,1] 0.9994524356085336 Centerline is valid? [True, True] Translation: X:8.29, Y:1.85, Z:0.58 [[ 9.68577061e-01 -2.30870891e-01 -9.25046447e-02 8.28607868e+00] [ 2.29793975e-01 9.72984342e-01 -2.22755166e-02 1.84888885e+00] [ 9.51483392e-02 3.18544334e-04 9.95463054e-01 5.82836814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.692260614999999 meters Centerline goodness [0,1] 0.999345217979047 Centerline is valid? [True, True] Translation: X:8.31, Y:1.85, Z:0.58 [[ 9.67560537e-01 -2.35075268e-01 -9.25539073e-02 8.31369990e+00] [ 2.34015537e-01 9.71977166e-01 -2.22961301e-02 1.85238639e+00] [ 9.52015532e-02 -8.61967241e-05 9.95458014e-01 5.84222324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.722260614999998 meters Centerline goodness [0,1] 0.9990092748735244 Centerline is valid? [True, True] Translation: X:8.34, Y:1.86, Z:0.59 [[ 9.65202007e-01 -2.44483536e-01 -9.28056407e-02 8.34127487e+00] [ 2.43458037e-01 9.69652946e-01 -2.23908246e-02 1.86013434e+00] [ 9.54634509e-02 -9.82610303e-04 9.95432451e-01 5.88919883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.752260614999999 meters Centerline goodness [0,1] 0.9987571882965054 Centerline is valid? [True, True] Translation: X:8.37, Y:1.87, Z:0.59 [[ 9.64359026e-01 -2.48052208e-01 -9.20965353e-02 8.36791065e+00] [ 2.47055854e-01 9.68745796e-01 -2.22483039e-02 1.87169908e+00] [ 9.47368723e-02 -1.29763546e-03 9.95501502e-01 5.94906388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.782260614999998 meters Centerline goodness [0,1] 0.9992383692639685 Centerline is valid? [True, True] Translation: X:8.39, Y:1.89, Z:0.60 [[ 9.64192120e-01 -2.48857858e-01 -9.16696340e-02 8.39160844e+00] [ 2.47871498e-01 9.68539090e-01 -2.21754784e-02 1.88926347e+00] [ 9.43041660e-02 -1.34086802e-03 9.95542529e-01 6.02874240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.812260614999998 meters Centerline goodness [0,1] 0.9995777027027027 Centerline is valid? [True, True] Translation: X:8.42, Y:1.90, Z:0.61 [[ 9.64829254e-01 -2.46515630e-01 -9.12937813e-02 8.41807224e+00] [ 2.45525557e-01 9.69138199e-01 -2.20986991e-02 1.90252089e+00] [ 9.39239655e-02 -1.09348513e-03 9.95578773e-01 6.06683246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.842260614999999 meters Centerline goodness [0,1] 0.999830058417419 Centerline is valid? [True, True] Translation: X:8.44, Y:1.92, Z:0.61 [[ 9.65984213e-01 -2.42272711e-01 -9.04346963e-02 8.44380962e+00] [ 2.41280046e-01 9.70207975e-01 -2.19185968e-02 1.91760824e+00] [ 9.30507414e-02 -6.47069203e-04 9.95661158e-01 6.10075661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.872260614999998 meters Centerline goodness [0,1] 0.9999786384124069 Centerline is valid? [True, True] Translation: X:8.47, Y:1.94, Z:0.61 [[ 9.68309830e-01 -2.32476581e-01 -9.12727398e-02 8.46620303e+00] [ 2.31418901e-01 9.72601939e-01 -2.21531304e-02 1.94201744e+00] [ 9.39221277e-02 3.28856846e-04 9.95579492e-01 6.13885507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.902260615 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.49, Y:1.98, Z:0.62 [[ 9.70839467e-01 -2.20106360e-01 -9.49943141e-02 8.48759781e+00] [ 2.18899454e-01 9.75474555e-01 -2.30742771e-02 1.97605535e+00] [ 9.77433314e-02 1.60721542e-03 9.95210359e-01 6.17858794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.932260614999999 meters Centerline goodness [0,1] 0.999978332466632 Centerline is valid? [True, True] Translation: X:8.51, Y:2.00, Z:0.62 [[ 9.72272264e-01 -2.12924046e-01 -9.66953750e-02 8.51404798e+00] [ 2.11637460e-01 9.77065864e-01 -2.34921722e-02 1.99644441e+00] [ 9.94797985e-02 2.37642387e-03 9.95036744e-01 6.21699786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.962260614999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.54, Y:2.01, Z:0.62 [[ 9.73713100e-01 -2.06223624e-01 -9.67192645e-02 8.54126614e+00] [ 2.04903617e-01 9.78500104e-01 -2.34958502e-02 2.01419083e+00] [ 9.94852097e-02 3.06008998e-03 9.95034336e-01 6.24959635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.992260615 meters Centerline goodness [0,1] 0.9999561037706861 Centerline is valid? [True, True] Translation: X:8.57, Y:2.03, Z:0.63 [[ 9.75597557e-01 -1.97423452e-01 -9.60905174e-02 8.56759879e+00] [ 1.96078212e-01 9.80310428e-01 -2.33409539e-02 2.03435697e+00] [ 9.88065879e-02 3.93012082e-03 9.95098896e-01 6.28568200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.022260614999999 meters Centerline goodness [0,1] 0.9999340383896572 Centerline is valid? [True, True] Translation: X:8.60, Y:2.05, Z:0.63 [[ 9.75788491e-01 -1.96426485e-01 -9.61948852e-02 8.59726955e+00] [ 1.95073493e-01 9.80510250e-01 -2.33662375e-02 2.04808664e+00] [ 9.89098189e-02 4.03543331e-03 9.95088219e-01 6.33029267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.052260614999998 meters Centerline goodness [0,1] 0.9998229618482783 Centerline is valid? [True, True] Translation: X:8.63, Y:2.06, Z:0.64 [[ 9.74817347e-01 -2.00882537e-01 -9.68367039e-02 8.62624361e+00] [ 1.99534112e-01 9.79608724e-01 -2.35135272e-02 2.06212391e+00] [ 9.95855370e-02 3.59916852e-03 9.95022496e-01 6.36700185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.082260615 meters Centerline goodness [0,1] 0.9998894074450908 Centerline is valid? [True, True] Translation: X:8.66, Y:2.07, Z:0.64 [[ 9.73711848e-01 -2.06049059e-01 -9.71031520e-02 8.65594950e+00] [ 2.04719388e-01 9.78536836e-01 -2.35718436e-02 2.06876154e+00] [ 9.98759673e-02 3.07328555e-03 9.94995149e-01 6.39477537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.112260614999999 meters Centerline goodness [0,1] 0.9997563784549964 Centerline is valid? [True, True] Translation: X:8.69, Y:2.07, Z:0.64 [[ 9.72566655e-01 -2.11369770e-01 -9.71438182e-02 8.68814315e+00] [ 2.10065811e-01 9.77402910e-01 -2.35776780e-02 2.07146281e+00] [ 9.99322590e-02 2.52426845e-03 9.94991041e-01 6.41696601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.142260614999998 meters Centerline goodness [0,1] 0.9998675379724479 Centerline is valid? [True, True] Translation: X:8.72, Y:2.07, Z:0.65 [[ 9.70562232e-01 -2.21895320e-01 -9.36558604e-02 8.71805006e+00] [ 2.20733184e-01 9.75069516e-01 -2.27222361e-02 2.07298597e+00] [ 9.63629323e-02 1.38038790e-03 9.95345307e-01 6.47303409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.172260614999999 meters Centerline goodness [0,1] 0.9998464508203914 Centerline is valid? [True, True] Translation: X:8.75, Y:2.08, Z:0.65 [[ 9.69263316e-01 -2.28505603e-01 -9.11801145e-02 8.74833147e+00] [ 2.27433326e-01 9.73542343e-01 -2.21221508e-02 2.07743886e+00] [ 9.38227376e-02 7.04792545e-04 9.95588669e-01 6.54070784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.202260614999998 meters Centerline goodness [0,1] 0.9998010038251487 Centerline is valid? [True, True] Translation: X:8.78, Y:2.07, Z:0.66 [[ 9.65662183e-01 -2.44479725e-01 -8.78988798e-02 8.78074079e+00] [ 2.43549666e-01 9.69654058e-01 -2.13205890e-02 2.07451909e+00] [ 9.04439573e-02 -8.19256286e-04 9.95901210e-01 6.62365475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.232260614999998 meters Centerline goodness [0,1] 0.9996689034080876 Centerline is valid? [True, True] Translation: X:8.81, Y:2.08, Z:0.67 [[ 9.64279472e-01 -2.49971992e-01 -8.76304950e-02 8.81271225e+00] [ 2.49070690e-01 9.68252147e-01 -2.12501926e-02 2.07827252e+00] [ 9.01603679e-02 -1.33506338e-03 9.95926366e-01 6.65705557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.262260614999999 meters Centerline goodness [0,1] 0.999823305945755 Centerline is valid? [True, True] Translation: X:8.84, Y:2.09, Z:0.67 [[ 9.64996766e-01 -2.47857881e-01 -8.57188007e-02 8.84422263e+00] [ 2.46987793e-01 9.68795757e-01 -2.07800639e-02 2.08774833e+00] [ 8.81945131e-02 -1.11880293e-03 9.96102643e-01 6.66635503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.292260614999998 meters Centerline goodness [0,1] 0.9996925441967717 Centerline is valid? [True, True] Translation: X:8.87, Y:2.10, Z:0.67 [[ 9.66476669e-01 -2.42484048e-01 -8.44057706e-02 8.87389436e+00] [ 2.41620981e-01 9.70155189e-01 -2.04502161e-02 2.09999064e+00] [ 8.68455474e-02 -6.29548332e-04 9.96221589e-01 6.70278739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.322260615 meters Centerline goodness [0,1] 0.9997991474926912 Centerline is valid? [True, True] Translation: X:8.90, Y:2.13, Z:0.68 [[ 9.69055869e-01 -2.32667320e-01 -8.24417463e-02 8.89921862e+00] [ 2.31809062e-01 9.72556354e-01 -1.99674119e-02 2.12700849e+00] [ 8.48250084e-02 2.38793834e-04 9.96395835e-01 6.83721413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.352260614999999 meters Centerline goodness [0,1] 0.9998882381867763 Centerline is valid? [True, True] Translation: X:8.93, Y:2.14, Z:0.69 [[ 9.69575158e-01 -2.30891533e-01 -8.13210514e-02 8.92779343e+00] [ 2.30050839e-01 9.72979421e-01 -1.96890198e-02 2.14369116e+00] [ 8.36697375e-02 3.82008363e-04 9.96493467e-01 6.94230485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.382260614999998 meters Centerline goodness [0,1] 0.9998883729237363 Centerline is valid? [True, True] Translation: X:8.96, Y:2.16, Z:0.70 [[ 9.69754229e-01 -2.30055520e-01 -8.15548407e-02 8.95843407e+00] [ 2.29207549e-01 9.73177402e-01 -1.97393976e-02 2.15630392e+00] [ 8.39084854e-02 4.49379148e-04 9.96473363e-01 7.00724886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.412260615 meters Centerline goodness [0,1] 0.9998877161464181 Centerline is valid? [True, True] Translation: X:8.99, Y:2.16, Z:0.70 [[ 9.69350428e-01 -2.30538970e-01 -8.49207364e-02 8.99094173e+00] [ 2.29622332e-01 9.73063006e-01 -2.05419412e-02 2.16068827e+00] [ 8.73689450e-02 4.12641927e-04 9.96175937e-01 6.95920780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.442260614999999 meters Centerline goodness [0,1] 0.9997093933026333 Centerline is valid? [True, True] Translation: X:9.02, Y:2.16, Z:0.69 [[ 9.68276210e-01 -2.33530607e-01 -8.89080283e-02 9.02401724e+00] [ 2.32539015e-01 9.72349441e-01 -2.14981636e-02 2.15910828e+00] [ 9.14701508e-02 1.41575092e-04 9.95807809e-01 6.89331929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.472260614999998 meters Centerline goodness [0,1] 0.9997982876865839 Centerline is valid? [True, True] Translation: X:9.06, Y:2.16, Z:0.69 [[ 9.68048949e-01 -2.33960077e-01 -9.02436388e-02 9.05611771e+00] [ 2.32940791e-01 9.72246200e-01 -2.18154712e-02 2.16440715e+00] [ 9.28429842e-02 9.70193542e-05 9.95680758e-01 6.89076350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.502260614999999 meters Centerline goodness [0,1] 0.9997761110489197 Centerline is valid? [True, True] Translation: X:9.09, Y:2.17, Z:0.69 [[ 9.67790943e-01 -2.32868778e-01 -9.56703837e-02 9.08718107e+00] [ 2.31718474e-01 9.72508144e-01 -2.31183614e-02 2.17146774e+00] [ 9.84237719e-02 2.05145519e-04 9.95144572e-01 6.85852426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.532260614999998 meters Centerline goodness [0,1] 0.9997761110489197 Centerline is valid? [True, True] Translation: X:9.12, Y:2.18, Z:0.69 [[ 9.67819271e-01 -2.32750460e-01 -9.56717400e-02 9.11868879e+00] [ 2.31600134e-01 9.72536467e-01 -2.31127474e-02 2.17894839e+00] [ 9.84237585e-02 2.11374526e-04 9.95144572e-01 6.89197380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.562260614999998 meters Centerline goodness [0,1] 0.9997088400636073 Centerline is valid? [True, True] Translation: X:9.15, Y:2.19, Z:0.69 [[ 9.67820091e-01 -2.31394993e-01 -9.88970619e-02 9.14954323e+00] [ 2.30159888e-01 9.72859823e-01 -2.38786507e-02 2.18826690e+00] [ 1.01738378e-01 3.48101145e-04 9.94811128e-01 6.90216048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.592260614999999 meters Centerline goodness [0,1] 0.9998208567525808 Centerline is valid? [True, True] Translation: X:9.18, Y:2.20, Z:0.69 [[ 9.67602913e-01 -2.30581008e-01 -1.02844554e-01 9.17935402e+00] [ 2.29241437e-01 9.73053032e-01 -2.48225770e-02 2.20031881e+00] [ 1.05796819e-01 4.42164588e-04 9.94387670e-01 6.93705665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.622260614999998 meters Centerline goodness [0,1] 0.9997755885191086 Centerline is valid? [True, True] Translation: X:9.21, Y:2.20, Z:0.70 [[ 9.66843907e-01 -2.33799116e-01 -1.02717246e-01 9.21188225e+00] [ 2.32481899e-01 9.72284921e-01 -2.47830573e-02 2.20413711e+00] [ 1.05664687e-01 8.14474943e-05 9.94401814e-01 6.96336068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.652260614999998 meters Centerline goodness [0,1] 0.9996658572987904 Centerline is valid? [True, True] Translation: X:9.25, Y:2.19, Z:0.70 [[ 9.63287356e-01 -2.49563559e-01 -9.89722148e-02 9.24779512e+00] [ 2.48424370e-01 9.68357111e-01 -2.38712654e-02 2.19064848e+00] [ 1.01797846e-01 -1.59222199e-03 9.94803832e-01 6.97367704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.682260614999999 meters Centerline goodness [0,1] 0.9997334517992004 Centerline is valid? [True, True] Translation: X:9.28, Y:2.19, Z:0.70 [[ 9.61187901e-01 -2.57807231e-01 -9.82509614e-02 9.28023945e+00] [ 2.56727885e-01 9.66193266e-01 -2.36931383e-02 2.18951080e+00] [ 1.01037680e-01 -2.45020362e-03 9.94879583e-01 7.00316534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.712260614999998 meters Centerline goodness [0,1] 0.9997330010679957 Centerline is valid? [True, True] Translation: X:9.31, Y:2.19, Z:0.71 [[ 9.58114397e-01 -2.69003070e-01 -9.82555337e-02 9.31012670e+00] [ 2.67982534e-01 9.63132467e-01 -2.36899247e-02 2.19038309e+00] [ 1.01005757e-01 -3.63310892e-03 9.94879208e-01 7.06621805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.742260615 meters Centerline goodness [0,1] 0.9995313232307452 Centerline is valid? [True, True] Translation: X:9.34, Y:2.20, Z:0.71 [[ 9.57746784e-01 -2.70127921e-01 -9.87522369e-02 9.34012099e+00] [ 2.69102787e-01 9.62817065e-01 -2.38115426e-02 2.20264852e+00] [ 1.01512501e-01 -3.76907383e-03 9.94827124e-01 7.11831533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.772260614999999 meters Centerline goodness [0,1] 0.9996626029061136 Centerline is valid? [True, True] Translation: X:9.36, Y:2.23, Z:0.72 [[ 9.60500015e-01 -2.60898056e-01 -9.68087045e-02 9.36461653e+00] [ 2.59866950e-01 9.65362456e-01 -2.33344569e-02 2.22929189e+00] [ 9.95434032e-02 -2.74463659e-03 9.95029436e-01 7.22460742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.802260614999998 meters Centerline goodness [0,1] 0.9995704467353952 Centerline is valid? [True, True] Translation: X:9.39, Y:2.25, Z:0.73 [[ 9.62959342e-01 -2.52289139e-01 -9.51813847e-02 9.39039926e+00] [ 2.51250507e-01 9.67650179e-01 -2.29415425e-02 2.24756456e+00] [ 9.78901860e-02 -1.82259850e-03 9.95195553e-01 7.30722733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.832260615 meters Centerline goodness [0,1] 0.9997499204292275 Centerline is valid? [True, True] Translation: X:9.41, Y:2.28, Z:0.74 [[ 9.67900435e-01 -2.32890932e-01 -9.45016487e-02 9.41410369e+00] [ 2.31774400e-01 9.72502850e-01 -2.27779424e-02 2.27786194e+00] [ 9.72078989e-02 1.43717448e-04 9.95264087e-01 7.37957007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.862260614999999 meters Centerline goodness [0,1] 0.999816795291639 Centerline is valid? [True, True] Translation: X:9.44, Y:2.31, Z:0.74 [[ 9.71702120e-01 -2.15467472e-01 -9.67923429e-02 9.43960487e+00] [ 2.14209878e-01 9.76509107e-01 -2.33257745e-02 2.30535188e+00] [ 9.95445500e-02 1.93182854e-03 9.95031231e-01 7.42489650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.892260614999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.47, Y:2.32, Z:0.75 [[ 9.72886316e-01 -2.09880992e-01 -9.71709076e-02 9.46891541e+00] [ 2.08586110e-01 9.77723719e-01 -2.34128866e-02 2.32009718e+00] [ 9.99202211e-02 2.50957531e-03 9.94992287e-01 7.46344947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.922260614999999 meters Centerline goodness [0,1] 0.9998389101118424 Centerline is valid? [True, True] Translation: X:9.50, Y:2.33, Z:0.75 [[ 9.73769213e-01 -2.06550880e-01 -9.54476481e-02 9.49777762e+00] [ 2.05286492e-01 9.78431876e-01 -2.29895621e-02 2.33376888e+00] [ 9.81375358e-02 2.79241499e-03 9.95168944e-01 7.54225246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.952260614999998 meters Centerline goodness [0,1] 0.9999308134037499 Centerline is valid? [True, True] Translation: X:9.52, Y:2.35, Z:0.77 [[ 9.75421016e-01 -2.02970000e-01 -8.57730795e-02 9.52426208e+00] [ 2.01936324e-01 9.79180884e-01 -2.06522818e-02 2.34858697e+00] [ 8.81791535e-02 2.82396929e-03 9.96100628e-01 7.68244974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.982260614999998 meters Centerline goodness [0,1] 0.9999770378874856 Centerline is valid? [True, True] Translation: X:9.56, Y:2.35, Z:0.77 [[ 9.75937716e-01 -2.01448181e-01 -8.34518063e-02 9.55633329e+00] [ 2.00464267e-01 9.79494937e-01 -2.00934474e-02 2.35349234e+00] [ 8.57884101e-02 2.88084799e-03 9.96309214e-01 7.70614700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.012260614999999 meters Centerline goodness [0,1] 0.9999541998717596 Centerline is valid? [True, True] Translation: X:9.59, Y:2.35, Z:0.77 [[ 9.74173769e-01 -2.08474405e-01 -8.67403608e-02 9.58829609e+00] [ 2.07441816e-01 9.78025069e-01 -2.08532570e-02 2.35136876e+00] [ 8.91816176e-02 2.32111808e-03 9.96012676e-01 7.65490560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.042260614999998 meters Centerline goodness [0,1] 0.9998857769452186 Centerline is valid? [True, True] Translation: X:9.62, Y:2.35, Z:0.77 [[ 9.72294748e-01 -2.16729116e-01 -8.75866065e-02 9.62021894e+00] [ 2.15709577e-01 9.76230502e-01 -2.10567030e-02 2.34879483e+00] [ 9.00683175e-02 1.58005193e-03 9.95934336e-01 7.65515358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.072260614999998 meters Centerline goodness [0,1] 0.9997724635372819 Centerline is valid? [True, True] Translation: X:9.65, Y:2.34, Z:0.78 [[ 9.68940705e-01 -2.32983833e-01 -8.29002063e-02 9.65277016e+00] [ 2.32129432e-01 9.72480606e-01 -1.99348500e-02 2.34420096e+00] [ 8.52633406e-02 7.21098112e-05 9.96358448e-01 7.76703217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.102260614999999 meters Centerline goodness [0,1] 0.9996590444151475 Centerline is valid? [True, True] Translation: X:9.68, Y:2.35, Z:0.79 [[ 9.68039092e-01 -2.38066198e-01 -7.88974174e-02 9.68362665e+00] [ 2.37310980e-01 9.71248857e-01 -1.89514075e-02 2.34832531e+00] [ 8.11407160e-02 -3.77520090e-04 9.96702584e-01 7.85677633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.132260614999998 meters Centerline goodness [0,1] 0.9996130383319676 Centerline is valid? [True, True] Translation: X:9.71, Y:2.36, Z:0.79 [[ 9.68042796e-01 -2.39246244e-01 -7.51956101e-02 9.71373301e+00] [ 2.38565403e-01 9.70958810e-01 -1.80426544e-02 2.35656819e+00] [ 7.73284774e-02 -4.73009466e-04 9.97005558e-01 7.94186939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.162260615 meters Centerline goodness [0,1] 0.999613029523571 Centerline is valid? [True, True] Translation: X:9.74, Y:2.37, Z:0.80 [[ 9.69763488e-01 -2.32734128e-01 -7.34411478e-02 9.74196906e+00] [ 2.32067537e-01 9.72540397e-01 -1.76020920e-02 2.37340896e+00] [ 7.55210906e-02 2.65598915e-05 9.97144204e-01 8.00909918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.192260614999999 meters Centerline goodness [0,1] 0.9997035077316061 Centerline is valid? [True, True] Translation: X:9.77, Y:2.39, Z:0.80 [[ 9.70673055e-01 -2.28578049e-01 -7.44707681e-02 9.77116598e+00] [ 2.27882281e-01 9.73525534e-01 -1.78241353e-02 2.38585194e+00] [ 7.65734003e-02 3.30839355e-04 9.97063892e-01 8.04429204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.222260614999998 meters Centerline goodness [0,1] 0.9997940786162083 Centerline is valid? [True, True] Translation: X:9.80, Y:2.40, Z:0.80 [[ 9.71997691e-01 -2.22046541e-01 -7.69143760e-02 9.80080397e+00] [ 2.21285657e-01 9.75035696e-01 -1.83861085e-02 2.40086645e+00] [ 7.90768339e-02 8.51206747e-04 9.96868161e-01 8.03292975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.252260614999999 meters Centerline goodness [0,1] 0.9998399817121957 Centerline is valid? [True, True] Translation: X:9.83, Y:2.41, Z:0.81 [[ 9.72035022e-01 -2.21802678e-01 -7.71458901e-02 9.83168046e+00] [ 2.21038323e-01 9.75091200e-01 -1.84176805e-02 2.41003167e+00] [ 7.93093694e-02 8.50432300e-04 9.96849688e-01 8.07001671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.282260614999998 meters Centerline goodness [0,1] 0.999863004315364 Centerline is valid? [True, True] Translation: X:9.86, Y:2.42, Z:0.81 [[ 9.72119979e-01 -2.21607565e-01 -7.66344208e-02 9.86323382e+00] [ 2.20854680e-01 9.75135574e-01 -1.82708185e-02 2.41891347e+00] [ 7.87779015e-02 8.36357223e-04 9.96891841e-01 8.10617610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.312260614999998 meters Centerline goodness [0,1] 0.9995649884378506 Centerline is valid? [True, True] Translation: X:9.90, Y:2.43, Z:0.81 [[ 9.72245239e-01 -2.20973577e-01 -7.68757079e-02 9.89521598e+00] [ 2.20216117e-01 9.75279412e-01 -1.83010778e-02 2.42682421e+00] [ 7.90193499e-02 8.63865875e-04 9.96872708e-01 8.10829168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.342260614999999 meters Centerline goodness [0,1] 0.9998392725936811 Centerline is valid? [True, True] Translation: X:9.93, Y:2.44, Z:0.81 [[ 9.72343582e-01 -2.20266324e-01 -7.76576183e-02 9.92580332e+00] [ 2.19493464e-01 9.75439354e-01 -1.84576873e-02 2.43502703e+00] [ 7.98159039e-02 9.01874151e-04 9.96809213e-01 8.13535850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.372260614999998 meters Centerline goodness [0,1] 0.9997703261368857 Centerline is valid? [True, True] Translation: X:9.96, Y:2.44, Z:0.81 [[ 9.71135583e-01 -2.23278057e-01 -8.39201286e-02 9.95691947e+00] [ 2.22389082e-01 9.74754558e-01 -1.99159938e-02 2.44039283e+00] [ 8.62483323e-02 6.78209854e-04 9.96273439e-01 8.09137258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.402260614999998 meters Centerline goodness [0,1] 0.9998854209633805 Centerline is valid? [True, True] Translation: X:9.99, Y:2.44, Z:0.81 [[ 9.69777312e-01 -2.27881948e-01 -8.71882080e-02 9.98956354e+00] [ 2.26940846e-01 9.73688728e-01 -2.06908855e-02 2.44308066e+00] [ 8.96092547e-02 2.78985680e-04 9.95976959e-01 8.06994076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.432260614999999 meters Centerline goodness [0,1] 0.9997227356746765 Centerline is valid? [True, True] Translation: X:10.02, Y:2.44, Z:0.80 [[ 9.66591272e-01 -2.39772519e-01 -9.06115456e-02 1.00249140e+01] [ 2.38810648e-01 9.70828697e-01 -2.14735846e-02 2.44008453e+00] [ 9.31170643e-02 -8.82822454e-04 9.95654776e-01 8.03475928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.462260614999998 meters Centerline goodness [0,1] 0.9999307862679956 Centerline is valid? [True, True] Translation: X:10.06, Y:2.45, Z:0.81 [[ 9.66043814e-01 -2.41929166e-01 -9.07172964e-02 1.00564560e+01] [ 2.40975461e-01 9.70293288e-01 -2.14886489e-02 2.44706255e+00] [ 9.32211148e-02 -1.10166602e-03 9.95644821e-01 8.06785841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.492260614999998 meters Centerline goodness [0,1] 0.9999304460725216 Centerline is valid? [True, True] Translation: X:10.09, Y:2.47, Z:0.82 [[ 9.67271176e-01 -2.37778357e-01 -8.85885154e-02 1.00850611e+01] [ 2.36853891e-01 9.71319180e-01 -2.09591223e-02 2.46504819e+00] [ 9.10313498e-02 -7.09379645e-04 9.95847775e-01 8.15722560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.522260614999999 meters Centerline goodness [0,1] 0.9999767932979045 Centerline is valid? [True, True] Translation: X:10.11, Y:2.48, Z:0.82 [[ 9.68833767e-01 -2.31758782e-01 -8.74585602e-02 1.01142590e+01] [ 2.30835617e-01 9.72773272e-01 -2.06658756e-02 2.48091849e+00] [ 8.98668480e-02 -1.66752620e-04 9.95953775e-01 8.21946076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.552260614999998 meters Centerline goodness [0,1] 0.9999766834545794 Centerline is valid? [True, True] Translation: X:10.14, Y:2.49, Z:0.82 [[ 9.70463134e-01 -2.24332040e-01 -8.87493205e-02 1.01447594e+01] [ 2.23352770e-01 9.74512639e-01 -2.09441433e-02 2.49470362e+00] [ 9.11857769e-02 5.03112391e-04 9.95833772e-01 8.23451485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.582260615 meters Centerline goodness [0,1] 0.9999301805995159 Centerline is valid? [True, True] Translation: X:10.18, Y:2.50, Z:0.83 [[ 9.70536188e-01 -2.23666755e-01 -8.96252742e-02 1.01761136e+01] [ 2.22668159e-01 9.74665528e-01 -2.11187011e-02 2.50026649e+00] [ 9.20782166e-02 5.39768834e-04 9.95751631e-01 8.26065516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.612260614999999 meters Centerline goodness [0,1] 0.9998141868351372 Centerline is valid? [True, True] Translation: X:10.21, Y:2.51, Z:0.83 [[ 9.70675340e-01 -2.23278836e-01 -8.90839200e-02 1.02087085e+01] [ 2.22293306e-01 9.74754464e-01 -2.09623925e-02 2.50601842e+00] [ 9.15154073e-02 5.44918411e-04 9.95803511e-01 8.30297454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.642260614999998 meters Centerline goodness [0,1] 0.9999768389846211 Centerline is valid? [True, True] Translation: X:10.24, Y:2.51, Z:0.84 [[ 9.71994828e-01 -2.20060115e-01 -8.24596915e-02 1.02384805e+01] [ 2.19206677e-01 9.75486018e-01 -1.93768406e-02 2.51349278e+00] [ 8.47023459e-02 7.58473838e-04 9.96406010e-01 8.41910729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.672260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.27, Y:2.52, Z:0.85 [[ 9.73369679e-01 -2.15196315e-01 -7.90064190e-02 1.02684563e+01] [ 2.14398701e-01 9.76570177e-01 -1.85441715e-02 2.52263186e+00] [ 8.11459500e-02 1.11146060e-03 9.96701610e-01 8.48328069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.702260614999998 meters Centerline goodness [0,1] 0.9999538766662054 Centerline is valid? [True, True] Translation: X:10.30, Y:2.53, Z:0.85 [[ 9.76239139e-01 -2.01984357e-01 -7.84822520e-02 1.02973332e+01] [ 2.01156849e-01 9.79386347e-01 -1.83931065e-02 2.53418916e+00] [ 8.05795659e-02 2.16882796e-03 9.96745820e-01 8.47834375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.732260614999998 meters Centerline goodness [0,1] 0.9999769074450398 Centerline is valid? [True, True] Translation: X:10.33, Y:2.55, Z:0.85 [[ 9.77396181e-01 -1.95548681e-01 -8.03580699e-02 1.03272286e+01] [ 1.94659380e-01 9.80690100e-01 -1.88322280e-02 2.54529550e+00] [ 8.24889810e-02 2.76409568e-03 9.96588144e-01 8.47885285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.762260614999999 meters Centerline goodness [0,1] 0.9999768228804524 Centerline is valid? [True, True] Translation: X:10.36, Y:2.56, Z:0.85 [[ 9.78952798e-01 -1.86264998e-01 -8.34072572e-02 1.03550630e+01] [ 1.85273499e-01 9.82492658e-01 -1.95424598e-02 2.56081184e+00] [ 8.55870940e-02 3.67799125e-03 9.96323904e-01 8.49405710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.792260614999998 meters Centerline goodness [0,1] 0.999976833619052 Centerline is valid? [True, True] Translation: X:10.38, Y:2.57, Z:0.85 [[ 9.79408650e-01 -1.83224516e-01 -8.47789700e-02 1.03844879e+01] [ 1.82188732e-01 9.83062921e-01 -1.98635083e-02 2.56959381e+00] [ 8.69825436e-02 4.00871883e-03 9.96201770e-01 8.51783123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.822260614999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.42, Y:2.57, Z:0.85 [[ 9.80237729e-01 -1.77338599e-01 -8.76642247e-02 1.04169784e+01] [ 1.76207821e-01 9.84138758e-01 -2.05355586e-02 2.56999108e+00] [ 8.99155084e-02 4.68260730e-03 9.95938389e-01 8.48312130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.852260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.45, Y:2.57, Z:0.85 [[ 9.80421994e-01 -1.75559780e-01 -8.91710618e-02 1.04493207e+01] [ 1.74382480e-01 9.84456436e-01 -2.08872279e-02 2.57209895e+00] [ 9.14519829e-02 4.92842668e-03 9.95797291e-01 8.49094806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.882260614999998 meters Centerline goodness [0,1] 0.9999771606066142 Centerline is valid? [True, True] Translation: X:10.48, Y:2.57, Z:0.86 [[ 9.80494570e-01 -1.74862704e-01 -8.97409183e-02 1.04819524e+01] [ 1.73669900e-01 9.84580139e-01 -2.09932343e-02 2.57322432e+00] [ 9.20280595e-02 4.99845598e-03 9.95743869e-01 8.55215646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.912260614999997 meters Centerline goodness [0,1] 0.9999086632872083 Centerline is valid? [True, True] Translation: X:10.51, Y:2.58, Z:0.86 [[ 9.80273573e-01 -1.76429285e-01 -8.90866446e-02 1.05136730e+01] [ 1.75260787e-01 9.84301563e-01 -2.08348057e-02 2.57852233e+00] [ 9.13639934e-02 4.81041401e-03 9.95805945e-01 8.61518330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.942260614999999 meters Centerline goodness [0,1] 0.9998640442309435 Centerline is valid? [True, True] Translation: X:10.55, Y:2.57, Z:0.86 [[ 9.79575890e-01 -1.81902731e-01 -8.56882305e-02 1.05470901e+01] [ 1.80845295e-01 9.83307956e-01 -2.00110543e-02 2.57077117e+00] [ 8.78979843e-02 4.10603296e-03 9.96121019e-01 8.64879721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.972260614999998 meters Centerline goodness [0,1] 0.999887907456396 Centerline is valid? [True, True] Translation: X:10.58, Y:2.56, Z:0.86 [[ 9.79203974e-01 -1.85085197e-01 -8.30845762e-02 1.05829358e+01] [ 1.84102687e-01 9.82715504e-01 -1.94020287e-02 2.55898493e+00] [ 8.52395294e-02 3.70244984e-03 9.96353609e-01 8.63886356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.002260614999999 meters Centerline goodness [0,1] 0.9997546504884686 Centerline is valid? [True, True] Translation: X:10.61, Y:2.56, Z:0.87 [[ 9.79121350e-01 -1.86693998e-01 -8.04160017e-02 1.06143063e+01] [ 1.85779203e-01 9.82412069e-01 -1.87780232e-02 2.56181331e+00] [ 8.25073948e-02 3.44634274e-03 9.96584493e-01 8.70512837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.032260614999998 meters Centerline goodness [0,1] 0.9997998487746297 Centerline is valid? [True, True] Translation: X:10.65, Y:2.56, Z:0.88 [[ 9.78850751e-01 -1.90284893e-01 -7.51190230e-02 1.06455164e+01] [ 1.89499264e-01 9.81724596e-01 -1.75170360e-02 2.56260667e+00] [ 7.70794198e-02 2.91156422e-03 9.97020705e-01 8.84779243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.062260614999998 meters Centerline goodness [0,1] 0.9998891131267881 Centerline is valid? [True, True] Translation: X:10.68, Y:2.57, Z:0.89 [[ 9.78805599e-01 -1.91297411e-01 -7.31088282e-02 1.06756251e+01] [ 1.90556183e-01 9.81528252e-01 -1.70479306e-02 2.56973098e+00] [ 7.50196053e-02 2.75527064e-03 9.97178253e-01 8.93261868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.092260614999999 meters Centerline goodness [0,1] 0.9997801956258929 Centerline is valid? [True, True] Translation: X:10.71, Y:2.56, Z:0.89 [[ 9.78443248e-01 -1.92501526e-01 -7.47794917e-02 1.07105514e+01] [ 1.91731354e-01 9.81292959e-01 -1.74131152e-02 2.56468305e+00] [ 7.67326400e-02 2.70017186e-03 9.97048049e-01 8.90798527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.122260614999998 meters Centerline goodness [0,1] 0.9998249261407156 Centerline is valid? [True, True] Translation: X:10.74, Y:2.57, Z:0.89 [[ 9.78680540e-01 -1.90208750e-01 -7.74921388e-02 1.07432202e+01] [ 1.89376349e-01 9.81739203e-01 -1.80204048e-02 2.56874281e+00] [ 7.95047092e-02 2.96104119e-03 9.96830093e-01 8.89394491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.152260614999998 meters Centerline goodness [0,1] 0.9998904037525755 Centerline is valid? [True, True] Translation: X:10.77, Y:2.57, Z:0.89 [[ 9.79640266e-01 -1.84065766e-01 -8.01544915e-02 1.07744645e+01] [ 1.83157235e-01 9.82907529e-01 -1.86068890e-02 2.57281135e+00] [ 8.22093445e-02 3.54718274e-03 9.96608770e-01 8.86204642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.182260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.80, Y:2.58, Z:0.89 [[ 9.80347281e-01 -1.81530650e-01 -7.72387980e-02 1.08044594e+01] [ 1.80679639e-01 9.83378632e-01 -1.79258253e-02 2.58061616e+00] [ 7.92090702e-02 3.61805602e-03 9.96851460e-01 8.92368125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.212260614999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.83, Y:2.59, Z:0.90 [[ 9.81218449e-01 -1.78361618e-01 -7.34676069e-02 1.08321294e+01] [ 1.77583208e-01 9.83958122e-01 -1.70475467e-02 2.59079659e+00] [ 7.53296765e-02 3.68075395e-03 9.97151890e-01 9.04343681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.242260614999998 meters Centerline goodness [0,1] 0.9998242800975246 Centerline is valid? [True, True] Translation: X:10.86, Y:2.60, Z:0.91 [[ 9.81144574e-01 -1.77668071e-01 -7.60879848e-02 1.08643305e+01] [ 1.76831107e-01 9.84082878e-01 -1.76535798e-02 2.59649094e+00] [ 7.80133605e-02 3.86599141e-03 9.96944818e-01 9.06678785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.272260614999999 meters Centerline goodness [0,1] 0.9996725963112518 Centerline is valid? [True, True] Translation: X:10.90, Y:2.60, Z:0.90 [[ 9.80316766e-01 -1.79674582e-01 -8.18295916e-02 1.08960916e+01] [ 1.78714140e-01 9.83718064e-01 -1.89743617e-02 2.59590138e+00] [ 8.39064580e-02 3.97677984e-03 9.96465700e-01 9.03768607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.302260614999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.93, Y:2.59, Z:0.91 [[ 9.79973231e-01 -1.81744986e-01 -8.13709161e-02 1.09289734e+01] [ 1.80802454e-01 9.83338441e-01 -1.88675024e-02 2.59461803e+00] [ 8.34442237e-02 3.77758603e-03 9.96505289e-01 9.06202940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.332260614999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.96, Y:2.60, Z:0.92 [[ 9.80011179e-01 -1.83692078e-01 -7.63891976e-02 1.09610613e+01] [ 1.82868063e-01 9.82978015e-01 -1.77057605e-02 2.59509799e+00] [ 7.83413098e-02 3.38269868e-03 9.96920858e-01 9.17010946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.362260614999999 meters Centerline goodness [0,1] 0.9999566686887945 Centerline is valid? [True, True] Translation: X:10.99, Y:2.60, Z:0.92 [[ 9.80119048e-01 -1.83346090e-01 -7.58344484e-02 1.09913439e+01] [ 1.82533552e-01 9.83042623e-01 -1.75699879e-02 2.60295891e+00] [ 7.77698837e-02 3.37834864e-03 9.96965612e-01 9.23935962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.392260614999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.02, Y:2.61, Z:0.93 [[ 9.80422833e-01 -1.81452162e-01 -7.64603236e-02 1.10222262e+01] [ 1.80620960e-01 9.83393362e-01 -1.77077201e-02 2.61032643e+00] [ 7.84036788e-02 3.55071599e-03 9.96915370e-01 9.27871434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.422260614999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.05, Y:2.62, Z:0.93 [[ 9.80447455e-01 -1.81318503e-01 -7.64616754e-02 1.10538523e+01] [ 1.80487351e-01 9.83417998e-01 -1.77018808e-02 2.61750217e+00] [ 7.84034663e-02 3.55539877e-03 9.96915370e-01 9.31220090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.452260614999998 meters Centerline goodness [0,1] 0.9999784858329209 Centerline is valid? [True, True] Translation: X:11.09, Y:2.62, Z:0.93 [[ 9.80644512e-01 -1.78934304e-01 -7.94912369e-02 1.10872648e+01] [ 1.78029089e-01 9.83853363e-01 -1.83902998e-02 2.61900215e+00] [ 8.14983763e-02 3.88259414e-03 9.96665912e-01 9.29999665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.482260614999998 meters Centerline goodness [0,1] 0.9997643328477162 Centerline is valid? [True, True] Translation: X:11.12, Y:2.62, Z:0.93 [[ 9.80507630e-01 -1.79216074e-01 -8.05381078e-02 1.11181257e+01] [ 1.78288446e-01 9.83801999e-01 -1.86241024e-02 2.62402338e+00] [ 8.25712899e-02 3.90206048e-03 9.96577521e-01 9.31359206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.512260614999999 meters Centerline goodness [0,1] 0.9999576325043427 Centerline is valid? [True, True] Translation: X:11.15, Y:2.62, Z:0.93 [[ 9.80446996e-01 -1.80489144e-01 -7.84050806e-02 1.11530434e+01] [ 1.79614567e-01 9.83570060e-01 -1.81258089e-02 2.61709467e+00] [ 8.03884015e-02 3.68870027e-03 9.96756790e-01 9.31651811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.542260614999998 meters Centerline goodness [0,1] 0.999893851902174 Centerline is valid? [True, True] Translation: X:11.18, Y:2.62, Z:0.94 [[ 9.80983392e-01 -1.78443707e-01 -7.63506938e-02 1.11832219e+01] [ 1.77608893e-01 9.83942988e-01 -1.76430645e-02 2.62375492e+00] [ 7.82730237e-02 3.74699101e-03 9.96924919e-01 9.39547648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.572260614999998 meters Centerline goodness [0,1] 0.9998304330316454 Centerline is valid? [True, True] Translation: X:11.21, Y:2.63, Z:0.94 [[ 9.81506210e-01 -1.75377882e-01 -7.67343358e-02 1.12133310e+01] [ 1.74525494e-01 9.84493029e-01 -1.77292975e-02 2.63419970e+00] [ 7.86537453e-02 4.00931773e-03 9.96893933e-01 9.44644356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.602260614999999 meters Centerline goodness [0,1] 0.9996816097809476 Centerline is valid? [True, True] Translation: X:11.24, Y:2.64, Z:0.95 [[ 9.82143626e-01 -1.71760134e-01 -7.67616753e-02 1.12426433e+01] [ 1.70896829e-01 9.85129451e-01 -1.77267530e-02 2.64356613e+00] [ 7.86649365e-02 4.29189054e-03 9.96891873e-01 9.48950801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.632260614999998 meters Centerline goodness [0,1] 0.9964622391695795 Centerline is valid? [True, True] Translation: X:11.27, Y:2.64, Z:0.95 [[ 9.83041695e-01 -1.66617217e-01 -7.66011018e-02 1.12735202e+01] [ 1.65742091e-01 9.86010490e-01 -1.76882203e-02 2.64340136e+00] [ 7.84766519e-02 4.69223129e-03 9.96904909e-01 9.48875982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.662260614999997 meters Centerline goodness [0,1] 0.9974941565415149 Centerline is valid? [True, True] Translation: X:11.31, Y:2.64, Z:0.95 [[ 9.83284165e-01 -1.65141872e-01 -7.66838479e-02 1.13083271e+01] [ 1.64260518e-01 9.86258076e-01 -1.77056723e-02 2.63879741e+00] [ 7.85540122e-02 4.81357867e-03 9.96898238e-01 9.47315337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.692260614999999 meters Centerline goodness [0,1] 0.9989321608040201 Centerline is valid? [True, True] Translation: X:11.34, Y:2.63, Z:0.95 [[ 9.83058958e-01 -1.64979061e-01 -7.98560849e-02 1.13425311e+01] [ 1.64023347e-01 9.86284304e-01 -1.84286249e-02 2.63010484e+00] [ 8.18011403e-02 5.01816245e-03 9.96636038e-01 9.45526139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.722260614999998 meters Centerline goodness [0,1] 0.999033410380332 Centerline is valid? [True, True] Translation: X:11.37, Y:2.63, Z:0.95 [[ 9.83116752e-01 -1.64220675e-01 -8.07032899e-02 1.13737613e+01] [ 1.63242185e-01 9.86410270e-01 -1.86217155e-02 2.62947345e+00] [ 8.26646247e-02 5.13313909e-03 9.96564203e-01 9.50529087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.752260614999997 meters Centerline goodness [0,1] 0.9984470420347946 Centerline is valid? [True, True] Translation: X:11.40, Y:2.63, Z:0.95 [[ 9.83461708e-01 -1.61989931e-01 -8.10082188e-02 1.14024104e+01] [ 1.60996605e-01 9.86777965e-01 -1.86906764e-02 2.63342341e+00] [ 8.29648266e-02 5.33951631e-03 9.96538171e-01 9.54186821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.782260614999998 meters Centerline goodness [0,1] 0.9969148110059395 Centerline is valid? [True, True] Translation: X:11.43, Y:2.64, Z:0.96 [[ 9.83812484e-01 -1.59576452e-01 -8.15374298e-02 1.14323571e+01] [ 1.58561291e-01 9.87169769e-01 -1.88192338e-02 2.63614301e+00] [ 8.34943923e-02 5.58591697e-03 9.96492591e-01 9.55974937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.812260614999998 meters Centerline goodness [0,1] 0.9926590880489954 Centerline is valid? [True, True] Translation: X:11.46, Y:2.63, Z:0.95 [[ 9.83826442e-01 -1.58038009e-01 -8.43179694e-02 1.14632354e+01] [ 1.56946354e-01 9.87415308e-01 -1.94641270e-02 2.62842663e+00] [ 8.63329256e-02 5.91592491e-03 9.96248778e-01 9.51807887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.842260614999999 meters Centerline goodness [0,1] 0.9904616158651629 Centerline is valid? [True, True] Translation: X:11.49, Y:2.63, Z:0.95 [[ 9.83676213e-01 -1.58265583e-01 -8.56335992e-02 1.14918316e+01] [ 1.57139427e-01 9.87378355e-01 -1.97783915e-02 2.62699593e+00] [ 8.76830010e-02 5.99911856e-03 9.96130364e-01 9.51787971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.872260614999998 meters Centerline goodness [0,1] 0.9984687349233319 Centerline is valid? [True, True] Translation: X:11.52, Y:2.61, Z:0.95 [[ 9.83435793e-01 -1.60344261e-01 -8.45207603e-02 1.15246146e+01] [ 1.59254005e-01 9.87044417e-01 -1.95315267e-02 2.61299885e+00] [ 8.65575128e-02 5.74773289e-03 9.96230275e-01 9.54903738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.902260614999998 meters Centerline goodness [0,1] 0.9869274232220671 Centerline is valid? [True, True] Translation: X:11.55, Y:2.62, Z:0.96 [[ 9.83524945e-01 -1.58653591e-01 -8.66471012e-02 1.15514701e+01] [ 1.57500356e-01 9.87315746e-01 -2.00313725e-02 2.61999103e+00] [ 8.87260966e-02 6.05440525e-03 9.96037662e-01 9.60004898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.932260614999999 meters Centerline goodness [0,1] 0.9916965465182109 Centerline is valid? [True, True] Translation: X:11.58, Y:2.62, Z:0.96 [[ 9.83432015e-01 -1.58154596e-01 -8.85922954e-02 1.15807114e+01] [ 1.56946042e-01 9.87394607e-01 -2.04897376e-02 2.62277295e+00] [ 9.07161009e-02 6.24605380e-03 9.95857207e-01 9.60413000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.962260614999998 meters Centerline goodness [0,1] 0.9885295223768334 Centerline is valid? [True, True] Translation: X:11.61, Y:2.63, Z:0.96 [[ 9.83197796e-01 -1.58575748e-01 -9.04202699e-02 1.16085188e+01] [ 1.57315379e-01 9.87326274e-01 -2.09451766e-02 2.62782912e+00] [ 9.25957053e-02 6.36875246e-03 9.95683421e-01 9.60452687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.992260614999998 meters Centerline goodness [0,1] 0.991778477975085 Centerline is valid? [True, True] Translation: X:11.64, Y:2.62, Z:0.96 [[ 9.82877138e-01 -1.61415936e-01 -8.88674700e-02 1.16393999e+01] [ 1.60209157e-01 9.86868188e-01 -2.05962289e-02 2.62012841e+00] [ 9.10250387e-02 6.00618010e-03 9.95830492e-01 9.62284742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.022260614999999 meters Centerline goodness [0,1] 0.9989939848678557 Centerline is valid? [True, True] Translation: X:11.67, Y:2.61, Z:0.96 [[ 9.82774498e-01 -1.62576092e-01 -8.78823145e-02 1.16703756e+01] [ 1.61400369e-01 9.86678753e-01 -2.03705272e-02 2.61242612e+00] [ 9.00233733e-02 5.83539669e-03 9.95922557e-01 9.64697330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.052260614999998 meters Centerline goodness [0,1] 0.9923798358733881 Centerline is valid? [True, True] Translation: X:11.70, Y:2.61, Z:0.97 [[ 9.83316137e-01 -1.60180116e-01 -8.62073414e-02 1.16991768e+01] [ 1.59036915e-01 9.87069748e-01 -2.00143173e-02 2.61119614e+00] [ 8.82985543e-02 5.97025153e-03 9.96076162e-01 9.71774382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.082260614999997 meters Centerline goodness [0,1] 0.99079992455519 Centerline is valid? [True, True] Translation: X:11.73, Y:2.61, Z:0.98 [[ 9.84259664e-01 -1.55740127e-01 -8.35339818e-02 1.17293926e+01] [ 1.54650240e-01 9.87778738e-01 -1.94027929e-02 2.61103905e+00] [ 8.55348846e-02 6.17883607e-03 9.96316017e-01 9.79429706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.112260614999999 meters Centerline goodness [0,1] 0.9828973631684 Centerline is valid? [True, True] Translation: X:11.76, Y:2.62, Z:0.98 [[ 9.84382973e-01 -1.54871453e-01 -8.36958550e-02 1.17565263e+01] [ 1.53774382e-01 9.87914768e-01 -1.94383862e-02 2.61635180e+00] [ 8.56948222e-02 6.26453804e-03 9.96301738e-01 9.82666139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.142260614999998 meters Centerline goodness [0,1] 0.9908343470783171 Centerline is valid? [True, True] Translation: X:11.79, Y:2.61, Z:0.98 [[ 9.84095337e-01 -1.54144966e-01 -8.82932461e-02 1.17875583e+01] [ 1.52919410e-01 9.88025572e-01 -2.05212725e-02 2.61243169e+00] [ 9.03992359e-02 6.69313751e-03 9.95883116e-01 9.80234570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.172260614999997 meters Centerline goodness [0,1] 0.9886148804772508 Centerline is valid? [True, True] Translation: X:11.82, Y:2.62, Z:0.98 [[ 9.84009161e-01 -1.53740287e-01 -8.99438437e-02 1.18157720e+01] [ 1.52463599e-01 9.88087269e-01 -2.09379796e-02 2.61601411e+00] [ 9.20913780e-02 6.89000161e-03 9.95726723e-01 9.81403501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.202260614999998 meters Centerline goodness [0,1] 0.9919398849754418 Centerline is valid? [True, True] Translation: X:11.85, Y:2.61, Z:0.98 [[ 9.83771654e-01 -1.55669112e-01 -8.92214063e-02 1.18462840e+01] [ 1.54419803e-01 9.87786766e-01 -2.07804816e-02 2.61135326e+00] [ 9.13666035e-02 6.66569677e-03 9.95795015e-01 9.82303443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.232260614999998 meters Centerline goodness [0,1] 0.9965805152303432 Centerline is valid? [True, True] Translation: X:11.88, Y:2.61, Z:0.99 [[ 9.83447314e-01 -1.58150169e-01 -8.84302223e-02 1.18774032e+01] [ 1.56932144e-01 9.87394419e-01 -2.06049331e-02 2.60816225e+00] [ 9.05741817e-02 6.38632177e-03 9.95869235e-01 9.85054060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.262260614999999 meters Centerline goodness [0,1] 0.9987340703856865 Centerline is valid? [True, True] Translation: X:11.91, Y:2.59, Z:0.99 [[ 9.82397629e-01 -1.63845143e-01 -8.97199379e-02 1.19114347e+01] [ 1.62614361e-01 9.86468114e-01 -2.09100250e-02 2.59418980e+00] [ 9.19318640e-02 5.95220860e-03 9.95747510e-01 9.85683871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.292260614999998 meters Centerline goodness [0,1] 0.9989702637385731 Centerline is valid? [True, True] Translation: X:11.94, Y:2.60, Z:0.99 [[ 9.82148270e-01 -1.64779909e-01 -9.07323402e-02 1.19387409e+01] [ 1.63524993e-01 9.86312521e-01 -2.11467986e-02 2.59687260e+00] [ 9.29750108e-02 5.93228644e-03 9.95650770e-01 9.88995327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.322260614999998 meters Centerline goodness [0,1] 0.9989650875451455 Centerline is valid? [True, True] Translation: X:11.97, Y:2.60, Z:0.99 [[ 9.82344539e-01 -1.64233966e-01 -8.95902428e-02 1.19671982e+01] [ 1.63007525e-01 9.86403672e-01 -2.08888319e-02 2.59818553e+00] [ 9.18028002e-02 5.91614618e-03 9.95759632e-01 9.94303105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.352260614999999 meters Centerline goodness [0,1] 0.9986911271084464 Centerline is valid? [True, True] Translation: X:12.00, Y:2.60, Z:1.00 [[ 9.82459908e-01 -1.63613512e-01 -8.94603146e-02 1.19950462e+01] [ 1.62385374e-01 9.86506302e-01 -2.08879267e-02 2.60401950e+00] [ 9.16707112e-02 5.99450390e-03 9.95771332e-01 9.97879995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.382260614999998 meters Centerline goodness [0,1] 0.9985018568534774 Centerline is valid? [True, True] Translation: X:12.03, Y:2.60, Z:1.00 [[ 9.82480989e-01 -1.63668200e-01 -8.91281516e-02 1.20253889e+01] [ 1.62446757e-01 9.86497223e-01 -2.08393723e-02 2.60198790e+00] [ 9.13354166e-02 5.99570788e-03 9.95802136e-01 1.00094626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.412260614999997 meters Centerline goodness [0,1] 0.9985195211708473 Centerline is valid? [True, True] Translation: X:12.05, Y:2.60, Z:1.00 [[ 9.82446894e-01 -1.63931535e-01 -8.90199500e-02 1.20540528e+01] [ 1.62711533e-01 9.86453520e-01 -2.08425090e-02 2.60270928e+00] [ 9.12307875e-02 5.99208568e-03 9.95811748e-01 1.00369171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.442260614999999 meters Centerline goodness [0,1] 0.9978459199189053 Centerline is valid? [True, True] Translation: X:12.08, Y:2.60, Z:1.01 [[ 9.82476539e-01 -1.63135276e-01 -9.01483841e-02 1.20820230e+01] [ 1.61877416e-01 9.86584362e-01 -2.11423564e-02 2.60130054e+00] [ 9.23880502e-02 6.17888169e-03 9.95703907e-01 1.00838175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.472260614999998 meters Centerline goodness [0,1] 0.9994931897370922 Centerline is valid? [True, True] Translation: X:12.11, Y:2.59, Z:1.01 [[ 9.82586254e-01 -1.61659383e-01 -9.15996571e-02 1.21141767e+01] [ 1.60352539e-01 9.86825618e-01 -2.15002957e-02 2.59095353e+00] [ 9.38686127e-02 6.43765747e-03 9.95563780e-01 1.01119137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.502260614999997 meters Centerline goodness [0,1] 0.9991133816047792 Centerline is valid? [True, True] Translation: X:12.14, Y:2.59, Z:1.01 [[ 9.82510003e-01 -1.61320581e-01 -9.30041117e-02 1.21423082e+01] [ 1.59968502e-01 9.86879965e-01 -2.18635036e-02 2.59231520e+00] [ 9.53109276e-02 6.60338259e-03 9.95425649e-01 1.01195552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.532260614999998 meters Centerline goodness [0,1] 0.9991146151738095 Centerline is valid? [True, True] Translation: X:12.17, Y:2.59, Z:1.01 [[ 9.82221954e-01 -1.61876632e-01 -9.50578226e-02 1.21702996e+01] [ 1.60465450e-01 9.86788213e-01 -2.23575923e-02 2.59433557e+00] [ 9.74211107e-02 6.70662167e-03 9.95220653e-01 1.01143955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.562260614999998 meters Centerline goodness [0,1] 0.9979969638188412 Centerline is valid? [True, True] Translation: X:12.20, Y:2.60, Z:1.01 [[ 9.81895337e-01 -1.63283745e-01 -9.60206505e-02 1.21986371e+01] [ 1.61848705e-01 9.86556729e-01 -2.26012621e-02 2.59819150e+00] [ 9.84202376e-02 6.65125590e-03 9.95122715e-01 1.01079084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.592260614999999 meters Centerline goodness [0,1] 0.9992023677084864 Centerline is valid? [True, True] Translation: X:12.23, Y:2.59, Z:1.01 [[ 9.81512429e-01 -1.65635638e-01 -9.59071846e-02 1.22312334e+01] [ 1.64214250e-01 9.86166143e-01 -2.25836103e-02 2.58929341e+00] [ 9.83210689e-02 6.41676777e-03 9.95134058e-01 1.01132732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.622260614999998 meters Centerline goodness [0,1] 0.999705517342925 Centerline is valid? [True, True] Translation: X:12.27, Y:2.58, Z:1.01 [[ 9.79616318e-01 -1.74883030e-01 -9.88321537e-02 1.22652062e+01] [ 1.73419497e-01 9.84572930e-01 -2.32771190e-02 2.57749922e+00] [ 1.01378236e-01 5.66322323e-03 9.94831836e-01 1.00776698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.652260614999998 meters Centerline goodness [0,1] 0.9997892340766344 Centerline is valid? [True, True] Translation: X:12.30, Y:2.57, Z:1.01 [[ 9.78575880e-01 -1.80428406e-01 -9.91707472e-02 1.22971931e+01] [ 1.78982693e-01 9.83574844e-01 -2.33606727e-02 2.57412610e+00] [ 1.01756781e-01 5.11034343e-03 9.94796181e-01 1.00960692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.682260614999999 meters Centerline goodness [0,1] 0.9997688929974579 Centerline is valid? [True, True] Translation: X:12.33, Y:2.57, Z:1.01 [[ 9.77043540e-01 -1.88944136e-01 -9.84176551e-02 1.23285471e+01] [ 1.87562944e-01 9.81978877e-01 -2.31867717e-02 2.56773852e+00] [ 1.01025063e-01 4.19498033e-03 9.94875037e-01 1.01482759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.712260614999998 meters Centerline goodness [0,1] 0.9996223327248694 Centerline is valid? [True, True] Translation: X:12.36, Y:2.57, Z:1.02 [[ 9.76439622e-01 -1.91308390e-01 -9.98336877e-02 1.23578275e+01] [ 1.89898937e-01 9.81521781e-01 -2.35241789e-02 2.57044945e+00] [ 1.02489312e-01 4.01162922e-03 9.94726016e-01 1.01706328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.742260614999998 meters Centerline goodness [0,1] 0.999410960345009 Centerline is valid? [True, True] Translation: X:12.39, Y:2.57, Z:1.02 [[ 9.76309692e-01 -1.90220936e-01 -1.03127983e-01 1.23864135e+01] [ 1.88707190e-01 9.81731915e-01 -2.43319492e-02 2.57371235e+00] [ 1.05872478e-01 4.29452602e-03 9.94370442e-01 1.01633966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.772260614999999 meters Centerline goodness [0,1] 0.9996211084682257 Centerline is valid? [True, True] Translation: X:12.41, Y:2.58, Z:1.02 [[ 9.76519662e-01 -1.88569669e-01 -1.04167317e-01 1.24139839e+01] [ 1.87014417e-01 9.82049359e-01 -2.45899314e-02 2.57977985e+00] [ 1.06934362e-01 4.53176136e-03 9.94255754e-01 1.01877119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.802260614999998 meters Centerline goodness [0,1] 0.999474049607641 Centerline is valid? [True, True] Translation: X:12.44, Y:2.59, Z:1.02 [[ 9.77165563e-01 -1.84829568e-01 -1.04811703e-01 1.24423892e+01] [ 1.83231486e-01 9.82757918e-01 -2.47608125e-02 2.58878744e+00] [ 1.07581061e-01 4.99060926e-03 9.94183790e-01 1.02144184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.832260614999997 meters Centerline goodness [0,1] 0.9990157686428078 Centerline is valid? [True, True] Translation: X:12.47, Y:2.60, Z:1.02 [[ 9.77571404e-01 -1.82545702e-01 -1.05029595e-01 1.24696746e+01] [ 1.80927247e-01 9.83183308e-01 -2.48176217e-02 2.59720384e+00] [ 1.07793695e-01 5.25828186e-03 9.94159378e-01 1.02374402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.862260614999999 meters Centerline goodness [0,1] 0.9985059865749216 Centerline is valid? [True, True] Translation: X:12.50, Y:2.60, Z:1.03 [[ 9.78795181e-01 -1.76811985e-01 -1.03428799e-01 1.24986102e+01] [ 1.75209768e-01 9.84227503e-01 -2.44491054e-02 2.60330818e+00] [ 1.06120363e-01 5.80893076e-03 9.94336324e-01 1.02754226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.892260614999998 meters Centerline goodness [0,1] 0.9982130092923517 Centerline is valid? [True, True] Translation: X:12.53, Y:2.61, Z:1.03 [[ 9.79422890e-01 -1.74170019e-01 -1.01958849e-01 1.25254345e+01] [ 1.72598691e-01 9.84697254e-01 -2.41041380e-02 2.61257269e+00] [ 1.04596817e-01 6.01018070e-03 9.94496548e-01 1.03159624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.922260614999997 meters Centerline goodness [0,1] 0.9982521900269542 Centerline is valid? [True, True] Translation: X:12.55, Y:2.62, Z:1.04 [[ 9.79843277e-01 -1.72635995e-01 -1.00518485e-01 1.25522304e+01] [ 1.71100159e-01 9.84966848e-01 -2.37706675e-02 2.61996380e+00] [ 1.03111048e-01 6.09280000e-03 9.94651190e-01 1.03554091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.952260614999998 meters Centerline goodness [0,1] 0.9977162252765672 Centerline is valid? [True, True] Translation: X:12.58, Y:2.62, Z:1.04 [[ 9.80529916e-01 -1.69980954e-01 -9.83237445e-02 1.25804787e+01] [ 1.68497272e-01 9.85427574e-01 -2.32629782e-02 2.62475582e+00] [ 1.00845192e-01 6.24276336e-03 9.94882543e-01 1.04249591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.982260614999998 meters Centerline goodness [0,1] 0.9976160103724461 Centerline is valid? [True, True] Translation: X:12.61, Y:2.63, Z:1.05 [[ 9.80718898e-01 -1.69018407e-01 -9.80980217e-02 1.26084267e+01] [ 1.67535819e-01 9.85592527e-01 -2.32189770e-02 2.63055411e+00] [ 1.00609112e-01 6.33635718e-03 9.94905853e-01 1.04664860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.012260615 meters Centerline goodness [0,1] 0.9972937819921122 Centerline is valid? [True, True] Translation: X:12.64, Y:2.63, Z:1.05 [[ 9.80576031e-01 -1.68540747e-01 -1.00322802e-01 1.26371091e+01] [ 1.66983966e-01 9.85672827e-01 -2.37788408e-02 2.63375004e+00] [ 1.02893163e-01 6.56466203e-03 9.94670751e-01 1.04585921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.042260614999996 meters Centerline goodness [0,1] 0.9965653117559053 Centerline is valid? [True, True] Translation: X:12.67, Y:2.64, Z:1.04 [[ 9.80846844e-01 -1.64446168e-01 -1.04388344e-01 1.26661343e+01] [ 1.62733420e-01 9.86358938e-01 -2.47765835e-02 2.64430655e+00] [ 1.07038791e-01 7.31456145e-03 9.94227939e-01 1.03831878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.072260614999998 meters Centerline goodness [0,1] 0.9912397357144365 Centerline is valid? [True, True] Translation: X:12.69, Y:2.66, Z:1.04 [[ 9.81063539e-01 -1.62453616e-01 -1.05466366e-01 1.26924817e+01] [ 1.60693441e-01 9.86686810e-01 -2.50351266e-02 2.65883378e+00] [ 1.08129319e-01 7.61329669e-03 9.94107684e-01 1.03627953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.102260615 meters Centerline goodness [0,1] 0.9830805627138693 Centerline is valid? [True, True] Translation: X:12.72, Y:2.67, Z:1.03 [[ 9.80689515e-01 -1.62561051e-01 -1.08728927e-01 1.27215166e+01] [ 1.60689352e-01 9.86667267e-01 -2.58193087e-02 2.66551443e+00] [ 1.11476487e-01 7.84914457e-03 9.93736073e-01 1.03130431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.132260614999996 meters Centerline goodness [0,1] 0.9900093133519601 Centerline is valid? [True, True] Translation: X:12.75, Y:2.66, Z:1.03 [[ 9.80031533e-01 -1.64298183e-01 -1.12001342e-01 1.27512928e+01] [ 1.62318734e-01 9.86378923e-01 -2.66317080e-02 2.66491254e+00] [ 1.14851305e-01 7.91999755e-03 9.93351122e-01 1.03042336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.162260614999997 meters Centerline goodness [0,1] 0.9853400929446556 Centerline is valid? [True, True] Translation: X:12.78, Y:2.67, Z:1.03 [[ 9.79222792e-01 -1.65877406e-01 -1.16650806e-01 1.27811892e+01] [ 1.63735801e-01 9.86113126e-01 -2.77757100e-02 2.66670440e+00] [ 1.19638254e-01 8.09869506e-03 9.92784518e-01 1.02579583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.192260615 meters Centerline goodness [0,1] 0.9775226356556426 Centerline is valid? [True, True] Translation: X:12.81, Y:2.67, Z:1.03 [[ 9.79370500e-01 -1.65505260e-01 -1.15937193e-01 1.28079965e+01] [ 1.63383305e-01 9.86175421e-01 -2.76393604e-02 2.67379324e+00] [ 1.18908870e-01 8.12697232e-03 9.92871912e-01 1.02904889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.222260615 meters Centerline goodness [0,1] 0.9572727272727273 Centerline is valid? [True, True] Translation: X:12.83, Y:2.68, Z:1.04 [[ 9.80543753e-01 -1.62019149e-01 -1.10832056e-01 1.28333623e+01] [ 1.60057373e-01 9.86753707e-01 -2.64340386e-02 2.68369832e+00] [ 1.13646763e-01 8.18024356e-03 9.93487542e-01 1.03998024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.252260614999997 meters Centerline goodness [0,1] 0.9893126216879709 Centerline is valid? [True, True] Translation: X:12.86, Y:2.68, Z:1.05 [[ 9.81141040e-01 -1.59764916e-01 -1.08799961e-01 1.28636549e+01] [ 1.57859969e-01 9.87120248e-01 -2.59585445e-02 2.68260981e+00] [ 1.11545909e-01 8.29383475e-03 9.93724671e-01 1.04841721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.282260615 meters Centerline goodness [0,1] 0.986851006257399 Centerline is valid? [True, True] Translation: X:12.89, Y:2.69, Z:1.06 [[ 9.81930662e-01 -1.56882975e-01 -1.05829615e-01 1.28925573e+01] [ 1.55063966e-01 9.87581580e-01 -2.52545016e-02 2.68802183e+00] [ 1.08477380e-01 8.38780964e-03 9.94063530e-01 1.05683917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.312260615 meters Centerline goodness [0,1] 0.9914668919632484 Centerline is valid? [True, True] Translation: X:12.92, Y:2.69, Z:1.06 [[ 9.82233670e-01 -1.56866683e-01 -1.03004177e-01 1.29201409e+01] [ 1.55143511e-01 9.87586027e-01 -2.45831195e-02 2.69243033e+00] [ 1.05581758e-01 8.16593815e-03 9.94377096e-01 1.06297836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.342260614999997 meters Centerline goodness [0,1] 0.9914668919632484 Centerline is valid? [True, True] Translation: X:12.95, Y:2.70, Z:1.07 [[ 9.82177856e-01 -1.57220838e-01 -1.02996441e-01 1.29467488e+01] [ 1.55496222e-01 9.87529748e-01 -2.46154882e-02 2.69901651e+00] [ 1.05582117e-01 8.16123000e-03 9.94377097e-01 1.06581269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.372260615 meters Centerline goodness [0,1] 0.9949181848852902 Centerline is valid? [True, True] Translation: X:12.97, Y:2.71, Z:1.08 [[ 9.82239678e-01 -1.60078716e-01 -9.78775771e-02 1.29736063e+01] [ 1.58532326e-01 9.87075796e-01 -2.34280925e-02 2.70727695e+00] [ 1.00362926e-01 7.49524208e-03 9.94922663e-01 1.07527995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.402260615 meters Centerline goodness [0,1] 0.9962889554252942 Centerline is valid? [True, True] Translation: X:13.00, Y:2.71, Z:1.08 [[ 9.81909342e-01 -1.62406457e-01 -9.73559819e-02 1.30039964e+01] [ 1.60887455e-01 9.86697509e-01 -2.33077785e-02 2.70599255e+00] [ 9.98462385e-02 7.22276930e-03 9.94976663e-01 1.07915390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.432260614999997 meters Centerline goodness [0,1] 0.9942330358646236 Centerline is valid? [True, True] Translation: X:13.03, Y:2.70, Z:1.08 [[ 9.82052747e-01 -1.62050438e-01 -9.64990038e-02 1.30332133e+01] [ 1.60556039e-01 9.86756219e-01 -2.31067493e-02 2.69990138e+00] [ 9.89654510e-02 7.19854878e-03 9.95064832e-01 1.08367185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.462260614999998 meters Centerline goodness [0,1] 0.9919858648324604 Centerline is valid? [True, True] Translation: X:13.06, Y:2.71, Z:1.09 [[ 9.82654278e-01 -1.59396917e-01 -9.47797033e-02 1.30619151e+01] [ 1.57941914e-01 9.87187254e-01 -2.27085255e-02 2.70556748e+00] [ 9.71849840e-02 7.34494193e-03 9.95239233e-01 1.08763156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.492260615 meters Centerline goodness [0,1] 0.992917936324472 Centerline is valid? [True, True] Translation: X:13.09, Y:2.71, Z:1.09 [[ 9.83516011e-01 -1.55534264e-01 -9.22244477e-02 1.30921780e+01] [ 1.54139876e-01 9.87801885e-01 -2.20983043e-02 2.70680750e+00] [ 9.45365267e-02 7.51857117e-03 9.95493002e-01 1.09163959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.522260614999997 meters Centerline goodness [0,1] 0.9928447027718909 Centerline is valid? [True, True] Translation: X:13.12, Y:2.71, Z:1.09 [[ 9.83342514e-01 -1.56091999e-01 -9.31278004e-02 1.31195740e+01] [ 1.54672351e-01 9.87713736e-01 -2.23167920e-02 2.71107547e+00] [ 9.54670804e-02 7.54075451e-03 9.95404025e-01 1.09321305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.552260614999998 meters Centerline goodness [0,1] 0.9884511012474494 Centerline is valid? [True, True] Translation: X:13.15, Y:2.71, Z:1.09 [[ 9.82534595e-01 -1.58595169e-01 -9.73310939e-02 1.31508571e+01] [ 1.57054978e-01 9.87314121e-01 -2.33358207e-02 2.70691820e+00] [ 9.97973118e-02 7.64191838e-03 9.94978441e-01 1.08929594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.582260615 meters Centerline goodness [0,1] 0.9912302786169855 Centerline is valid? [True, True] Translation: X:13.18, Y:2.70, Z:1.09 [[ 9.82182132e-01 -1.60289065e-01 -9.81105287e-02 1.31819183e+01] [ 1.58731963e-01 9.87041361e-01 -2.35269178e-02 2.70274146e+00] [ 1.00610257e-01 7.53444145e-03 9.94897386e-01 1.08974717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.612260614999997 meters Centerline goodness [0,1] 0.9940896853441024 Centerline is valid? [True, True] Translation: X:13.22, Y:2.69, Z:1.09 [[ 9.81293457e-01 -1.65634968e-01 -9.81234383e-02 1.32151356e+01] [ 1.64102455e-01 9.86162273e-01 -2.35447432e-02 2.69278269e+00] [ 1.00665466e-01 7.00200538e-03 9.94895691e-01 1.08981060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.642260614999998 meters Centerline goodness [0,1] 0.994854817282753 Centerline is valid? [True, True] Translation: X:13.24, Y:2.70, Z:1.09 [[ 9.80412171e-01 -1.70354728e-01 -9.88495902e-02 1.32444201e+01] [ 1.68822851e-01 9.85360904e-01 -2.37220128e-02 2.69571128e+00] [ 1.01443679e-01 6.56928051e-03 9.94819594e-01 1.09140111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.672260615 meters Centerline goodness [0,1] 0.9971159716228448 Centerline is valid? [True, True] Translation: X:13.28, Y:2.69, Z:1.09 [[ 9.78685873e-01 -1.80095143e-01 -9.86899276e-02 1.32768259e+01] [ 1.78616927e-01 9.83633508e-01 -2.36878654e-02 2.68924148e+00] [ 1.01340789e-01 5.55528760e-03 9.94836260e-01 1.09279314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.702260614999997 meters Centerline goodness [0,1] 0.9964730728616684 Centerline is valid? [True, True] Translation: X:13.30, Y:2.69, Z:1.10 [[ 9.78129424e-01 -1.85188339e-01 -9.47001006e-02 1.33048239e+01] [ 1.83851184e-01 9.82691207e-01 -2.27317579e-02 2.69375502e+00] [ 9.72706127e-02 4.82387563e-03 9.95246280e-01 1.10010642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.732260614999998 meters Centerline goodness [0,1] 0.9972452949216697 Centerline is valid? [True, True] Translation: X:13.33, Y:2.69, Z:1.11 [[ 9.77572417e-01 -1.90407513e-01 -8.99841564e-02 1.33349889e+01] [ 1.89222203e-01 9.81696609e-01 -2.16038399e-02 2.69424868e+00] [ 9.24506747e-02 4.09231769e-03 9.95708856e-01 1.10999648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.762260615 meters Centerline goodness [0,1] 0.9976119529153195 Centerline is valid? [True, True] Translation: X:13.36, Y:2.70, Z:1.13 [[ 9.76590350e-01 -1.97238092e-01 -8.58395166e-02 1.33630179e+01] [ 1.96185844e-01 9.80350105e-01 -2.06103466e-02 2.69742683e+00] [ 8.82179245e-02 3.28736760e-03 9.96095774e-01 1.12553669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.792260614999996 meters Centerline goodness [0,1] 0.9978681638769867 Centerline is valid? [True, True] Translation: X:13.39, Y:2.70, Z:1.13 [[ 9.75939351e-01 -1.99164981e-01 -8.87451051e-02 1.33921462e+01] [ 1.98047695e-01 9.79960673e-01 -2.13117062e-02 2.70062796e+00] [ 9.12112585e-02 3.22316921e-03 9.95826349e-01 1.12766310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.822260614999998 meters Centerline goodness [0,1] 0.9979118769905718 Centerline is valid? [True, True] Translation: X:13.42, Y:2.71, Z:1.13 [[ 9.76015606e-01 -1.98829516e-01 -8.86586709e-02 1.34191956e+01] [ 1.97712529e-01 9.80028682e-01 -2.12964427e-02 2.71010028e+00] [ 9.11224018e-02 3.25673042e-03 9.95834375e-01 1.13090625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.852260615 meters Centerline goodness [0,1] 0.9981840832787855 Centerline is valid? [True, True] Translation: X:13.44, Y:2.72, Z:1.13 [[ 9.75938414e-01 -1.99179636e-01 -8.87225123e-02 1.34446746e+01] [ 1.98059913e-01 9.79957593e-01 -2.13397787e-02 2.72163219e+00] [ 9.11947489e-02 3.25393667e-03 9.95827761e-01 1.13271673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.882260614999996 meters Centerline goodness [0,1] 0.9977662107769794 Centerline is valid? [True, True] Translation: X:13.47, Y:2.74, Z:1.13 [[ 9.76477458e-01 -1.94628439e-01 -9.27984068e-02 1.34709678e+01] [ 1.93379058e-01 9.80869341e-01 -2.23579106e-02 2.74088605e+00] [ 9.53745974e-02 3.88672721e-03 9.95433865e-01 1.12747405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.912260614999997 meters Centerline goodness [0,1] 0.9977785770199081 Centerline is valid? [True, True] Translation: X:13.50, Y:2.75, Z:1.13 [[ 9.77348506e-01 -1.88920564e-01 -9.53882466e-02 1.34996990e+01] [ 1.87572477e-01 9.81981712e-01 -2.29887629e-02 2.75138004e+00] [ 9.80125637e-02 4.57582339e-03 9.95174658e-01 1.12612849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.942260615 meters Centerline goodness [0,1] 0.9955754076945768 Centerline is valid? [True, True] Translation: X:13.52, Y:2.78, Z:1.12 [[ 9.79950238e-01 -1.71204713e-01 -1.01914069e-01 1.35239652e+01] [ 1.69569355e-01 9.85212080e-01 -2.45640429e-02 2.77842482e+00] [ 1.04612452e-01 6.79003673e-03 9.94489884e-01 1.12237738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.972260614999996 meters Centerline goodness [0,1] 0.9943976411120472 Centerline is valid? [True, True] Translation: X:13.55, Y:2.79, Z:1.12 [[ 9.81239196e-01 -1.62731844e-01 -1.03382721e-01 1.35522760e+01] [ 1.61001733e-01 9.86639430e-01 -2.49214056e-02 2.79158518e+00] [ 1.06056975e-01 7.80906268e-03 9.94329390e-01 1.12420610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.002260614999997 meters Centerline goodness [0,1] 0.9451151423213872 Centerline is valid? [True, False] Translation: X:13.55, Y:2.79, Z:1.12 [[ 9.82530372e-01 -1.53495330e-01 -1.05229515e-01 1.35530820e+01] [ 1.52687167e-01 9.88149191e-01 -1.57418463e-02 2.78914594e+00] [ 1.06398760e-01 -6.00354475e-04 9.94323360e-01 1.12459853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.032260615 meters Centerline goodness [0,1] 0.9958928345760142 Centerline is valid? [False, True] Translation: X:13.55, Y:2.79, Z:1.13 [[ 9.82540302e-01 -1.53325848e-01 -1.05383769e-01 1.35525185e+01] [ 1.52641264e-01 9.88174116e-01 -1.45794736e-02 2.78580340e+00] [ 1.06372923e-01 -1.76099133e-03 9.94324746e-01 1.12599389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.062260615 meters Centerline goodness [0,1] 0.9972572103719645 Centerline is valid? [True, True] Translation: X:13.58, Y:2.79, Z:1.13 [[ 9.82178070e-01 -1.59786341e-01 -9.89674855e-02 1.35823003e+01] [ 1.58257322e-01 9.87126174e-01 -2.31632532e-02 2.78887971e+00] [ 1.01394567e-01 7.08811017e-03 9.94821039e-01 1.13339319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.092260614999997 meters Centerline goodness [0,1] 0.9974943675910134 Centerline is valid? [True, True] Translation: X:13.61, Y:2.79, Z:1.15 [[ 9.81469221e-01 -1.68928732e-01 -9.04502760e-02 1.36104480e+01] [ 1.67690666e-01 9.85612292e-01 -2.11719316e-02 2.78929912e+00] [ 9.27254514e-02 5.61193217e-03 9.95675900e-01 1.14699053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.122260615 meters Centerline goodness [0,1] 0.9973726800765076 Centerline is valid? [True, True] Translation: X:13.64, Y:2.79, Z:1.16 [[ 9.81911012e-01 -1.69389119e-01 -8.46054957e-02 1.36385193e+01] [ 1.68307984e-01 9.85535501e-01 -1.98040072e-02 2.79097085e+00] [ 8.67363030e-02 5.20599234e-03 9.96217703e-01 1.15581227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.152260615 meters Centerline goodness [0,1] 0.996539284365955 Centerline is valid? [True, True] Translation: X:13.67, Y:2.80, Z:1.16 [[ 9.82571565e-01 -1.66226965e-01 -8.31968493e-02 1.36661471e+01] [ 1.65167554e-01 9.86072594e-01 -1.95069044e-02 2.79984740e+00] [ 8.52807065e-02 5.42550952e-03 9.96342193e-01 1.16187502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.182260614999997 meters Centerline goodness [0,1] 0.9954478707782672 Centerline is valid? [True, True] Translation: X:13.70, Y:2.80, Z:1.17 [[ 9.83182584e-01 -1.62691919e-01 -8.29659283e-02 1.36954055e+01] [ 1.61625726e-01 9.86660349e-01 -1.94545668e-02 2.80485902e+00] [ 8.50242926e-02 5.71796280e-03 9.96362471e-01 1.16543613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.212260614999998 meters Centerline goodness [0,1] 0.9952384947770273 Centerline is valid? [True, True] Translation: X:13.73, Y:2.81, Z:1.17 [[ 9.83507942e-01 -1.59801755e-01 -8.47084880e-02 1.37253806e+01] [ 1.58679371e-01 9.87130305e-01 -1.98649957e-02 2.80515961e+00] [ 8.67927768e-02 6.09589142e-03 9.96207736e-01 1.16643952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.242260615 meters Centerline goodness [0,1] 0.9965797259584112 Centerline is valid? [True, True] Translation: X:13.75, Y:2.81, Z:1.16 [[ 9.83012983e-01 -1.61762013e-01 -8.67094407e-02 1.37545834e+01] [ 1.60593167e-01 9.86811152e-01 -2.03367782e-02 2.81194900e+00] [ 8.88555613e-02 6.06637330e-03 9.96026048e-01 1.16368241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.272260614999997 meters Centerline goodness [0,1] 0.9965452592108867 Centerline is valid? [True, True] Translation: X:13.78, Y:2.82, Z:1.16 [[ 9.82450518e-01 -1.63973606e-01 -8.89023935e-02 1.37817364e+01] [ 1.62750838e-01 9.86446192e-01 -2.08823962e-02 2.82353940e+00] [ 9.11215894e-02 6.04698193e-03 9.95821415e-01 1.16299368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.302260614999998 meters Centerline goodness [0,1] 0.997366702479513 Centerline is valid? [True, True] Translation: X:13.81, Y:2.83, Z:1.16 [[ 9.82031269e-01 -1.65062400e-01 -9.14821856e-02 1.38106466e+01] [ 1.63771732e-01 9.86264114e-01 -2.14922711e-02 2.82664768e+00] [ 9.37731626e-02 6.12388630e-03 9.95574755e-01 1.16114233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.332260615 meters Centerline goodness [0,1] 0.9968488056973593 Centerline is valid? [True, True] Translation: X:13.84, Y:2.83, Z:1.16 [[ 9.82006991e-01 -1.65322326e-01 -9.12732057e-02 1.38390338e+01] [ 1.64038189e-01 9.86220786e-01 -2.14484104e-02 2.82615743e+00] [ 9.35614338e-02 6.09019758e-03 9.95594881e-01 1.16478251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.362260614999997 meters Centerline goodness [0,1] 0.996234591274349 Centerline is valid? [True, True] Translation: X:13.87, Y:2.83, Z:1.17 [[ 9.81848202e-01 -1.67066898e-01 -8.97928697e-02 1.38671344e+01] [ 1.65828417e-01 9.85928150e-01 -2.11333472e-02 2.82977602e+00] [ 9.20600006e-02 5.85952944e-03 9.95736221e-01 1.16995772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.392260614999998 meters Centerline goodness [0,1] 0.9961094403903178 Centerline is valid? [True, True] Translation: X:13.90, Y:2.83, Z:1.18 [[ 9.80750154e-01 -1.75630431e-01 -8.53410025e-02 1.38971102e+01] [ 1.74541572e-01 9.84444307e-01 -2.01158195e-02 2.82923023e+00] [ 8.75464142e-02 4.83304035e-03 9.96148717e-01 1.17685797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.422260615 meters Centerline goodness [0,1] 0.9978275542056864 Centerline is valid? [True, True] Translation: X:13.93, Y:2.83, Z:1.18 [[ 9.79947226e-01 -1.81177748e-01 -8.29340526e-02 1.39271985e+01] [ 1.80169084e-01 9.83441324e-01 -1.95515663e-02 2.83175712e+00] [ 8.51030833e-02 4.21735091e-03 9.96363227e-01 1.18241784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.452260614999997 meters Centerline goodness [0,1] 0.999116310385457 Centerline is valid? [True, True] Translation: X:13.95, Y:2.84, Z:1.19 [[ 9.77710550e-01 -1.93554430e-01 -8.13557811e-02 1.39546886e+01] [ 1.92626338e-01 9.81084697e-01 -1.91810041e-02 2.83722844e+00] [ 8.35294801e-02 3.08220390e-03 9.96500540e-01 1.18986667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.482260614999998 meters Centerline goodness [0,1] 0.9992238467831596 Centerline is valid? [True, True] Translation: X:13.98, Y:2.84, Z:1.20 [[ 9.76219498e-01 -2.00976273e-01 -8.12651812e-02 1.39833935e+01] [ 2.00075602e-01 9.79593051e-01 -1.91626586e-02 2.83990238e+00] [ 8.34580465e-02 2.44778096e-03 9.96508285e-01 1.19501145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.512260615 meters Centerline goodness [0,1] 0.9997684503010146 Centerline is valid? [True, True] Translation: X:14.02, Y:2.83, Z:1.20 [[ 9.72313893e-01 -2.19629088e-01 -7.98044937e-02 1.40161348e+01] [ 2.18822669e-01 9.75583088e-01 -1.88222814e-02 2.82970617e+00] [ 8.19898349e-02 8.38133345e-04 9.96632813e-01 1.20043937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.542260614999996 meters Centerline goodness [0,1] 0.9999579292791182 Centerline is valid? [True, True] Translation: X:14.04, Y:2.83, Z:1.20 [[ 9.70332194e-01 -2.28194199e-01 -7.98926820e-02 1.40441588e+01] [ 2.27414925e-01 9.73615630e-01 -1.88429675e-02 2.83122820e+00] [ 8.20846197e-02 1.15149715e-04 9.96625357e-01 1.20403634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.572260614999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.07, Y:2.84, Z:1.20 [[ 9.68464084e-01 -2.35377238e-01 -8.16998974e-02 1.40711342e+01] [ 2.34587267e-01 9.71903960e-01 -1.92745291e-02 2.84123045e+00] [ 8.39412392e-02 -4.99066454e-04 9.96470581e-01 1.20460196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.602260615 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.10, Y:2.85, Z:1.21 [[ 9.68533907e-01 -2.34835156e-01 -8.24288802e-02 1.40980638e+01] [ 2.34026665e-01 9.72035115e-01 -1.94744519e-02 2.85329487e+00] [ 8.46970520e-02 -4.28888944e-04 9.96406657e-01 1.20593483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.632260614999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.12, Y:2.88, Z:1.21 [[ 9.69847177e-01 -2.30251680e-01 -7.98787681e-02 1.41209190e+01] [ 2.29474478e-01 9.73131113e-01 -1.89023850e-02 2.87669309e+00] [ 8.20848205e-02 2.28610578e-06 9.96625347e-01 1.21184898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.662260614999997 meters Centerline goodness [0,1] 0.999957931933869 Centerline is valid? [True, True] Translation: X:14.15, Y:2.89, Z:1.22 [[ 9.70725965e-01 -2.27155488e-01 -7.80479638e-02 1.41456393e+01] [ 2.26403284e-01 9.73858468e-01 -1.84726110e-02 2.89464229e+00] [ 8.02038254e-02 2.61527861e-04 9.96778450e-01 1.21577151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.692260615 meters Centerline goodness [0,1] 0.9999789792314807 Centerline is valid? [True, True] Translation: X:14.17, Y:2.92, Z:1.22 [[ 9.71657198e-01 -2.23477414e-01 -7.70722748e-02 1.41669626e+01] [ 2.22729905e-01 9.74708931e-01 -1.82726681e-02 2.92059660e+00] [ 7.92065632e-02 5.88469055e-04 9.96858051e-01 1.22292344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.722260614999996 meters Centerline goodness [0,1] 0.999957972598134 Centerline is valid? [True, True] Translation: X:14.19, Y:2.94, Z:1.23 [[ 9.71914688e-01 -2.22928603e-01 -7.53967951e-02 1.41926115e+01] [ 2.22211213e-01 9.74834574e-01 -1.78809697e-02 2.93515598e+00] [ 7.74855822e-02 6.24763810e-04 9.96993277e-01 1.22670100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.752260614999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.22, Y:2.95, Z:1.23 [[ 9.72053674e-01 -2.22521426e-01 -7.48055445e-02 1.42183416e+01] [ 2.21812137e-01 9.74927565e-01 -1.77656639e-02 2.95054132e+00] [ 7.68832282e-02 6.76401187e-04 9.97039875e-01 1.23230808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.782260615 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.24, Y:2.97, Z:1.24 [[ 9.71262092e-01 -2.25414081e-01 -7.64096959e-02 1.42427366e+01] [ 2.24680830e-01 9.74262931e-01 -1.81732175e-02 2.96903482e+00] [ 7.85396334e-02 4.83163285e-04 9.96910875e-01 1.23601463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.812260614999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.27, Y:2.98, Z:1.23 [[ 9.69095464e-01 -2.33099083e-01 -8.07390767e-02 1.42702435e+01] [ 2.32303965e-01 9.72452983e-01 -1.92370292e-02 2.97872517e+00] [ 8.29990899e-02 -1.13489892e-04 9.96549617e-01 1.23286427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.842260614999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.30, Y:2.99, Z:1.23 [[ 9.68176541e-01 -2.36097015e-01 -8.30203892e-02 1.42966151e+01] [ 2.35266555e-01 9.71729417e-01 -1.97885732e-02 2.98769556e+00] [ 8.53453774e-02 -3.73088642e-04 9.96351357e-01 1.23351179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.872260615 meters Centerline goodness [0,1] 0.9999789960092418 Centerline is valid? [True, True] Translation: X:14.32, Y:3.00, Z:1.24 [[ 9.66432845e-01 -2.43241383e-01 -8.27114563e-02 1.43230823e+01] [ 2.42442669e-01 9.69965279e-01 -1.97208081e-02 3.00156114e+00] [ 8.50241574e-02 -9.93949506e-04 9.96378394e-01 1.23768820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.902260615 meters Centerline goodness [0,1] 0.9999369721416866 Centerline is valid? [True, True] Translation: X:14.35, Y:3.01, Z:1.24 [[ 9.65344133e-01 -2.47903947e-01 -8.15741291e-02 1.43501522e+01] [ 2.47141458e-01 9.68783663e-01 -1.94759986e-02 3.01300940e+00] [ 8.38558605e-02 -1.35930821e-03 9.96476968e-01 1.24117405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.932260614999997 meters Centerline goodness [0,1] 0.9998950439765738 Centerline is valid? [True, True] Translation: X:14.38, Y:3.02, Z:1.25 [[ 9.64366448e-01 -2.52193710e-01 -7.99730375e-02 1.43775384e+01] [ 2.51472944e-01 9.67675336e-01 -1.91259847e-02 3.02411505e+00] [ 8.22113890e-02 -1.66659727e-03 9.96613521e-01 1.24554591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.962260614999998 meters Centerline goodness [0,1] 0.9999580158280328 Centerline is valid? [True, True] Translation: X:14.40, Y:3.04, Z:1.26 [[ 9.63642350e-01 -2.56647183e-01 -7.43346774e-02 1.44027703e+01] [ 2.56037497e-01 9.66503297e-01 -1.77813818e-02 3.04427318e+00] [ 7.64082523e-02 -1.89757220e-03 9.97074811e-01 1.25600723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.992260615 meters Centerline goodness [0,1] 0.9996852178292621 Centerline is valid? [True, True] Translation: X:14.43, Y:3.06, Z:1.26 [[ 9.63824234e-01 -2.56431889e-01 -7.27016626e-02 1.44279147e+01] [ 2.55848670e-01 9.66560540e-01 -1.73833174e-02 3.06097761e+00] [ 7.47281952e-02 -1.84616116e-03 9.97202231e-01 1.26132792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.022260614999997 meters Centerline goodness [0,1] 0.9994129732902847 Centerline is valid? [True, True] Translation: X:14.45, Y:3.09, Z:1.27 [[ 9.64986799e-01 -2.52768668e-01 -7.00605276e-02 1.44478528e+01] [ 2.52215958e-01 9.67525604e-01 -1.67724740e-02 3.09229068e+00] [ 7.20249102e-02 -1.48516710e-03 9.97401728e-01 1.27005505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.052260614999998 meters Centerline goodness [0,1] 0.999057018922487 Centerline is valid? [True, True] Translation: X:14.47, Y:3.13, Z:1.28 [[ 9.66588669e-01 -2.47991760e-01 -6.48570138e-02 1.44682964e+01] [ 2.47505869e-01 9.68761603e-01 -1.55499861e-02 3.13022300e+00] [ 6.66872530e-02 -1.02205126e-03 9.97773404e-01 1.27528515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.082260615 meters Centerline goodness [0,1] 0.9985783575848804 Centerline is valid? [True, True] Translation: X:14.49, Y:3.15, Z:1.28 [[ 9.67514118e-01 -2.45140530e-01 -6.18267840e-02 1.44925195e+01] [ 2.44691991e-01 9.69487251e-01 -1.48424801e-02 3.14962084e+00] [ 6.35787723e-02 -7.68209815e-04 9.97976528e-01 1.28023068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.112260614999997 meters Centerline goodness [0,1] 0.9987642426273459 Centerline is valid? [True, True] Translation: X:14.52, Y:3.17, Z:1.28 [[ 9.68635733e-01 -2.41022391e-01 -6.04402435e-02 1.45164476e+01] [ 2.40584548e-01 9.70519442e-01 -1.45288390e-02 3.17032319e+00] [ 6.21602070e-02 -4.67836004e-04 9.98066075e-01 1.28492239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.142260614999998 meters Centerline goodness [0,1] 0.9975938905743279 Centerline is valid? [True, True] Translation: X:14.54, Y:3.21, Z:1.28 [[ 9.71007077e-01 -2.29782204e-01 -6.59196147e-02 1.45380317e+01] [ 2.29232956e-01 9.73242027e-01 -1.58810971e-02 3.21002441e+00] [ 6.78049330e-02 3.09709540e-04 9.97698549e-01 1.28483848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.172260615 meters Centerline goodness [0,1] 0.997885436730592 Centerline is valid? [True, True] Translation: X:14.56, Y:3.24, Z:1.28 [[ 9.72713317e-01 -2.19959093e-01 -7.38024450e-02 1.45625809e+01] [ 2.19241735e-01 9.75508454e-01 -1.77853081e-02 3.23994119e+00] [ 7.59069493e-02 1.11942990e-03 9.97114277e-01 1.27765708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.202260614999997 meters Centerline goodness [0,1] 0.9977799187366481 Centerline is valid? [True, True] Translation: X:14.59, Y:3.26, Z:1.28 [[ 9.73713465e-01 -2.15922118e-01 -7.25239761e-02 1.45874502e+01] [ 2.15218227e-01 9.76409572e-01 -1.74775001e-02 3.25605597e+00] [ 7.45868833e-02 1.40959563e-03 9.97213523e-01 1.28352567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.232260614999998 meters Centerline goodness [0,1] 0.9977799187366481 Centerline is valid? [True, True] Translation: X:14.61, Y:3.26, Z:1.29 [[ 9.73637101e-01 -2.16265918e-01 -7.25248176e-02 1.46139238e+01] [ 2.15563238e-01 9.76333524e-01 -1.74740175e-02 3.26265743e+00] [ 7.45874452e-02 1.37966723e-03 9.97213523e-01 1.28641036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.262260615 meters Centerline goodness [0,1] 0.9981148279256823 Centerline is valid? [True, True] Translation: X:14.64, Y:3.29, Z:1.29 [[ 9.74809736e-01 -2.11829577e-01 -6.98155371e-02 1.46374485e+01] [ 2.11164706e-01 9.77305163e-01 -1.68548178e-02 3.28599454e+00] [ 7.18014339e-02 1.68766316e-03 9.97417518e-01 1.29344377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.292260614999996 meters Centerline goodness [0,1] 0.9981537041310871 Centerline is valid? [True, True] Translation: X:14.66, Y:3.30, Z:1.29 [[ 9.74690673e-01 -2.11590371e-01 -7.21637551e-02 1.46632779e+01] [ 2.10879217e-01 9.77356845e-01 -1.74227639e-02 3.29954144e+00] [ 7.42162291e-02 1.76396929e-03 9.97240613e-01 1.29470217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.322260614999998 meters Centerline goodness [0,1] 0.9980330201510808 Centerline is valid? [True, True] Translation: X:14.69, Y:3.31, Z:1.29 [[ 9.74269085e-01 -2.12618379e-01 -7.47875330e-02 1.46903104e+01] [ 2.11854963e-01 9.77133695e-01 -1.80891257e-02 3.30886768e+00] [ 7.69234991e-02 1.77956589e-03 9.97035410e-01 1.29482848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.352260615 meters Centerline goodness [0,1] 0.9979462246159649 Centerline is valid? [True, True] Translation: X:14.72, Y:3.31, Z:1.30 [[ 9.72815931e-01 -2.20551612e-01 -7.06126810e-02 1.47194086e+01] [ 2.19892119e-01 9.75374700e-01 -1.70777585e-02 3.30877631e+00] [ 7.26403497e-02 1.08634345e-03 9.97357609e-01 1.29871301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.382260614999996 meters Centerline goodness [0,1] 0.9974498860809766 Centerline is valid? [True, True] Translation: X:14.75, Y:3.31, Z:1.31 [[ 9.71408121e-01 -2.28201980e-01 -6.54989984e-02 1.47467402e+01] [ 2.27650286e-01 9.73613683e-01 -1.58664073e-02 3.30986653e+00] [ 6.73914667e-02 5.01891164e-04 9.97726485e-01 1.30835673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.412260614999997 meters Centerline goodness [0,1] 0.996379920065287 Centerline is valid? [True, True] Translation: X:14.78, Y:3.30, Z:1.32 [[ 9.67322121e-01 -2.46532177e-01 -5.92435621e-02 1.47789465e+01] [ 2.46114138e-01 9.69134366e-01 -1.43670494e-02 3.30312685e+00] [ 6.09569120e-02 -6.83113489e-04 9.98140165e-01 1.31746488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.442260615 meters Centerline goodness [0,1] 0.9957542039655317 Centerline is valid? [True, True] Translation: X:14.81, Y:3.31, Z:1.32 [[ 9.65490619e-01 -2.53826387e-01 -5.83097765e-02 1.48077194e+01] [ 2.53434780e-01 9.67249139e-01 -1.41391750e-02 3.30759948e+00] [ 5.99889768e-02 -1.12648451e-03 9.98198404e-01 1.31866763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.472260614999996 meters Centerline goodness [0,1] 0.9946630671789015 Centerline is valid? [True, True] Translation: X:14.83, Y:3.32, Z:1.32 [[ 9.63316733e-01 -2.61565601e-01 -6.00358932e-02 1.48335715e+01] [ 2.61165144e-01 9.65184288e-01 -1.45621934e-02 3.32040829e+00] [ 6.17546697e-02 -1.65127820e-03 9.98089993e-01 1.32266650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.502260614999997 meters Centerline goodness [0,1] 0.9949389325748703 Centerline is valid? [True, True] Translation: X:14.86, Y:3.34, Z:1.32 [[ 9.62885188e-01 -2.62598249e-01 -6.24041155e-02 1.48597306e+01] [ 2.62167989e-01 9.64903600e-01 -1.51323749e-02 3.33734777e+00] [ 6.41876909e-02 -1.78962179e-03 9.97936239e-01 1.32314173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.532260615 meters Centerline goodness [0,1] 0.9948959313879301 Centerline is valid? [True, True] Translation: X:14.89, Y:3.36, Z:1.32 [[ 9.63438404e-01 -2.60053057e-01 -6.44891366e-02 1.48862657e+01] [ 2.59585850e-01 9.65592927e-01 -1.56679918e-02 3.35733633e+00] [ 6.63447633e-02 -1.64532228e-03 9.97795403e-01 1.32294043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.562260614999996 meters Centerline goodness [0,1] 0.9963580040187542 Centerline is valid? [True, True] Translation: X:14.91, Y:3.39, Z:1.32 [[ 9.66548357e-01 -2.47252755e-01 -6.81934645e-02 1.49091846e+01] [ 2.46698199e-01 9.68950682e-01 -1.65703156e-02 3.39255179e+00] [ 7.01731600e-02 -8.07193558e-04 9.97534499e-01 1.31957632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.592260614999997 meters Centerline goodness [0,1] 0.9977029256374381 Centerline is valid? [True, True] Translation: X:14.93, Y:3.43, Z:1.32 [[ 9.70584501e-01 -2.30585440e-01 -6.92537398e-02 1.49290783e+01] [ 2.29971066e-01 9.73051998e-01 -1.68261049e-02 3.43162433e+00] [ 7.12673447e-02 4.04800227e-04 9.97457168e-01 1.32400477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.622260615 meters Centerline goodness [0,1] 0.9982658476453136 Centerline is valid? [True, True] Translation: X:14.95, Y:3.45, Z:1.33 [[ 9.71791962e-01 -2.25105917e-01 -7.03399514e-02 1.49536695e+01] [ 2.24457328e-01 9.74333950e-01 -1.70956857e-02 3.45405786e+00] [ 7.23829426e-02 8.25132419e-04 9.97376573e-01 1.32570191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.652260614999996 meters Centerline goodness [0,1] 0.9993652137113839 Centerline is valid? [True, True] Translation: X:14.98, Y:3.49, Z:1.33 [[ 9.72476350e-01 -2.21808842e-01 -7.13483438e-02 1.49786632e+01] [ 2.21132078e-01 9.75089556e-01 -1.73482468e-02 3.48560635e+00] [ 7.34190194e-02 1.09335220e-03 9.97300583e-01 1.32908342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.682260614999997 meters Centerline goodness [0,1] 0.9998088522640387 Centerline is valid? [True, True] Translation: X:15.01, Y:3.50, Z:1.33 [[ 9.72641418e-01 -2.21573690e-01 -6.98124028e-02 1.50077608e+01] [ 2.20925634e-01 9.75143031e-01 -1.69685851e-02 3.50126558e+00] [ 7.18368701e-02 1.08099934e-03 9.97415809e-01 1.33157978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.712260614999998 meters Centerline goodness [0,1] 0.9997005347593583 Centerline is valid? [True, True] Translation: X:15.04, Y:3.52, Z:1.34 [[ 9.71946513e-01 -2.26001546e-01 -6.51404462e-02 1.50362560e+01] [ 2.25447727e-01 9.74126693e-01 -1.58274480e-02 3.51818792e+00] [ 6.70320752e-02 6.97667340e-04 9.97750577e-01 1.33766515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.742260615 meters Centerline goodness [0,1] 0.9994215194755109 Centerline is valid? [True, True] Translation: X:15.07, Y:3.52, Z:1.34 [[ 9.70794532e-01 -2.31658013e-01 -6.23902379e-02 1.50678740e+01] [ 2.31162008e-01 9.72797246e-01 -1.51540378e-02 3.52462001e+00] [ 6.42036058e-02 2.89204355e-04 9.97936778e-01 1.34120791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.772260614999997 meters Centerline goodness [0,1] 0.9980961752374433 Centerline is valid? [True, True] Translation: X:15.10, Y:3.53, Z:1.35 [[ 9.68282818e-01 -2.43729899e-01 -5.49920084e-02 1.50965467e+01] [ 2.43364549e-01 9.69843042e-01 -1.33480481e-02 3.52689579e+00] [ 5.65869351e-02 -4.58419642e-04 9.98397570e-01 1.35126038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.802260614999998 meters Centerline goodness [0,1] 0.9978996999571368 Centerline is valid? [True, True] Translation: X:15.13, Y:3.53, Z:1.35 [[ 9.67132211e-01 -2.48859563e-01 -5.21939074e-02 1.51263372e+01] [ 2.48537770e-01 9.68539315e-01 -1.26717257e-02 3.53459782e+00] [ 5.37053314e-02 -7.16923220e-04 9.98556570e-01 1.35496251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.832260615 meters Centerline goodness [0,1] 0.9968113336757405 Centerline is valid? [True, True] Translation: X:15.16, Y:3.55, Z:1.36 [[ 9.66332327e-01 -2.52263830e-01 -5.06437881e-02 1.51563773e+01] [ 2.51965425e-01 9.67658096e-01 -1.22976923e-02 3.54601811e+00] [ 5.21081345e-02 -8.76825921e-04 9.98641063e-01 1.36093706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.862260614999997 meters Centerline goodness [0,1] 0.9968802807747302 Centerline is valid? [True, True] Translation: X:15.18, Y:3.57, Z:1.37 [[ 9.65112615e-01 -2.56452524e-01 -5.28180227e-02 1.51824655e+01] [ 2.56133933e-01 9.66556150e-01 -1.28303576e-02 3.56678742e+00] [ 5.43419622e-02 -1.14574785e-03 9.98521727e-01 1.36825494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.892260614999998 meters Centerline goodness [0,1] 0.9987530626531327 Centerline is valid? [True, True] Translation: X:15.21, Y:3.59, Z:1.37 [[ 9.64110406e-01 -2.59601363e-01 -5.56619835e-02 1.52104173e+01] [ 2.59253686e-01 9.65714835e-01 -1.35049296e-02 3.58943603e+00] [ 5.72595014e-02 -1.41033123e-03 9.98358333e-01 1.36733268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.922260615 meters Centerline goodness [0,1] 0.9985717738568698 Centerline is valid? [True, True] Translation: X:15.24, Y:3.60, Z:1.37 [[ 9.63897366e-01 -2.60404230e-01 -5.56013009e-02 1.52398397e+01] [ 2.60059629e-01 9.65498559e-01 -1.34730243e-02 3.60413521e+00] [ 5.71914084e-02 -1.47304104e-03 9.98362145e-01 1.37057571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.952260614999997 meters Centerline goodness [0,1] 0.9987390775356708 Centerline is valid? [True, True] Translation: X:15.27, Y:3.62, Z:1.37 [[ 9.64841578e-01 -2.56157512e-01 -5.88562554e-02 1.52662962e+01] [ 2.55765500e-01 9.66634146e-01 -1.42280316e-02 3.62435811e+00] [ 6.05370833e-02 -1.32560320e-03 9.98165069e-01 1.36741146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.982260614999998 meters Centerline goodness [0,1] 0.9993550826161407 Centerline is valid? [True, True] Translation: X:15.30, Y:3.64, Z:1.36 [[ 9.65399294e-01 -2.53333720e-01 -6.18565260e-02 1.52961366e+01] [ 2.52894725e-01 9.67378197e-01 -1.49560233e-02 3.63774656e+00] [ 6.36275196e-02 -1.20465484e-03 9.97972989e-01 1.36383348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.012260615 meters Centerline goodness [0,1] 0.9993727879575288 Centerline is valid? [True, True] Translation: X:15.32, Y:3.66, Z:1.37 [[ 9.67059979e-01 -2.46340902e-01 -6.41182988e-02 1.53226312e+01] [ 2.45854279e-01 9.69182931e-01 -1.54957828e-02 3.65814925e+00] [ 6.59596059e-02 -7.78406746e-04 9.97821990e-01 1.36565520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.042260614999996 meters Centerline goodness [0,1] 0.9994606377958064 Centerline is valid? [True, True] Translation: X:15.35, Y:3.67, Z:1.37 [[ 9.67690712e-01 -2.43827235e-01 -6.42103123e-02 1.53522569e+01] [ 2.43332897e-01 9.69818500e-01 -1.55298932e-02 3.67133042e+00] [ 6.60589597e-02 -5.96347884e-04 9.97815543e-01 1.37082823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.072260614999998 meters Centerline goodness [0,1] 0.9995500056249297 Centerline is valid? [True, True] Translation: X:15.38, Y:3.68, Z:1.38 [[ 9.68347989e-01 -2.41297657e-01 -6.38561865e-02 1.53831379e+01] [ 2.40804458e-01 9.70451054e-01 -1.54261029e-02 3.68394490e+00] [ 6.56915860e-02 -4.39018630e-04 9.97839878e-01 1.37683315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.102260615 meters Centerline goodness [0,1] 0.9995710770481071 Centerline is valid? [True, True] Translation: X:15.41, Y:3.70, Z:1.38 [[ 9.69242862e-01 -2.38069604e-01 -6.23789855e-02 1.54113832e+01] [ 2.37594170e-01 9.71248065e-01 -1.50401335e-02 3.69808431e+00] [ 6.41660676e-02 -2.43341269e-04 9.97939205e-01 1.38412226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.132260614999996 meters Centerline goodness [0,1] 0.9994138599576176 Centerline is valid? [True, True] Translation: X:15.44, Y:3.70, Z:1.38 [[ 9.68594705e-01 -2.40170640e-01 -6.43611681e-02 1.54448120e+01] [ 2.39669507e-01 9.70730603e-01 -1.55120645e-02 3.69980321e+00] [ 6.62028979e-02 -4.00505949e-04 9.97806101e-01 1.38092900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.162260614999997 meters Centerline goodness [0,1] 0.9993475668743954 Centerline is valid? [True, True] Translation: X:15.48, Y:3.70, Z:1.38 [[ 9.67910003e-01 -2.42746000e-01 -6.49969681e-02 1.54793056e+01] [ 2.42241942e-01 9.70089696e-01 -1.56468005e-02 3.70083022e+00] [ 6.68510873e-02 -6.00297125e-04 9.97762783e-01 1.37982526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.192260615 meters Centerline goodness [0,1] 0.9995967561270667 Centerline is valid? [True, True] Translation: X:15.51, Y:3.69, Z:1.38 [[ 9.65553436e-01 -2.50857774e-01 -6.91154118e-02 1.55147689e+01] [ 2.50310429e-01 9.68023132e-01 -1.66103919e-02 3.69489654e+00] [ 7.10721633e-02 -1.26208738e-03 9.97470378e-01 1.37627682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.222260614999996 meters Centerline goodness [0,1] 0.9993508092498489 Centerline is valid? [True, True] Translation: X:15.55, Y:3.70, Z:1.38 [[ 9.64270350e-01 -2.54931928e-01 -7.20583384e-02 1.55482890e+01] [ 2.54349892e-01 9.66957594e-01 -1.72957746e-02 3.69728636e+00] [ 7.40866027e-02 -1.65022795e-03 9.97250446e-01 1.37615173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.252260614999997 meters Centerline goodness [0,1] 0.9993965536508504 Centerline is valid? [True, True] Translation: X:15.58, Y:3.70, Z:1.38 [[ 9.63178691e-01 -2.58194320e-01 -7.49833409e-02 1.55814926e+01] [ 2.57576458e-01 9.66090911e-01 -1.79644003e-02 3.70089214e+00] [ 7.70790302e-02 -2.01101572e-03 9.97022958e-01 1.37553375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.282260615 meters Centerline goodness [0,1] 0.9993505620997 Centerline is valid? [True, True] Translation: X:15.61, Y:3.71, Z:1.37 [[ 9.62113635e-01 -2.60634117e-01 -8.00450590e-02 1.56137570e+01] [ 2.59939355e-01 9.65434746e-01 -1.91646368e-02 3.70656211e+00] [ 8.22732393e-02 -2.36830266e-03 9.96606996e-01 1.37353707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.312260614999996 meters Centerline goodness [0,1] 0.999752708960928 Centerline is valid? [True, True] Translation: X:15.64, Y:3.72, Z:1.38 [[ 9.62466398e-01 -2.58482925e-01 -8.27345777e-02 1.56427696e+01] [ 2.57733409e-01 9.66013168e-01 -1.98002296e-02 3.71735217e+00] [ 8.50407128e-02 -2.26640904e-03 9.96374900e-01 1.37627737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.342260614999997 meters Centerline goodness [0,1] 0.999415296736906 Centerline is valid? [True, True] Translation: X:15.67, Y:3.73, Z:1.38 [[ 9.62706514e-01 -2.57105083e-01 -8.42208085e-02 1.56732695e+01] [ 2.56323319e-01 9.66380980e-01 -2.01533731e-02 3.73090281e+00] [ 8.65709221e-02 -2.18597362e-03 9.96243292e-01 1.37686336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.372260615 meters Centerline goodness [0,1] 0.9998644466032578 Centerline is valid? [True, True] Translation: X:15.70, Y:3.74, Z:1.38 [[ 9.62705877e-01 -2.56384830e-01 -8.63956825e-02 1.57041408e+01] [ 2.55560109e-01 9.66572315e-01 -2.06637603e-02 3.74054254e+00] [ 8.88055495e-02 -2.18616652e-03 9.96046583e-01 1.37831528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.402260614999996 meters Centerline goodness [0,1] 0.9997508324461458 Centerline is valid? [True, True] Translation: X:15.74, Y:3.75, Z:1.37 [[ 9.62019014e-01 -2.57015977e-01 -9.19902401e-02 1.57363447e+01] [ 2.56084461e-01 9.66404176e-01 -2.19935568e-02 3.74945936e+00] [ 9.45524477e-02 -2.39905129e-03 9.95516991e-01 1.37371113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.432260614999997 meters Centerline goodness [0,1] 0.9997511537417428 Centerline is valid? [True, True] Translation: X:15.77, Y:3.75, Z:1.37 [[ 9.61687130e-01 -2.57636254e-01 -9.37092564e-02 1.57679774e+01] [ 2.56673403e-01 9.66238703e-01 -2.23949226e-02 3.75474785e+00] [ 9.63152543e-02 -2.51576490e-03 9.95347699e-01 1.37424813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.462260614999998 meters Centerline goodness [0,1] 0.9996364462622132 Centerline is valid? [True, True] Translation: X:15.80, Y:3.76, Z:1.38 [[ 9.60950181e-01 -2.58897589e-01 -9.77076635e-02 1.57990638e+01] [ 2.57859368e-01 9.65900784e-01 -2.33285430e-02 3.76370229e+00] [ 1.00415612e-01 -2.77726874e-03 9.94941703e-01 1.37563564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.492260614999996 meters Centerline goodness [0,1] 0.9995671291549906 Centerline is valid? [True, True] Translation: X:15.83, Y:3.77, Z:1.38 [[ 9.60940359e-01 -2.59218939e-01 -9.69493074e-02 1.58298263e+01] [ 2.58199255e-01 9.65814537e-01 -2.31392510e-02 3.77241715e+00] [ 9.96331825e-02 -2.79679883e-03 9.95020305e-01 1.38162233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.522260614999997 meters Centerline goodness [0,1] 0.9995225536558748 Centerline is valid? [True, True] Translation: X:15.86, Y:3.78, Z:1.39 [[ 9.61229354e-01 -2.58894315e-01 -9.49308271e-02 1.58606409e+01] [ 2.57915963e-01 9.65901844e-01 -2.26491436e-02 3.77681430e+00] [ 9.75575954e-02 -2.71315403e-03 9.95226183e-01 1.38676684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.552260614999998 meters Centerline goodness [0,1] 0.9997503404448479 Centerline is valid? [True, True] Translation: X:15.89, Y:3.78, Z:1.39 [[ 9.61606137e-01 -2.58244870e-01 -9.28613204e-02 1.58932701e+01] [ 2.57306271e-01 9.66076010e-01 -2.21500655e-02 3.78125353e+00] [ 9.54312347e-02 -2.59416117e-03 9.95432645e-01 1.39092507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.582260615 meters Centerline goodness [0,1] 0.9994823667094277 Centerline is valid? [True, True] Translation: X:15.93, Y:3.78, Z:1.39 [[ 9.61264286e-01 -2.60873123e-01 -8.89729489e-02 1.59273961e+01] [ 2.60023922e-01 9.65369190e-01 -2.12105613e-02 3.77582765e+00] [ 9.14250090e-02 -2.74614001e-03 9.95808178e-01 1.39176535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.612260614999997 meters Centerline goodness [0,1] 0.9991475424546291 Centerline is valid? [True, True] Translation: X:15.96, Y:3.77, Z:1.40 [[ 9.61007707e-01 -2.62710762e-01 -8.62974041e-02 1.59597598e+01] [ 2.61919812e-01 9.64870459e-01 -2.05671937e-02 3.77413730e+00] [ 8.86690391e-02 -2.83776824e-03 9.96057101e-01 1.39528649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.642260614999998 meters Centerline goodness [0,1] 0.9994637231023619 Centerline is valid? [True, True] Translation: X:15.99, Y:3.78, Z:1.40 [[ 9.61025336e-01 -2.64718055e-01 -7.97160841e-02 1.59902789e+01] [ 2.64050632e-01 9.64321799e-01 -1.89929490e-02 3.77565030e+00] [ 8.18997341e-02 -2.79637722e-03 9.96636651e-01 1.40287264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.672260615 meters Centerline goodness [0,1] 0.9991521642124052 Centerline is valid? [True, True] Translation: X:16.02, Y:3.78, Z:1.41 [[ 9.61272065e-01 -2.64882847e-01 -7.61123845e-02 1.60206823e+01] [ 2.64274965e-01 9.64276870e-01 -1.81345193e-02 3.78421541e+00] [ 7.81969350e-02 -2.68239089e-03 9.96934323e-01 1.41039298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.702260614999997 meters Centerline goodness [0,1] 0.998907834614956 Centerline is valid? [True, True] Translation: X:16.05, Y:3.79, Z:1.42 [[ 9.61682283e-01 -2.65114335e-01 -6.98682827e-02 1.60495945e+01] [ 2.64603256e-01 9.64213781e-01 -1.66403363e-02 3.79187622e+00] [ 7.17795527e-02 -2.48465849e-03 9.97417426e-01 1.41901983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.732260614999998 meters Centerline goodness [0,1] 0.9986229872293171 Centerline is valid? [True, True] Translation: X:16.08, Y:3.80, Z:1.42 [[ 9.61840715e-01 -2.64935653e-01 -6.83486608e-02 1.60805841e+01] [ 2.64446127e-01 9.64263064e-01 -1.62784850e-02 3.79656979e+00] [ 7.02188402e-02 -2.41722902e-03 9.97528682e-01 1.42280207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.762260615 meters Centerline goodness [0,1] 0.997893149408973 Centerline is valid? [True, True] Translation: X:16.11, Y:3.80, Z:1.42 [[ 9.61643793e-01 -2.66364569e-01 -6.55067314e-02 1.61117248e+01] [ 2.65919260e-01 9.63869290e-01 -1.55865239e-02 3.79921556e+00] [ 6.72916243e-02 -2.43081753e-03 9.97730389e-01 1.42379244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.792260614999996 meters Centerline goodness [0,1] 0.9973649830606054 Centerline is valid? [True, True] Translation: X:16.14, Y:3.80, Z:1.43 [[ 9.61539723e-01 -2.66904476e-01 -6.48333372e-02 1.61430676e+01] [ 2.66468935e-01 9.63719914e-01 -1.54348504e-02 3.80194849e+00] [ 6.66008088e-02 -2.43484855e-03 9.97776730e-01 1.43022066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.822260614999998 meters Centerline goodness [0,1] 0.9969479155147628 Centerline is valid? [True, True] Translation: X:16.17, Y:3.81, Z:1.43 [[ 9.61165122e-01 -2.68315893e-01 -6.45615205e-02 1.61744521e+01] [ 2.67888910e-01 9.63327615e-01 -1.53439964e-02 3.80897571e+00] [ 6.63109336e-02 -2.54720120e-03 9.97795757e-01 1.43351817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.852260615 meters Centerline goodness [0,1] 0.9968140183193946 Centerline is valid? [True, True] Translation: X:16.21, Y:3.82, Z:1.44 [[ 9.61026374e-01 -2.68954982e-01 -6.39650413e-02 1.62054113e+01] [ 2.68537642e-01 9.63149313e-01 -1.51965932e-02 3.81527808e+00] [ 6.56950850e-02 -2.57269450e-03 9.97836428e-01 1.43798153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.882260614999996 meters Centerline goodness [0,1] 0.9963082500663188 Centerline is valid? [True, True] Translation: X:16.24, Y:3.82, Z:1.44 [[ 9.61274447e-01 -2.67960599e-01 -6.44092770e-02 1.62359836e+01] [ 2.67535103e-01 9.63426574e-01 -1.53037431e-02 3.82003804e+00] [ 6.61544092e-02 -2.52064540e-03 9.97806214e-01 1.44216154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.912260614999997 meters Centerline goodness [0,1] 0.9968413844896516 Centerline is valid? [True, True] Translation: X:16.27, Y:3.83, Z:1.44 [[ 9.61453698e-01 -2.67038370e-01 -6.55537558e-02 1.62683025e+01] [ 2.66597256e-01 9.63682585e-01 -1.55492138e-02 3.82571816e+00] [ 6.73252496e-02 -2.52660224e-03 9.97727882e-01 1.43774943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.942260615 meters Centerline goodness [0,1] 0.9973522792462821 Centerline is valid? [True, True] Translation: X:16.30, Y:3.83, Z:1.44 [[ 9.61573463e-01 -2.66382997e-01 -6.64573141e-02 1.62995875e+01] [ 2.65928474e-01 9.63863966e-01 -1.57576013e-02 3.83274238e+00] [ 6.82533674e-02 -2.52080091e-03 9.97664835e-01 1.43856120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.972260614999996 meters Centerline goodness [0,1] 0.9970514554282041 Centerline is valid? [True, True] Translation: X:16.33, Y:3.84, Z:1.44 [[ 9.61556779e-01 -2.65851806e-01 -6.87850145e-02 1.63282977e+01] [ 2.65364107e-01 9.64010460e-01 -1.63010176e-02 3.84272457e+00] [ 7.06431284e-02 -2.57871999e-03 9.97498320e-01 1.44060694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.002260614999997 meters Centerline goodness [0,1] 0.9978008796481408 Centerline is valid? [True, True] Translation: X:16.36, Y:3.86, Z:1.44 [[ 9.61511323e-01 -2.65382354e-01 -7.11911709e-02 1.63577243e+01] [ 2.64858692e-01 9.64139650e-01 -1.68703337e-02 3.85548299e+00] [ 7.31153195e-02 -2.63458350e-03 9.97320013e-01 1.44152134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.032260615 meters Centerline goodness [0,1] 0.9988829311885612 Centerline is valid? [True, True] Translation: X:16.39, Y:3.87, Z:1.44 [[ 9.61471401e-01 -2.64059403e-01 -7.64550573e-02 1.63861585e+01] [ 2.63451516e-01 9.64502565e-01 -1.81135591e-02 3.87099018e+00] [ 7.85241545e-02 -2.72653166e-03 9.96908483e-01 1.44024024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.062260614999996 meters Centerline goodness [0,1] 0.9986362925040799 Centerline is valid? [True, True] Translation: X:16.42, Y:3.88, Z:1.44 [[ 9.61599309e-01 -2.63072349e-01 -7.82285674e-02 1.64161876e+01] [ 2.62432691e-01 9.64772307e-01 -1.85331595e-02 3.88145366e+00] [ 8.03483172e-02 -2.70826013e-03 9.96763168e-01 1.44276301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.092260614999997 meters Centerline goodness [0,1] 0.9985366951823503 Centerline is valid? [True, True] Translation: X:16.44, Y:3.90, Z:1.44 [[ 9.62324825e-01 -2.59767423e-01 -8.03231997e-02 1.64449671e+01] [ 2.59082160e-01 9.65667960e-01 -1.90216951e-02 3.89715430e+00] [ 8.25067571e-02 -2.50525858e-03 9.96587356e-01 1.44447962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.122260615 meters Centerline goodness [0,1] 0.9986235219785179 Centerline is valid? [True, True] Translation: X:16.48, Y:3.91, Z:1.45 [[ 9.62722257e-01 -2.58096568e-01 -8.09445308e-02 1.64756551e+01] [ 2.57395164e-01 9.66116180e-01 -1.91639439e-02 3.90699168e+00] [ 8.31479690e-02 -2.38517541e-03 9.96534358e-01 1.44595948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.152260614999996 meters Centerline goodness [0,1] 0.9986235219785179 Centerline is valid? [True, True] Translation: X:16.51, Y:3.91, Z:1.45 [[ 9.62754153e-01 -2.57977136e-01 -8.09459015e-02 1.65072096e+01] [ 2.57275798e-01 9.66148089e-01 -1.91581521e-02 3.91432624e+00] [ 8.31480933e-02 -2.38083095e-03 9.96534358e-01 1.44937970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.182260614999997 meters Centerline goodness [0,1] 0.9987103780628521 Centerline is valid? [True, True] Translation: X:16.54, Y:3.92, Z:1.45 [[ 9.63404216e-01 -2.55489557e-01 -8.11011916e-02 1.65389955e+01] [ 2.54777693e-01 9.66809354e-01 -1.91833205e-02 3.92176085e+00] [ 8.33105288e-02 -2.18148265e-03 9.96521248e-01 1.45017659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.212260614999998 meters Centerline goodness [0,1] 0.9984861151908173 Centerline is valid? [True, True] Translation: X:16.57, Y:3.93, Z:1.45 [[ 9.63297681e-01 -2.55755635e-01 -8.15268846e-02 1.65718135e+01] [ 2.55037738e-01 9.66738909e-01 -1.92778289e-02 3.92708964e+00] [ 8.37456249e-02 -2.22214437e-03 9.96484687e-01 1.45208829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.242260614999996 meters Centerline goodness [0,1] 0.998351884044883 Centerline is valid? [True, True] Translation: X:16.60, Y:3.93, Z:1.46 [[ 9.62590857e-01 -2.57718091e-01 -8.36673625e-02 1.66038410e+01] [ 2.56970434e-01 9.66217001e-01 -1.97712822e-02 3.92694516e+00] [ 8.59362451e-02 -2.46838302e-03 9.96297580e-01 1.45632797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.272260614999997 meters Centerline goodness [0,1] 0.9979518804438342 Centerline is valid? [True, True] Translation: X:16.64, Y:3.93, Z:1.46 [[ 9.62110812e-01 -2.59204007e-01 -8.45935520e-02 1.66353056e+01] [ 2.58445864e-01 9.65818999e-01 -1.99849117e-02 3.93202456e+00] [ 8.68822289e-02 -2.63515404e-03 9.96215104e-01 1.45971635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.302260614999998 meters Centerline goodness [0,1] 0.9975453214728072 Centerline is valid? [True, True] Translation: X:16.67, Y:3.94, Z:1.46 [[ 9.61822577e-01 -2.60270065e-01 -8.45980106e-02 1.66669522e+01] [ 2.59516626e-01 9.65531973e-01 -1.99782450e-02 3.93531147e+00] [ 8.68818232e-02 -2.73906318e-03 9.96214860e-01 1.46278360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.332260614999996 meters Centerline goodness [0,1] 0.9984104240361796 Centerline is valid? [True, True] Translation: X:16.70, Y:3.93, Z:1.46 [[ 9.61557506e-01 -2.61876619e-01 -8.26304941e-02 1.67009126e+01] [ 2.61164176e-01 9.65097237e-01 -1.95088745e-02 3.93352002e+00] [ 8.48553797e-02 -2.82122014e-03 9.96389284e-01 1.46195024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.362260614999997 meters Centerline goodness [0,1] 0.9981315479235714 Centerline is valid? [True, True] Translation: X:16.73, Y:3.93, Z:1.46 [[ 9.60925203e-01 -2.64545974e-01 -8.14750352e-02 1.67338699e+01] [ 2.63863532e-01 9.64368343e-01 -1.92285298e-02 3.92926868e+00] [ 8.36587748e-02 -3.02111162e-03 9.96489881e-01 1.46075507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.392260614999998 meters Centerline goodness [0,1] 0.9978948767948945 Centerline is valid? [True, True] Translation: X:16.77, Y:3.93, Z:1.46 [[ 9.60135126e-01 -2.67241668e-01 -8.19904276e-02 1.67654105e+01] [ 2.66560862e-01 9.63623949e-01 -1.93440271e-02 3.93273203e+00] [ 8.41774697e-02 -3.28255912e-03 9.96445372e-01 1.46278335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.422260615 meters Centerline goodness [0,1] 0.9974405768717173 Centerline is valid? [True, True] Translation: X:16.79, Y:3.94, Z:1.47 [[ 9.58005057e-01 -2.73423221e-01 -8.64063311e-02 1.67945329e+01] [ 2.72692406e-01 9.61885361e-01 -2.03814893e-02 3.94071546e+00] [ 8.86857574e-02 -4.03678048e-03 9.96051475e-01 1.46671553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.452260614999997 meters Centerline goodness [0,1] 0.9968039693359855 Centerline is valid? [True, True] Translation: X:16.82, Y:3.95, Z:1.47 [[ 9.57313886e-01 -2.75181621e-01 -8.84601533e-02 1.68230768e+01] [ 2.74423237e-01 9.61382634e-01 -2.08642669e-02 3.95460342e+00] [ 9.07855180e-02 -4.30186916e-03 9.95861177e-01 1.47165051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.482260614999998 meters Centerline goodness [0,1] 0.9954214920549421 Centerline is valid? [True, True] Translation: X:16.85, Y:3.97, Z:1.48 [[ 9.57182714e-01 -2.75475339e-01 -8.89639788e-02 1.68520924e+01] [ 2.74709848e-01 9.61298262e-01 -2.09797933e-02 3.96917046e+00] [ 9.13003338e-02 -4.35778562e-03 9.95813868e-01 1.47754883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.512260615 meters Centerline goodness [0,1] 0.9956392064711465 Centerline is valid? [True, True] Translation: X:16.88, Y:3.99, Z:1.48 [[ 9.59120086e-01 -2.68244895e-01 -9.01850200e-02 1.68791468e+01] [ 2.67427175e-01 9.63343540e-01 -2.12586531e-02 3.98851563e+00] [ 9.25816816e-02 -3.72832389e-03 9.95698113e-01 1.47866239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.542260614999996 meters Centerline goodness [0,1] 0.9969425886083116 Centerline is valid? [True, True] Translation: X:16.91, Y:4.00, Z:1.48 [[ 9.60466198e-01 -2.62959503e-01 -9.14165288e-02 1.69095275e+01] [ 2.62095371e-01 9.64801355e-01 -2.15490679e-02 3.99753442e+00] [ 9.38653230e-02 -3.26269771e-03 9.95579558e-01 1.47617837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.572260614999998 meters Centerline goodness [0,1] 0.9964591790708164 Centerline is valid? [True, True] Translation: X:16.94, Y:4.00, Z:1.48 [[ 9.60665869e-01 -2.62305276e-01 -9.11977545e-02 1.69408795e+01] [ 2.61442486e-01 9.64979663e-01 -2.14959666e-02 3.99954686e+00] [ 9.36424839e-02 -3.19252618e-03 9.95600770e-01 1.47775237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.602260615 meters Centerline goodness [0,1] 0.9967109709394008 Centerline is valid? [True, True] Translation: X:16.97, Y:4.00, Z:1.48 [[ 9.60707002e-01 -2.62300722e-01 -9.07765771e-02 1.69737241e+01] [ 2.61446411e-01 9.64980933e-01 -2.13909554e-02 4.00183690e+00] [ 9.32085291e-02 -3.18276966e-03 9.95641522e-01 1.47891457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.632260614999996 meters Centerline goodness [0,1] 0.9957502013062539 Centerline is valid? [True, True] Translation: X:17.01, Y:3.99, Z:1.48 [[ 9.59918099e-01 -2.64925266e-01 -9.14977932e-02 1.70061955e+01] [ 2.64070048e-01 9.64262690e-01 -2.15516789e-02 3.99248653e+00] [ 9.39374924e-02 -3.47398004e-03 9.95572036e-01 1.47914304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.662260614999997 meters Centerline goodness [0,1] 0.9953568968964521 Centerline is valid? [True, True] Translation: X:17.04, Y:3.99, Z:1.48 [[ 9.59202199e-01 -2.67487415e-01 -9.15512118e-02 1.70370781e+01] [ 2.66642723e-01 9.63554150e-01 -2.15652253e-02 3.98832452e+00] [ 9.39829764e-02 -3.72605291e-03 9.95566832e-01 1.48196233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.692260615 meters Centerline goodness [0,1] 0.9952273130882614 Centerline is valid? [True, True] Translation: X:17.07, Y:3.99, Z:1.49 [[ 9.59111250e-01 -2.68006202e-01 -9.09850878e-02 1.70655026e+01] [ 2.67173964e-01 9.63409887e-01 -2.14350525e-02 3.99194160e+00] [ 9.34006602e-02 -3.75024661e-03 9.95621541e-01 1.48631260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.722260614999996 meters Centerline goodness [0,1] 0.9951253018989165 Centerline is valid? [True, True] Translation: X:17.09, Y:4.00, Z:1.49 [[ 9.59159650e-01 -2.68101574e-01 -9.01904185e-02 1.70926919e+01] [ 2.67281489e-01 9.63383555e-01 -2.12775154e-02 3.99570497e+00] [ 9.25925013e-02 -3.69769509e-03 9.95697221e-01 1.49098536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.752260614999997 meters Centerline goodness [0,1] 0.9951928402117809 Centerline is valid? [True, True] Translation: X:17.12, Y:4.00, Z:1.50 [[ 9.59529392e-01 -2.67319106e-01 -8.85654674e-02 1.71201407e+01] [ 2.66524404e-01 9.63601523e-01 -2.09009034e-02 4.00333429e+00] [ 9.09290301e-02 -3.54982730e-03 9.95851048e-01 1.49746825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.782260615 meters Centerline goodness [0,1] 0.9967649013959672 Centerline is valid? [True, True] Translation: X:17.15, Y:4.02, Z:1.51 [[ 9.61386621e-01 -2.61793733e-01 -8.48516710e-02 1.71476143e+01] [ 2.61040308e-01 9.65119580e-01 -2.00537959e-02 4.01725159e+00] [ 8.71419671e-02 -2.87025522e-03 9.96191768e-01 1.50567303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.812260614999996 meters Centerline goodness [0,1] 0.9974267968056788 Centerline is valid? [True, True] Translation: X:17.18, Y:4.03, Z:1.51 [[ 9.63073799e-01 -2.56288680e-01 -8.24922393e-02 1.71762221e+01] [ 2.55556379e-01 9.66597539e-01 -1.94970344e-02 4.02733635e+00] [ 8.47336647e-02 -2.30433502e-03 9.96400972e-01 1.51258463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.842260614999997 meters Centerline goodness [0,1] 0.9977626653080212 Centerline is valid? [True, True] Translation: X:17.21, Y:4.04, Z:1.52 [[ 9.63623573e-01 -2.54414257e-01 -8.18718248e-02 1.72068683e+01] [ 2.53686417e-01 9.67092998e-01 -1.93477410e-02 4.03741491e+00] [ 8.41000096e-02 -2.12583057e-03 9.96455051e-01 1.51681083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.872260615 meters Centerline goodness [0,1] 0.9981611945589083 Centerline is valid? [True, True] Translation: X:17.24, Y:4.05, Z:1.52 [[ 9.64351969e-01 -2.52130969e-01 -8.03446004e-02 1.72373409e+01] [ 2.51422723e-01 9.67691260e-01 -1.89799676e-02 4.04780274e+00] [ 8.25342053e-02 -1.89708908e-03 9.96586427e-01 1.52311224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.902260614999996 meters Centerline goodness [0,1] 0.999071843716161 Centerline is valid? [True, True] Translation: X:17.26, Y:4.06, Z:1.53 [[ 9.66760878e-01 -2.44188420e-01 -7.57985494e-02 1.72648274e+01] [ 2.43534255e-01 9.69727117e-01 -1.78993114e-02 4.06367227e+00] [ 7.78747134e-02 -1.15518924e-03 9.96962484e-01 1.53302390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.932260614999997 meters Centerline goodness [0,1] 0.9995783025568182 Centerline is valid? [True, True] Translation: X:17.30, Y:4.07, Z:1.54 [[ 9.67740774e-01 -2.40658753e-01 -7.45731824e-02 1.72953703e+01] [ 2.40015436e-01 9.70609408e-01 -1.76058730e-02 4.07481103e+00] [ 7.66184399e-02 -8.60793754e-04 9.97060115e-01 1.53675588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.962260614999998 meters Centerline goodness [0,1] 0.9997115149901249 Centerline is valid? [True, True] Translation: X:17.33, Y:4.09, Z:1.54 [[ 9.69102060e-01 -2.35724585e-01 -7.26299965e-02 1.73250819e+01] [ 2.35101018e-01 9.71819790e-01 -1.71408028e-02 4.08569460e+00] [ 7.46237766e-02 -4.64198739e-04 9.97211651e-01 1.54261575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.992260614999996 meters Centerline goodness [0,1] 0.999822340661781 Centerline is valid? [True, True] Translation: X:17.36, Y:4.10, Z:1.55 [[ 9.69671901e-01 -2.33588206e-01 -7.19232509e-02 1.73559038e+01] [ 2.32971326e-01 9.72335569e-01 -1.69677026e-02 4.09565892e+00] [ 7.38969903e-02 -3.02950709e-04 9.97265834e-01 1.54766709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.022260614999997 meters Centerline goodness [0,1] 0.9999777594911372 Centerline is valid? [True, True] Translation: X:17.38, Y:4.11, Z:1.56 [[ 9.70906230e-01 -2.29342957e-01 -6.88687212e-02 1.73844621e+01] [ 2.28767154e-01 9.73345677e-01 -1.62413455e-02 4.11036311e+00] [ 7.07579103e-02 1.39221663e-05 9.97493518e-01 1.55866605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.052260614999998 meters Centerline goodness [0,1] 0.9997998754780753 Centerline is valid? [True, True] Translation: X:17.41, Y:4.12, Z:1.57 [[ 9.71655561e-01 -2.27047256e-01 -6.58408272e-02 1.74144731e+01] [ 2.26516129e-01 9.73883728e-01 -1.55218536e-02 4.12165573e+00] [ 6.76455045e-02 1.67886012e-04 9.97709405e-01 1.56655585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.082260614999996 meters Centerline goodness [0,1] 0.9998223643307577 Centerline is valid? [True, True] Translation: X:17.44, Y:4.13, Z:1.58 [[ 9.72601618e-01 -2.24789072e-01 -5.92955817e-02 1.74419861e+01] [ 2.24354725e-01 9.74407406e-01 -1.39701368e-02 4.12954256e+00] [ 6.09183880e-02 2.84133670e-04 9.98142710e-01 1.57884459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.112260614999997 meters Centerline goodness [0,1] 0.9998669091877024 Centerline is valid? [True, True] Translation: X:17.47, Y:4.13, Z:1.58 [[ 9.72765140e-01 -2.24487860e-01 -5.77337179e-02 1.74737461e+01] [ 2.24075279e-01 9.74476839e-01 -1.36073091e-02 4.13462635e+00] [ 5.93148467e-02 3.00016990e-04 9.98239279e-01 1.58454154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.142260614999998 meters Centerline goodness [0,1] 0.9996475693297209 Centerline is valid? [True, True] Translation: X:17.51, Y:4.14, Z:1.58 [[ 9.73295230e-01 -2.22131243e-01 -5.79146490e-02 1.75076021e+01] [ 2.21711489e-01 9.75016670e-01 -1.36568152e-02 4.13632112e+00] [ 5.95013535e-02 4.51770027e-04 9.98228123e-01 1.58424321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.172260614999995 meters Centerline goodness [0,1] 0.9996921723834653 Centerline is valid? [True, True] Translation: X:17.54, Y:4.14, Z:1.59 [[ 9.73848692e-01 -2.19942022e-01 -5.69581586e-02 1.75386467e+01] [ 2.19533940e-01 9.75512791e-01 -1.34030998e-02 4.14262067e+00] [ 5.85113171e-02 5.48342276e-04 9.98286595e-01 1.58716608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.202260614999997 meters Centerline goodness [0,1] 0.999693312011216 Centerline is valid? [True, True] Translation: X:17.57, Y:4.15, Z:1.60 [[ 9.74642719e-01 -2.17539840e-01 -5.24212545e-02 1.75670464e+01] [ 2.17191534e-01 9.76051243e-01 -1.23210329e-02 4.15064828e+00] [ 5.38461462e-02 6.23152299e-04 9.98549049e-01 1.59763000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.232260614999998 meters Centerline goodness [0,1] 0.9997366052810641 Centerline is valid? [True, True] Translation: X:17.60, Y:4.16, Z:1.61 [[ 9.75019833e-01 -2.16282554e-01 -5.05784785e-02 1.75967036e+01] [ 2.15955978e-01 9.76330576e-01 -1.19005064e-02 4.15872346e+00] [ 5.19551870e-02 6.80504960e-04 9.98649185e-01 1.60614234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.262260615 meters Centerline goodness [0,1] 0.9993851829080849 Centerline is valid? [True, True] Translation: X:17.63, Y:4.17, Z:1.62 [[ 9.75638851e-01 -2.13830758e-01 -4.90432448e-02 1.76262871e+01] [ 2.13521658e-01 9.76870421e-01 -1.15187615e-02 4.16818226e+00] [ 5.03719607e-02 7.66356285e-04 9.98730233e-01 1.61648694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.292260614999996 meters Centerline goodness [0,1] 0.9995177236556547 Centerline is valid? [True, True] Translation: X:17.66, Y:4.18, Z:1.62 [[ 9.75786798e-01 -2.13618822e-01 -4.69800417e-02 1.76575578e+01] [ 2.13335415e-01 9.76916812e-01 -1.10246238e-02 4.17551322e+00] [ 4.82506597e-02 7.35175637e-04 9.98834988e-01 1.62205549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.322260614999998 meters Centerline goodness [0,1] 0.9992371403661726 Centerline is valid? [True, True] Translation: X:17.69, Y:4.18, Z:1.63 [[ 9.75833349e-01 -2.14083674e-01 -4.37887472e-02 1.76863032e+01] [ 2.13838338e-01 9.76815106e-01 -1.02671496e-02 4.18135153e+00] [ 4.49715389e-02 6.55314099e-04 9.98988054e-01 1.63068158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.352260615 meters Centerline goodness [0,1] 0.9986226196462538 Centerline is valid? [True, True] Translation: X:17.72, Y:4.18, Z:1.64 [[ 9.75881428e-01 -2.15114510e-01 -3.71643148e-02 1.77166624e+01] [ 2.14938536e-01 9.76588696e-01 -8.71465696e-03 4.18248324e+00] [ 3.81688989e-02 5.16428475e-04 9.99271169e-01 1.63958923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.382260614999996 meters Centerline goodness [0,1] 0.9976458278838608 Centerline is valid? [True, True] Translation: X:17.75, Y:4.19, Z:1.65 [[ 9.75738005e-01 -2.16353051e-01 -3.35664025e-02 1.77470122e+01] [ 2.16210228e-01 9.76315102e-01 -7.87142077e-03 4.18672380e+00] [ 3.44743916e-02 4.23044864e-04 9.99405492e-01 1.64725603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.412260614999997 meters Centerline goodness [0,1] 0.9966681910237146 Centerline is valid? [True, True] Translation: X:17.78, Y:4.19, Z:1.65 [[ 9.74858057e-01 -2.20384316e-01 -3.29017051e-02 1.77785536e+01] [ 2.20248703e-01 9.75413075e-01 -7.73579942e-03 4.18810188e+00] [ 3.37976022e-02 2.94748526e-04 9.99428654e-01 1.65496567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.442260615 meters Centerline goodness [0,1] 0.9963238492995736 Centerline is valid? [True, True] Translation: X:17.81, Y:4.19, Z:1.66 [[ 9.74219287e-01 -2.22941568e-01 -3.45519656e-02 1.78101338e+01] [ 2.22794691e-01 9.74831792e-01 -8.09339030e-03 4.19235299e+00] [ 3.54867076e-02 1.86742422e-04 9.99370131e-01 1.65811008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.472260614999996 meters Centerline goodness [0,1] 0.9962213342599027 Centerline is valid? [True, True] Translation: X:17.84, Y:4.20, Z:1.66 [[ 9.73106898e-01 -2.27696999e-01 -3.48861152e-02 1.78426018e+01] [ 2.27549825e-01 9.73732035e-01 -8.18542541e-03 4.19612972e+00] [ 3.58335247e-02 2.69645342e-05 9.99357773e-01 1.66177040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.502260614999997 meters Centerline goodness [0,1] 0.9951836504458378 Centerline is valid? [True, True] Translation: X:17.87, Y:4.20, Z:1.67 [[ 9.73063068e-01 -2.28221279e-01 -3.26085019e-02 1.78718634e+01] [ 2.28093829e-01 9.73609289e-01 -7.62611481e-03 4.20382970e+00] [ 3.34883821e-02 -1.71073772e-05 9.99439107e-01 1.66821467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.532260615 meters Centerline goodness [0,1] 0.9940425900652066 Centerline is valid? [True, True] Translation: X:17.90, Y:4.21, Z:1.68 [[ 9.72842404e-01 -2.30296062e-01 -2.32675712e-02 1.78998790e+01] [ 2.30231837e-01 9.73120609e-01 -5.43892261e-03 4.21275751e+00] [ 2.38947155e-02 -6.57210993e-05 9.99714478e-01 1.68455443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.562260614999996 meters Centerline goodness [0,1] 0.9945039489343287 Centerline is valid? [True, True] Translation: X:17.93, Y:4.22, Z:1.69 [[ 9.72181191e-01 -2.33280334e-01 -2.10717164e-02 1.79304073e+01] [ 2.33228361e-01 9.72409518e-01 -4.92560434e-03 4.21804610e+00] [ 2.16393842e-02 -1.25941991e-04 9.99765833e-01 1.68648669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.592260614999997 meters Centerline goodness [0,1] 0.9927494011782223 Centerline is valid? [True, True] Translation: X:17.96, Y:4.21, Z:1.68 [[ 9.68965069e-01 -2.45836668e-01 -2.59042134e-02 1.79629471e+01] [ 2.45762666e-01 9.69311137e-01 -6.05237104e-03 4.21295522e+00] [ 2.65971372e-02 -5.01752416e-04 9.99646108e-01 1.68375311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.622260615 meters Centerline goodness [0,1] 0.9907130726401101 Centerline is valid? [True, True] Translation: X:17.99, Y:4.21, Z:1.69 [[ 9.67128446e-01 -2.52507107e-01 -3.00454543e-02 1.79945932e+01] [ 2.52410659e-01 9.67594716e-01 -7.02315598e-03 4.21349744e+00] [ 3.08452196e-02 -7.91498977e-04 9.99523860e-01 1.68622356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.652260614999996 meters Centerline goodness [0,1] 0.9918586822726586 Centerline is valid? [True, True] Translation: X:18.03, Y:4.22, Z:1.68 [[ 9.65609735e-01 -2.57885901e-01 -3.30560358e-02 1.80266174e+01] [ 2.57771734e-01 9.66174815e-01 -7.74343970e-03 4.22131005e+00] [ 3.39348332e-02 -1.04377090e-03 9.99423503e-01 1.68120117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.682260614999997 meters Centerline goodness [0,1] 0.9923961785923182 Centerline is valid? [True, True] Translation: X:18.05, Y:4.23, Z:1.68 [[ 9.65842962e-01 -2.56309566e-01 -3.81153447e-02 1.80542783e+01] [ 2.56158035e-01 9.66594031e-01 -8.89042721e-03 4.23317135e+00] [ 3.91207662e-02 -1.17679525e-03 9.99233797e-01 1.68021155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.712260614999998 meters Centerline goodness [0,1] 0.9913913043478261 Centerline is valid? [True, True] Translation: X:18.08, Y:4.24, Z:1.69 [[ 9.66785300e-01 -2.52604455e-01 -3.89509108e-02 1.80831527e+01] [ 2.52442999e-01 9.67569067e-01 -9.09031416e-03 4.24334165e+00] [ 3.99839502e-02 -1.04450263e-03 9.99199776e-01 1.68770861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.742260614999996 meters Centerline goodness [0,1] 0.996007679218116 Centerline is valid? [True, True] Translation: X:18.11, Y:4.26, Z:1.69 [[ 9.68097946e-01 -2.47392279e-01 -3.97922904e-02 1.81110476e+01] [ 2.47219383e-01 9.68915033e-01 -9.28626437e-03 4.26472274e+00] [ 4.08526985e-02 -8.47411994e-04 9.99164821e-01 1.68819068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.772260614999997 meters Centerline goodness [0,1] 0.9954561418912986 Centerline is valid? [True, True] Translation: X:18.14, Y:4.28, Z:1.70 [[ 9.68377849e-01 -2.46133477e-01 -4.07756378e-02 1.81395522e+01] [ 2.45950652e-01 9.69235603e-01 -9.51955019e-03 4.27683867e+00] [ 4.18642799e-02 -8.10273175e-04 9.99122978e-01 1.69532627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.802260614999998 meters Centerline goodness [0,1] 0.9975620470019767 Centerline is valid? [True, True] Translation: X:18.17, Y:4.29, Z:1.69 [[ 9.68338580e-01 -2.45768869e-01 -4.37956259e-02 1.81692306e+01] [ 2.45558371e-01 9.69328069e-01 -1.02069325e-02 4.28975540e+00] [ 4.49608757e-02 -8.70616032e-04 9.98988369e-01 1.69108498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.832260614999996 meters Centerline goodness [0,1] 0.9972021501586182 Centerline is valid? [True, True] Translation: X:18.20, Y:4.30, Z:1.69 [[ 9.68083334e-01 -2.45796898e-01 -4.89749283e-02 1.81981911e+01] [ 2.45533834e-01 9.69320859e-01 -1.14108964e-02 4.29686933e+00] [ 5.02771825e-02 -9.78303239e-04 9.98734824e-01 1.68831358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.862260614999997 meters Centerline goodness [0,1] 0.9975115065295426 Centerline is valid? [True, True] Translation: X:18.23, Y:4.30, Z:1.69 [[ 9.69234323e-01 -2.41744700e-01 -4.63068910e-02 1.82288283e+01] [ 2.41504443e-01 9.70339624e-01 -1.07989416e-02 4.30394511e+00] [ 4.75439981e-02 -7.16615114e-04 9.98868888e-01 1.69133440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.892260614999998 meters Centerline goodness [0,1] 0.9968504977535019 Centerline is valid? [True, True] Translation: X:18.26, Y:4.31, Z:1.70 [[ 9.69785006e-01 -2.40050580e-01 -4.35058747e-02 1.82577698e+01] [ 2.39837428e-01 9.70760191e-01 -1.01320969e-02 4.31132079e+00] [ 4.46659870e-02 -6.08381434e-04 9.99001792e-01 1.69983865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.922260614999995 meters Centerline goodness [0,1] 0.9970265627064887 Centerline is valid? [True, True] Translation: X:18.29, Y:4.32, Z:1.70 [[ 9.70252834e-01 -2.38524894e-01 -4.14163468e-02 1.82878837e+01] [ 2.38329693e-01 9.71136256e-01 -9.66075102e-03 4.32122272e+00] [ 4.25252456e-02 -4.97374159e-04 9.99095269e-01 1.70425720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.952260614999997 meters Centerline goodness [0,1] 0.9971534489606779 Centerline is valid? [True, True] Translation: X:18.32, Y:4.33, Z:1.71 [[ 9.69974677e-01 -2.39682150e-01 -4.12503793e-02 1.83172499e+01] [ 2.39490058e-01 9.70851254e-01 -9.61018707e-03 4.32961203e+00] [ 4.23513727e-02 -5.57417630e-04 9.99102623e-01 1.71471378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.982260614999998 meters Centerline goodness [0,1] 0.9978134110787172 Centerline is valid? [True, True] Translation: X:18.35, Y:4.34, Z:1.71 [[ 9.69581865e-01 -2.40932718e-01 -4.31559110e-02 1.83492432e+01] [ 2.40724214e-01 9.70541602e-01 -1.00425139e-02 4.33769475e+00] [ 4.43041772e-02 -6.51633350e-04 9.99017875e-01 1.71222417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.012260614999995 meters Centerline goodness [0,1] 0.9978150036416606 Centerline is valid? [True, True] Translation: X:18.38, Y:4.34, Z:1.71 [[ 9.69192433e-01 -2.41987448e-01 -4.59140709e-02 1.83794315e+01] [ 2.41754113e-01 9.70279070e-01 -1.06524837e-02 4.34372331e+00] [ 4.71272294e-02 -7.75608899e-04 9.98888594e-01 1.71357597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.042260614999996 meters Centerline goodness [0,1] 0.9978150036416606 Centerline is valid? [True, True] Translation: X:18.41, Y:4.35, Z:1.72 [[ 9.69273145e-01 -2.41664598e-01 -4.59107040e-02 1.84111499e+01] [ 2.41430213e-01 9.70359556e-01 -1.06670163e-02 4.35091440e+00] [ 4.71277305e-02 -7.44978654e-04 9.98888593e-01 1.71701130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.072260614999998 meters Centerline goodness [0,1] 0.9974430753631495 Centerline is valid? [True, True] Translation: X:18.44, Y:4.35, Z:1.71 [[ 9.68721909e-01 -2.43026529e-01 -5.01594408e-02 1.84419958e+01] [ 2.42750590e-01 9.70019201e-01 -1.16146492e-02 4.35406380e+00] [ 5.14782886e-02 -9.24868669e-04 9.98673686e-01 1.71375493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.102260615 meters Centerline goodness [0,1] 0.998738547337671 Centerline is valid? [True, True] Translation: X:18.47, Y:4.36, Z:1.71 [[ 9.69260748e-01 -2.40786055e-01 -5.05537207e-02 1.84736148e+01] [ 2.40501877e-01 9.70577890e-01 -1.17220241e-02 4.36366466e+00] [ 5.18888235e-02 -7.96566921e-04 9.98652550e-01 1.71158944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.132260614999996 meters Centerline goodness [0,1] 0.9984949758753486 Centerline is valid? [True, True] Translation: X:18.50, Y:4.38, Z:1.71 [[ 9.70793014e-01 -2.35029824e-01 -4.81861544e-02 1.85042560e+01] [ 2.34765216e-01 9.71988041e-01 -1.11597786e-02 4.37537155e+00] [ 4.94592467e-02 -4.78597891e-04 9.98776028e-01 1.71316866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.162260614999997 meters Centerline goodness [0,1] 0.9989150650960942 Centerline is valid? [True, True] Translation: X:18.53, Y:4.39, Z:1.72 [[ 9.71594243e-01 -2.32061770e-01 -4.63892464e-02 1.85339582e+01] [ 2.31813859e-01 9.72700995e-01 -1.07288602e-02 4.38591480e+00] [ 4.76126245e-02 -3.29571487e-04 9.98865822e-01 1.71947525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.192260615 meters Centerline goodness [0,1] 0.9988003998667111 Centerline is valid? [True, True] Translation: X:18.56, Y:4.40, Z:1.73 [[ 9.72000971e-01 -2.30300252e-01 -4.66466052e-02 1.85626923e+01] [ 2.30048221e-01 9.73119585e-01 -1.07744670e-02 4.39768746e+00] [ 4.78740876e-02 -2.58176117e-04 9.98853345e-01 1.73120372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.222260614999996 meters Centerline goodness [0,1] 0.9993100531926732 Centerline is valid? [True, True] Translation: X:18.59, Y:4.41, Z:1.73 [[ 9.71930150e-01 -2.30300141e-01 -4.81002030e-02 1.85938441e+01] [ 2.30032811e-01 9.73119606e-01 -1.10967856e-02 4.40743637e+00] [ 4.93628418e-02 -2.79324405e-04 9.98780873e-01 1.73047842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.252260614999997 meters Centerline goodness [0,1] 0.9994433930758099 Centerline is valid? [True, True] Translation: X:18.62, Y:4.42, Z:1.74 [[ 9.71670495e-01 -2.30752406e-01 -5.10859649e-02 1.86230466e+01] [ 2.30453129e-01 9.73012437e-01 -1.17538202e-02 4.41639641e+00] [ 5.24195015e-02 -3.52080154e-04 9.98625091e-01 1.73756740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.282260615 meters Centerline goodness [0,1] 0.9994864810556163 Centerline is valid? [True, True] Translation: X:18.66, Y:4.42, Z:1.74 [[ 9.71730439e-01 -2.30410223e-01 -5.14886778e-02 1.86552380e+01] [ 2.30105137e-01 9.73093533e-01 -1.18575869e-02 4.42382085e+00] [ 5.28354087e-02 -3.25431160e-04 9.98603181e-01 1.73622676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.312260614999996 meters Centerline goodness [0,1] 0.9991559494458142 Centerline is valid? [True, True] Translation: X:18.69, Y:4.42, Z:1.74 [[ 9.71804605e-01 -2.30664918e-01 -4.88825637e-02 1.86858144e+01] [ 2.30391784e-01 9.73033181e-01 -1.12273640e-02 4.42428258e+00] [ 5.01541155e-02 -3.51336998e-04 9.98741429e-01 1.73860986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.342260614999997 meters Centerline goodness [0,1] 0.9986686193582746 Centerline is valid? [True, True] Translation: X:18.72, Y:4.43, Z:1.75 [[ 9.71966931e-01 -2.30649240e-01 -4.56203192e-02 1.87150903e+01] [ 2.30411346e-01 9.73036906e-01 -1.04780906e-02 4.42744399e+00] [ 4.68070179e-02 -3.27081622e-04 9.98903897e-01 1.74703674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.372260615 meters Centerline goodness [0,1] 0.9982077266893835 Centerline is valid? [True, True] Translation: X:18.75, Y:4.43, Z:1.75 [[ 9.71884714e-01 -2.31470028e-01 -4.31477657e-02 1.87465947e+01] [ 2.31257929e-01 9.72841975e-01 -9.91274168e-03 4.43069621e+00] [ 4.42704602e-02 -3.44220825e-04 9.99019523e-01 1.75007510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.402260614999996 meters Centerline goodness [0,1] 0.9988105202872373 Centerline is valid? [True, True] Translation: X:18.78, Y:4.44, Z:1.75 [[ 9.71331088e-01 -2.33433718e-01 -4.49957429e-02 1.87785402e+01] [ 2.33204561e-01 9.72372617e-01 -1.03502251e-02 4.43538310e+00] [ 4.61687197e-02 -4.39717081e-04 9.98933559e-01 1.75130564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.432260614999997 meters Centerline goodness [0,1] 0.9985629960427121 Centerline is valid? [True, True] Translation: X:18.81, Y:4.44, Z:1.75 [[ 9.70948816e-01 -2.34667455e-01 -4.67929820e-02 1.88096623e+01] [ 2.34421859e-01 9.72075563e-01 -1.07467349e-02 4.43997409e+00] [ 4.80082232e-02 -5.34768300e-04 9.98846797e-01 1.75352019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.462260614999998 meters Centerline goodness [0,1] 0.9982318879016929 Centerline is valid? [True, True] Translation: X:18.84, Y:4.45, Z:1.76 [[ 9.71710166e-01 -2.32105643e-01 -4.36614801e-02 1.88378645e+01] [ 2.31890398e-01 9.72690499e-01 -1.00018749e-02 4.44904443e+00] [ 4.47905985e-02 -4.05754458e-04 9.98996315e-01 1.76312084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.492260614999996 meters Centerline goodness [0,1] 0.9988501680523616 Centerline is valid? [True, True] Translation: X:18.87, Y:4.46, Z:1.77 [[ 9.72447884e-01 -2.29734455e-01 -3.95877950e-02 1.88664723e+01] [ 2.29555515e-01 9.73253312e-01 -9.06955672e-03 4.46339995e+00] [ 4.06125422e-02 -2.67925437e-04 9.99174934e-01 1.76788191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.522260614999997 meters Centerline goodness [0,1] 0.998673006745549 Centerline is valid? [True, True] Translation: X:18.90, Y:4.47, Z:1.77 [[ 9.72210045e-01 -2.30541875e-01 -4.07194336e-02 1.88977343e+01] [ 2.30352650e-01 9.73062360e-01 -9.34348860e-03 4.46838950e+00] [ 4.17766136e-02 -2.95995952e-04 9.99126932e-01 1.77107057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.552260614999998 meters Centerline goodness [0,1] 0.998298116877376 Centerline is valid? [True, True] Translation: X:18.93, Y:4.47, Z:1.77 [[ 9.71898011e-01 -2.31799657e-01 -4.10265237e-02 1.89312099e+01] [ 2.31609129e-01 9.72763480e-01 -9.40339593e-03 4.47257283e+00] [ 4.20888079e-02 -3.62975635e-04 9.99113808e-01 1.77341520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.582260614999996 meters Centerline goodness [0,1] 0.9980628260726 Centerline is valid? [True, True] Translation: X:18.96, Y:4.47, Z:1.77 [[ 9.71564059e-01 -2.33295789e-01 -4.04518736e-02 1.89642951e+01] [ 2.33112568e-01 9.72405719e-01 -9.25461858e-03 4.47384780e+00] [ 4.14946968e-02 -4.38385345e-04 9.99138628e-01 1.77497386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.612260614999997 meters Centerline goodness [0,1] 0.9964777105118326 Centerline is valid? [True, True] Translation: X:18.99, Y:4.48, Z:1.79 [[ 9.71555998e-01 -2.33430639e-01 -3.98632615e-02 1.89944118e+01] [ 2.33253380e-01 9.72373351e-01 -9.10644577e-03 4.47768163e+00] [ 4.08876966e-02 -4.50818479e-04 9.99163647e-01 1.78711612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.642260614999998 meters Centerline goodness [0,1] 0.9974741373629994 Centerline is valid? [True, True] Translation: X:19.03, Y:4.49, Z:1.79 [[ 9.71408187e-01 -2.34255559e-01 -3.86065665e-02 1.90259410e+01] [ 2.34090857e-01 9.72174928e-01 -8.79658657e-03 4.48535333e+00] [ 3.95929853e-02 -4.92368024e-04 9.99215769e-01 1.78504706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.672260614999995 meters Centerline goodness [0,1] 0.996945323488045 Centerline is valid? [True, True] Translation: X:19.06, Y:4.49, Z:1.79 [[ 9.71198867e-01 -2.35311494e-01 -3.74334211e-02 1.90555308e+01] [ 2.35157393e-01 9.71919869e-01 -8.53042034e-03 4.49095959e+00] [ 3.83895917e-02 -5.18011170e-04 9.99262714e-01 1.79261253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.702260614999997 meters Centerline goodness [0,1] 0.9968367638336665 Centerline is valid? [True, True] Translation: X:19.09, Y:4.50, Z:1.80 [[ 9.71011774e-01 -2.36000350e-01 -3.79469276e-02 1.90859071e+01] [ 2.35842431e-01 9.71752814e-01 -8.64960842e-03 4.49676740e+00] [ 3.89163443e-02 -5.50624059e-04 9.99242320e-01 1.79669759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.732260614999998 meters Centerline goodness [0,1] 0.9969459275371871 Centerline is valid? [True, True] Translation: X:19.12, Y:4.50, Z:1.80 [[ 9.70962804e-01 -2.36173719e-01 -3.81209710e-02 1.91183187e+01] [ 2.36014745e-01 9.71710684e-01 -8.68255521e-03 4.50370648e+00] [ 3.90931461e-02 -5.66673070e-04 9.99235410e-01 1.79982554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.762260614999995 meters Centerline goodness [0,1] 0.997184152055789 Centerline is valid? [True, True] Translation: X:19.15, Y:4.52, Z:1.81 [[ 9.71313765e-01 -2.35192682e-01 -3.51279494e-02 1.91476126e+01] [ 2.35058114e-01 9.71948629e-01 -7.97150480e-03 4.51514974e+00] [ 3.60174019e-02 -5.14277212e-04 9.99351031e-01 1.80528808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.792260614999996 meters Centerline goodness [0,1] 0.9964082347787998 Centerline is valid? [True, True] Translation: X:19.18, Y:4.52, Z:1.82 [[ 9.71572522e-01 -2.34543215e-01 -3.21918446e-02 1.91753496e+01] [ 2.34429762e-01 9.72105592e-01 -7.30793037e-03 4.52342109e+00] [ 3.30078976e-02 -4.46542114e-04 9.99454991e-01 1.81769540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.822260614999998 meters Centerline goodness [0,1] 0.9966980716738575 Centerline is valid? [True, True] Translation: X:19.20, Y:4.54, Z:1.83 [[ 9.72537841e-01 -2.31542225e-01 -2.36293380e-02 1.92030589e+01] [ 2.31480359e-01 9.72824821e-01 -5.35835679e-03 4.53690368e+00] [ 2.42278923e-02 -2.58522891e-04 9.99706428e-01 1.82944277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.852260614999995 meters Centerline goodness [0,1] 0.9963080168776371 Centerline is valid? [True, True] Translation: X:19.23, Y:4.55, Z:1.84 [[ 9.73195387e-01 -2.29086169e-01 -2.02550307e-02 1.92313555e+01] [ 2.29040180e-01 9.73406132e-01 -4.59319153e-03 4.54775430e+00] [ 2.07686078e-02 -1.69143076e-04 9.99784295e-01 1.83738105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.882260614999996 meters Centerline goodness [0,1] 0.9970541983211145 Centerline is valid? [True, True] Translation: X:19.26, Y:4.57, Z:1.84 [[ 9.74536484e-01 -2.23643478e-01 -1.61936822e-02 1.92586041e+01] [ 2.23613339e-01 9.74671018e-01 -3.67171831e-03 4.56507754e+00] [ 1.66046685e-02 -4.28998971e-05 9.99862132e-01 1.84336947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.912260614999997 meters Centerline goodness [0,1] 0.9971474061297598 Centerline is valid? [True, True] Translation: X:19.29, Y:4.58, Z:1.85 [[ 9.75262751e-01 -2.20580970e-01 -1.43736672e-02 1.92861342e+01] [ 2.20556884e-01 9.75368666e-01 -3.25967003e-03 4.57716377e+00] [ 1.47386458e-02 8.82350964e-06 9.99891380e-01 1.85343601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.942260615 meters Centerline goodness [0,1] 0.9970112245123868 Centerline is valid? [True, True] Translation: X:19.31, Y:4.59, Z:1.86 [[ 9.75618255e-01 -2.19172247e-01 -1.15128658e-02 1.93130946e+01] [ 2.19156724e-01 9.75686182e-01 -2.60858185e-03 4.59014883e+00] [ 1.18046728e-02 2.18581242e-05 9.99930322e-01 1.86314052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.972260614999996 meters Centerline goodness [0,1] 0.9968713249162359 Centerline is valid? [True, True] Translation: X:19.34, Y:4.60, Z:1.87 [[ 9.75582206e-01 -2.19374309e-01 -1.06898345e-02 1.93424323e+01] [ 2.19360654e-01 9.75640769e-01 -2.44806941e-03 4.59899185e+00] [ 1.09664819e-02 4.33638690e-05 9.99939865e-01 1.87090664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 640.27 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%| | 0/766 [00:00